CN114654101A

CN114654101A - Laser rust removal method and laser rust removal device

Info

Publication number: CN114654101A
Application number: CN202210465461.0A
Authority: CN
Inventors: 屠言辉; 李沪; 王勇锋; 吴家雄; 王义俊; 刘民友; 刘强; 谢海林
Original assignee: China Construction Fourth Bureau Installation Engineering Co Ltd
Current assignee: China Construction Fourth Bureau Installation Engineering Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-06-24
Anticipated expiration: 2042-04-29
Also published as: CN114654101B

Abstract

The invention discloses a laser rust removal method and a laser rust removal device, which comprises the steps of determining a first region to be subjected to rust removal through visual laser, and predicting a second region to be subjected to rust removal; the derusting laser corresponds to a first region to be derusted, and derusting operation is carried out on the first region to be derusted through the derusting laser; according to the predicted position of the second region to be derusted, enabling the second region to be derusted to correspond to the visual laser and the derusting laser, carrying out derusting operation on the second region to be derusted, and predicting a third region to be derusted; repeating the steps until the rust removal is completed; the rust area on the steel to be derusted is positioned through the visual laser, the rust area enters the first area to be derusted through the derusting laser, and the second area to be derusted is predicted according to the trend of the characteristic points of the rust area, so that accurate derusting is realized, and the situation that comprehensive derusting is needed is avoided.

Description

Laser rust removal method and laser rust removal device

Technical Field

The invention relates to the technical field of rust removal, in particular to a laser rust removal method and a laser rust removal device.

Background

Combine current steel construction production conditions, the workshop mainly still relies on semi-automatic peening machine to the steel pipe rust cleaning in the steel construction, and main process flow is: the steel pipe is lifted above the shot blasting machine by using the truss, the steel pipe is lightly placed at a specified position, the shot blasting machine is opened, the steel pipe is slowly pushed forwards by a conveying mechanism of the shot blasting machine and is derusted by using the principle that fine steel balls strike and peel off iron rust, and after the operation is finished, the steel pipe is manually lifted by using the truss again and conveyed to a storage position for the next process.

The method has low efficiency, long time consumption of the process and certain potential safety hazard.

Meanwhile, the rusted surface of part of the steel is not completely rusted, so that the steel is possibly rusted only in part of the area, and if the steel is completely derusted, the derusting time is too long, so that the derusting efficiency is low.

Disclosure of Invention

The invention aims to solve the technical problems that the traditional derusting mode utilizes impact derusting, the derusting efficiency is low, the process consumes long time, and aims to provide a laser derusting method and a laser derusting device, so that the problem of low efficiency in conventional derusting is solved.

The invention is realized by the following technical scheme:

in a first aspect, a laser descaling method includes the steps of:

determining a first region to be derusted through visual laser, and predicting a second region to be derusted;

the derusting laser corresponds to a first region to be derusted, and derusting operation is carried out on the first region to be derusted through the derusting laser;

according to the predicted position of the second region to be derusted, enabling the second region to be derusted to correspond to the visual laser and the derusting laser, carrying out derusting operation on the second region to be derusted, and predicting a third region to be derusted;

according to the predicted position of the nth region to be derusted, enabling the nth region to be derusted to correspond to the visual laser and the derusting laser, carrying out derusting operation on the nth region to be derusted, and predicting the (n + 1) th region to be derusted, wherein n is a natural number greater than 2;

and (5) iterating the n and repeating the steps, wherein the iteration step length is 1, until the derusting is finished.

Specifically, the method for determining a first region to be derusted by visual laser and predicting a second region to be derusted comprises the following steps:

projecting laser stripes to the surface to be derusted, converting laser stripe images in a visual range into a gray level image, and counting the sum of gray levels of the laser stripe images in the longitudinal axis direction;

determining an extreme point of the sum of the gray values, acquiring the abscissa and the ordinate of the laser stripe image at the corresponding position, determining a first region of interest by taking the abscissa and the ordinate as central points, and setting the first region of interest as a first region to be derusted;

marking a plurality of characteristic points in the first region of interest by the marking method: the gray value of the characteristic point is larger than the background threshold value;

determining a reference characteristic point, obtaining a change rule of the reference characteristic point, and predicting the position of the characteristic point outside the first region of interest;

and predicting a second region of interest according to the predicted position of the feature point outside the first region of interest, and setting the second region of interest as a second region to be derusted.

