WO2023011194A1 - 激光清洁装置、激光清洁系统及其使用方法 - Google Patents

激光清洁装置、激光清洁系统及其使用方法 Download PDF

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Publication number
WO2023011194A1
WO2023011194A1 PCT/CN2022/106918 CN2022106918W WO2023011194A1 WO 2023011194 A1 WO2023011194 A1 WO 2023011194A1 CN 2022106918 W CN2022106918 W CN 2022106918W WO 2023011194 A1 WO2023011194 A1 WO 2023011194A1
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WIPO (PCT)
Prior art keywords
laser
assembly
rubber
glue
black
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PCT/CN2022/106918
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English (en)
French (fr)
Inventor
高峰
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高峰
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Publication of WO2023011194A1 publication Critical patent/WO2023011194A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/361—Removing material for deburring or mechanical trimming
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/0096—Portable laser equipment, e.g. hand-held laser apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/16—Removal of by-products, e.g. particles or vapours produced during treatment of a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/40—Removing material taking account of the properties of the material involved
    • B23K26/402—Removing material taking account of the properties of the material involved involving non-metallic material, e.g. isolators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B23K26/703—Cooling arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/003—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
    • B29B17/00—Recovery of plastics or other constituents of waste material containing plastics
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • 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
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/62—Plastics recycling; Rubber recycling

Definitions

  • the invention relates to a laser cleaning device, a laser cleaning system using the laser cleaning device and a laser cleaning method applied to the laser cleaning system, belonging to the technical field of laser cleaning.
  • the commonly used methods for removing glue black from airport runways include mechanical grinding and chemical removal, and ultra-high pressure water jet washing.
  • the advantage of mechanical grinding to remove glue black is that the pavement surface and joint filler will not be damaged; but because the mechanical grinding method uses a milling machine, a grinder or a rotating hard wire brush to remove the concrete runway mud, improper operation is easy to damage
  • the concrete pavement will damage the pavement grooves and even produce micro cracks. It is not suitable for long-term and large-scale use, and the speed is slow. It depends more on the actual experience of the operator.
  • the original anti-skid system is damaged, the friction coefficient is significantly reduced, and the repair is extremely difficult. The cost is extremely high.
  • the method of chemically removing glue black is to soften and decompose the glue black by spraying chemical glue remover on the road surface, and then use high-pressure water to remove the softened glue black.
  • the advantage is that the surface layer of the road surface is not physically damaged and the operation process is simple.
  • the disadvantage is It is polluting to the environment, and chemical agents will affect the concrete, causing tissue loosening, peeling, etc., which is not easy to repair, and the repair cost is extremely high.
  • the chemical removal method of glue black may increase the friction coefficient of the runway in the short term, it needs to be combined with other methods. Combined use, the cost of degumming is high, and high-pressure water in winter and high-cold regions will cause unsafe factors such as icing, frosting, and high-speed water film formation on the tire surface, which will seriously reduce friction.
  • ultra-high pressure water jet technology to wash rubber black.
  • the nozzle form of ultra-high pressure water jet equipment it can be divided into atomized jet and cluster jet.
  • the water pressure of the water jet needs to be controlled at 140-240Mpa.
  • the effect of the distance from the flushing pavement on the effect of removing glue marks and on the surface layer of the pavement shall be determined through experiments to improve the quality of the effect of removing glue black and prevent the surface layer from being washed out, and then remove the glue foam that has been washed away. .
  • ultra-high pressure water when using ultra-high pressure water to wash the pavement, it is easy to wash away the sand particles in the cement mortar half-baked in the pavement layer, which reduces the anti-skid ability of the pavement itself, and causes micro-damage to the concrete floor, which is not easy to repair. Therefore, when selecting ultra-high pressure water for degumming of the runway, it is necessary to do a good job of monitoring, and select the appropriate pressure for degumming according to the actual conditions of the pavement, and it is not suitable for winter and alpine regions, because the water mist will freeze and freeze. Frost and the formation of a water film reduce the friction. At the same time, the use of ultra-high pressure water jet technology to wash the glue black will also produce secondary wastewater, which will further pollute the environment.
