WO2022088245A1

WO2022088245A1 - Multidirectional laser cleaner

Info

Publication number: WO2022088245A1
Application number: PCT/CN2020/127702
Authority: WO
Inventors: 洪昭斌; 袁和平; 陈水宣; 马林
Original assignee: 厦门理工学院
Priority date: 2020-10-30
Filing date: 2020-11-10
Publication date: 2022-05-05
Also published as: CN112427410A; CN112427410B

Abstract

A multidirectional laser cleaner, comprising: a cleaning platform (1) and a laser cleaning head (2). The cleaning platform (1) is provided with a workpiece fixing seat (4) thereon. The workpiece fixing seat (4) is provided with a universal rotation mechanism (5) thereon. The cleaning platform (1) is provided with a mechanical arm (6). The laser cleaning head (2) comprises a housing (21), and a laser generator (22), a laser reflector (23) and an adjustment reflector (24) that are disposed in the housing (21). The laser reflector (23) is arranged directly in front of the laser generator (22) and obliquely relative to the laser generator (22). An adjustment mechanism (7) for adjusting a tilt angle of the laser reflector (23) is disposed on the housing (21). The adjustment reflector (24) is disposed on a side of the laser reflector (23). A deflection mechanism (8) is disposed in the housing (21) for controlling the adjustment reflector (24) to deflect about a central axis thereof. By adjusting the position of the external workpiece in combination with internal laser refraction adjustment, the adjustment range of the laser cleaning angles can be increased, having the effect of improving the convenience of use and applicability thereof.

Description

A multi-directional laser cleaning machine

technical field

The invention relates to the technical field of laser cleaning, more particularly, to a multi-directional laser cleaning machine.

Background technique

As an environmentally friendly, efficient, high-precision, and high-quality cleaning technology, laser cleaning can not only be used to clean organic pollutants, but also to clean inorganic substances, including metal rust, metal particles, dust, etc.

In the prior art, laser cleaning machines can generally only scan and clean two-dimensional plane products, or clean regular three-dimensional products. The angle of the laser cleaning head is generally inconvenient to adjust, resulting in the inability to clean irregular molds or products. Cleaning, and the adjustment process of the laser cleaning head can only move it as a whole, and the workpiece to be cleaned usually uses the cooperation of the X-axis moving mechanism and the Y-axis moving mechanism to drive it to move, so as to cooperate with the laser cleaning head for multi-range cleaning. However, the laser light inside the laser cleaning head cannot be changed, and the angle of the workpiece to be cleaned changes little, resulting in a small angle adjustment range, which cannot meet the cleaning needs in various situations.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a multi-directional laser cleaning machine, which can improve the adjustment range of the laser cleaning angle, and has the effect of improving its convenience and applicability.

For achieving the above object, the present invention provides the following technical solutions:

A multi-directional laser cleaning machine includes a cleaning platform and a laser cleaning head arranged on the cleaning platform, the cleaning platform is provided with a workpiece positioning seat, and the workpiece positioning seat is provided with a universal swing for driving the workpiece positioning seat. Swing mechanism, the cleaning platform is provided with a mechanical arm for driving the movement of the laser cleaning head, the laser cleaning head includes a casing, a laser generator arranged in the casing and connected to the optical fiber, and used to reflect the laser and emit it The laser mirror and the adjustment mirror of the laser cleaning head, the laser mirror is arranged in front of the laser generator and inclined relative to the laser generator, and the housing is provided with an adjustment for adjusting the inclination angle of the laser mirror The adjusting mirror is arranged on one side of the laser reflecting mirror, and the housing is provided with a deflection mechanism for controlling the deflection of the adjusting mirror around its central axis.

Further settings: the cleaning platform is provided with a support frame, the support frame is provided with a camera module for photographing workpiece images, the camera module is connected with a controller, the controller is connected with a display, the robotic arm, The swing mechanism, the adjustment mechanism and the deflection mechanism are all connected and controlled by the controller.

Further setting: the swing mechanism includes a motor arranged in the cleaning platform, a crank shaft connected with the motor, a connecting sleeve sleeved on the crank shaft, a fixed shaft disposed on the side wall of the connecting sleeve, and a fixed shaft sleeved on the fixed shaft. The mounting seat, the crankshaft includes a curved section connected with the motor shaft and a straight section connected with the curved section by bending, the connecting sleeve is sleeved on the straight section, and the workpiece positioning seat is installed on the mounting seat.

