CN113910507A

CN113910507A - Online tire mold laser cleaning equipment

Info

Publication number: CN113910507A
Application number: CN202111262918.XA
Authority: CN
Inventors: 刘伟军; 王静; 罗焕佐; 李强; 卞宏友; 张凯; 王蔚; 蔡清华
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2020-11-02
Filing date: 2021-10-28
Publication date: 2022-01-11

Abstract

The invention discloses online tire mold laser cleaning equipment which comprises a water cooler, a transfer trolley, a Z-axis lifting unit, a six-axis robot, a robot control cabinet, a dust removal system, an X-axis radius adjusting device, an anti-collision mechanism, a light path system, a D-axis focusing mechanism, a B-axis laser tube, an A-axis light beam outlet adjusting device, a gas path system and control system, a self-centering system and the like. The equipment is mainly used for completely or partially removing residues accumulated on the mold due to the tire manufacturing process (vulcanization) in various tire molds, and also can be used for cleaning rust, oil stains, paint and the like. The apparatus may perform laser cleaning of the tire mold on-line or off-line.

Description

Online tire mold laser cleaning equipment

The technical field is as follows:

the invention belongs to the technical field of laser cleaning equipment, and relates to online type tire mold laser cleaning equipment.

Background art:

in the manufacturing process of automobile tires, molds are important mechanical devices. In the production of tires, rubber or other residues remain in the engraved grooves in the tire mold, which may cause the produced products to be inferior. Therefore, keeping the tire mold clean is particularly important. The conventional technologies such as sand blasting, chemical cleaning, dry ice cleaning and the like cannot fundamentally solve the problem of cleaning the tire mold. The laser cleaning technology is an advanced cleaning technology which utilizes high-energy laser beams to irradiate the surface of an object, so that the rusty spots, the painted paint layers or the stained layers on the surface of the object are subjected to physical and chemical reactions such as instant peeling or vaporization, and the like, thereby achieving the purpose of non-contact cleaning. Therefore, the application of laser cleaning technology to mold cleaning by industry enterprises becomes one of the inevitable options.

In tire manufacturing enterprises, tire molds to be cleaned are typically made of aluminum alloy, gray cast iron, or steel. The term "tire mold" as used herein includes flat plate type, toroidal cylinder type. The tire is cleaned, production is required to be stopped frequently, and the mold is disassembled, cleaned and then assembled; the method not only consumes a large amount of manpower and material resources, but also has very expensive time cost for interrupting production. Then, no apparatus capable of achieving on-line cleaning of tire molds has been reported.

In the cleaning equipment for the tire mold disclosed in patent No. CN109435115A published in 11/15/2018, although a laser cleaning head is also mounted on a whole machine support, the whole machine support can only drive the laser cleaning head to lift, and horizontal movement requires additional X1 and Y1 processing platforms to perform horizontal transverse and longitudinal translation, so that the operation is complicated, and offset errors are easily generated.

The invention content is as follows:

the purpose of the invention is as follows:

the invention mainly aims to provide an online tire mold laser cleaning device which is used for cleaning a tire mold at multiple angles on a tire vulcanization production line; the tire mold is prevented from being disassembled in the cleaning process, the labor intensity of workers is further reduced, the disassembling time is saved, and the cleaning efficiency is improved.

The technical scheme is as follows:

the utility model provides an online tire mould laser cleaning equipment which characterized in that: the main body of the cleaning equipment is a transfer trolley, the bottom of a Z-axis lifting unit is fixed in the middle of the transfer trolley, a base of a 1 st axis of the six-axis robot is inversely hung at the bottom of a sliding table of the Z-axis lifting unit, and a sixth axis of the six-axis robot is connected with a mold cleaning head;

the left side of the transfer trolley is provided with a water cooler and a robot control cabinet for cooling equipment, and the rear side of the transfer trolley is provided with a laser for emitting laser and a dust removal system for collecting waste gas generated by cleaning.

The main body frame of the Z-axis lifting unit is provided with a guide groove, a composite bearing of the guide frame slides up and down in the guide groove, a hydraulic cylinder for controlling the lifting motion of the guide frame is installed between the main body frame and the guide frame, a chain wheel and a sliding table are arranged on the guide frame, and the main body frame is connected with the sliding table through a chain wheel chain.

