CN208555333U - Laser cleaner - Google Patents

Abstract

The utility model discloses a kind of laser cleaner, laser cleaner includes: laser aid and toter, and laser aid is equipped on toter, mobile to carry out washing and cleaning operation.By the way that toter is arranged, facilitates laser cleaner to move integrally, be convenient for outwork.By laser cleaner in conjunction with Load System, it can be used for field work.Included jacking system can clean high-altitude object.Artificial and automatically working can meet.

Description

Laser cleaner

Technical field

The utility model relates to a kind of laser cleaners, belong to laser cleaning field.

Background technique

Laser cleaning be by laser beam irradiate material surface, thus remove the various types of pollutants of material surface without Damage the cleaning means of base material.Laser cleaning has many advantages, such as green, contactless, automation, efficient, low-maintenance cost, can Damage of the existing cleaning way to base material is avoided completely.Laser cleaning have been widely used for the removal of mold clean, aircraft old paint, In the industrial productions such as external wall cleaning, welding surface pretreatment, have a extensive future.

However, relying on stablize electricity too much during existing laser cleaning has the disadvantage that 1) existing laser cleaning The fluctuation in source, power supply can have an impact the quality of laser；2) when cleaning of the laser cleaning for altitude plant or wall, exist Biggish cleaning difficulty and cleaning risk height；3) laser is focused at material one for a long time when being cleaned, due to laser Focal point energy is too high to damage base material.

A kind of laser cleaning system and its cleaning method based on robot control is disclosed in CN201510498171.6, The laser cleaning system based on robot control, makes to form linear light through beam shaping system call interception by the laser of laser emitting Beam is scanned on workpiece to be cleaned, and be can be carried out multi-angle and scanned without dead angle.But the device can not be faster moved to Region for clearance carries out operation, is unable to satisfy the outwork requirement of vehicle-mounted laser cleaning.Simultaneously because current laser cleaning Device rests in scientific research institutions and workshop more, thus for it is some it is outdoor, without stabilized power supply place, laser cleaning technique Using being very limited.Meanwhile the high surface abatement processes operation of some high-altitudes, risk is at present still mainly by artificial complete At, low efficiency, at high cost, and common surface treatment mode can neither reach preferable cleaning effect, also increase product Maintenance cost.

When carrying out the operation of high-altitude laser cleaning, it is poor that laser treats the distance test accuracy that is focused of cleaning region, It often will lead to laser beam emitting head and the problem of leading to damage appearance bumped against in region to be cleaned.

Utility model content

One aspect according to the present utility model provides a kind of laser cleaner, which can be convenient for operator In outdoor carry out laser cleaning, when being particularly suitable for high altitude operation, operator can not observe laser cleaner with it is to be cleaned Area apart from the case where.

It include: laser aid and toter, laser aid is equipped on toter, mobile to carry out washing and cleaning operation.

Further, toter includes mechanical arm；Laser aid is set on the operating side of mechanical arm.

Further, toter includes lifting device, and one end of lifting device is connected with mechanical arm；Lifting device packet Main shaft, lift component and platform are included, platform is set on the top surface of main shaft；Mechanical arm is set on platform, and lift component is telescopically It is connected on main shaft.

Further, mechanical arm includes first rotating shaft, the second shaft, the first cursor, the second cursor, the second rotation pass The first end of section and rotating arm, the first cursor is rotatablely connected by first rotating shaft and lifting device；The second of first cursor End and the first end of the second cursor are rotatablely connected by the second shaft；The second end of second cursor passes through the second rotary joint It is connect with the relative rotation with rotating arm.

Further, laser aid include field lens, laser and scanning vibrating mirror portion, laser and scanning vibrating mirror portion light Road connection；The outer end face for scanning vibrating mirror portion is equipped with field lens.

Further, laser aid further includes optical fiber and lens module, and laser is connected with lens module by optical fiber, Lens module is connect with scanning vibrating mirror portion optical path.

Further, toter further includes carrying vehicle, and laser aid is operationally equipped on carrying vehicle by mechanical arm On；Carrying vehicle includes headstock, vehicle body and support bracket；One end of vehicle body is connected with headstock；Support bracket be arranged in pairs in The opposite two sides of vehicle body, one end of support bracket are fixedly connected on vehicle body, and the other end is fixedly connected with ground.

Further, toter further includes lifting device, and one end of lifting device is connected with mechanical arm, lifting device The other end with carry vehicle be connected.