Specifically, the method for predicting the third region to be derusted comprises the following steps:

the vision laser acquires a predicted laser stripe image in the second region of interest and converts the predicted laser stripe image into a gray scale image;

marking a plurality of characteristic points in the second region of interest by the marking method: the gray value of the characteristic point is larger than the background threshold value;

determining a reference characteristic point, obtaining a change rule of the reference characteristic point, and predicting the position of the characteristic point outside the second region of interest;

and predicting a third region of interest according to the predicted position of the feature point outside the second region of interest, and setting the third region of interest as a third region to be derusted.

Specifically, the method for obtaining the reference feature point includes:

calculating the motion vector of the feature point at the adjacent moment by an LK optical flow method, wherein an optical flow equation is as follows: i is_xu+I_yv+I_t0, wherein, I_x、I_y、I_tDifferentiating the characteristic point gray value of the laser stripe image I at the time t into derivatives in x, y and t directions, wherein x and y are respectively the abscissa direction and the ordinate direction, and u and v are respectively the optical flow rate in the x direction and the y direction;

determining an optical flow equation error function:

wherein the optical flow in the spatial range w is a constant value;

the error function is derived and the optical flow vector for the feature point is determined:

determining the position x of a feature point at time t_tAnd tracking the k steps of the characteristic points by using an optical flow method to obtain a forward track: t is_f,k＝(x_t,x_t+1,…,x_t+k)；

Tracing back the feature point x_t+kAnd obtaining a verification track by t:

forward-backward error is obtained using the european formula:

the characteristic point position is obtained by back tracking at the time t through an optical flow method;

and acquiring the characteristic points of which the error values are smaller than the set values, and selecting the characteristic points as reference characteristic points.

Specifically, the derusting method of the derusting laser comprises the following steps:

establishing a one-dimensional linear heat conduction-energy conservation equation:

wherein T is temperature, j is thermal conductivity, rho is material density, c is material heat capacity, and Q is a laser external heat source;

establishing a laser rust removal equation:

wherein h is the thickness of the rust layer, s is the rust removal time, A is the reflection coefficient of the steel to be subjected to rust removal to laser, and I₀The energy density of laser, beta is the absorption coefficient of the steel to be derusted to the laser energy, theta (h, s) is the initial surface temperature change value, and tau is the laser pulse width;

solving a rust removal equation by a finite difference method to obtain different h, s and I₀Q, τ, andand controlling the derusting laser to emit pulse laser in the area to be derusted.

In a second aspect, a laser derusting apparatus for implementing the laser derusting method described above includes:

a base;

the device comprises a feeding assembly and a derusting assembly which are arranged in parallel, wherein the feeding assembly and the derusting assembly are both fixedly arranged on a base, and a steel pipe to be derusted is arranged in the feeding assembly;

the moving assembly is arranged between the feeding assembly and the derusting assembly and is used for moving the steel pipe to be derusted in the feeding assembly into the derusting assembly;

a vision laser component emitting vision laser;

the visual laser assembly and the derusting laser assembly are correspondingly arranged in the derusting assembly.

Specifically, the material loading subassembly includes:

the U-shaped feeding structure is provided with a horizontally arranged feeding bottom plate and two vertically arranged feeding side plates, and the steel pipe is placed in the U-shaped feeding structure and is parallel to the feeding side plates;

the feeding conveying roll shafts are positioned on the same horizontal plane, and two ends of each feeding conveying roll shaft are respectively vertically and rotatably connected with the two feeding side plates;

the rust removal assembly comprises:

the U-shaped rust removing structure is provided with a horizontally arranged rust removing bottom plate and two vertically arranged rust removing side plates, and the steel pipe is placed in the U-shaped rust removing structure and is arranged in parallel with the rust removing side plates;

the rust removing conveying roll shafts are positioned on the same horizontal plane, and two ends of the feeding conveying roll shaft are respectively and vertically and rotatably connected with the two rust removing side plates;

wherein, the vision laser assembly and the derusting laser assembly are both arranged on the derusting side plate.