In the die cleaning head, a sliding table of an X-axis radius adjusting device is connected with a support on a light path through a bolt, and the support on the light path is connected with a lower support on the light path through 3 anti-collision mechanisms; the B-axis laser tube is arranged below the lower support of the light path and is in transition connection through a bearing, the B-axis laser tube is driven by a servo motor, a gear or a servo motor and a synchronous belt, and the rotatable angle is at least 360 degrees; a laser ranging sensor is arranged on the outer side of the tube wall of the B-axis laser tube, an air curtain purging device is arranged below the laser ranging sensor, and the head of the air curtain purging device is provided with a plurality of groups of narrow gaps; the A-axis light beam outlet adjusting device is connected with the B-axis laser tube through an engaging device, the engaging device is driven by a motor, the A-axis light beam outlet adjusting device rotates around an intersecting axis of the A-axis light beam outlet adjusting device and the B-axis laser tube, and the rotating angle range is at least 360 degrees;

the optical path system of the die cleaning head is arranged on a sliding table of the X-axis radius adjusting device, wherein the scanning galvanometer is arranged on an optical path support, the dovetail sliding table is arranged in the optical path lower support and is driven by a servo motor to move up and down, a movable convex lens is connected above the dovetail sliding table, the movable convex lens moves along with the dovetail sliding table, and the dovetail sliding table and the movable convex lens form a D-axis focusing mechanism; a fixed convex lens is arranged in the B-axis laser tube and is coaxial with the movable convex lens, a focusing mirror is arranged right below the fixed convex lens, and a first reflecting mirror is arranged at the bottom end of the B-axis laser tube and forms an angle of 45 degrees with the axis of the B-axis laser tube;

a second reflecting mirror is obliquely arranged in the A-axis light beam outlet adjusting device, and forms a 90-degree included angle with the second reflecting mirror; a window lens for isolating the contact between the lens in the light path and the outside is arranged above the second reflector, an air protection seat is pressed at the edge of the window lens, and a narrow gap is formed between the air protection seat and the window lens; the gas path interface is arranged on the tube wall of the B-axis laser tube, and at least one path of channel is introduced into the B-axis laser tube.

The Z-axis lifting unit adopts a composite bearing and a track as guide, utilizes a hydraulic cylinder as a lifting power source, provides double lifting stroke by matching with a chain wheel and a chain, and provides lifting motion for the six-axis robot; at least one set of dust removal system collection port of the dust removal system is positioned on the die cleaning head, and the processing waste gas is collected through the dust removal system collection port; the six-axis robot is a six-axis industrial robot.

The X-axis radius adjusting device is arranged at the bottom end of a sixth axis of the six-axis robot, is driven by a linear module and a belt pulley and a motor, and is used for controlling the cleaning radius when a mould is cleaned; the D-axis focusing mechanism composed of the dovetail sliding table and the movable convex lens at least comprises a telescopic mechanism, at least one convex lens is arranged on the telescopic mechanism, a set of adjusting mechanism is adopted, and a motor reducer is used for driving; the B-axis laser tube and the A-axis light beam outlet adjusting device are driven by a belt pulley set, a motor reducer is used for driving, a motor is used for controlling an encoder, and semi-closed loop control is adopted; the laser ranging sensor is arranged on the side of the B-axis laser tube, the distance between the multipoint detection sensor and the surface of the mold is used for detecting the circle center of the mold cleaning head, and the sixth axis of the six-axis robot is coaxial with the mold.

A positive pressure protection air curtain device is arranged in a light path outlet path of a light path system of the die cleaning head, and an air curtain purging device is arranged at the bottom end of a B shaft of the equipment.

At least one engaging part in the A-axis beam outlet adjusting device is coupled with the B-axis laser tube, and the axis of the A-axis beam outlet adjusting device is vertically intersected with the axis of the B-axis laser tube.

The B-axis laser tube comprises at least one laser ranging sensor.

A axle light beam outlet adjusting device and the inside intercommunication of B axle laser pipe, there is narrow and small gap between A axle light beam outlet adjusting device's the air protection seat and the window lens, and the inside compressed air of B axle laser pipe forms the air curtain from the gap blowout, protection export optical lens.