Further arrangement: a slide rail is extended on the mounting seat, the workpiece positioning seat is slidably arranged on the slide rail, and the workpiece positioning seat is provided with a fastener for fixing it on the slide rail.

Further arrangement: the workpiece positioning seat includes a positioning seat body and clamping claws arranged on both sides of the positioning seat body, and the positioning seat body is provided with a rotating member for driving the clamping claw to turn over.

Further setting: the adjustment mechanism includes a fixed seat fixed in the housing, a mounting sleeve rotatably arranged on the fixed seat, and a stepping motor connected with the rotating shaft of the mounting sleeve, the laser mirror is installed in the mounting sleeve, and the The mounting sleeve is provided with a buffer protection layer for protecting the edge of the laser mirror.

Further settings: the laser cleaning head further includes a focusing lens group arranged on the laser exit end of the casing, the focusing lens group is connected with a moving mechanism for driving it to move along the axis of the laser cleaning head, and the focusing lens group is A distance sensor is provided, the distance sensor is connected with the controller, and the moving mechanism is connected and controlled by the controller.

Further setting: the deflection mechanism is set as a deflection motor installed in the housing, and the adjusting mirror is connected to the deflection motor through a connecting seat.

Further settings: the cleaning platform is provided with a dust extraction device for cleaning impurities, and the dust extraction device includes a dust extraction port arranged on the side of the robotic arm away from the laser cleaning head, a dust extraction pipe connected to the dust extraction port, and a dust extraction pipe connected to the dust extraction port. A vacuum cleaner with a vacuum hose connection.

Further settings: the dust extraction device also includes a lifting collar mounted up and down on the cleaning platform, a suction cylinder connected to the lifting collar, and a suction pipe connected to the end of the suction cylinder away from the lifting collar. The inner wall of the ring is provided with a suction port, the suction port is communicated with the suction cylinder, the end of the suction pipe away from the suction cylinder is connected to the vacuum cleaner, and the cleaning platform is provided with a lifting collar for lifting and lowering. A lift port, and a lift cylinder for driving the lift collar to lift and lower is arranged in the cleaning platform.

By adopting the above-mentioned technical scheme, the present invention has the following advantages compared with the prior art:

1. The workpiece positioning seat is driven to move by the swing mechanism, and the workpiece can be swung universally after the workpiece is placed on the workpiece positioning seat, so as to adjust the alignment angle between the workpiece to be cleaned and the laser cleaning head from multiple angles, which can improve the laser cleaning angle. The adjustment range has the effect of improving its convenience and applicability;

2. Through the cooperation of the laser mirror and the adjustment mirror, it is convenient to adjust the angle of the laser light to meet the cleaning needs of various angle ranges, which can improve the adjustment range of the laser cleaning angle, and has the effect of improving its convenience and applicability;

3. Through the cooperation of the mechanical arm, the swing mechanism, the adjustment mechanism and the deflection mechanism, it is convenient for automation to be controlled in the controller, and the angle adjustment range is large, and the laser cleaning head and the workpiece positioning seat can be moved synchronously, which is convenient and quick to adjust to the desired position. The angle that needs to be cleaned, improve the angle adjustment speed and adjustment range;

4. Through the cooperation of the motor, the crankshaft, the connecting sleeve and the mounting seat, the one-way rotation of the motor can be controlled, and the mounting seat can be adjusted at multiple angles, thereby driving the multi-angle adjustment of the workpiece positioning seat to meet various cleaning needs and improve the convenience and applicability of its use;

5. Through the cooperation of the set slide rail and the fastener, it is convenient to further adjust the position of the workpiece positioning seat and improve the adjustment range of activities;

6. Through the set clamping jaws and driving parts, it is convenient to clamp and install the workpiece to be cleaned, and can change the surface of the workpiece to be cleaned, which is convenient to switch the cleaning surface of the workpiece to be cleaned, improve the cleaning range, and improve its convenience and applicability sexual effect;

7. Adjust the position of the focusing lens group through the set moving mechanism, which is convenient to adjust the focusing point after adjusting the internal angle of the laser, so as to meet the cleaning needs of various ranges;

8. Through the set dust extraction device, the dust and impurities on the peripheral side of the laser cleaning head can be collected in a centralized manner, and at the same time, the lifting cylinder can be used to control the lifting and lowering of the lifting collar to surround the workpiece, so that the suction cylinder and the suction port can be used for cleaning. The centralized collection of dust and impurities on the peripheral side of the workpiece can remove impurities in time, avoid impurities scattered on the surface of the workpiece, and improve the effect of laser cleaning.