Further, laser cleaner further includes power-supply system, and power-supply system, which is set to, carries on vehicle, and fills with laser It sets for electrical connection.

Another aspect according to the present utility model, provides cleaning method, comprising the following steps:

Step S1: the toter for carrying laser aid is moved to area to be cleaned, and measures the laser on mobile carrier Device is at a distance from area to be cleaned；

Step S2: it according to the movement of distance controlling laser aid and/or is cleaned.

The beneficial effect that the utility model can generate includes:

1) laser cleaner provided by the utility model can be in power free situation by self-powered system Quickly and efficiently laser cleaning is carried out to equipment on the middle and senior level, building, it can be independently-powered for other modules without stabilized power supply.

2) laser cleaner provided by the utility model facilitates laser cleaner whole by the way that toter is arranged Body is mobile, is convenient for outwork.By laser cleaner in conjunction with Load System, it can be used for field work.Included jacking system High-altitude object can be cleaned.Artificial and automatically working can meet.

3) laser cleaner provided by the utility model, by the way that hoistable platform is arranged, without staff to high-altitude Operation, safety are good.

4) laser cleaner provided by the utility model can have by setting distance measurement feedback module and operational module Effect control laser aid uses the safety of laser aid at a distance from area to be cleaned under effective protection high altitude environment.

5) cleaning method provided by the utility model avoids laser in cleaning process by carrying out ranging before cleaning The head of cleaning device is impaired.

Detailed description of the invention

Fig. 1 is laser cleaner schematic front view provided by the utility model；

Fig. 2 is 1 schematic front view of laser cleaner embodiment provided by the utility model；

Fig. 3 is mechanical arm schematic front view provided by the utility model；

Fig. 4 is laser cleaner use state diagram in the preferred embodiment in the utility model 1；

Fig. 5 is laser cleaner use state diagram in the preferred embodiment in the utility model 2；

Fig. 6 is cleaning method flow diagram provided by the utility model.

Component and reference signs list:

Specific embodiment

The utility model is described in detail below with reference to embodiment, but the utility model is not limited to these embodiments.

The orientation such as upper and lower, forward and backward herein referring to fig. 2 shown in direction indicated by coordinate.

Referring to Fig. 1, laser cleaner provided by the utility model, including laser aid 300 and toter, laser dress 300 are set to be equipped on toter, it is mobile to carry out washing and cleaning operation.

Obvious, which can emit the laser for cleaning action.Toter includes lifting device, carries vehicle Etc. the device that can make the mobile operation of laser aid.Lifting device can be double-cylinder type, scissor-type, crank arm type.Carrying vehicle can Think truck or engineering truck etc..Toter can also include all kinds of hand-held operation modes, such as can pass through people, mechanical arm Or robot completes.The power supply of laser aid can be the external power supplys such as generator, battery.

Preferably, toter includes mechanical arm；Laser aid 300 is set on the operating side of mechanical arm 400.

Referring to fig. 2, it is preferred that laser cleaner further includes mechanical arm 400, distance measurement feedback module 340 and operational module 500, laser aid 300 is set on the operating side of mechanical arm 400；Distance measurement feedback module 340 is set on laser aid 300, And it controls and connects with operational module 500；Operational module 500 and the control of laser aid 300 connect；Distance measurement feedback module 340 is used for Laser aid 300 is measured at a distance from area to be cleaned, and feeds back to operational module 500；Operational module 500 is for controlling laser dress It sets 300 movements and/or is cleaned.

When can effectively avoid laser aid 300 from using in outdoor various situations by the way that distance measurement feedback module 340 is arranged by To damage.Operational module 500 can have pre-set programs to be manipulated.It also can be adapted to the surface for handling the fragile materials such as glass.

Preferably, toter includes: to carry vehicle 100, mechanical arm 400, distance measurement feedback module and operational module 500, is swashed Electro-optical device 300 is operationally equipped on by mechanical arm 400 and is carried on vehicle 100, and distance measurement feedback module is set to laser aid 300 On, and control and connect with operational module 500；Operational module 500 and the control of laser aid 300 connect；Distance measurement feedback module is used for Laser aid 300 is measured at a distance from area to be cleaned, and feeds back to operational module 500；Operational module 500 is for controlling laser dress Set 300 mobile and cleanings.By setting distance measurement feedback module and operational module 500, both can be observed in real time laser aid 300 with The distance in region to be cleaned places the generation of accident, extends the service life of laser cleaning module.Artificial throwing is also reduced simultaneously Enter, the situation of artificial injury in the actual operation process is avoided to occur.