The air curtain purging device is positioned at the bottom end of the B-axis laser tube, wherein at least one air curtain purging device is introduced into the B-axis laser tube, and one air curtain purging device is communicated with a narrow gap.

The advantages and effects are as follows:

the invention has the following advantages and beneficial effects:

1. the equipment has high automation degree, can be cleaned on line, and improves the cleaning efficiency.

2. The six-axis industrial robot is adopted to provide multi-degree-of-freedom adjustment for the die cleaning head, has high degree of freedom, is suitable for work with almost any track or angle, can be freely programmed, completes full-automatic work, improves production efficiency and has controllable error rate. The robot has high accessibility, and can enter a closed space to work, but the rectangular coordinate type robot cannot do the work.

3. The cleaning agent is mainly used for completely or partially removing residues accumulated on various tire molds due to tire manufacturing process (vulcanization) on a production line, and also can be used for cleaning rust, oil stains, paint and the like.

4. The apparatus can be used for off-line laser cleaning of tire molds.

Description of the drawings:

FIG. 1 is a main body view of an in-line tire mold laser cleaning apparatus;

FIG. 2 is a mold cleaning head of an in-line tire mold laser cleaning apparatus;

FIG. 3 is a cross-sectional view of a mold cleaning head of an in-line tire mold laser cleaning apparatus.

Description of reference numerals:

the system comprises a moving and carrying trolley, a water cooling machine, a laser, a robot control cabinet, a dust removal system, a 6-Z-axis lifting unit, a 6A-main body frame, a 6B-guide frame, a 6C-hydraulic cylinder, a 6D-sliding table, a 7-six-axis robot, a 8-mold cleaning head, a 9-X-axis radius adjusting device, a 10-light path support, an 11-anti-collision mechanism, a 12-light path lower support, a 13-B-axis laser tube, a 14-A-axis light beam outlet adjusting device, a 15-laser ranging sensor, a 16-air curtain purging device, a 17-scanning vibrating mirror, an 18-dovetail sliding table, an 18 a-servo motor, a 19-movable convex lens, a 20-fixed convex lens, a 21-focusing mirror, a 22-first reflecting mirror, a 23-second reflecting mirror, a 24-window lens, a 25-air protection seat and a 26-air path interface.

The specific implementation mode is as follows:

the following describes the implementation process of the present invention in detail with reference to the drawings and technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.

An online tire mold laser cleaning device comprises a laser, a water cooler, a transfer trolley, a Z-axis lifting unit, a six-axis robot, a robot control cabinet, a dust removal system, an X-axis radius adjusting device, an anti-collision mechanism, a light path system, a D-axis focusing mechanism, a B-axis laser tube, an A-axis light beam outlet adjusting device, a gas path cleaning system, a gas protection and control system and a self-centering system;

the laser, not limited to a fiber laser, may be CO₂Lasers, solid state lasers; the light emitting type can be a continuous type or a pulse type. The laser provides a laser light source for cleaning the device.

And the water cooler is used for heating and cooling the laser and the optical path system so that the laser operates at a proper temperature.

The transferring trolley is an online tire mold laser cleaning equipment bearing main body, and other characteristics are all arranged above the transferring trolley; the transfer trolley can automatically address and navigate, and automatically move to the vulcanizing machine where the mold is located according to the mold cleaning requirement.

The Z-axis lifting unit is arranged on the transfer trolley, adopts a composite bearing and a track as a guide, utilizes a hydraulic cylinder as a lifting power source, and provides double lifting travel by matching with a chain wheel and a chain so as to provide lifting motion for the six-axis robot; the sliding table arranged above the Z-axis lifting unit is connected with the robot base.

The six-axis robot adopts a six-axis industrial robot to provide multi-degree-of-freedom adjustment for the die cleaning head.

The dust removal system is provided with at least one set of dust removal system collection port positioned on the die cleaning head. The die cleaning head is provided with a dust removal collecting port, and the processing waste gas is collected from the dust removal collecting port.

The X-axis radius adjusting device adopts a linear module, is driven by a belt pulley and is driven by a motor; install on the sixth axle of robot, and X axle radius adjusts and is located the sixth axle bottom of robot, and the sixth axle of robot can drive X axle radius adjusting device rotatory. The X-axis radius adjusting device is used for controlling the cleaning radius when the die is cleaned.

