CN115090619B - Laser cleaning head with steerable light beam, workpiece inner wall cleaning device and cleaning method thereof - Google Patents
Laser cleaning head with steerable light beam, workpiece inner wall cleaning device and cleaning method thereof Download PDFInfo
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- CN115090619B CN115090619B CN202210873227.1A CN202210873227A CN115090619B CN 115090619 B CN115090619 B CN 115090619B CN 202210873227 A CN202210873227 A CN 202210873227A CN 115090619 B CN115090619 B CN 115090619B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of laser micromachining, and in particular relates to a laser cleaning head with a steerable light beam, a workpiece inner wall cleaning device and a cleaning method thereof, wherein the laser cleaning head with the steerable light beam comprises: an optical fiber, a laser cleaning head, and a beam steering mechanism; wherein: the pulse laser is conducted into the laser cleaning head through the optical fiber, is shaped through the focusing mechanism in the laser cleaning head and finally is emitted through the focusing light beam, and the light beam steering mechanism is positioned in the laser cleaning head and used for controlling the focusing light beam to perform rotary motion by taking the rotation center in the laser cleaning head as an axis so as to change the emitting direction of the focusing light beam. The laser cleaning head with the steerable light beam can change the outgoing direction of the laser through the integral rotation of the internal structure, and can clean the optical fiber in the vertical direction and the parallel direction when the position of the optical fiber of the laser cleaning head is unchanged, so that the laser cleaning head can adapt to different application scenes.
Description
Technical Field
The invention belongs to the technical field of laser micromachining, and particularly relates to a laser cleaning head with a steerable light beam, a workpiece inner wall cleaning device and a cleaning method thereof.
Background
The laser cleaning is a recently developed cleaning mode, generally adopts a pulse laser to generate pulse laser, then uses an optical fiber to conduct the pulse laser to a laser cleaning executing device, generally is called a laser cleaning head or a laser scanning gun, at present, the general laser cleaning head adopts a system consisting of a collimating mirror, a vibrating mirror and a focusing mirror, laser is emitted to the collimating mirror by the optical fiber, the collimated light beam irradiates on the vibrating mirror lens, the laser beam swings through the reciprocating vibration of the lens, then the plane field lens is converged into a cleaning line, a cleaning workpiece is placed on the cleaning line, and the cleaning workpiece is moved to sweep the cleaning surface, so that the cleaning can be completed.
After the structural design of a general laser cleaning head is finished, the emitting direction of laser is determined, when different planes are different, the irradiation tool is required to be in integral torsion direction to be aligned to the cleaning plane, and as the laser cleaning head is provided with an optical fiber and a wire harness, the bending radius of the laser cleaning head is larger, and interference problem is easy to occur during operation in a narrow space. Especially when washing bottle work piece inner wall, general laser cleaning head can't realize the washing of lateral wall and bottom surface simultaneously.
Disclosure of Invention
The invention provides a laser cleaning head with a steerable light beam, a workpiece inner wall cleaning device and a cleaning method thereof, which aim to solve the problems in the prior art, change the laser emergent direction through the integral rotation of an internal structure, and clean the laser cleaning head in a vertical direction and a parallel direction when the optical fiber position of the laser cleaning head is unchanged, so that the laser cleaning head can adapt to different application scenes. Meanwhile, when the bottle body is cleaned, the cleaning tool is matched to quickly clean the side wall, the inclined plane and the bottom surface of the bottle body, so that the cleaning tool has a certain practical significance.
The technical scheme adopted by the invention for solving the problem is as follows:
a beam steerable laser cleaning head comprising:
an optical fiber, a laser cleaning head, and a beam steering mechanism;
wherein: the pulse laser is conducted into the laser cleaning head through the optical fiber, is shaped through the focusing mechanism in the laser cleaning head and finally is emitted through the focusing light beam, and the light beam steering mechanism is positioned in the laser cleaning head and used for controlling the focusing light beam to perform rotary motion by taking the rotation center in the laser cleaning head as an axis so as to change the emitting direction of the focusing light beam.
Preferably, the laser cleaning head includes:
a fixed housing having a hollow cylindrical housing structure with one side opened;
the movable shell is rotatably assembled at the open end of the fixed shell and forms a complete laser cleaning head shell with the fixed shell;
the collimating lens shell is fixedly assembled on the side wall of the fixed shell and is communicated with the inside of the fixed shell, the central axis of the collimating lens shell is coincident with the radial direction of the fixed shell, a collimating lens component is arranged in the collimating lens shell, and the collimating lens component is positioned on the optical axis in the direction of the optical fiber outlet;
the laser in the optical fiber connected with the external laser passes through the collimating lens component, is shaped through the focusing mechanisms in the fixed shell and the movable shell, and finally exits through the focused light beam.
Further preferably, the focusing mechanism includes:
a mirror assembly, at least two in number, which is fitted to the stationary housing and/or the movable housing;
the vibrating mirror assembly comprises a vibrating mirror lens and a vibrating mirror motor, wherein the vibrating mirror lens is assembled on the vibrating mirror motor and rotates along with the movable shell;
a focusing lens assembled on the movable housing to perform a rotary motion along with the movable housing;
the collimated light beam is emitted by the collimating mirror assembly, sequentially reflected by the reflecting mirror assemblies, and enters the focusing mirror after reaching the galvanometer lens, and the focusing mirror focuses the laser to obtain a focused light beam, and finally forms a scanning track of a focus.
Further preferably, the mirror assembly includes:
a first mirror assembly mounted to the stationary housing;
a second mirror assembly mounted on the movable housing for rotational movement therewith;
the collimated light beam is emitted by the collimating mirror assembly, sequentially reflected by the first reflecting mirror assembly and the second reflecting mirror assembly, and then enters the focusing mirror after reaching the vibrating mirror lens, and the focusing mirror focuses the laser to obtain a focused light beam, and finally forms a scanning track of a focus. The collimating light beam is emitted by the collimating mirror assembly, reflected by the first reflecting mirror assembly, incident on the second reflecting mirror assembly, reflected by the second reflecting mirror assembly, and reaches the vibrating mirror lens, the vibrating mirror lens swings and scans, the emitting direction of the collimating light beam is slightly changed, the collimating light beam is incident on the focusing mirror, the focusing mirror focuses the laser to obtain a focusing light beam, and finally a scanning track of a focus is formed.