It preferably, further include lifting device 200, lifting device 200 existing can will carry thereon to be all kinds of The lifting device 200 of the longitudinal wicking height of laser aid 300, such as scissor-type lifting platform 220, motor ladder, crank arm type high-altitude It is any in Operation Van or more mast formula elevators.Referring to Fig. 1, it is preferred that lifting device 200 includes lift component 210 and is set to Platform 220 on 210 top surface of lift component.Lift component 210 is telescopically connected on main shaft, the other end of main shaft by pedestal with The pickup zone 120 of vehicle body is connected.Support bracket 130 is connected on the side wall of pedestal.Lift component 210 is the axial direction that can prolong main shaft Flexible component.In one embodiment, lifting device 200 includes hydraulic sleeve cylinder, motor, hoistable platform 220 and support bracket 130, mechanical arm 400 can be raised to work desired height.

Referring to fig. 2, it is preferred that carrying vehicle 100 includes headstock 110, vehicle body and support bracket 130.Setting is driven in headstock 110 Sail room.One end of vehicle body is connected with headstock 110.Wheel is set on lower body face.Carrying vehicle 100, carrying laser is clear as needed Cleaning device arbitrarily moves.It outer indoors can fast move, improve cleaning efficiency.Pickup zone 120 is set in the biggish plane of vehicle body. For carrying laser aid 300.After lifting device 200 is raised to higher position, in order to improve the stability of vehicle body, vehicle body two is opposite Side is arranged in pairs support bracket 130, and one end of support bracket 130 is fixedly connected on 200 other end of lifting device and is fixedly connected with ground Face.It is arranged in pairs respectively it is furthermore preferred that support bracket 130 is two pairs in the vehicle body two sides by near-car head 110 and far from headstock 110 Vehicle body two sides.Carrying vehicle 100 can be designed as dedicated engineering truck, can also be improved by picking-up vehicle, for lifting dress 200 offer platforms 220 are provided.Provided of course that the mobile carrier of laser aid 300, such as car can be placed, with its top As pickup zone 120.

By the way that lifting device 200 is arranged, laser cleaner provided by the utility model is particularly suitable for processing bridge, road The surface of lamp, ship, aircraft and the isometric very massive object of building.

Referring to Fig. 3, mechanical arm 400 is the existing all kinds of mechanical arms 400 for automating and carrying out Telescopic rotating.Not It is limited to 400 structure of mechanical arm, can also is the robot with 400 structure of mechanical arm.Or referring to Fig. 5, toter includes rising Falling unit 200 and robot 480, robot 480 are set in the platform 220 of lifting device 200.Swashed by robot 480 is hand-held Electro-optical device 300 carries out washing and cleaning operation.The cleaning of robot 480 is controlled by operational module 500.

Preferably, mechanical arm 400 includes pedestal 410, the first rotary joint 421, the second rotary joint 422, third rotation Joint 423, first rotating shaft 431, the second shaft 432, the first cursor 441, the second cursor 442 and rotating arm 443.Pedestal 410 are connected with platform 220.The first end of pedestal 410 and the first cursor 441 passes through the first rotation being arranged on pedestal 410 Turn joint 421 to be connected.So that the first rotation axis can be rotated around the longitudinal axis of pedestal 410.The bottom of first rotary joint 421 Face is fixedly connected on pedestal 410.First rotating shaft 431 is plugged in the first end of first cursor 441.First rotary joint 421 Top surface on setting rotation orifice plate, first rotating shaft 431 be inserted into simultaneously rotates orifice plate in.To make the first rotary joint 421 and the One cursor 441 is connected by first rotating shaft 431.First cursor 441 can also in the plane of 410 longitudinal axis of vertical feet into Row rotation.The second end of first cursor 441 is connected by the second shaft 432 with the first end of the second cursor 442.To Second cursor 442 is rotated relative to the first cursor 441.Pass through the second rotation in the second end of second cursor 442 Joint 422 is connected with the first end of rotating arm 443.Rotating arm 443 can be around its main axis.In the second end of rotating arm 443 Third rotary joint 423 is set, and is connected by third rotary joint 423 with scanning vibrating mirror portion.Mechanical arm 400 can select With the model of high-freedom degree.The first obvious rotary joint 421 can also be not provided with, and be filled by first rotating shaft 431 and lifting 200 are set to be connected directly.Obvious, mechanical arm 400 only can also be set to one end progress by that will scan vibrating mirror portion 330 Rotation, and by the connection of third rotary joint 423 scanning vibrating mirror portion 330 and mechanical arm 400, rotary-cleaning can be carried out.