Specifically, the moving assembly comprises a first moving assembly and a second moving assembly which are respectively arranged at two ends of the steel pipe;

the first/second moving assembly includes:

the feeding assembly and the rust removing assembly are arranged between the first vertical rod and the second vertical rod, and the moving direction of the first linear moving assembly is parallel to the central axis of the steel pipe;

two ends of the cross rod are respectively and fixedly connected with the first vertical rod and the second vertical rod, and the cross rod is perpendicular to the central axis of the steel pipe;

the telescopic arm is vertically arranged, the upper end of the telescopic arm is movably connected with the cross rod through a second linear motion assembly, and the motion direction of the second linear motion assembly is parallel to the central axis of the cross rod;

and the clamping mechanism is fixedly connected with the lower end of the telescopic arm.

Specifically, the clamping mechanism includes:

the clamping ring is rotatably connected with the telescopic arm, and the central axis of the clamping ring is superposed with the central axis of the steel pipe positioned in the clamping ring;

the rotation driving assembly is fixedly connected with the telescopic arm and is used for driving the clamping ring to rotate around the central axis of the telescopic arm;

and the telescopic clamping jaw is fixedly connected with the inner ring surface of the clamping ring and applies acting force towards the central axis of the steel pipe to the steel pipe positioned in the clamping ring.

Preferably, the first linear motion assembly is one or more of a linear motor, a ball screw structure and a telescopic cylinder;

the second linear motion assembly is one or more of a linear motor, a ball screw structure and a telescopic cylinder;

the rotation driving component is a servo motor or an annular motor.

Compared with the prior art, the invention has the following advantages and beneficial effects:

the rust area on the steel to be derusted is positioned through the visual laser, the rust area enters the first area to be derusted through the derusting laser, and the second area to be derusted is predicted according to the trend of the characteristic points of the rust area, so that accurate derusting is realized, and the situation that comprehensive derusting is needed is avoided;

meanwhile, the invention provides a rust removal device for implementing the method, the steel pipe to be subjected to rust removal is placed on the feeding assembly, is moved to the rust removal assembly through the moving assembly, and is adjusted through the moving assembly, so that the visual laser assembly and the rust removal laser assembly can specifically remove rust in a rust area on the steel pipe.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a schematic flow chart of a laser derusting method according to the invention.

Fig. 2 is a schematic flow chart of a second embodiment of the laser derusting method according to the invention.

Fig. 3 is a schematic structural view of a laser rust removing apparatus according to the present invention.

Fig. 4 is a schematic structural diagram of a second moving assembly according to the present invention.

Reference numerals: 1-a base, 2-a feeding assembly, 3-a derusting assembly, 4-a derusting laser assembly, 5-a first moving assembly, 6-a second moving assembly, 7-a control system, 8-a material storage assembly and 100-a steel pipe;

the device comprises a 21-U-shaped feeding structure, a 22-feeding conveying roller shaft, a 31-U-shaped derusting structure, a 32-derusting conveying roller shaft, 601-a first vertical rod, 602-a cross rod, 603-a clamping ring, 604-a driving rotating assembly, 605-a telescopic clamping jaw and 606-a mechanical arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the method in this embodiment is applicable to steel products with less severe rust, that is, the rusted area on the steel surface does not cover the modified steel surface, and if the ratio of the rusted area is greater than a certain value, for example, 30%, rust removal still needs to be performed according to the overall rust removal method.

Example one

A laser rust removing method comprises the following steps:

the method comprises the steps of firstly, determining a first region to be derusted through visual laser, and predicting a second region to be derusted;

secondly, enabling the derusting laser to correspond to a first region to be derusted, and carrying out derusting operation on the first region to be derusted through the derusting laser;

thirdly, enabling the second area to be derusted to correspond to the visual laser and the derusting laser according to the predicted position of the second area to be derusted, carrying out derusting operation on the second area to be derusted, and predicting a third area to be derusted;

fourthly, enabling the nth region to be derusted to correspond to the visual laser and the derusting laser according to the predicted position of the nth region to be derusted, carrying out derusting operation on the nth region to be derusted, and predicting the (n + 1) th region to be derusted, wherein n is a natural number greater than 2;

and fifthly, iterating the n and repeating the steps, wherein the iteration step length is 1, until the derusting is finished.