The anti-collision mechanism, the mold cleaning head, is equipped with a collision detection system (proximity switch) to prevent inadvertent displacement of the laser head in both horizontal and vertical directions. The laser head impact presumably causes it to be damaged or fail to function properly. The collision detection system is provided with at least three collision sensors. Each sensor will detect the finest offset. If such a deviation is found, the movement of the machine will be immediately stopped. An alarm will then sound and an error feedback message will be displayed on the display screen of the operating station. Each collision will be recorded.

And the optical path system shapes the light beam emitted by the laser through a plurality of groups of optical lenses, so that the light beam can reach the size capable of being used for cleaning. The optical path system is arranged on the X-axis radius adjusting sliding table so as to be capable of moving up and down, horizontally and rotationally relative to the transfer trolley.

And the D shaft focusing mechanism is driven by a motor reducer and adopts a complete set of adjusting mechanism. The focusing mechanism is stable in movement, can be directly connected with the focusing lens and is compact in size. The D-axis focusing mechanism at least comprises a telescopic mechanism, wherein at least one convex lens is arranged on the telescopic mechanism so as to adjust the focus position of the emergent laser.

The B-axis laser tube is driven by a belt pulley group and a motor reducer. The motor is controlled by an encoder and controlled by a semi-closed loop. The B-axis laser tube can rotate at least 360 degrees around the axis of the B-axis laser tube.

The A-axis light beam outlet adjusting device adopts a belt pulley group for transmission and is driven by a motor reducer. The motor is controlled by an encoder and controlled by a semi-closed loop. At least one engagement feature in the A-axis exit beam is mechanically coupled to the B-axis such that the A-axis intersects the B-axis laser tube axis perpendicularly.

A positive pressure protective air curtain device is arranged in an optical path outlet path of an equipment optical path system of the air path cleaning system. The bottom end of the B shaft of the equipment is provided with a workpiece dust purging device.

And the self-centering system detects the circle center of the die cleaning head through the laser ranging sensor arranged on the side of the B-axis laser tube and the distance between the multipoint detection sensor and the surface of the die, so that the sixth axis of the robot is coaxial with the die.

The gas protection gas is blown out from the inside of the light path structure and is output through the gas protection device, and the positive pressure gas is introduced into the light path structure to protect the light path structure from being polluted.

Furthermore, the automatic addressing movement of the tire mold laser cleaning equipment is realized by utilizing the transfer trolley, so that the online laser cleaning of the tire mold is realized, and the transfer trolley is not limited to the automatic transfer trolley, the unpowered transfer trolley and other forms.

Further, the Z-axis lifting unit is not limited to hydraulic cylinders, hydraulic cylinders + chain wheels, servo motors + ball screws, servo motors + chain wheels, servo motors + racks and gears, etc.

Further, the A-axis exit beam adjuster is rotatable at least about its axis by 360 °

Further, the B-axis laser tube includes at least one laser ranging sensor.

Further, the gas protection system is positioned at the bottom end of the B-axis laser tube, wherein at least one gas protection system is introduced into the B-axis laser tube, and one gas protection system is communicated with the nozzle.

Further, the inside intercommunication of A axle and B axle laser pipe, wherein, there is narrow and small gap at A axle export edge, makes the inside compressed air of B axle laser pipe can follow the gap blowout and form the air curtain, is convenient for protect export optical lens.

The online tire mold cleaning equipment provided by the invention has the following advantages:

the equipment has high automation degree, can be cleaned on line, and improves the cleaning efficiency; the method is mainly used for completely or partially removing residues accumulated on the molds due to the tire manufacturing process (vulcanization) in various tire molds on a production line. It can also be used for cleaning rust, oil stain, paint, etc. The apparatus can be used for off-line laser cleaning of tire molds.

The present invention will be described in detail with reference to fig. 1 to 3.

Referring to fig. 1, the online tire mold laser cleaning apparatus generally includes a transfer cart 1 as an apparatus main body, above which a water chiller 2 for cooling the apparatus, a laser 3 for emitting laser, a robot control cabinet 4, and a dust removal system 5 for cleaning generated exhaust gas to be collected are installed.