Further preferably, the collimated light beam is columnar, the first reflecting mirror assembly and the second reflecting mirror assembly are respectively positioned in front of and behind the center hole of the driven gear, the light-emitting axis of the collimating mirror assembly and the first reflecting mirror assembly form an included angle of 45 degrees, the central axis of the hollow structure of the driven gear is aligned with the first reflecting mirror assembly and forms an included angle of 90 degrees with the light-emitting axis of the collimating mirror assembly, and the hollow structure of the driven gear is coaxial with the collimated light beam emitted from the inside of the fixed shell.
Further preferably, the center of the second reflecting mirror assembly is on the axis of the collimated light beam, the second reflecting mirror assembly is aligned with the central axis of the driven gear hollow structure and forms an included angle of 45 degrees with the central axis, the incident light and the reflected light of the second reflecting mirror assembly form an included angle of 90 degrees, the vibrating mirror lens center of the vibrating mirror assembly is aligned with the second reflecting mirror assembly and forms an included angle of 90 degrees with the central axis of the driven gear hollow structure, and the focusing mirror is aligned with the vibrating mirror lens center of the vibrating mirror assembly.
Further preferably, the fixed casing is fixedly provided with a fixed cover plate, and one side of the fixed cover plate facing the movable casing is also provided with at least two limiting sensors for limiting.
Further preferably, a first limit sensor and a second limit sensor are mounted on a side of the fixed cover plate facing the movable housing.
Further preferably, the beam steering mechanism includes:
the driven gear extends towards one side from the central hole to form a hollow structure, the driven gear is assembled on the fixed cover plate through a bearing, and the hollow structure is used as the rotation center of the movable shell to enable the movable shell to rotate along with the driven gear; the hollow structure is a rotating shaft
The driving assembly comprises a driving motor and a driving gear arranged on the shaft of the driving motor, wherein the driving motor is fixedly assembled inside the fixed shell, and the driving gear and the driven gear are meshed with each other.
Further preferably, the movable housing is clamped and connected with the part of the vibrating mirror motor protruding out of the fixed housing through the clamping structure, a gap is reserved between the vibrating mirror motor and the fixed housing and between the vibrating mirror motor and the fixed cover plate, and the vibrating mirror lens is arranged on the vibrating mirror motor.
Further preferably, the fixed cover plate is provided with a semi-annular slot hole for avoiding the air vibrating mirror motor and the vibrating mirror lens, so that the fixed cover plate cannot interfere the vibrating mirror assembly when the vibrating mirror assembly rotates.
The second invention of the present invention aims at: the device comprises a laser cleaning machine connected with the optical fiber inlet, a control assembly electrically connected with a driving motor inside the laser cleaning head, and a mechanical arm assembly used for clamping the laser cleaning head with the steerable light beam.
Preferably, the mechanical arm assembly includes:
the tail end of the extension rod is provided with an optical fiber and a cable protection shield, and the extension rod is clamped and installed on the mechanical arm through an extension rod clamping block;
the mechanical arm structure comprises a mechanical arm supporting beam and a mechanical arm base, wherein the mechanical arm supporting beam is supported by a mechanical arm supporting column, a reinforcing side supporting column is arranged on the side surface of the bottom of the mechanical arm supporting column, the mechanical arm supporting beam is used for hoisting a mechanical arm, and a winding drag chain plate is further arranged on the mechanical arm supporting beam;
the clamping structure comprises a double-layer clamping claw and a single-layer clamping claw which are oppositely arranged, the center of a bottle body to be cleaned is aligned with the center of the mechanical arm base, the double-layer clamping claw and the single-layer clamping claw clamp and are driven by a clamping electric cylinder, and the clamping electric cylinder is arranged on a clamping electric cylinder bracket.
The mechanical arm carries a laser cleaning head with a steerable light beam to move, on one hand, the mechanical arm rotates around the base in forward and reverse 360 degrees to clean the inner surface of the cylinder body, on the other hand, the orientation and the distance between the laser cleaning head with the steerable light beam and the inner surface of the cylinder body are adjusted through multi-joint posture transformation, so that a scanning track formed by a laser focus can always keep coincident with the inner surface of the cylinder body, and the laser cleaning effect is ensured.
Further preferably, the winding drag chain disc comprises a drag chain structure which is arranged in a surrounding mode, so that the optical fiber and the cable protection cover can not interfere with other objects when rotating 360 degrees along with the mechanical arm.
Further preferably, the workpiece is a bottle workpiece.
The third invention of the present invention aims to: the invention also provides a method for cleaning the inner wall of the workpiece by using the device for cleaning the inner wall of the workpiece, which comprises the following steps:
s101: when the side wall of the bottle body is cleaned, the mechanical arm clamps the laser cleaning head to enter the bottle body;
s102: the driving motor in the laser cleaning head drives the driving gear to rotate, the driven gear rotates along with the driving gear, and then the movable shell and other rotatable parts are driven to rotate, so that the emergent direction of the focused light beam is changed, and the angle perpendicular to the top surface, the inclined surface or the bottom surface of the side wall of the bottle body is reached;
s103: the external laser cleaning machine emits laser and is conducted by the optical fiber;
s104: the laser beam is emitted from the optical fiber outlet and collimated by the collimating mirror assembly to obtain a collimated beam;
s105: the collimated light beam is reflected by the first reflecting mirror component, passes through the driven gear hollow structure, is reflected by the second reflecting mirror component and reaches the vibrating mirror lens of the vibrating mirror component;
s106: the galvanometer motor drives the galvanometer lens to swing, and the collimated light beam is scanned to be in a fan shape;
s107: the collimated light beam is converged at a focusing point by a focusing mirror, and the scanning track of the focusing point, namely a laser cleaning line, is approximately a straight line which is perpendicular to the rotating direction of the mechanical arm due to the swing of the vibrating mirror assembly;
s108: the mechanical arm rotates forward and then rotates reversely, and a circular cleaning area is formed by the scanning track of the laser;
s109: the laser cleaning head moves to a position where the side wall of the bottle body is not cleaned, and the mechanical arm repeats the rotating action.