The method aims at a large rust point, the rust removal operation is carried out by dividing the large rust point into a plurality of areas to be subjected to rust removal, and after the rust removal of the rust point is finished, if the rust point moves to the next rust point, the method comprises the following steps:

and when the fifth step is completed [ the rust removal operation of the nth region to be subjected to rust removal is set to be completed, and the nth +1 region to be subjected to rust removal is predicted ], but when the visual laser moves to the nth +1 region to be subjected to rust removal, the region is found to be free of rust, and the fact that the rust removal operation of a rust point is completed is proved.

And then, controlling the visual laser and the derusting laser to move continuously, and repeating the first step to the fifth step after the visual laser and the derusting laser move to another rust point, so as to finally complete the derusting operation of the whole steel to be derusted.

Example two

The embodiment is a specific optimization of the first embodiment.

The method of the first step comprises the following steps:

a1, projecting laser stripes to the surface to be derusted, converting laser stripe images in a visual range into a gray level image, and counting the sum of gray level values in the longitudinal axis direction of the laser stripe images;

a2, determining an extreme point of the sum of the gray values, acquiring the abscissa and the ordinate of the laser stripe image at the corresponding position, determining a first region of interest (ROI) by taking the abscissa and the ordinate as central points, and setting the first region of interest as a first region to be derusted;

a3, marking a plurality of characteristic points in the first region of interest by the marking method: the gray value of the characteristic point is larger than the background threshold value; the corrosion points are generally diffused, namely the corrosion degree of the middle corrosion area is the highest, and the corrosion rate of the corrosion area at the edge is the lowest.

A4, determining reference feature points, obtaining the change rule of the reference feature points, and predicting the feature point position outside the first region of interest; the method for obtaining the reference characteristic point comprises the following steps:

a41, calculating motion vectors of feature points at adjacent moments by an LK optical flow method, wherein an optical flow equation is as follows: i is_xu+I_yv+I_t0, wherein, I_x、I_y、I_tDifferentiating the characteristic point gray value of the laser stripe image I at the time t into derivatives in x, y and t directions, wherein x and y are respectively the abscissa direction and the ordinate direction, and u and v are respectively the optical flow rate in the x direction and the y direction;

a42, determining an optical flow equation error function:

wherein the optical flow in the spatial range w is a constant value;

a43, calculating the derivative of the error function E, and when the derivative value is 0, determining the optical flow vector of the feature point:

a43, determining the position x of the characteristic point at the time t_tAnd tracking the k steps of the characteristic points by using an optical flow method to obtain a forward track: t is_f,k＝(x_t,x_t+1,…,x_t+k)；

Tracing back the feature point x_t+kAnd obtaining a verification track by t:

a43, obtaining the forward-backward error by using an European formula:

and A44, obtaining a characteristic point with an error value smaller than a set value [ which can be set specifically according to the precision of the rust removal required ], and selecting the characteristic point as a reference characteristic point.

And A5, predicting a second region of interest according to the position of the feature point outside the predicted first region of interest, and setting the second region of interest as a second region to be derusted.

In the third step, the method for predicting the third region to be derusted comprises the following steps:

a6, obtaining a predicted laser stripe image in the second region of interest by visual laser, and converting the predicted laser stripe image into a gray scale image; after the rust removal laser removes rust on the first region of interest, the visual laser moves to the second region of interest, and actual characteristic points and predicted characteristic points in the second region of interest are verified;

a7, marking a plurality of characteristic points in the second region of interest by the marking method: the gray value of the characteristic point is larger than the background threshold value;

a8, determining the reference characteristic points, obtaining the change rule of the reference characteristic points, and predicting the position of the characteristic points outside the second region of interest;

and A9, predicting a third region of interest according to the position of the predicted characteristic point outside the second region of interest, and setting the third region of interest as a third region to be derusted.