  • the object of the present invention is to provide a laser cleaning device with high working efficiency and preventing secondary pollution, a laser cleaning system using the laser cleaning device and a laser cleaning method applied to the laser cleaning system.
  • the present invention provides a laser cleaning device, which is used to clean and recycle the rubber black produced by the violent friction of rubber, including: a laser degumming component, a recovery component, and a laser degumming component for carrying the laser degumming component
  • the laser glue removal assembly is used for glue black cleaning, including a laser generator, a laser emitter connected to the laser generator and a working position for adjusting the laser generator a position adjustment device; the position adjustment device can move on the carrier assembly, and is used to drive the laser emitter to move to the existence position of the glue black, so that the laser light generated by the laser generator can affect the
  • the rubber black is cleaned;
  • the recovery assembly includes a vacuum collection device and a recovery processing device connected with the vacuum collector, and the vacuum collection device is used to clean the rubber debris produced by the rubber black to the laser deglue assembly Collect, and granulate and recycle the rubber crumbs through the recycling device.
  • the position adjustment device includes an X-axis adjustment assembly connected to the bearing assembly, a Y-axis adjustment assembly perpendicular to the X-axis adjustment assembly, and a Y-axis adjustment assembly connected to the X-axis adjustment assembly and the
  • the Z-axis adjustment component is vertically arranged on the plane where the Y-axis adjustment component is located, and the laser generator is connected to the Z-axis adjustment component.
  • the vacuum collection device includes a vacuum generator and a recovery member connected to the pipeline of the vacuum generator, and the recovery member is fixed on the bearing assembly to collect the rubber debris .
  • the recovery processing device includes a granulation assembly communicated with the vacuum collection device and a weighing and packing assembly corresponding to the granulation assembly.
  • the laser cleaning device further includes a positioning assembly connected to the carrying device, the positioning assembly is used for positioning the position of the glue black, and the position adjustment device is controlled by the positioning device connected to control the position adjustment device to drive the laser emitter to move to the cleaning position.
  • the present invention also provides a laser cleaning system for cleaning glue black on the surface of an object or the ground, including a laser cleaning device and a drive system for carrying the laser cleaning device, and the laser cleaning device Including: a laser glue removal assembly for cleaning the glue black, the laser glue removal assembly is connected in the drive system, including a laser generator, a laser emitter connected to the laser generator, and a A position adjustment device for adjusting the working position of the laser generator; a recovery component for recycling the rubber debris produced by the laser glue removal component after cleaning the rubber black, and the recovery component is connected in the drive system , including a vacuum collection device and a recovery treatment device connected to the vacuum collector; and a bearing assembly for carrying the laser deglue assembly and the recovery assembly; the drive assembly includes a main body, which is arranged on the main body A control assembly for controlling the laser cleaning device and an energy supply assembly for providing electrical energy to the laser cleaning device; the position adjustment device is slidably connected to the main body through the bearing assembly to drive the laser The emit
  • the bearing assembly includes a first bearing part that is slidably connected to the main body and a second bearing part that is rotationally connected with the first bearing part, and the laser generator is adjusted by the position The device is adjustably connected to the second bearing part.
  • the drive assembly further includes an overturn assembly for defining the bearing position of the second bearing part, and the overturn assembly has a mechanism for defining the second bearing part so that the laser emitter is in a storage state. a storage position, and a working position for releasing the second carrying portion to put the laser emitter in a working state.
  • the laser cleaning device further includes a positioning assembly that is controlled and connected to the control assembly, and the positioning assembly at least includes a first positioning member connected under the main body, a first positioning member connected to the carrying assembly The second positioning member and the third positioning member.
  • the drive system further includes a cooling device corresponding to the laser generator, and the cooling device is arranged on the main body side by side with the laser generator to generate cool down.