S1010: the annular cleaning area is overlapped on all inner surfaces in the bottle body through the rotation of the laser light emitting direction and the programming cooperation of the mechanical arm, so that the aim of cleaning the inner wall of the bottle body is fulfilled.
The invention has the advantages and positive effects that:
1. the invention can complete the cleaning work which cannot be completed by the existing laser cleaning head, the movable shell and other rotatable parts are driven to rotate by the driving motor, the laser beam between the first reflecting mirror and the second reflecting mirror is kept at the rotating axle center, the laser direction emitted by the second reflecting mirror is changed, and then the laser cleaning is realized by the beam shaping of the vibrating mirror component and the focusing mirror which synchronously rotate, so that the laser cleaning beam emitting direction can be changed under the condition that the positions of the optical fiber and the fixed shell are unchanged.
2. The invention realizes the change of the laser emergent direction through the integral rotation of the internal structure, and can clean the optical fiber in the vertical direction and in the parallel direction when the position of the optical fiber of the laser cleaning head is unchanged, so that the laser cleaning head can adapt to different application scenes.
3. The laser cleaning head provided by the invention is matched with the programming control of the mechanical arm, so that the comprehensive cleaning of the side wall, the inclined surface and the bottom surface of the bottle body can be realized.
4. When the laser cleaning head is used as an independent tool for laser cleaning, the laser cleaning head has the advantages that the outgoing direction of the laser cleaning beam is changeable, so that the convenience of the application of the cleaning head is improved, and the laser cleaning head can be independently applied to replace the existing laser cleaning head.
5. The invention can meet the special cleaning requirement of the inner wall of the bottle body, especially for the bottle body with smaller opening, can finish the cleaning work which cannot be realized in the prior art, is applicable to the condition of complex part surface structure, reduces the action amplitude of the laser cleaning head by changing the laser light emitting direction, reduces the interference phenomenon of the optical fiber cable and the cleaning part or environment, and has practical significance in industrial cleaning application.
Drawings
The technical solution of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for the purpose of illustration only and thus are not limiting the scope of the present invention. Moreover, unless specifically indicated otherwise, the drawings are intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.
FIG. 1 is a schematic diagram showing a structure of a laser cleaning head with a steerable beam in a downward light-emitting state in embodiment 1;
FIG. 2 is a schematic diagram showing the structure of a laser cleaning head with a steerable beam in the forward light-emitting state in embodiment 1;
FIG. 3 is a schematic view of the structure of FIG. 1 with the movable housing removed;
FIG. 4 is a schematic view of the structure of FIG. 2 with the movable housing removed;
FIG. 5 is an internal cross-sectional view of a beam-steerable laser cleaning head of example 1;
FIG. 6 is a schematic view of a mechanical arm carrying a laser cleaning head with a steerable beam in embodiment 2;
FIG. 7 is a schematic view of the reverse slope decontamination of the bottle in example 3;
FIG. 8 is a schematic view of decontamination of the sidewall of the bottle in example 3;
FIG. 9 is a schematic view of the decontamination of the bottle chamfer in example 3;
FIG. 10 is a schematic view of decontamination of the bottom surface of the bottle in example 3;
fig. 11 is a flowchart of the operation of example 3.
Wherein:
Detailed Description
First, it should be noted that the following detailed description of the specific structure, characteristics, advantages, and the like of the present invention will be given by way of example, however, all descriptions are merely illustrative, and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implied in the embodiments mentioned herein, or any single feature shown or implied in the figures, may nevertheless be continued in any combination or pruning between these features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity of the drawing, identical or similar features may be indicated at one point in the same drawing.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "screwed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances. The present invention will be described in detail with reference to the accompanying drawings.
Example 1:
a beam steerable laser cleaning head comprising: an optical fiber 1, a laser cleaning head and a beam steering mechanism; wherein: the pulse laser is conducted into the laser cleaning head by the optical fiber 1, is shaped by a focusing mechanism in the laser cleaning head and finally is emitted by a focusing light beam 4, and the light beam steering mechanism is positioned in the laser cleaning head and is used for controlling the focusing light beam 4 to perform rotary motion by taking the rotation center in the laser cleaning head as an axis so as to change the emitting direction of the focusing light beam 4.
In this embodiment, as shown in fig. 1-2, the laser cleaning head is used as an executing mechanism for laser cleaning, and is provided with an optical fiber 1 connected with an external laser, a collimating lens assembly 7 is arranged on an optical axis in an outlet direction of the optical fiber 1, the collimating lens assembly 7 is installed inside a collimating lens housing 2, the collimating lens housing 2 is installed on a fixed housing 3, a movable housing 6 is installed on the fixed housing 3 through internal parts, a focusing lens 8 is installed on the movable housing 6, a focusing light beam 4 is emitted and converged through the focusing lens 8, and a focus of the focusing light beam 4 forms a scanning track 5 after swinging. The collimating mirror housing 2 is communicated with the inside of the fixed housing 3, and laser in the optical fiber 1 passes through the collimating mirror assembly 7, is shaped through internal parts of the fixed housing 3 and the movable housing 6, and finally exits through the focusing light beam 4. In addition, the movable housing 6 is mounted on the fixed housing 3 through an internal part, the movable housing 6 and the internal part thereof can be controlled to rotate by taking the rotation center as an axis through a beam steering mechanism, and the focused beam 4 follows the movable housing 6 to rotate, so that the emergent direction is changed.
The invention can complete the cleaning work which cannot be completed by the existing laser cleaning head, the movable shell and other rotatable parts are driven to rotate by the driving motor, the laser beam between the first reflecting mirror and the second reflecting mirror is kept at the rotating axle center, the direction of the laser emitted by the second reflecting mirror is changed, and then the laser cleaning is realized by the beam shaping of the vibrating mirror component and the focusing mirror which synchronously rotate. Therefore, the outgoing direction of the laser cleaning beam can be changed under the condition that the positions of the optical fiber and the fixed shell are unchanged. The laser cleaning head can be matched with the programming control of the mechanical arm to realize the omnibearing cleaning of the side wall, the inclined plane and the bottom surface of the bottle body. The laser cleaning device can also be used as an independent tool for laser cleaning, and the laser cleaning beam can be emitted in a variable direction, so that the convenience of the application of the cleaning head is improved, and the laser cleaning device can replace the independent application of the existing laser cleaning head.