Referring to fig. 2, laser aid 300 includes laser 310 and scanning vibrating mirror portion.Laser 310 is for generating cleaning Use laser.Laser 310 is connect with scanning vibrating mirror portion optical path, and distance measurement feedback module is set to the side wall in scanning vibrating mirror portion On, and the setting that extends outwardly.Scan the field lens being additionally provided on the outer end face in vibrating mirror portion for focusing laser.

Distance measurement feedback module includes visual feedback module and laser ranging module.It shakes for detecting region to be cleaned and scanning The distance in index glass portion.And operational module 500 is fed back to, so that operator can observe the movement in scanning vibrating mirror portion in time, prevent Only scanning vibrating mirror portion is damaged in use.

Laser ranging module is for measuring the distance between workpiece surface and scanning galvanometer portion 330 and feeding back to operational module 500.Visual feedback module drives the high-level handling situations of scanning galvanometer system for real-time monitoring mechanical arm 400 and feeds back aobvious Show on operational module 500.Vibration lens is equipped with inside scanning galvanometer portion 330, vibration lens high speed is rotated along its axis, so as to by behaviour It controls the instruction that module 500 inputs and changes laser beam path, laser beam is via the field lens being set on 330 outer end face of scanning galvanometer portion Region to be cleaned is focused to be cleaned.

It preferably, further include laser optical path 320, the laser being emitted from laser 310 is swept by entering after laser optical path 320 Retouch vibrating mirror portion.It is furthermore preferred that laser optical path 320 includes optical fiber 321 and lens module 322, one end of optical fiber 321 connects laser Device 310, the other end are connected with integrated lens module 322, and laser enters after lens module 322 changes transmission direction Scan vibrating mirror portion.After laser optical path 320 is arranged, laser 310 can be conveniently placed at any position.Preferably, referring to figure 2, laser 310 is placed on platform 220, passes through optical fiber 321 and the scanning vibrating mirror portion outer wall for being set to 443 one end of rotating arm On lens module 322 be connected.Lens module 322 is connected with scanning vibrating mirror portion.To which laser is transferred into scanning In vibrating mirror portion.In one embodiment, laser optical path 320 includes optical fiber 321, laser alignment mechanism and optical mirror slip, for passing Laser beam is led into scanning galvanometer portion 330.Lens module 322 includes laser alignment mechanism and optical mirror slip.

Preferably, lens module 322 and distance measurement feedback module are set in 330 shell of scanning galvanometer portion of increase.To mention The integrated level of high device.

It further include power-supply system 230, power-supply system 230 is for being powered laser aid 300 referring to Fig. 1.Such as it can Think the common power-supply system 230 such as generator, battery, on-vehicle battery.Power-supply system 230 is set on pickup zone 120.Power supply System 230 includes generator and cable, is powered when operating for whole device.

Referring to Fig. 1, operational module 500 is set on pickup zone 120, and is controlled respectively with mechanical arm 400 and laser aid 300 System connection.Operational module 500 can be used for operator and control on ground in face of the laser aid 300 in high-altitude, control its progress Washing and cleaning operation.Operational module 500 include monitor, display, computer and signal transmssion line, operator by the module into Row operation.

Preferably, display screen 510 is arranged in the visible area of operational module 500, operates to facilitate operation personnel.

Referring to fig. 4, laser cleaner provided by the utility model uses embodiment 1, is for cleaning object 10 to be cleaned Billboard.In use, below by the traveling to billboard of carrying vehicle 100, after rising from support bracket 130 after coming to a complete stop, lifting device 200 It comes to a complete stop after being increased to operating area.Power-supply system 230 is opened to power to laser aid 300.Operator passes through manipulation mould later Block 500 controls mechanical arm 400 and carries out washing and cleaning operation.

Referring to Fig. 5, laser cleaner provided by the utility model uses embodiment 2, is for cleaning object 10 to be cleaned Overpass.The difference from embodiment 1 is that the control robot 480 of operational module 500 is clear to the surface progress laser of overpass It washes.