  • the recovery assembly further includes a dust removal filter device connected to the vacuum collection device and the recovery treatment device pipeline, and the rubber debris enters the dust removal filter device through the vacuum collection device Dust removal and filtration are carried out in the dust removal and filtration device, and the rubber debris after dust removal and filtration enters the recovery treatment device for granulation and recovery.
  • the present invention also provides a laser cleaning method, which is applied to the aforementioned laser cleaning system, including the following steps:
  • the control component in the drive system controls the operation of the main body and drives the laser cleaning device connected to the main body to move, and detects the location of the glue black through the positioning component arranged under the main body;
  • control component When the control component receives the position information of the glue black collected by the positioning component, the control component controls the main body to decelerate, and controls the laser generator connected to the position adjustment device to move to the working position through the turning component. Location;
  • the laser generator moves at a constant speed driven by the main body, and the laser generator moves along an S-shaped route driven by the position adjustment device to circularly remove the glue black on the ground, and the The positioning assembly monitors the glue black on the ground in real time until the glue black on the ground is completely removed;
  • control component controls the recovery component to open, recycles the rubber debris generated by the laser generator deglue, and granulates the rubber debris
  • the recycling component weighs and packs the granulated rubber particles, and the laser cleaning system cleans and recycles the gum black.
  • the laser cleaning device of the present invention ignores the influences of regions and seasons, and by setting up laser glue removal components, even in alpine regions and ice and snow weather, lasers can still be used to completely remove glue black, and to avoid The impact of uneven road surface, fine holes, cold and hot expansion grooves, shrinkage porosity and cracks on the removal effect of rubber black, while avoiding damage to the road surface due to impact force and chemical corrosion; and the recovery module set corresponding to the laser glue removal module to remove the purification smoke In addition to air, it can also effectively collect the rubber debris produced by the laser glue removal component to remove the rubber black, and further granulate and recycle, avoiding the occurrence of secondary pollution, and the recycled rubber particles can be reused. It has the advantages of energy saving and environmental protection.
  • Fig. 1 is a perspective view of the laser cleaning system of the present invention.
  • FIG. 2 is a schematic perspective view of the laser cleaning system in FIG. 1 after part of the main body is removed.
  • Fig. 3 is a three-dimensional schematic diagram of the combination of the bearing assembly and the position adjusting device in Fig. 1 .
  • Fig. 4 is a three-dimensional schematic view of the granulation assembly in the recovery assembly of Fig. 1 .
  • Fig. 5 is a partial perspective view of the turning assembly in Fig. 2 when it is combined with the main body.
  • Fig. 6 is a schematic perspective view of the vehicle loading assembly in Fig. 2 .
  • Fig. 7 is a flowchart of the laser cleaning method of the present invention.
  • FIGS. 1-5 is a laser cleaning system 100 provided by the present invention, which is used to clean rubber black on the surface of an object or the ground, and to clean and recycle the rubber debris generated after cleaning the rubber black.
  • the laser cleaning system 100 includes a laser cleaning device 1 for cleaning and recovering glue black and a driving system 2 for carrying the laser cleaning device 1 .
  • the laser cleaning device 1 includes a laser deglue assembly 11 , a recovery assembly 12 and a carrying assembly 13 for carrying the laser deglue assembly 11 and the recovery assembly 12 .
  • the laser deglue assembly 11 is connected to the drive system 2 and includes a laser generator 111 , a laser emitter 112 connected to the laser generator, and a position adjustment device 113 for adjusting the working position of the laser generator 111 .
  • the laser generator 111 is used to generate laser and act on the position where the glue black exists through the laser emitter 112.
  • the laser generator 111 includes a laser generation control cabinet 1111 and an air compressor 1112 electrically connected to the laser generation control cabinet 1111.
  • the laser generator 111 is a high-frequency and short-wave laser generator for generating high-frequency and short-wave laser.
  • the laser generator 111 is an example of a high-frequency and short-wave laser generator for illustration.
  • the laser generator 111 can also be a frequency and/or wavelength Adjust the laser generating device to further improve the glue removal effect of the laser cleaning system 100 in different scenarios.