Still further, it is also contemplated in this embodiment that the laser cleaning head includes:
a fixed housing 3 which is a hollow cylindrical housing structure with one side open;
a movable housing 6 rotatably fitted to the open end of the fixed housing 3 and constituting a complete laser cleaning head housing with the fixed housing 3;
the collimating mirror housing 2 is fixedly assembled on the side wall of the fixed housing 3 and is communicated with the inside of the fixed housing 3, the central axis of the collimating mirror housing 2 is coincident with the radial direction of the fixed housing 3, the collimating mirror housing 2 is internally provided with a collimating mirror assembly 7, the collimating mirror assembly 7 is positioned on the optical axis of the outlet direction of the optical fiber 1, the collimating mirror assembly arranged at the outlet of the optical fiber is arranged in the collimating mirror housing and is aligned with a first reflecting mirror arranged in the fixed housing, and the optical outlet axis of the collimating mirror assembly forms an included angle of 45 degrees with the first reflecting mirror;
the laser in the optical fiber 1 connected with the external laser passes through the collimating lens assembly 7, is shaped by a focusing mechanism inside the fixed shell 3 and the movable shell 6, and finally exits through the focusing beam 4.
In this embodiment, as shown in fig. 1-2, the laser cleaning head includes a fixed housing 3, a collimator lens housing 2 mounted on the fixed housing 3, a collimator lens assembly 7 provided inside the collimator lens housing 2, an optical fiber connected to the collimator lens assembly 7, a first reflecting mirror provided inside the fixed housing 3, a driving motor mounted on the fixed housing 3, a driving gear provided on the driving motor, a fixed cover plate 13 mounted on the fixed housing 3, a limit sensor provided on the fixed cover plate 13, a bearing group provided on the fixed cover plate 13, a driven gear 9 fixed on the bearing group, a movable housing 6 mounted on the driven gear 9, a galvanometer assembly mounted on the movable housing 6, a second reflecting mirror mounted on the movable housing 6, and a focusing lens 8 provided on the movable housing 6.
Still further, it is also contemplated in this embodiment that the focusing mechanism includes:
a mirror assembly, at least two in number, which is fitted on the fixed housing 3 and/or the movable housing 6;
the galvanometer assembly comprises a galvanometer lens 10 and a galvanometer motor 17, wherein the galvanometer lens 10 is assembled on the galvanometer motor 17 to rotate along with the movable shell 6;
a focusing mirror 8 mounted on the movable housing 6 to follow the movable housing 6 for rotational movement;
the collimated light beam 11 is emitted from the collimating mirror assembly 7, sequentially reflected by each reflecting mirror assembly, reaches the galvanometer mirror 10 and then is incident on the focusing mirror 8, and the focusing mirror 8 focuses the laser to obtain the focusing light beam 4, and finally forms the scanning track 5 of the focus.
Still further, it is also contemplated in this embodiment that the mirror assembly includes:
a first mirror assembly 16 mounted to the stationary housing 3;
a second mirror assembly 12 mounted on the movable housing 6 for rotational movement with the movable housing 6;
the collimated light beam 11 is emitted from the collimating mirror assembly 7, sequentially reflected by the first reflecting mirror assembly 16 and the second reflecting mirror assembly 12, reaches the galvanometer lens 10, and then is incident on the focusing mirror 8, and the focusing mirror 8 focuses the laser to obtain the focused light beam 4, and finally forms the scanning track 5 of the focus. That is, the collimated light beam 11 is emitted from the collimator lens assembly 7, reflected by the first mirror assembly 16, incident on the second mirror assembly 12, reflected by the second mirror assembly 12, and reaches the galvanometer lens 10, the galvanometer lens 10 oscillates and scans, the emitting direction of the collimated light beam 11 is slightly changed, and the collimated light beam is incident on the focusing lens 8, the focusing lens 8 focuses the laser beam to obtain the focused light beam 4, and finally forms the scanning track 5 of the focus.
Furthermore, it is also contemplated in this embodiment that the collimated light beam 11 is in a column shape, and the light exit axis of the collimating mirror assembly 7 forms an angle of 45 ° with the first reflecting mirror.
Still further, it is also contemplated in this embodiment that the first mirror assembly 16 and the second mirror assembly 12 are respectively located in front of and behind the center hole of the driven gear 9, the hollow structure of the driven gear 9 is coaxial with the collimated light beam 11 exiting from the inside of the fixed housing 3, and the central axis of the hollow structure of the driven gear is aligned with the first mirror assembly 16 and forms an angle of 90 ° with the light exit axis of the collimating mirror assembly 7.
Still further, it is contemplated in this embodiment that the second mirror assembly 12 is aligned with the central axis of the hollow structure of the driven gear and forms an angle of 45 ° with the central axis, and the center of the second mirror assembly 12 is on the axis of the collimated light beam 11.
Still further, it is contemplated that the incident light and reflected light from the second mirror assembly 12 may be at a 90 ° angle in this embodiment.
Furthermore, it is also contemplated in this embodiment that the center of the galvanometer lens 10 of the galvanometer assembly is aligned with the second reflecting mirror and forms an angle of 90 ° with the central axis of the hollow structure of the driven gear, and the focusing mirror is aligned with the center of the galvanometer lens of the galvanometer assembly.
As shown in fig. 3-5, the second reflecting mirror assembly 12, the vibrating mirror lens 10 and the focusing mirror 8 rotate along with the movable housing 6, the rotation axis of the system is coaxial with the collimated light beam 11 emitted from the inside of the fixed housing 3, and the center of the second reflecting mirror assembly 12 is kept at the axis of the collimated light beam 11, so that the direction of the laser reflected by the second reflecting mirror assembly 12 can be changed.