Description of drawings

Fig. 1 is the structure schematic diagram of laser cleaning machine;

Fig. 2 is the enlarged schematic diagram of A place in Fig. 1;

FIG. 3 is a schematic cross-sectional view of a part of the structure of the laser cleaning head.

In the figure: 1, cleaning platform; 2, laser cleaning head; 21, housing; 22, laser generator; 23, laser mirror; 24, adjusting mirror; 25, focusing mirror group; 26, moving mechanism; 27, Distance sensor; 3, controller; 4, workpiece positioning seat; 41, positioning seat body; 42, clamping jaw; 43, rotating part; 5, swing mechanism; 51, motor; 52, crank shaft; 521, bending section; 522 , straight section; 53, connecting sleeve; 54, fixed shaft; 55, mounting seat; 551, slide rail; 56, fastener; 6, mechanical arm; 7, adjustment mechanism; 71, fixed seat; 72, mounting sleeve ; 721, buffer protection layer; 73, stepping motor; 8, deflection mechanism; 9, support frame; 10, camera module; 11, display; 12, dust extraction device; 121, dust extraction port; 122, dust extraction pipe; 123, vacuum cleaner; 124, lifting collar; 125, suction cylinder; 126, suction pipe; 13, lifting cylinder.

Detailed ways

The multi-directional laser cleaning machine will be further described with reference to FIGS. 1 to 3 .

A multi-directional laser cleaning machine, as shown in FIG. 1, includes a cleaning platform 1 and a laser cleaning head 2 arranged on the cleaning platform 1. The laser cleaning head 2 is connected with a controller 3, and a workpiece positioning is arranged on the cleaning platform 1. seat 4 , by placing the workpiece to be cleaned on the workpiece positioning seat 4 , the controller 3 can be used to control the laser cleaning head 2 to be turned on to perform the laser cleaning operation.

As shown in Figures 1 and 2, the cleaning platform 1 is provided with a swing mechanism 5 for driving the workpiece positioning base 4 to swing in a universal direction, so as to adjust the cleaning surface of the workpiece to be cleaned, so as to facilitate multi-directional cleaning of each surface of the workpiece. Specifically, the swing mechanism 5 includes a motor 51 disposed in the cleaning platform 1 , a crankshaft 52 connected to the motor 51 , a connecting sleeve 53 sleeved on the crankshaft 52 , and a fixed shaft 54 disposed on the side wall of the connecting sleeve 53 and the mounting seat 55 sleeved on the fixed shaft 54, wherein the crankshaft 52 includes a curved section 521 connected with the rotating shaft of the motor 51 and a straight section 522 connected with the curved section 521 by bending, and the connecting sleeve 53 is sleeved on the straight section 522. On the section 522 , the workpiece positioning seat 4 is mounted on the mounting seat 55 . By driving the crankshaft 52 to rotate by the motor 51, the straight section 522 of the crankshaft 52 can be driven to swing at multiple angles, thereby driving the connecting sleeve 53 to move, so as to use the fixed shaft 54 to drive the mounting seat 55 to form a circumferential swing, so as to drive the workpiece positioning seat 4 universal swing, realize multi-angle switching cleaning, many angle changes, convenient multi-angle cleaning, and simple structure, convenient operation, convenient installation and use.

As shown in FIGS. 1 and 2 , further, a slide rail 551 is extended on the mounting seat 55 , the workpiece positioning seat 4 is slidably arranged on the sliding rail 551 , and the workpiece positioning seat 4 is provided with a slide rail for fixing it on the slide rail The fastener 56 on the 551 can adjust the position of the workpiece positioning seat 4 on the mounting seat 55, and is fixed by the fastener 56, so that the swing range of the workpiece positioning seat 4 can be adjusted when the workpiece positioning seat 4 swings with the mounting seat 55. If the seat 4 is located near the center of the mounting seat 55, the swinging range is small. If it is adjusted to the edge position of the mounting seat 55, the swinging range is large. The fasteners 56 are set as fastening bolts, the workpiece positioning seat 4 slides on the slide rail 551 through the slider, the fastening bolts pass through the workpiece positioning seat 4 and are threadedly connected to the slider, and the fastening bolts are locked to make the sliding The block collides with the rail wall of the slide rail 551 to generate friction, and the workpiece positioning seat 4 can be fixed on the slide rail 551. To loosen, just control the loosening of the fastening bolt, which is convenient for operation and use.