  • the laser emitter 112 is connected to the position adjusting device 113, and the position adjusting device 113 drives the laser emitter 112 to move the laser light on the carrier assembly 13 to adjust the distance between the laser emitter 112 and the location of the glue black.
  • the position adjustment device 113 includes an X-axis adjustment assembly 1131 connected to the bearing assembly 13, a Y-axis adjustment assembly 1132 perpendicularly arranged to the X-axis adjustment assembly 1131, and The Z-axis adjustment assembly 1133 vertically arranged on the plane, and the X-axis adjustment assembly 1131 , the Y-axis adjustment assembly 1132 and the Z-axis adjustment assembly 1133 are all combinations of dust-proof ball screw linear guides and sliders.
  • the dust-proof ball screw linear guide rail in the X-axis adjustment assembly 1131 is connected to the bearing assembly 13
  • the dust-proof ball screw linear guide rail in the Y-axis adjustment assembly 1132 is connected to the slider in the X-axis adjustment assembly 1131
  • the dust-proof ball screw linear guide in the Z-axis adjustment assembly 1133 is connected to the slide block in the Y-axis adjustment assembly 1132
  • the laser generator 112 is connected to the slide block in the Z-axis adjustment assembly 1133, so that The laser generator 112 moves in the directions of the X axis, the Y axis and the Z axis, and then it is convenient to adjust the position of the laser generator 112 .
  • the position adjustment device 113 also includes a servo motor, and the servo motors are respectively arranged corresponding to the sliders in the X-axis adjustment assembly 1131, the Y-axis adjustment assembly 1132, and the Z-axis adjustment assembly 1133, so as to drive the sliders on the dust-proof ball screw. Sliding on the linear guide rail, such setting can adjust the moving position of the slider through the servo motor, which effectively improves the adjustment accuracy of the position adjustment device 113 for adjusting the working position of the laser generator 112 .
  • the recovery component 12 is used to recover and process the rubber debris generated when the laser glue removal component 11 removes gum black.
  • the recycling assembly 12 is connected in the driving system 2 and includes a vacuum collecting device 121 and a recycling processing device 122 connected with the vacuum collecting device 121 .
  • the vacuum collection device 121 includes a vacuum generator (not shown) and a recovery member 1211 connected to the pipeline of the vacuum generator.
  • the recovery member 1211 is fixed on the carrier assembly 13. Specifically, the recovery member 1211 is hollow and is connected to the vacuum generator. The pipeline is connected, and the negative pressure generated by the vacuum generator acts on the recovery member 1211 to collect rubber debris.
  • the recovery processing device 122 is used to perform secondary processing on the rubber crumbs collected by the vacuum collection device 121.
  • the recovery processing device 122 includes a granulation assembly 123 communicated with the vacuum collection device 121 and corresponding to the granulation assembly 123.
  • the granulation assembly 123 comprises the installation bracket 1231 that is fixed on the drive system 2, the granulation roller 1233 that is installed on the installation bracket 1231 in pairs by the shock absorption quick connection bracket 1232 and is fixed on the installation bracket 1231 and is connected with the granulation roller 1233 is driven and connected by forward and reverse gears (not shown) and drives the motor 1234.
  • the granulation assembly 123 also includes a heating device (not shown) arranged between the vacuum collector 121 and the granulation roller 1233 And the blowing device (not shown) that is positioned at the granulation roller 1233 below.
  • the granulation assembly 123 shown in the specification and drawings of this application is only exemplary, and in other embodiments of the application, the granulation assembly 123 can also be set in other forms, as long as the granulation is ensured
  • the component 123 can granulate the recycled rubber crumbs.
  • the residue of rubber black is mainly rubber, and the slight and fine debris has been gasified and burnt, but there are also some relatively large rubber debris with a certain viscosity, which is collected by the vacuum collector 121
  • the rubber crumbs enter the granulation assembly 123, and the heating device heats the rubber crumbs that enter the granulation assembly 123. Further, the rubber crumbs that are slightly heated by the heating device enter between the two granulation rollers 1233 to achieve Granulate, and further detach from the granulation roller 1233 under the purging action of the purging device, realize the secondary processing of rubber crumbs, and prepare and obtain rubber granules.