Furthermore, it may be considered that in this embodiment, the fixed cover plate 13 is fixedly mounted on the fixed housing 3, as shown in fig. 3 and 4, a laser cleaning head with a steerable beam is connected to an external laser, after the movable housing 6 is removed, an internal structure is presented, the fixed cover plate 13 is mounted in the fixed housing 3, the collimated beam 11 emitted from the inside of the fixed housing 3 is reflected by the second mirror assembly 12 mounted on the movable housing 6, reaches the galvanometer lens 10, and the galvanometer lens 10 swings and scans, so as to slightly change the emitting direction of the collimated beam 11 and make the collimated beam incident on the focusing lens 8, and the focusing lens 8 focuses the laser to obtain the focused beam 4, and finally forms the scanning track 5 of the focus.
Furthermore, it is also conceivable in this embodiment that at least two limit sensors for limiting are further installed on the side of the fixed cover 13 facing the movable housing 6. Taking this embodiment as an example, as shown in fig. 3-4, the fixed cover 13 is provided with a first limit sensor 14 and a second limit sensor 15, and the first limit sensor 14 and the second limit sensor 15 obtain limit signals by detecting limit holes or mark color points on the inner surface of the movable housing 6.
Still further, it is also contemplated in this embodiment that the beam steering mechanism includes:
the driven gear 9 is of a hollow structure, a central hole of the driven gear extends towards one side to form a hollow structure, the driven gear 9 is assembled on the fixed cover plate 13 through a bearing 18, the hollow structure is a rotating shaft of the system, namely, the hollow structure is used as a rotating center of the movable shell 6 to enable the movable shell 6 to follow the driven gear 9 to perform rotating motion, and the central axis of the hollow structure of the driven gear is aligned with the first reflecting mirror and forms an included angle of 90 degrees with an outgoing optical axis of the collimating mirror assembly;
a drive assembly comprising a drive motor 20 and a drive gear 19 mounted on its shaft, said drive motor 20 being fixedly mounted inside the stationary housing 3, said drive gear 19 and driven gear 9 being intermeshed.
As shown in fig. 5, after the laser cleaning head removes part of the fixed housing 3 and the fixed cover plate 13, the internal structure of the fixed housing 3 is presented, the collimated light beam 11 is emitted by the collimating mirror assembly 7, reflected by the first reflecting mirror assembly 16, passes through the central hole of the driven gear 9, and enters the second reflecting mirror assembly 12, the driven gear 9 is mounted on the fixed cover plate 13 through the bearing 18, the driving motor 20 is further mounted inside the fixed housing 3, the driving gear 19 mounted on the shaft thereof is meshed with the driven gear 9, and the movable housing 6 is mounted on the driven gear 9 and follows the driven gear 9 to perform rotary motion.
It should be noted that: the movable shell is arranged on the driven gear and rotates together with the driven gear, the vibrating mirror assembly, the second reflecting mirror and the focusing mirror are arranged on the movable shell and rotate together with the movable shell, and the rotation angle can reach 270 DEG at maximum
Furthermore, it is also conceivable in this embodiment that the movable housing 6 is clamped to the portion of the vibrating mirror motor 17 protruding from the fixed housing 3 by the clamping structure, a gap is left between the vibrating mirror motor 17 and the fixed housing 3 and between the vibrating mirror motor and the fixed cover 13, and the vibrating mirror lens 10 is mounted on the vibrating mirror motor 17. As shown in fig. 3-4, the movable housing 6 is connected with a part of the vibrating mirror motor 17 protruding out of the fixed housing 3 in a clamping manner, a gap is reserved between the vibrating mirror motor 17 and the fixed housing 3 and between the vibrating mirror motor and the fixed cover plate 13, and the vibrating mirror lens 10 is installed on a motor shaft of the vibrating mirror motor.
Furthermore, in this embodiment, it may be considered that the fixing cover plate is provided with a semi-annular long hole for avoiding air and enabling the vibrating mirror assembly to rotate without interference, and the semi-annular long hole is arranged so that the fixing cover plate does not interfere with the vibrating mirror assembly when the vibrating mirror assembly rotates.
Example 2:
the workpiece inner wall cleaning device with the laser cleaning head capable of turning the light beam in the embodiment 1 comprises a laser cleaning machine connected to the optical fiber inlet, a control assembly electrically connected with a driving motor inside the laser cleaning head, and a mechanical arm assembly for clamping the laser cleaning head capable of turning the light beam.
Still further, it is also contemplated in this embodiment that the mechanical arm assembly includes:
the tail end of the extension bar 22 is provided with an optical fiber and cable protection cover 24, and the extension bar 22 is clamped and arranged on a mechanical arm 25 through an extension bar clamping block 23;
the mechanical arm structure comprises a mechanical arm supporting beam 27 and a mechanical arm base, wherein the mechanical arm supporting beam 27 is supported by a mechanical arm supporting column 28, a reinforcing side supporting column 29 is arranged on the side surface of the bottom of the mechanical arm supporting column 28, the mechanical arm supporting beam 27 is used for hoisting a mechanical arm 25, and a winding drag chain plate 26 is further arranged on the mechanical arm supporting beam 27;
and the clamping structure comprises a double-layer clamping claw 32 and a single-layer clamping claw 33 which are oppositely arranged, and the workpiece to be cleaned is clamped by the double-layer clamping claw 32 and the single-layer clamping claw 33 so as to be aligned with the center of the mechanical arm base.
Further, it is also contemplated in this embodiment that the workpiece is a bottle workpiece 21.
In this embodiment, as shown in fig. 6, a laser cleaning head with a steerable beam and an auxiliary device for cleaning the inner wall of a bottle body are provided, the laser cleaning head is mounted on an extension bar 22, an optical fiber and a cable protection cover 24 are mounted at the tail end of the extension bar 22, the extension bar 22 is clamped by an extension bar clamping block 23, the extension bar is mounted on a mechanical arm 25, the mechanical arm 25 is hoisted on a mechanical arm support beam 27, a winding drag chain plate 26 is further mounted on the mechanical arm support beam 27, the mechanical arm support beam 27 is supported by a mechanical arm support column 28, a reinforcing side support column 29 is arranged on the side surface of the bottom of the mechanical arm support column 28, the center of the bottle body 21 to be cleaned is aligned with the center of a mechanical arm base, the double-layer clamping claw 32 and the single-layer clamping claw 33 are clamped, the double-layer clamping claw 32 and the single-layer clamping claw 33 are driven by a clamping electric cylinder 30, the clamping electric cylinder 30 is mounted on a clamping electric cylinder support 31, and the clamping electric cylinder support 31 is mounted on the mechanical arm base.