As shown in FIG. 1 and FIG. 2 , further, the workpiece positioning seat 4 includes a positioning seat body 41 and clamping jaws 42 disposed on both sides of the positioning seat body 41 . The positioning seat body 41 is mounted on the mounting seat 55 , and the positioning seat body 41 is provided with a rotating member 43 for driving the clamping jaw 42 to turn over. The workpiece to be cleaned is clamped by the clamping jaw 42, and the movement of the positioning seat body 41 can be used to drive the workpiece to be cleaned to move. The rotating member 43 is configured as a rotating cylinder, and the clamping jaws 42 are installed on the rotating shaft of the rotating cylinder, so as to drive the clamping jaws 42 to be turned over for use.

As shown in FIG. 1 , the cleaning platform 1 is provided with a robotic arm 6 for driving the laser cleaning head 2 to move. The robotic arm 6 is connected to and controlled by the controller 3 so as to adjust the position of the laser cleaning head 2 through the robotic arm 6 . It is convenient to cooperate with the movement of the workpiece positioning seat 4 to quickly align, improve the speed and accuracy of the alignment between the laser cleaning head 2 and the workpiece to be cleaned, and facilitate multi-directional adjustment for laser cleaning to improve the laser cleaning effect.

As shown in FIG. 1 , a support frame 9 is arranged on the cleaning platform 1 , and a camera module 10 for capturing images of the workpiece is arranged on the support frame 9 . The workpiece is photographed by the camera module 10 to be fed back to the display 11 for display, which is convenient for the staff to display the situation through the display 11 and determine the position of the workpiece to be cleaned, so that the controller 3 is used to control the movement and adjustment of the workpiece positioning seat 4 and the mechanical arm 6, which is convenient for automation Laser cleaning adjustments.

As shown in FIG. 1 , in order to improve the laser cleaning effect, the cleaning platform 1 is provided with a dust extraction device 12 for cleaning impurities. The dust extraction device 12 includes a dust extraction port 121 disposed on the side of the robotic arm 6 away from the laser cleaning head 2 . , a dust extraction pipe 122 connected with the dust extraction port 121 , and a vacuum cleaner 123 connected with the dust extraction pipe 122 . Further, the dust extraction device 12 also includes a lifting collar 124 that is lifted and lowered on the cleaning platform 1 , a suction cylinder 125 connected to the lifting collar 124 , and a suction pipe connected to the end of the suction cylinder 125 away from the lifting collar 124 . 126, a suction port is provided on the inner wall of the lifting collar 124, the suction port is communicated with the suction cylinder 125, the end of the suction pipe 126 away from the suction cylinder 125 is connected to the vacuum cleaner 123, and the cleaning platform 1 is provided with a supply A lift port for the lift collar 124 to lift and lower, and a lift cylinder 13 for driving the lift collar 124 to lift and lower is provided in the cleaning platform 1 . The lifting and lowering of the lifting collar 124 is controlled by the lifting cylinder 13, so that the height of the lifting collar 124 can be easily adjusted, so as to be suitable for the size of the workpiece to be surrounded, so as to carry out the cleaning operation of impurities on the workpiece in all directions, so as to ensure that the workpiece is not affected by impurities during the cleaning process, and the workpiece is not affected by impurities. When rotating and transposing, it can clean up impurities in time, avoid impurities scattered on the surface of the workpiece, and improve the effect of laser cleaning.

As shown in FIG. 1 and FIG. 3 , the laser cleaning head 2 includes a casing 21 , a laser generator 22 arranged in the casing 21 and connected to an optical fiber, and a laser mirror for reflecting laser light and emitting it out of the laser cleaning head 2 23 and the adjusting mirror 24, the laser mirror 23 is arranged in front of the laser generator 22 and is inclined relative to the laser generator 22, and the housing 21 is provided with an adjustment mechanism 7 for adjusting the inclination angle of the laser mirror 23, adjusting The reflector 24 is arranged on one side of the laser reflector 23, and the housing 21 is provided with a deflection mechanism 8 for controlling and adjusting the deflection of the reflector 24 around its central axis, so as to adjust the reflection angle of the laser reflector 23 in combination with adjusting the reflector. The angle adjustment of the mirror 24 increases the adjustment range of the laser, so as to be convenient to adapt to the cleaning requirements of different working conditions. The adjustment mechanism 7 and the deflection mechanism 8 are both connected and controlled by the controller 3, so as to facilitate automatic adjustment and improve the efficiency of adjustment and cleaning.