  • the granulation roller 1233 in the present invention is a forged roller made of chromium-containing stainless steel, and the granulation size on the granulation roller 1233 is 3.15-3.5mm. Further, the granulation roller 1233 The surface polishing is set, and the surface roughness of the granulation roller 1233 is less than or equal to 0.4 ⁇ m. Such setting can further facilitate the blowing and suction device to separate the granulated rubber particles from the granulation roller 1233.
  • the weighing and packaging component 124 is used to recycle and weigh the granulated rubber granules.
  • the weighing and packaging component 124 includes a weighing unit connected under the granulation component 123 and connected with the granulation component 123 pipeline.
  • the packaging unit located below the weighing unit that is, the rubber particles obtained by granulation first enter the weighing unit for weighing, and then enter the packaging unit for packaging after weighing, and finally complete recycling.
  • the recovery assembly 12 also includes a dust removal filter device 125 located between the vacuum collection device 121 and the recovery treatment device 122.
  • the dust removal filter device 125 is connected to the vacuum collection device 121 and the recovery treatment device 122 respectively.
  • the dust removal and filtration device 125 mainly includes structures such as a vacuum pump, bellows, feeding hose, feeding cone, filter element, etc., so set, the rubber debris collected by the vacuum collection device 121 first enters the dust removal and filtration The device 125 performs dust removal and filtration, and the rubber debris after dust removal and filtration enters the recycling device for granulation and recovery, preventing impurities from being mixed into the rubber granules during the granulation process, and effectively reducing the impurity content in the rubber granules obtained by secondary processing.
  • the dust removal and filtering device 125 can also process the smoke generated during the rubber crumb granulation process to prevent the escape of harmful smoke or smoke during the rubber crumb heating or recovery process, and prevent secondary pollution to the environment.
  • the carrying assembly 13 is used to movably connect the laser emitter 112 , the position adjusting device 113 and the recovery member 1211 to the driving assembly 2 .
  • the carrying assembly 13 includes a first carrying portion 131 that is slidably connected to the drive assembly 2 and a second carrying portion 132 that is rotationally connected to the first carrying portion 131. Specifically, the first carrying portion 131 and the second carrying portion 132 pass through The helical swing hydraulic cylinder 133 is rotatably connected to facilitate the angle adjustment between the first bearing part 131 and the second bearing part 132 .
  • the position adjustment device 113 is adjustably connected to one side of the second bearing part 132, and the other side of the second bearing part 132 opposite to the position adjustment device 113 is provided with a universal wheel 1321 for supporting the second bearing part 132, namely , the second bearing part 132 can slide on the ground driven by the driving assembly 2 and support the laser emitter 112, the position adjustment device 113 and the recovery member 1211 to perform corresponding work.
  • the laser cleaning device 1 also includes a positioning assembly 14 connected to the drive assembly 2 , the positioning assembly 14 is used for positioning the position of the glue black, and detecting and controlling the working position and cleaning degree of the laser emitter 112 .
  • the positioning assembly 14 includes at least a first positioning member connected under the drive assembly 2, a second positioning member connected to the second bearing part 132, and a position adjustment device 113 connected to the laser emitter 112.
  • the third positioning member for height detection and the first positioning member is a camera device with image acquisition and recognition functions, the third positioning member is a distance measuring device that can detect the height in the vertical direction, and the detection end of the third positioning member
  • the laser emitting end of the laser emitter 112 is located on the same level, so that the third positioning member can accurately detect the light output height of the laser emitter 112.
  • both the first positioning member and the second positioning member have 500W pixels
  • the camera, the third positioning component is a laser rangefinder.