The above-mentioned steps A7-A9 are the same as the steps A3-A5, and the purpose is to predict the n +1 th area to be derusted by the nth area to be derusted.

The difference is that when the n +1 th region to be derusted is predicted, the position of the n-th region to be derusted does not need to be determined according to the gray value and the pole value.

EXAMPLE III

This embodiment is a refinement of the rust removing method for the rust removing laser in the third step.

In the conventional laser rust removal, long-time high-intensity irradiation is adopted, so that energy waste or damage to a base material can be caused. The derusting method of the derusting laser in the embodiment comprises the following steps:

b1, establishing a one-dimensional linear heat conduction-energy conservation equation:

wherein T is temperature, j is heat conductivity coefficient, rho is material density, c is material heat capacity, and Q is laser external heat source;

b2, establishing a laser rust removing equation:

b3, solving the derusting equation by a finite difference method to obtain different h, s and I₀Q and tau, and controlling the derusting laser to emit pulse laser in the area to be derusted.

The parameters adopted by the numerical solution after the solution are the material property of the oxide layer and the laser parameters listed in the oxide removal of the surface of the pulse laser matrix, and meanwhile, in order to further reflect the action of multi-superposition (kHz pulse laser, the calculation process is simulated by adopting an intuitive and simple finite element method, so that the temperature value obtained by the algorithm is higher than the temperature value of the simulation result due to the assumption that the boundary is an adiabatic boundary condition.

Compared with continuous laser, the power of the pulse laser has a higher single pulse peak value; the strong instant local ablation gasification effect is generated with the corrosion of the steel surface, and the steel body can not be thermally damaged. The pulse laser derusting mechanism is that the pulse number threshold for removing the base material is reduced along with the increase of the laser pulse number, and the threshold has mutation distortion points, and the main reason is that the gasification of the oxide on the surface of the base material needs certain basic temperature; the method comprises the following steps of (1) performing laser derusting by applying multi-superposition hundred-nanosecond pulse laser on the surface of a material, wherein the laser rapidly raises the temperature of the material in the derusting process, a local high-temperature area is formed on the surface of a base material, and an oxide on the surface of the base material is positioned near a gasification temperature threshold value; the instantaneous high-energy pulse laser provides rapid ablation energy for the high-temperature area, thereby realizing rapid gasification removal of the base material.

Example four

The embodiment provides a laser rust removing device for implementing the laser rust removing method, which comprises a base 1, a feeding assembly 2, a rust removing assembly 3, a moving assembly, a laser vision assembly and a rust removing laser assembly 4.

The base 1 is used for fixing the whole device, the feeding assembly 2 and the derusting assembly 3 which are arranged in parallel are fixedly arranged on the base 1, a steel pipe 200 to be derusted is arranged in the feeding assembly 2, the moving assembly is arranged between the feeding assembly 2 and the derusting assembly 3, and the moving assembly is used for moving the steel pipe 200 to be derusted in the feeding assembly 2 into the derusting assembly 3.

The visual laser assembly is used for emitting visual laser, is provided with a laser emitting device and a collecting device, and can be connected through a control system 7, and the control system 7 can control the whole device to execute the steps in the first embodiment to the third embodiment.

The derusting laser assembly 4 is used for emitting derusting laser which is pulse laser or continuous laser, and the visual laser assembly and the derusting laser assembly 4 are correspondingly arranged in the derusting assembly 3.

The feeding assembly 2 comprises a U-shaped feeding structure 21 and a feeding conveying roller shaft 22.

U type feed structure 21 has the material loading bottom plate of level setting and the material loading curb plate of two perpendicular settings, and steel pipe 200 places in U type feed structure 21, and with material loading curb plate parallel arrangement.

The plurality of feeding conveying roller shafts 22 are located on the same horizontal plane, and two ends of the feeding conveying roller shafts 22 are respectively and vertically and rotatably connected with the two feeding side plates.

Conventionally, the steel pipe 200 is placed on the feeding conveying roller shafts 22, a gap is formed between every two adjacent feeding conveying roller shafts 22, the moving assembly can be inserted into the gap, the moving end of the moving assembly corresponds to the steel pipe 200, and then the steel pipe 200 can be controlled to move along the central axis through the feeding conveying roller shafts 22 to change the positions of the steel pipe 200 and the moving assembly, and specific working principles refer to the following description.