As shown in FIG. 1 and FIG. 3 , the laser cleaning head 2 further includes a focusing lens group 25 arranged on the laser exit end of the casing 21 . The focusing lens group 25 is connected with a moving mechanism for driving it to move along the axis of the laser cleaning head 2 . 26 . A distance sensor 27 is provided on the focusing lens group 25 , the distance sensor 27 is connected with the controller 3 , and the moving mechanism 26 is connected and controlled by the controller 3 . The moving mechanism 26 uses a linear screw drive to drive the focusing lens group 25 to move, so as to adjust the position of the focusing lens group 25 to adapt to the laser position adjusted by the laser mirror 23 and the adjustment mirror 24, so as to quickly adjust the focus The operation is matched with the automatic adjustment of the distance sensor 27 and the controller 3, which is convenient to use.

As shown in FIG. 1 and FIG. 3 , the adjustment mechanism 7 includes a fixed base 71 fixed in the housing 21 , a mounting sleeve 72 rotatably arranged on the fixed base 71 , and a stepping motor 73 connected with the rotating shaft of the mounting sleeve 72 . The reflector 23 is installed in the mounting sleeve 72, and a buffer protection layer 721 is provided on the mounting sleeve 72 for protecting the edge of the laser reflector 23. The stepper motor 73 drives the mounting sleeve 72 to rotate, and the laser reflector 23 can be adjusted. angle, wherein, the laser mirror 23 is protected in the installation sleeve 72 to avoid bumping the laser mirror 23 during rotation. The deflection mechanism 8 is set as a deflection motor 51 installed in the housing 21 , and the adjusting mirror 24 is connected to the deflection motor 51 through a connecting seat, which facilitates adjustment of the position of the adjusting mirror 24 to match the adjustment of the laser mirror 23 . Increasing the adjustment range of the laser cleaning angle has the effect of improving its convenience and applicability.

Working principle: When using, place the workpiece on the clamping jaw 42 of the workpiece positioning seat 4, so that the workpiece is stably clamped on the workpiece positioning seat 4 by the clamping jaw 42, which is convenient for the removal and positioning of the workpiece. Then, the alignment angle of the workpiece positioning seat 4 is adjusted by the swing mechanism 5 so that the surface of the workpiece to be cleaned is exposed, and the laser cleaning head 2 can be activated to perform the laser cleaning operation. During the laser cleaning process, the laser reflection mirror 23 and the adjustment reflection mirror 24 can be used to adjust the laser exit angle so that it can be adapted to the cleaning angle of the workpiece. At the same time, the mechanical arm 6 can be used to drive the laser cleaning head 2 to move, so as to switch the alignment angle of the output end of the laser cleaning head 2, so as to ensure the accurate alignment of the laser and improve the laser cleaning effect. After cleaning, the swing mechanism 5 can be used to cooperate with the rotating member 43, so that the workpiece positioning seat 4 can be turned over and adjusted at multiple angles, so that it can switch to the next surface to be cleaned for laser cleaning. Through the above solution, the cooperation of the swing mechanism 5 and the mechanical arm 6 enables accurate laser cleaning in multiple directions. The laser mirror 23 and the adjustment mirror 24 in the laser cleaning head 2 can be matched with the laser mirror 23 and the adjustment mirror 24 from the internal laser refraction angle. The external workpiece alignment angle is used to improve the adjustment range of the laser cleaning angle, and the overall automatic control and adaptive adjustment have the effect of improving its convenience and applicability.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