The mechanical arm 25 carries the laser cleaning head in the embodiment 1 to move, on one hand, the mechanical arm rotates around the base in forward and reverse 360 degrees to clean the rotary inner surface of the bottle body, and on the other hand, the orientation and the distance between the laser cleaning head and the rotary inner surface of the bottle body are adjusted through multi-joint posture transformation, so that the scanning track 5 formed by the laser focus can always keep coincident with the rotary inner surface of the cylinder body, and the laser cleaning effect is ensured.
In addition, as shown in fig. 6, the double-layer clamping claws 32 and the single-layer clamping claws 33 are relatively distributed and can be staggered, so that the cleaning device is suitable for clamping and fixing workpieces with various diameter specifications, and the practicability of the cleaning device is provided.
It should be noted that: the winding drag chain disk 26 internally comprises a drag chain structure which is arranged in a surrounding mode, and the optical fiber and cable protection cover 24 can be prevented from interfering with other objects when rotating 360 degrees along with the mechanical arm 25. The specific structure, working principle and circuit structure of the laser cleaning machine, the mechanical arm 25, the winding drag chain plate 26 and the internal structure thereof related in the technical scheme are all the prior art, so the detailed description is not given.
Example 3:
a workpiece inner wall cleaning method using the workpiece inner wall cleaning apparatus in the above-described embodiment 2, the workpiece being exemplified by a bottle workpiece, the workpiece inner wall cleaning method comprising the steps of:
1. when the side wall of the bottle body is cleaned, the mechanical arm 25 clamps the laser cleaning head to enter the bottle body;
2. the driving motor 20 in the laser cleaning head drives the driving gear 19 to rotate, the driven gear 9 rotates along with the driving gear, and then the movable shell 6 and other rotatable components (a vibrating mirror assembly, a second reflecting mirror, a focusing mirror and the like) are driven to rotate, so that the emergent direction of the focused light beam 4 is changed, and the angle perpendicular to the top surface, the inclined surface or the bottom surface of the side wall of the bottle body is reached;
3. the external laser cleaning machine emits laser and is conducted by the optical fiber;
4. the laser beam is emitted from the optical fiber outlet and collimated by the collimating mirror assembly 7 to obtain a collimated beam;
5. the collimated light beam is reflected by the first reflecting mirror assembly 16, passes through the hollow structure of the driven gear 9, is reflected by the second reflecting mirror assembly 12, and reaches the vibrating mirror lens 10 of the vibrating mirror assembly;
6. the galvanometer motor 17 drives the galvanometer lens 10 to swing, and the collimated light beam is scanned to be in a fan shape;
7. the collimated light beam is converged at a focusing point by the focusing mirror 8, and the scanning track of the focusing point, namely a laser cleaning line, is approximately a straight line which is perpendicular to the rotation direction of the mechanical arm 25 due to the swing of the vibrating mirror assembly;
8. the mechanical arm 25 rotates forward for 360 degrees and then rotates backward for 360 degrees, and the scanning track of the laser forms an annular cleaning area;
9. the laser cleaning head is moved to a position where the side wall of the bottle body is not cleaned, and the mechanical arm 25 repeats the rotating action.
10. The annular cleaning area is overlapped on all inner surfaces in the bottle body through the rotation of the laser light emitting direction and the programming cooperation of the mechanical arm 25, so that the aim of cleaning the inner wall of the bottle body is fulfilled.
In this embodiment, as shown in fig. 7-10, the method for cleaning the inner wall of the workpiece is used for cleaning the inner wall of the bottle body, and the mechanical arm 25 carries the laser cleaning head vertically into the bottle body 21. When the reverse inclined plane of the bottle body is cleaned (as shown in fig. 7), the laser emergent direction is adjusted to be inclined upwards; when the side wall of the bottle body is cleaned (as shown in fig. 8), the laser emergent direction is adjusted to the lateral direction; when the bottle inclined plane is cleaned (as shown in fig. 9), the laser emergent direction is adjusted to be inclined downwards; when the bottom surface of the bottle body is cleaned (as shown in fig. 10), the laser light emitting direction is adjusted downwards, and is vertical to the inner surface of the bottle body according to the inclined plane angle.
The laser cleaning machine outside emits laser and is conducted by an optical fiber, the laser is emitted from an optical fiber outlet, the laser is collimated by a collimating mirror assembly 7, a collimated beam 11 is reflected by a first reflecting mirror, passes through a driven gear hollow structure and is reflected by a second reflecting mirror, and reaches a vibrating mirror lens 10 of a vibrating mirror assembly, a vibrating mirror motor drives the vibrating mirror lens 10 to swing, the collimated beam is scanned to be in a fan shape, finally, the collimated beam is converged at a focusing point through a focusing mirror 8, and due to the swing of the vibrating mirror assembly, the scanning track of the focusing point, namely a laser cleaning line, is approximately straight, the approximately straight line is perpendicular to the rotating direction of a mechanical arm 25, at the moment, the mechanical arm rotates forward for 360 degrees and then rotates reversely for 360 degrees, the laser scanning track forms an annular cleaning area to cover a part of a reverse inclined plane of the bottle body, then the posture of the mechanical arm is replaced, the laser cleaning head is moved to the uncleaned area of the bottle body, and the mechanical arm repeatedly rotates, so that the cleaning of different planes of the inner wall of the bottle body are realized.
The invention can meet the special cleaning requirement of the inner wall of the bottle body, especially for the bottle body with smaller opening, can finish the cleaning work which cannot be realized in the prior art, is applicable to the condition of complex part surface structure, reduces the action amplitude of the laser cleaning head by changing the laser light emitting direction, reduces the interference phenomenon of the optical fiber cable and the cleaning part or environment, and has practical significance in industrial cleaning application.