  • the first positioning member is used to detect the position of the glue black and the cleaning condition of the glue black, so as to collect the image of the glue black on the ground in real time, and transmit the collected image information and position information of the glue black Go to the drive component 2 for processing to further identify the location of the glue black through image recognition algorithms (such as comparison image recognition method, roughness and RGB color space image recognition algorithm, etc.), and control the X-axis according to the principle of the two-dimensional coordinate system
  • image recognition algorithms such as comparison image recognition method, roughness and RGB color space image recognition algorithm, etc.
  • the adjustment assembly 1131 and the Y-axis adjustment assembly 1132 drive the Z-axis adjustment assembly 1133 carrying the laser transmitter 112 to move to the position where the glue black exists.
  • the second positioning member detects the horizontal position of the second bearing part 132, so that the Z-axis
  • the shaft adjustment assembly 1133 detects the light emitting height of the laser emitter 112 so that the plane where the second bearing part 132 is located is parallel to the bottom surface of the main body 21, and when it is determined that the plane where the second bearing part 132 is located is parallel to the bottom surface of the main body 21,
  • the third positioning member adjusts the use height of the laser emitter 112, so that the laser emitter 112 moves to a height suitable for glue removal.
  • the effective action distance of the laser generated by the laser generator 111 is 250-300 mm, and the width is 900 mm. ;
  • the driving assembly 2 controls the Z-axis adjustment assembly 1133 to drive the laser emitter 112 to move to a height of 260 mm from the ground, so that the laser emitter 112 has an optimal cleaning height.
  • the driving assembly 2 includes a main body 21 , a control assembly 22 arranged on the main body 21 for controlling the laser cleaning device 1 , and an energy supply assembly 23 accommodated in the main body 21 to provide electric energy for the operation of the laser cleaning device 1 .
  • the main body 21 is used to carry various components or devices in the laser cleaning system 100.
  • the driving assembly 2 also includes a walking assembly 211 for driving the main body 21 to run and a power for driving the walking assembly 211. unit (not shown), that is, in this application, the power unit drives the running assembly 211 to run, and further drives the main body 21 and various components or devices connected and fixed on the main body 21 to move.
  • the main body 21 is a driving unit, and the main body 21 is provided with a cab for carrying the operator, and the control assembly 22 is accommodated in the cab, so that the driving unit can be conveniently connected
  • the laser degumming component 11 and recycling component 12 on it work at the same time, realizing the integration of laser degumming and rubber scrap recycling.
  • the driving unit can drive the laser degumming component 11 and recycling component 12 to run at a constant speed.
  • the main body 21 is also another carrier for carrying the laser cleaning device 1 and other components or devices, that is, the description and drawings of the application
  • the driving unit is only exemplary and should not be limited thereto.
  • the control assembly 22 is respectively connected with the laser deglue assembly 11, the recovery assembly 12 and the carrying assembly 13, so as to control the operation of the laser deglue assembly 11, the recovery assembly 12 and the carrying assembly 13.
  • the control assembly 22 is a PLC master control system.
  • the energy supply component 23 is accommodated in the main body 1 and located beside the laser cleaning device 1 to provide power for its operation, and the energy supply component 23 is a rechargeable lithium battery pack in this application.
  • the driving assembly 2 also includes a turning assembly 24 .
  • the overturn assembly 24 is used to define the carrying position of the second bearing part 132, and at the same time, it can also protect the laser emitter 112 and/or the recovery member 1211 connected to the overturn assembly 24, so as to lift the laser cleaning device 1 and The laser cleaning system 100 using the laser cleaning device 1 has a service life.
  • the overturning assembly 24 includes an overturning member 241 connected to the box body of the main body 21 overturning, an overturning motor 242 connected with the control assembly 22, and an overturning component 241 and a main body 21 for overturning connection.
  • the connecting rod assembly 243, and the connecting rod assembly 243 is drivingly connected with the turning motor 242, and further controls the turning of the turning member 241 through the multi-link principle.