Referring to Fig. 6, another aspect according to the present utility model provides the laser cleaning method based on mobile carrier, The following steps are included:

Step S1: the mobile carrier for carrying laser aid is moved to area to be cleaned, and measures the laser on mobile carrier Device is at a distance from area to be cleaned；

Step S2: it according to the movement of distance controlling laser aid and/or is cleaned.

Operation can have operator to control, and can also be handled by existing program.Mobile carrier herein is Refer to have and multiplies device, such as picking-up vehicle, car or lorry of loading capability etc..

This method can also be adjusted according to the carrying vehicle and lifting device added.

Specifically includes the following steps:

Step S10 will carry vehicle and travel to cleaning object one side suitable position, open generator；It is driven and is taken by operator Carrier vehicle carries laser aid and drives into area to be cleaned, waits to be cleaned.The electric system such as generator are opened to entire laser cleaner Carry out the power supply of continued smooth.

Step S11 starts lifting device, lifting platform to operable height；Lifting device is by generator powered, driving Platform moves up and down.The laser emitting mouth of laser aid is raised to predetermined altitude.With as far as possible close to region to be cleaned, just In subsequent operation.

Step S12 adjusts mechanical arm motion track and by distance measurement feedback module adjustment laser beam foucing and surface to be cleaned Distance；The real-time pictures that operator obtains according to distance measurement feedback module control the rotation of mechanical arm by operational module.

Cleaning procedure is arranged by operational module in step S20；Operator passes through the display screen on operational module on ground Default cleaning procedure.

Step S21 laser aid start to work, laser by light path system import scanning galvanometer portion, after start cleaning work Industry；Laser aid starts cleaning according to preset program.

Step S22 mechanical arm carries out processing operation by setup program, until surface clean is completed.

It is according to said method cleaned, cleaning efficiency can be improved, reduce artificial investment, widen the applicable model of cleaning device It encloses.

More than, it is only several embodiments of the utility model, any type of limitation not is done to the utility model, although The utility model is disclosed as above with preferred embodiment, however not to limit the utility model, any skill for being familiar with this profession Art personnel make a little change using the technology contents of the disclosure above in the range of not departing from technical solutions of the utility model Dynamic or modification is equal to equivalence enforcement case, belongs in technical proposal scope.

Claims (7)

1. a kind of laser cleaner characterized by comprising laser aid and toter, the laser aid are equipped on It is mobile to carry out washing and cleaning operation on the toter；

The toter includes mechanical arm；

The laser aid is set on the operating side of the mechanical arm；

The toter includes lifting device, and one end of the lifting device is connected with the mechanical arm；

The lifting device includes main shaft, lift component and platform, and the platform is arranged on the top surface of the main shaft；

The mechanical arm is set on the platform, and the lift component is telescopically connected on the main shaft.

2. laser cleaner according to claim 1, which is characterized in that the mechanical arm includes first rotating shaft, second Shaft, the first cursor, the second cursor, the second rotary joint and rotating arm,

The first end of first cursor is rotatablely connected by the first rotating shaft and the lifting device；

The second end of first cursor and the first end of second cursor are rotatablely connected by second shaft；

The second end of second cursor is connect by second rotary joint with the rotating arm with the relative rotation.

3. laser cleaner according to claim 1, which is characterized in that the laser aid includes field lens, laser With scanning vibrating mirror portion, the laser is connect with scanning vibrating mirror portion optical path；The outer end face in the scanning vibrating mirror portion It is equipped with field lens.

4. laser cleaner according to claim 3, which is characterized in that the laser aid further includes optical fiber and eyeglass Module, the laser are connected with the lens module by the optical fiber, the lens module and the scanning vibrating mirror The connection of portion's optical path.

5. laser cleaner according to claim 1, which is characterized in that the toter further includes carrying vehicle, institute Laser aid is stated operationally to be equipped on the carrying vehicle by the mechanical arm；

The carrying vehicle includes headstock, vehicle body and support bracket；

One end of the vehicle body is connected with the headstock；

The support bracket is arranged in pairs the two sides opposite in the vehicle body, and one end of the support bracket is fixedly connected on institute It states on vehicle body, the other end is fixedly connected with ground.

6. laser cleaner according to claim 5, which is characterized in that the toter further includes lifting device, The other end of the lifting device is connected with the carrying vehicle.

7. laser cleaner according to claim 1, which is characterized in that the laser cleaner further includes power supply system System, the power-supply system, which is set to, carries on vehicle, and with the laser aid for being electrically connected.