The laser cleaning head with the steerable beam, the workpiece inner wall cleaning device and the cleaning method thereof can finish the cleaning work which cannot be finished by the traditional laser cleaning head, the movable shell and other rotatable parts are driven to rotate by the driving motor, the laser beam between the first reflecting mirror and the second reflecting mirror is kept at the rotating axle center, the laser direction emitted by the second reflecting mirror is changed, and then the laser cleaning is realized by the beam shaping of the vibrating mirror component and the focusing mirror which synchronously rotate. Therefore, the outgoing direction of the laser cleaning beam can be changed under the condition that the positions of the optical fiber and the fixed shell are unchanged. And then the comprehensive cleaning of the side wall, the inclined plane and the bottom surface of the bottle body is realized by matching with the programming control of the mechanical arm. In addition, when the laser cleaning head with the steerable light beam is used as an independent tool for laser cleaning, the laser cleaning head has the advantages that the outgoing direction of the laser cleaning light beam is changeable, so that the application convenience of the cleaning head is improved, and the laser cleaning head can be independently applied instead of the existing laser cleaning head.
The foregoing examples illustrate the invention in detail, but are merely preferred embodiments of the invention and are not to be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (12)
1. A laser cleaning head with a steerable beam, characterized by: comprising the following steps:
an optical fiber (1), a laser cleaning head and a beam steering mechanism;
wherein: the pulse laser is conducted into the laser cleaning head by the optical fiber (1), is shaped by a focusing mechanism in the laser cleaning head and finally is emitted by a focusing light beam (4), and the light beam steering mechanism is positioned in the laser cleaning head and is used for controlling the focusing light beam (4) to perform rotary motion by taking the rotation center as an axis so as to change the emitting direction of the focusing light beam (4);
the laser cleaning head includes:
a fixed housing (3) which is a hollow cylindrical housing structure with one side open;
a movable housing (6) rotatably mounted at the open end of the stationary housing (3) and forming a complete laser cleaning head housing with the stationary housing (3);
the collimating lens shell (2) is fixedly assembled on the side wall of the fixed shell (3) and is communicated with the inside of the fixed shell (3), a collimating lens assembly (7) is arranged in the collimating lens shell (2), and the collimating lens assembly (7) is positioned on the optical axis of the outlet direction of the optical fiber (1);
the focusing mechanism includes:
the number of the reflecting mirror assemblies is at least two, and the two reflecting mirror assemblies are respectively assembled on the fixed shell (3) and the movable shell (6);
the vibrating mirror assembly comprises a vibrating mirror lens (10) and a vibrating mirror motor (17), wherein the vibrating mirror lens (10) is assembled on the vibrating mirror motor (17) and rotates along with the movable shell (6);
a focusing mirror (8) mounted on the movable housing (6) to follow the movable housing (6) for rotational movement;
a fixed cover plate (13) is fixedly assembled on the fixed shell (3);
the light beam steering mechanism includes:
the driven gear (9) extends towards one side from the center hole to form a hollow structure, the driven gear (9) is assembled on the fixed cover plate (13) through a bearing (18), and the hollow structure is used as the rotation center of the movable shell (6) to enable the movable shell (6) to rotate along with the driven gear (9);
the driving assembly comprises a driving motor (20) and a driving gear (19) arranged on the shaft of the driving motor, the driving motor (20) is fixedly assembled inside the fixed shell (3), and the driving gear (19) and the driven gear (9) are meshed with each other;
the mirror assembly includes:
a first mirror assembly (16) mounted to the stationary housing (3);
a second mirror assembly (12) mounted on the movable housing (6) for rotational movement with the movable housing (6); the collimating light beam (11) is columnar, the outgoing optical axis of the collimating lens component (7) forms an included angle of 45 degrees with the first reflecting mirror component, and the central axis of the hollow structure of the driven gear (9) is aligned with the first reflecting mirror component (16) and forms an included angle of 90 degrees with the outgoing optical axis of the collimating lens component (7).
2. A beam-steerable laser cleaning head as defined in claim 1, wherein: the laser in the optical fiber (1) connected with the external laser passes through a collimating lens assembly (7), is shaped through focusing mechanisms inside a fixed shell (3) and a movable shell (6), and finally exits through a focusing beam (4).
3. A beam-steerable laser cleaning head as defined in claim 2, wherein: the collimated light beams (11) are emitted by the collimating mirror assemblies (7), reflected by the reflecting mirror assemblies in sequence, reach the vibrating mirror lenses (10) and then are incident on the focusing mirror (8), the focusing mirror (8) focuses laser to obtain focused light beams (4), and finally a scanning track (5) of a focus is formed.
4. A beam-steerable laser cleaning head as in claim 3 wherein: the collimated light beam (11) is emitted by the collimating mirror assembly (7), sequentially passes through the first reflecting mirror assembly (16) and the second reflecting mirror assembly (12) to be reflected, reaches the vibrating mirror lens (10) and then is incident on the focusing mirror (8), the focusing mirror (8) focuses laser to obtain the focused light beam (4), and finally forms a scanning track (5) of a focus.
5. A beam-steerable laser cleaning head as in claim 4, wherein: the second reflecting mirror assembly (12) is aligned with the central axis of the driven gear hollow structure and forms an included angle of 45 degrees with the central axis, incident light and reflected light of the second reflecting mirror assembly (12) form an included angle of 90 degrees, the center of the vibrating mirror lens (10) of the vibrating mirror assembly is aligned with the second reflecting mirror assembly (12), and the focusing mirror (8) is aligned with the center of the vibrating mirror lens (10) of the vibrating mirror assembly.
6. A beam-steerable laser cleaning head as in claim 3 wherein: and one side of the fixed cover plate (13) facing the movable shell (6) is also provided with at least two limiting sensors for limiting.
7. A beam-steerable laser cleaning head as in claim 6, wherein: the movable shell (6) is connected with the part of the vibrating mirror motor (17) protruding out of the fixed shell (3) through the clamping structure in a clamping mode, a gap is reserved between the vibrating mirror motor (17) and the fixed shell (3) and between the vibrating mirror motor and the fixed cover plate (13), and the vibrating mirror lens (10) is arranged on the vibrating mirror motor (17).