  • the overturning assembly 24 has a storage position that defines the second bearing portion 132 so that the laser emitter 112 is in a storage state, and a working position for releasing the second bearing portion 132 so that the laser transmitter 112 is in a working state, and when the flipping assembly 24 is in the storage position, the second bearing part 132 is arranged vertically to the first bearing part 131, and at this time the position adjustment device 113 and the laser emitter 112 are accommodated between the main body 21 and the turning member 241; and when the turning assembly 24 is in the working position , the first bearing part 131 slides out of the main body 21 along the slide rail 213 provided on the main body 21, and the second bearing part 132 is turned over on the side away from the main body 21 under the drive of the helical swing hydraulic cylinder 133, and is arranged on The universal wheels 1321 on the second bearing part 132 are in contact with the ground to support the laser emitter 112 and the recovery member 1211 connected to the second bearing part 132 to complete the corresponding glue removal and recovery work
  • the control component 22 controls the Z-axis adjustment component 1133 to drive the laser emitter 112 to slide to the side away from the second bearing part 132, so as to prevent the second bearing part 132 from In the process of keeping parallel to the ground and sliding after being folded, the laser emitter 112 collides with the ground, causing abnormal use of the laser emitter 112 .
  • the drive system 2 also includes a cooling device 25 corresponding to the laser generator 111 (as shown in Figure 1), and the cooling device 25 and the laser generator 111 are arranged side by side/side by side on the main body 21 to cool down the laser generator 111, and in this application Among them, the cooling device 25 includes an air conditioner compressor, a temperature control system, an air supply system, and a water cooling system to respectively cool down the laser generator 111 and the energy supply assembly 23 accommodated in the main body 21, so as to prevent the laser generator 111 and the energy supply components from Component 23 should be used abnormally due to excessive temperature.
  • the cooling device 25 includes an air conditioner compressor, a temperature control system, an air supply system, and a water cooling system to respectively cool down the laser generator 111 and the energy supply assembly 23 accommodated in the main body 21, so as to prevent the laser generator 111 and the energy supply components from Component 23 should be used abnormally due to excessive temperature.
  • the laser cleaning system 100 also includes a loading assembly 3 , which is arranged on the main body 1 and corresponding to the laser cleaning unit 1 , and the loading assembly 3 is located below the recovery assembly 12, and is arranged in a reversible structure to facilitate the transfer of rubber particles recovered by the laser cleaning unit 1.
  • the vehicle loading assembly 3 includes a support bracket 31 slidably connected to the main body 21, a support platform 32 adjustablely connected to the support bracket 31, and a limit support 33 for limiting the rotation and sliding positions of the support platform 32, That is, when it is necessary to transfer the colloidal particles obtained by recovery and granulation of the recovery assembly 2, the support platform 32 can be set up with an inclination between the main body 1 and the ground by releasing the loading assembly 3, so as to facilitate the transfer of the colloidal particles.
  • the setting of the loading component 3 can also facilitate the installation/transportation of other working components or devices, effectively improving the practicability of the laser cleaning system 100 .
  • Laser cleaning method 200 includes the following steps:
  • the driving system 2 drives the laser cleaning device 1 to move, and detects the position of the glue black through the positioning component 14 arranged under the main body 21 of the driving system 2;
  • control component 22 When the control component 22 receives the position information of the glue black collected by the positioning component 14, the control component 22 controls the drive system 2 to decelerate, and controls the laser generator 112 connected to the position adjustment device 113 to move to the working position through the overturn component 23;
  • the laser generator 112 moves at a constant speed under the drive of the main body 21, and the laser generator 112 moves along the S-shaped route under the drive of the position adjustment device 113 to remove the glue black on the ground in a circular manner, and the positioning component 14 is opposite to the ground on the ground.
  • the glue black is monitored in real time until the glue black on the ground is completely removed;
  • control component 22 controls the recovery component 12 to open, recycles the rubber scraps generated by the laser generator 112 after removing the glue, and granulates the rubber scraps;
  • the recycling component 12 weighs and packs the granulated rubber particles, and the laser cleaning system 100 completes the cleaning and recycling process of rubber black.