A multi-directional laser cleaning machine, comprising a cleaning platform (1) and a laser cleaning head (2) arranged on the cleaning platform (1), the laser cleaning head (2) being connected with a controller (3), characterized in that The cleaning platform (1) is provided with a workpiece positioning seat (4) and a swing mechanism (5) for driving the workpiece positioning seat (4) to swing in a universal direction, and the cleaning platform (1) is provided with a driving laser A robotic arm (6) for moving a cleaning head (2), the laser cleaning head (2) comprising a casing (21), a laser generator (22) arranged in the casing (21) and connected to an optical fiber, and a laser generator (22) for The laser reflector (23) and the adjustment reflector (24) of the laser cleaning head (2) reflect the laser light and emit it, and the laser reflector (23) is arranged directly in front of the laser generator (22) and generates light relative to the laser The device (22) is inclined, and the housing (21) is provided with an adjustment mechanism (7) for adjusting the inclination angle of the laser reflector (23), and the adjustment reflector (24) is arranged on the laser reflector (23). ), the housing (21) is provided with a deflection mechanism (8) for controlling the deflection of the adjusting mirror (24) around its central axis, the mechanical arm (6), the swing mechanism (5), the adjustment The mechanism (7) and the deflection mechanism (8) are connected and controlled by the controller (3).
A multi-directional laser cleaning machine according to claim 1, characterized in that, a support frame (9) is arranged on the cleaning platform (1), and a support frame (9) is arranged on the support frame (9) for taking images of the workpiece. A camera module (10), the camera module (10) is connected with a controller (3), and the controller (3) is connected with a display (11).
The multi-directional laser cleaning machine according to claim 1, wherein the swing mechanism (5) comprises a motor (51) arranged in the cleaning platform (1), and a crankshaft connected to the motor (51). (52), a connecting sleeve (53) sleeved on the crankshaft (52), a fixed shaft (54) disposed on the side wall of the connecting sleeve (53), and a mounting seat (54) sleeved on the fixed shaft (54) 55), the crankshaft (52) comprises a curved section (521) connected with the rotating shaft of the motor (51) and a straight section (522) connected with the curved section (521) by bending, and the connecting sleeve (53) covers Connected to the straight section (522), the workpiece positioning seat (4) is mounted on the mounting seat (55).
The multi-directional laser cleaning machine according to claim 3, wherein a slide rail (551) extends on the mounting seat (55), and the workpiece positioning seat (4) is slidably arranged on the slide rail (551). ), and the workpiece positioning seat (4) is provided with a fastener (56) for fixing it on the slide rail (551).
The multi-directional laser cleaning machine according to claim 3, wherein the workpiece positioning seat (4) comprises a positioning seat body (41) and clamping jaws (42) disposed on both sides of the positioning seat body (41). ), the positioning seat body (41) is provided with a rotating member (43) for driving the clamping jaw (42) to turn over.
A multi-directional laser cleaning machine according to claim 1, characterized in that the adjustment mechanism (7) comprises a fixed seat (71) fixed in the casing (21), and a fixed seat (71) rotatably arranged on the fixed seat (71). ) and the stepping motor (73) connected with the rotating shaft of the mounting sleeve (72), the laser mirror (23) is installed in the mounting sleeve (72), and the mounting sleeve (72) A buffer protection layer (721) for protecting the edge of the laser mirror (23) is provided thereon.
The multi-directional laser cleaning machine according to claim 1, wherein the laser cleaning head (2) further comprises a focusing lens group (25) arranged on the laser exit end of the casing (21), and the The focusing lens group (25) is connected with a moving mechanism (26) for driving it to move along the axis direction of the laser cleaning head (2), the focusing lens group (25) is provided with a distance sensor (27), the distance sensor ( 27) is connected with the controller (3), and the moving mechanism (26) is connected and controlled by the controller (3).
The multi-directional laser cleaning machine according to claim 1, wherein the deflection mechanism (8) is configured as a deflection motor (51) installed in the casing (21), and the adjustment mirror (24) ) is connected with the deflection motor (51) through the connecting seat.
The multi-directional laser cleaning machine according to claim 1, wherein the cleaning platform (1) is provided with a dust extraction device (12) for cleaning impurities, and the dust extraction device (12) includes a A dust extraction port (121) on the side of the robotic arm (6) away from the laser cleaning head (2), a dust extraction pipe (122) connected with the dust extraction port (121), and a vacuum cleaner ( 123).
The multi-directional laser cleaning machine according to claim 9, characterized in that, the dust extraction device (12) further comprises a lifting collar (124) arranged up and down on the cleaning platform (1), and a lifting collar (124) a suction cylinder (125) connected to the suction cylinder (125) and a suction pipe (126) connected to the end of the suction cylinder (125) away from the lifting collar (124), the inner wall of the lifting collar (124) is provided with a suction pipe (126). an air port, the air inlet is communicated with the air suction cylinder (125), the end of the air suction pipe (126) away from the air suction cylinder (125) is connected to the vacuum cleaner (123), and the cleaning platform (1) A lift port for lifting and lowering the lift collar (124) is opened, and a lift cylinder (13) for driving the lift collar (124) to lift and lower is arranged in the cleaning platform (1).