8. A beam-steerable laser cleaning head as in claim 7, wherein: the fixed cover plate is provided with a semi-annular long hole for avoiding the air vibrating mirror motor (17) and the vibrating mirror lens (10), so that the fixed cover plate cannot interfere the vibrating mirror assembly when the vibrating mirror assembly rotates.
9. A workpiece inner wall cleaning apparatus equipped with the beam-steerable laser cleaning head as claimed in any one of claims 3 to 8, characterized in that: the laser cleaning device comprises a laser cleaning machine connected to the optical fiber inlet, a control assembly electrically connected with a driving motor inside the laser cleaning head, and a mechanical arm assembly used for clamping the laser cleaning head.
10. The workpiece inner wall cleaning apparatus according to claim 9, wherein: the mechanical arm assembly includes:
the tail end of the extension rod (22) is provided with an optical fiber and a cable protection cover (24), and the extension rod (22) is clamped and arranged on the mechanical arm (25) through an extension rod clamping block (23);
the mechanical arm structure comprises a mechanical arm supporting beam (27) and a mechanical arm base, wherein the mechanical arm supporting beam (27) is supported by a mechanical arm supporting column (28), the mechanical arm supporting beam (27) is used for hoisting a mechanical arm (25), and a winding drag chain plate (26) is further arranged on the mechanical arm supporting beam (27);
the clamping structure comprises a double-layer clamping claw (32) and a single-layer clamping claw (33) which are oppositely arranged, and the center of a workpiece to be cleaned is aligned with the center of the mechanical arm base by clamping the double-layer clamping claw (32) and the single-layer clamping claw (33).
11. The workpiece inner wall cleaning apparatus according to claim 10, wherein: the workpiece is a bottle body (21) to be cleaned.
12. A method for cleaning an inner wall of a workpiece using the device for cleaning an inner wall of a workpiece according to claim 11, characterized by: the method comprises the following steps:
s101: when the side wall of the bottle body is cleaned, the mechanical arm (25) clamps the laser cleaning head to enter the bottle body;
s102: a driving motor (20) in the laser cleaning head drives a driving gear (19) to rotate, and a driven gear (9) rotates along with the driving gear, so that a movable shell (6) and other rotatable parts are driven to rotate, the emergent direction of a focused light beam (4) is changed, and an angle perpendicular to the top surface, the inclined surface or the bottom surface of the side wall of the bottle body is achieved;
s103: the external laser cleaning machine emits laser and is conducted by the optical fiber (1);
s104: the laser beam is emitted from the optical fiber outlet and collimated by a collimating mirror assembly (7) to obtain a collimated beam;
s105: the collimated light beam is reflected by the first reflecting mirror assembly (16), passes through the hollow structure of the driven gear (9), is reflected by the second reflecting mirror assembly (12), and reaches the vibrating mirror lens (10) of the vibrating mirror assembly;
s106: the galvanometer motor (17) drives the galvanometer lens (10) to swing, and the collimated light beam is scanned to be in a fan shape;
s107: the collimated light beam is converged at a focusing point by a focusing mirror (8), and the scanning track of the focusing point, namely a laser cleaning line, is approximately a straight line which is perpendicular to the rotation direction of the mechanical arm (25) due to the swing of the vibrating mirror assembly;
s108: the mechanical arm (25) rotates forward for 360 degrees and then rotates backward for 360 degrees, and the scanning track of the laser forms an annular cleaning area;
s109: the laser cleaning head moves to a position where the side wall of the bottle body is not cleaned, and the mechanical arm (25) repeats the rotating action;
s1010: the annular cleaning area is overlapped on all inner surfaces in the bottle body through the rotation of the laser light emitting direction and the programming cooperation of the mechanical arm (25), so that the aim of cleaning the inner wall of the bottle body is fulfilled.
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| CN202210873227.1A CN115090619B (en) | 2022-07-21 | 2022-07-21 | Laser cleaning head with steerable light beam, workpiece inner wall cleaning device and cleaning method thereof |
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| CN202210873227.1A CN115090619B (en) | 2022-07-21 | 2022-07-21 | Laser cleaning head with steerable light beam, workpiece inner wall cleaning device and cleaning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1199524A (en) * | 1997-09-29 | 1999-04-13 | Fuji Industries:Kk | Mold cleaning device |
| FR2777810B1 (en) * | 1998-04-28 | 2000-05-19 | Air Liquide | METHOD AND DEVICE FOR TREATING THE INTERNAL SURFACE OF A GAS BOTTLE |
| CN205236562U (en) * | 2015-11-27 | 2016-05-18 | 武汉市凯瑞迪激光技术有限公司 | Solid pulsed laser belt cleaning device |
| KR102460433B1 (en) * | 2015-11-30 | 2022-10-27 | 재단법인 포항산업과학연구원 | Apparatus for cleaning part of deposition device |
| RU2655402C2 (en) * | 2016-08-15 | 2018-05-28 | Открытое акционерное общество "558 Авиационный ремонтный завод" | Installation for laser treatment of product inner surface |
| CN106984596B (en) * | 2017-04-25 | 2023-06-06 | 重庆金樾光电科技有限公司 | Laser cleaning machine and control method thereof |
| CN107185916B (en) * | 2017-05-09 | 2019-12-03 | 中国科学院半导体研究所 | Laser cleaning system for inner wall of the pipe cleaning |
| MX2019013900A (en) * | 2017-05-25 | 2020-01-20 | Ecoserv Technologies Llc | Devices, systems, and methods for cleaning vessels. |
| CN109226098A (en) * | 2018-08-24 | 2019-01-18 | 南京航空航天大学 | A kind of laser cleaning original position electric deposition device and method |
| CN109365413A (en) * | 2018-11-29 | 2019-02-22 | 华核（天津）新技术开发有限公司 | Laser cleaning head and application method based on circle prism wedge rotation |
| CN211219593U (en) * | 2019-10-23 | 2020-08-11 | 兴泽正美（天津）精密模具有限公司 | Novel high-efficient laser of multi-angle automobile body mould removes rim charge equipment |
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