The rust removing assembly 3 includes a U-shaped rust removing structure 31 and a rust removing conveying roller shaft 32.

The U-shaped rust removing structure 31 is provided with a horizontally arranged rust removing bottom plate and two vertically arranged rust removing side plates, and the steel pipe 200 is placed in the U-shaped rust removing structure 31 and is arranged in parallel with the rust removing side plates;

the plurality of rust removing conveying roller shafts 32 are positioned on the same horizontal plane, and two ends of the feeding conveying roller shaft 22 are respectively and vertically and rotatably connected with the two rust removing side plates;

wherein, vision laser subassembly and rust cleaning laser subassembly 4 all set up on the rust cleaning curb plate.

And the rust removal of the steel pipe 200 is realized through the visual laser assembly and the rust removal laser assembly 4.

The moving assembly comprises a first moving assembly 5 and a second moving assembly 6 which are respectively arranged at two ends of the steel pipe 200, and the two ends of the steel pipe 200 are fixed through the first moving assembly 5 and the second moving assembly 6, so that the steel pipe 200 can be moved between the feeding assembly 2 and the derusting assembly 3.

The first moving assembly 5/the second moving assembly 6 have the same structure and comprise a first vertical rod 601, a second vertical rod, a cross rod 602, a telescopic arm and a clamping mechanism.

First vertical bar 601, second vertical bar and horizontal bar 602 constitute an n-type structure.

The first vertical rod 601 and the second vertical rod are movably connected with the base 1 through a first linear motion assembly respectively, the feeding assembly 2 and the rust removing assembly 3 are arranged between the first vertical rod 601 and the second vertical rod, and the motion direction of the first linear motion assembly is parallel to the central axis of the steel pipe 200; the first moving member 5 and the second moving member 6 can be moved along the central axis of the steel pipe 200 by the first linear motion member.

Two ends of the cross rod 602 are respectively and fixedly connected with the first vertical rod 601 and the second vertical rod, and the cross rod 602 is perpendicular to the central axis of the steel pipe 200;

the telescopic arm is vertically arranged, the upper end of the telescopic arm is movably connected with the cross rod 602 through a second linear motion assembly, and the motion direction of the second linear motion assembly is parallel to the central axis of the cross rod 602; the position of the telescopic arm relative to the steel pipe 200 can be adjusted by extending and shortening the telescopic arm.

The clamping mechanism is fixedly connected with the lower end of the telescopic arm and used for fixing the steel pipe 200.

The clamping mechanism comprises a clamping ring 603, a rotary drive assembly, and a telescopic clamping jaw 605.

The clamping ring 603 is rotatably connected with the telescopic arm, and the central axis of the clamping ring 603 is superposed with the central axis of the steel pipe 200 positioned in the clamping ring 603; the telescopic clamping jaw 605 is fixedly connected with the inner annular surface of the clamping ring 603, and applies an acting force towards the central axis of the steel pipe 200 to the steel pipe 200 in the clamping ring 603, and the rotation driving assembly is fixedly connected with the telescopic arm and used for driving the clamping ring 603 to rotate around the central axis thereof.

The rotation of the clamping ring 603 can be realized by rotating the driving assembly, because the telescopic clamping jaws 605 clamp the steel pipe 200, the rotation of the steel pipe 200 can be realized by rotating the clamping ring 603, and the laser rust removal on the surface of the steel pipe 200 can be realized by matching and fixing different rust removal laser assemblies 4.

The first linear motion assembly is one or more of a linear motor, a ball screw structure and a telescopic cylinder; the second linear motion assembly is one or more of a linear motor, a ball screw structure and a telescopic cylinder; the rotation driving component is a servo motor or an annular motor.

EXAMPLE five

The present embodiment provides a specific working method of the fourth embodiment.