The bottom of the Z-axis lifting unit 6 is fixed in the middle of the transfer trolley 1 and is mainly used for lifting the six-axis robot 7 and expanding the stroke range of the six-axis robot 7. The main body frame 6A of the Z-axis lifting unit 6 is provided with a guide groove, and the composite bearing of the guide frame 6B slides in the guide groove to restrict the guide frame 6B from sliding only up and down. A hydraulic cylinder 6C is installed between the main body frame 6A and the guide frame 6B for controlling the lifting movement of the guide frame 6B. Set up sprocket and slip table 6D on the guide frame 6B, main body frame 6A passes through the sprocket chain with slip table 6D and links to each other, makes slip table 6D's lift displacement 2 times that guide frame 6B displaced.

Six robots 7 hang upside down and install in slip table 6D bottom, follow slip table 6D and carry out elevating movement, wherein the 6 th axle of mould cleaning head 8 and six robots 7 links to each other. So that the mold cleaning head 8 can change the posture following the robot 7.

Referring to FIG. 2, the mold cleaning head 8 of the in-line tire mold laser cleaning apparatus generally comprises an X-axis radius adjustment device 9; the X-axis radius adjusting device 9 is usually driven by a ball screw, a synchronous belt and the like, and a sliding table of the X-axis radius adjusting device 9 is connected with a light path bracket 10 through a bolt so as to drive the light path bracket 10 to perform telescopic motion; the light path bracket 10 is connected with the light path lower bracket 12 through 3 anti-collision mechanisms 11; the anti-collision mechanism 11 is internally provided with a high-precision sensor for detecting the displacement of the optical path lower bracket 12 during collision, so that the control system is stopped, and further collision damage of the equipment is avoided.

The B-axis laser tube 13 is arranged below the light path lower bracket 12 and is in transition connection through a bearing; the B-axis laser tube 13 is usually driven by a servo motor and a gear or a servo motor and a synchronous belt, and the rotatable angle is at least 360 degrees. The outer side of the tube wall of the B-axis laser tube 13 is provided with a laser ranging sensor 15, and the axis position of the tire mold can be calculated through a special algorithm of an equipment control system. An air curtain purging device 16 is arranged below the laser ranging sensor 15; the head of the air curtain blowing device 16 is provided with a plurality of groups of narrow gaps, so that the compressed air can conveniently generate the air curtain when passing through the gaps.

The A-axis light beam outlet adjusting device 14 is connected with the B-axis laser tube 13 through an engaging device, wherein the engaging device is driven by a motor, so that the A-axis light beam outlet adjusting device 14 rotates around an intersecting axis of the A-axis light beam outlet adjusting device and the B-axis laser tube 13, and the rotating angle range is at least 360 degrees.

Referring to fig. 3, the optical path system portion of the die cleaning head generally includes a scanning galvanometer 17 mounted on the optical path support 10, and a dovetail slide 18 is provided below the scanning galvanometer 17, wherein the dovetail slide 18 is mounted inside the optical path lower support 12, and the dovetail slide 18 is driven to move up and down by a servo motor 18 a. The top of forked tail slip table 18 is connected with portable convex lens 19, removes along with forked tail slip table 18, carries out the regulation of light path focus, and forked tail slip table 18 is D axle focusing mechanism promptly with portable convex lens 19.

A fixed convex lens 20 is arranged inside the B-axis laser tube 13; the fixed convex lens 20 is coaxial with the movable convex lens 19, the focusing mirror 21 is installed right below the fixed convex lens 20, the first reflecting mirror 22 is obliquely installed at the bottom end of the B-axis laser tube 13, and an angle of 45 degrees is formed between the first reflecting mirror 22 and the axis of the B-axis laser tube 13.

And a second reflecting mirror 23 is obliquely arranged inside the A-axis light beam outlet adjusting device 14, wherein the second reflecting mirror 23 and the first reflecting mirror 22 form an included angle of 90 degrees. And a window lens 24 is arranged above the second reflecting mirror 23 and used for isolating the lens in the light path from contacting with the outside. Meanwhile, the edge of the window lens 24 is pressed with a gas protection seat 25; a narrow gap is formed between the air protection seat 25 and the window lens 24, so that compressed air can pass through the gap.