The method comprises the steps of placing a steel pipe 200 to be derusted in a U-shaped feeding structure 21 of a feeding assembly 2, moving a first moving assembly 5 to a first end of the steel pipe 200 through the first linear moving assembly, moving a clamping mechanism downwards through a telescopic arm, inserting the clamping mechanism into a gap between two feeding conveying roller shafts 22, adjusting a second linear moving assembly and the telescopic arm to align a clamping ring 603 of the first moving assembly 5 with the first end of the steel pipe 200, controlling the feeding conveying roller shafts 22 to rotate, moving the steel pipe 200 in the direction of second end → first end, inserting the first end of the steel pipe 200 into the clamping ring 603 of the first moving assembly 5, and continuously moving one end for a distance.

Then, the second moving assembly 6 is moved to the second end of the steel pipe 200 through the first linear moving assembly, the clamping mechanism is moved downwards through the telescopic arm and is inserted into the gap between the two feeding conveying roller shafts 22, the second linear moving assembly and the telescopic arm are adjusted to align the clamping ring 603 of the second moving assembly 6 with the second end of the steel pipe 200, then the feeding conveying roller shafts 22 are controlled to rotate reversely, the steel pipe 200 is moved in the direction of the first end → the second end, and the second end of the steel pipe 200 is inserted into the clamping ring 603 of the second moving assembly 6.

And then controlling the telescopic clamping jaws 605 of the first moving assembly 5 and the telescopic clamping jaws 605 of the second moving assembly 6 to clamp and fix the first end and the second end of the steel pipe 200.

Then, the whole steel pipe 200 is moved from the U-shaped feeding structure 21 to the U-shaped derusting structure 31 by shortening the two telescopic arms.

The derusting laser assembly 4 and the visual laser assembly are aligned with the outer side surface of the steel pipe 200, and the derusting operation in the first, second and third embodiments is performed.

When the area to be derusted needs to be changed, the position relation of the surface of the steel pipe 200 relative to the derusting laser assembly 4 is changed through the matching of the first linear moving assembly and the rotating assembly.

In addition, the connecting position of the steel pipe 200 and the clamping mechanism also needs to be derusted, and when the derusting operation of the part is carried out, the clamping position of the clamping mechanism and the steel pipe 200 can be adjusted through the same steps as the clamping, so that the omission of the derusting position is avoided.

EXAMPLE six

In this embodiment, there is additionally provided a stock assembly 8 which is provided in parallel with the feeding assembly 2 and the rust removing assembly 3 and is used for placing the steel pipe 200 which has been subjected to the rust removing operation.

In the description of the present specification, reference to the description of "one embodiment/mode", "some embodiments/modes", "example", "specific example", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

It will be appreciated by those skilled in the art that the above embodiments are only for clarity of illustration of the invention, and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.

Claims

1. A laser rust removal method is characterized by comprising the following steps:

2. The laser rust removing method as claimed in claim 1, wherein the method of determining the first area to be rust removed and predicting the second area to be rust removed by visual laser comprises the following steps:

determining an extreme point of the sum of the gray values, acquiring an abscissa and an ordinate of the laser stripe image at the corresponding position, determining a first region of interest by taking the abscissa and the ordinate as center points, and setting the first region of interest as a first region to be derusted;

3. The laser rust removing method as claimed in claim 2, wherein the method of predicting the third area to be rust removed comprises:

4. A laser rust removing method according to claim 2 or 3, wherein the reference feature point obtaining method includes:

calculating the motion vector of the feature point at the adjacent moment by an LK optical flow method, wherein an optical flow equation is as follows: i is_xu+I_yv+I_t0, wherein, I_x、I_y、I_tDifferentiating the characteristic point gray value of the laser stripe image I at the time t into derivatives in x, y and t directions, wherein x and y are respectively in the abscissa direction and the ordinate direction, and u and v are respectively the optical flow rates in the x direction and the y direction;

determining an optical flow equation error function:

wherein the optical flow in the spatial range w is a constant value;

Tracing back the feature point x_t+kAnd obtaining a verification track by the time t:

forward-backward error is obtained using the european formula:

5. The laser rust removing method as claimed in claim 1, wherein the laser rust removing method comprises:

establishing a laser rust removal equation:

wherein h is the thickness of the rust layer, s is the rust removing time, and A is the excitation of the steel material to be rust removedReflection coefficient of light, I₀The energy density of laser, beta is the absorption coefficient of steel to be derusted to the laser energy, theta (h, s) is the initial surface temperature change value, and tau is the laser pulse width;

solving the rust removal equation by a finite difference method to obtain different h, s and I₀Q and tau, and controlling the derusting laser to emit pulse laser in the area to be derusted.