The gas path interface 26 is arranged on the tube wall of the B-axis laser tube 13; wherein, at least one channel is introduced into the B-axis laser tube 13, and compressed gas enters from the gas path interface 26 and finally is ejected from the gas protection seat 25 to form gas protection.

The laser beam is absorbed into the scanning galvanometer 17 from the side of the scanning galvanometer 17, and is irradiated to the movable convex lens 19 after being reflected by a lens in the scanning galvanometer 17, and the movable convex lens 19 focuses the beam to a focus and then irradiates the beam to the fixed convex lens 20 in a divergent manner; the fixed convex lens 20 reshapes the light beam into parallel light, and the parallel light is continuously transmitted downwards to irradiate a focusing mirror 21; the focusing mirror 21 focuses the parallel light beams, the focused light beams are reflected by a first reflecting mirror 22 and a second reflecting mirror 23, and finally are coaxially output through a window lens 24; the focusing lens 21 adopts a large-focal-length convex lens, and the light beams focused by the focusing lens 21 are finally converged at one position above the window lens 24.

The B-axis laser tube 13 can drive the first reflector 22 to rotate 360 degrees. The A-axis light beam outlet adjusting device 14 can drive the second reflecting mirror 23 to rotate for 360 degrees, and change the directions of the light beams reflected by the reflecting mirrors 22 and 23 so as to irradiate the light beams on the tire mold from different angles to adapt to multi-directional pattern cleaning of the tire mold.

The movable convex lens 19 can move up and down by being driven by a servo motor, and is matched with the fixed convex lens 20, and the light spot position focused by the focusing lens 21 can be stretched by utilizing the optical characteristics to adapt to the complexity of the tire mold.

The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the present disclosure should not be construed as limiting the present invention.

Claims

1. The utility model provides an online tire mould laser cleaning equipment which characterized in that: the main body of the cleaning equipment is a transfer trolley (1), the bottom of a Z-axis lifting unit (6) is fixed in the middle of the transfer trolley (1), a base of a 1 st axis of a six-axis robot (7) is inversely hung at the bottom of a sliding table (6D) of the Z-axis lifting unit (6), and a sixth axis of the six-axis robot (7) is connected with a mold cleaning head (8);

a water cooling machine (2) and a robot control cabinet (4) for cooling equipment are arranged on the left side of the transfer trolley (1), and a laser (3) for emitting laser and a dust removal system (5) for collecting waste gas generated by cleaning are arranged on the rear side of the transfer trolley.

2. The in-line tire mold laser cleaning apparatus of claim 1, wherein: main body frame (6A) of Z axle lift unit (6) is provided with the direction recess, and the compound bearing of direction frame (6B) slides from top to bottom along in the direction recess, installs between main body frame (6A) and direction frame (6B) control guide frame (6B) elevating movement's pneumatic cylinder (6C), sets up sprocket and slip table (6D) on guide frame (6B), and main body frame (6A) link to each other through sprocket chain with slip table (6D).

3. The in-line tire mold laser cleaning apparatus of claim 1, wherein: in the die cleaning head (8), a sliding table of an X-axis radius adjusting device (9) is connected with a light path support (10) through a bolt, and the light path support (10) is connected with a light path lower support (12) through 3 anti-collision mechanisms (11); the B-axis laser tube (13) is arranged below the light path lower bracket (12) and is in transition connection through a bearing, the B-axis laser tube (13) is driven by a servo motor, a gear or a servo motor and a synchronous belt, and the rotation angle is at least 360 degrees; a laser ranging sensor (15) is arranged on the outer side of the tube wall of the B-axis laser tube (13), an air curtain purging device (16) is arranged below the laser ranging sensor (15), and the head of the air curtain purging device (16) is provided with a plurality of groups of narrow gaps; the A-axis light beam outlet adjusting device (14) is connected with the B-axis laser tube (13) through an engaging device, the engaging device is driven by a motor, the A-axis light beam outlet adjusting device (14) rotates around an intersecting axis of the A-axis light beam outlet adjusting device and the B-axis laser tube (13), and the rotating angle range is at least 360 degrees;

an optical path system of a die cleaning head (8) is arranged on a sliding table of an X-axis radius adjusting device (9), wherein a scanning galvanometer (17) is arranged on an optical path support (10), a dovetail sliding table (18) is arranged in an optical path lower support (12) and driven by a servo motor (18a) to move up and down, a movable convex lens (19) is connected above the dovetail sliding table (18), the movable convex lens (19) moves along with the dovetail sliding table (18), and the dovetail sliding table (18) and the movable convex lens (19) form a D-axis focusing mechanism; a fixed convex lens (20) is arranged in the B-axis laser tube (13), the fixed convex lens (20) is coaxial with the movable convex lens (19), a focusing mirror (21) is arranged right below the fixed convex lens (20), and a first reflecting mirror (22) is arranged at the bottom end of the B-axis laser tube (13) and forms a 45-degree angle with the axis of the B-axis laser tube (13);

a second reflecting mirror (23) is obliquely arranged in the A-axis light beam outlet adjusting device (14), and an included angle of 90 degrees is formed between the second reflecting mirror (23) and the first reflecting mirror (22); a window lens (24) for isolating the contact between the lens in the light path and the outside is arranged above the second reflector (23), an air protection seat (25) is pressed on the edge of the window lens (24), and a narrow gap is formed between the air protection seat (25) and the window lens (24); the gas path interface (26) is arranged on the tube wall of the B-axis laser tube (13), and at least one path of channel is introduced into the B-axis laser tube (13).

4. The in-line tire mold laser cleaning apparatus of claim 1, wherein: the Z-axis lifting unit (6) adopts a composite bearing and a track as a guide, utilizes a hydraulic cylinder (6C) as a lifting power source, provides double lifting travel by matching with a chain wheel and a chain, and provides lifting motion for the six-axis robot (7); at least one set of dust removal system collection port of the dust removal system (5) is positioned on the die cleaning head (8), and the processing waste gas is collected; the six-axis robot (7) is a six-axis industrial robot.

5. The in-line tire mold laser cleaning apparatus of claim 3, wherein: the X-axis radius adjusting device (9) is arranged at the bottom end of a sixth axis of the six-axis robot (7), is driven by a linear module, a belt pulley and a motor and is used for controlling the cleaning radius when the mold is cleaned; the D-axis focusing mechanism consisting of the dovetail sliding table (18) and the movable convex lens (19) at least comprises a telescopic mechanism, at least one convex lens is arranged on the telescopic mechanism, a set of adjusting mechanism is adopted, and a motor reducer is used for driving; the B-axis laser tube (13) and the A-axis light beam outlet adjusting device (14) are driven by a belt pulley set, a motor reducer is used for driving, a motor is provided with an encoder for control, and semi-closed loop control is adopted; and a laser ranging sensor (15) arranged on the side of the B-axis laser tube (13), the distance between a multi-point detection sensor and the surface of the mold is used for detecting the circle center of the mold cleaning head, and the sixth axis of the six-axis robot (7) is coaxial with the mold.

6. The in-line tire mold laser cleaning apparatus of claim 3, wherein: a positive pressure protection air curtain device is arranged in a light path outlet path of a light path system of the die cleaning head (8), and an air curtain purging device (16) is arranged at the bottom end of a shaft B of the equipment.

7. The in-line tire mold laser cleaning apparatus of claim 3, wherein: at least one engaging part in the A-axis beam outlet adjusting device (14) is coupled with the B-axis laser tube (13), and the axis of the A-axis beam outlet adjusting device (14) is vertically intersected with the axis of the B-axis laser tube (13).

8. The in-line tire mold laser cleaning apparatus of claim 3, wherein: the B-axis laser tube (13) comprises at least one laser ranging sensor (15).

9. The in-line tire mold laser cleaning apparatus of claim 3, wherein: a axle light beam export adjusting device (14) and the inside intercommunication of B axle laser pipe (13), there is narrow and small gap between air protection seat (25) and window lens (24) of A axle light beam export adjusting device (14), and the inside compressed air of B axle laser pipe (13) forms the air curtain from the gap blowout, protection export optical lens.

10. The in-line tire mold laser cleaning apparatus according to claim 6 or 9, wherein: the air curtain purging device (16) is positioned at the bottom end of the B-axis laser tube (13), wherein at least one air curtain purging device is communicated into the B-axis laser tube (13), and the other air curtain purging device is communicated with a narrow gap.