6. A laser rust removing apparatus for carrying out a laser rust removing method as recited in any one of claims 1 to 5, the apparatus comprising:

a base (1);

the rust removing device comprises a feeding assembly (2) and a rust removing assembly (3) which are arranged in parallel, wherein the feeding assembly (2) and the rust removing assembly (3) are both fixedly arranged on a base (1), and a steel pipe (200) to be subjected to rust removal is arranged in the feeding assembly (2);

the moving assembly is arranged between the feeding assembly (2) and the derusting assembly (3) and is used for moving a steel pipe (200) to be derusted in the feeding assembly (2) into the derusting assembly (3);

a vision laser assembly that emits vision laser;

the visual laser assembly and the derusting laser assembly (4) are correspondingly arranged in the derusting assembly (3).

7. A laser descaling device according to claim 6, wherein the feeding assembly (2) comprises:

the U-shaped feeding structure (21) is provided with a horizontally arranged feeding bottom plate and two vertically arranged feeding side plates, and the steel pipe (200) is placed in the U-shaped feeding structure (21) and is parallel to the feeding side plates;

the feeding conveying roll shafts (22) are positioned on the same horizontal plane, and two ends of each feeding conveying roll shaft (22) are respectively and vertically and rotatably connected with the two feeding side plates;

the rust removing assembly (3) comprises:

the U-shaped rust removing structure (31) is provided with a horizontally arranged rust removing bottom plate and two vertically arranged rust removing side plates, and the steel pipe (200) is placed in the U-shaped rust removing structure (31) and is arranged in parallel with the rust removing side plates;

the rust removing conveying roll shafts (32) are positioned on the same horizontal plane, and two ends of the feeding conveying roll shaft (22) are respectively vertically and rotatably connected with the two rust removing side plates;

wherein, the vision laser assembly and the derusting laser assembly (4) are both arranged on the derusting side plate.

8. The laser rust removing device according to claim 7, characterized in that the moving assembly comprises a first moving assembly (5) and a second moving assembly (6) respectively provided at both ends of the steel pipe (200);

the first moving assembly (5)/second moving assembly (6) comprising:

the steel pipe rust removing device comprises a first vertical rod (601) and a second vertical rod, wherein the first vertical rod (601) and the second vertical rod are movably connected with the base (1) through a first linear motion assembly respectively, the feeding assembly (2) and the rust removing assembly (3) are arranged between the first vertical rod (601) and the second vertical rod, and the motion direction of the first linear motion assembly is parallel to the central axis of the steel pipe (200);

the two ends of the cross rod (602) are respectively and fixedly connected with the first vertical rod (601) and the second vertical rod, and the cross rod (602) is perpendicular to the central axis of the steel pipe (200);

the telescopic arm is vertically arranged, the upper end of the telescopic arm is movably connected with the cross rod (602) through a second linear motion assembly, and the motion direction of the second linear motion assembly is parallel to the central axis of the cross rod (602);

9. The laser rust removing device according to claim 8, wherein the clamping mechanism includes:

the clamping ring (603) is rotatably connected with the telescopic arm, and the central axis of the clamping ring (603) is superposed with the central axis of the steel pipe (200) positioned in the clamping ring (603);

the rotary driving assembly is fixedly connected with the telescopic arm and is used for driving the clamping ring (603) to rotate around the central axis of the clamping ring;

and the telescopic clamping jaw (605) is fixedly connected with the inner annular surface of the clamping ring (603), and applies acting force towards the central axis of the steel pipe (200) to the steel pipe (200) positioned in the clamping ring (603).

10. The laser rust removing device according to claim 9, wherein the first linear motion assembly is one or more of a linear motor, a ball screw structure and a telescopic cylinder;

the rotation driving component is a servo motor or an annular motor.