  • Step S1 is specifically: the operator controls the control assembly 22 to turn on, and controls the operation of the main body 21 through the control assembly 22, so that the laser cleaning device 1 connected to the main body 21 moves to the position where glue black exists. Further, the control assembly 22 controls the operation of the positioning assembly 14 to locate the location where the glue black exists through the first positioning member.
  • Step S2 is specifically: the control component 22 receives the location information of the glue black transmitted by the first positioning member, and analyzes the position and size of the glue black through the control component 22, and at the same time, the control component 22 controls the main body 21 to slow down and turn over the component 23. Under the control of the control component 22, the bearing component 13 is released. At this time, the first bearing part 131 moves out of the main body 21 along the slide rail and stops at a designated position.
  • control component 22 controls the helical swing hydraulic cylinder 133 to drive
  • the second carrying part 132 turns over, and makes the universal wheel 1321 contact with the ground, at the same time, the control assembly 22 receives the position information of the glue black transmitted by the positioning assembly 14, including the first positioning member, the second positioning member and the third positioning member , control the position adjusting device 113 to drive the laser generator 112 to move to the working position.
  • step S3 the main body 21 drives the laser generator 112 connected to the carrier assembly 13 to move at a constant speed.
  • the control assembly 22 adjusts the position according to the position and size information of the glue black acquired by the control assembly 22 in step S2.
  • the device 113 drives the laser generator 112 to remove the glue black on the ground cyclically along the S-shaped route.
  • the first positioning member and the second positioning member monitor the glue black on the ground in real time until the glue black on the ground is completely removed.
  • step S3 is the running route of the laser generator 112, not the running route of the main body 21. Further, the preferred running speed of the main body 21 in step S3 is 360 m/h.
  • step S4 the control assembly 22 controls the recovery assembly 12 to open while controlling the laser generator 112 to remove glue.
  • the vacuum collection device 121 in the recovery assembly 12 removes the rubber debris produced by the glue black on the laser generator 112 Collect, and further filter the collected rubber crumbs through the dust removal and filtering device 125, and the rubber crumbs after dust removal and filtration enter the recycling device 122 for granulation and molding, and complete the secondary processing of rubber crumbs to obtain rubber granules .
  • step S5 is to weigh and pack the rubber granules prepared in step S4, and the rubber granules after packaging can be transported through the loading assembly 3, so as to complete the cleaning of the rubber black and remove the rubber crumbs recycling and secondary use.
  • the laser cleaning device 1 of the present invention uses a laser to remove glue black by setting a laser glue removal assembly 11, so as to avoid the influence of uneven road surface, fine holes, shrinkage and cracks on the glue black removal effect, and at the same time avoid Impact force and chemical corrosion cause damage to the road surface; while the recovery component 12 corresponding to the laser deglue component 11 can effectively collect the rubber debris generated by the laser degum component 11 to remove rubber black, and further granulate and recycle , to avoid secondary pollution and to reuse the recovered rubber particles, realize the integration of laser degumming and rubber particle recovery, and have the advantages of energy saving and environmental protection.

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Abstract

一种激光清洁装置（1）、激光清洁系统（100）及其使用方法，激光清洁装置（1）设置有激光除胶组件（11），使用激光对胶黑进行清除，避免因路面不平、细孔、缩松和裂纹而影响胶黑清除效果，同时避免因冲击力和化学腐蚀而对路面造成损坏；与激光除胶组件（11）对应设置有回收组件（12），可有效对激光除胶组件（11）清除胶黑产生的橡胶碎屑进行收集，并进一步进行造粒和回收，避免了二次污染的产生且可对回收后的橡胶颗粒进行再次利用，具有节能环保的优点，同时使得使用该激光清洁装置（1）的激光清洁系统（100）能够提高工作效率、杜绝二次污染的产生。

Description

激光清洁装置、激光清洁系统及其使用方法 技术领域
本发明涉及一种激光清洁装置、使用该激光清洁装置的激光清洁系统以及应用于该激光清洁系统的激光清洁方法，属于激光清洗技术领域。
背景技术
民航航班起降后，由于飞机轮胎在高速着陆时接触跑道表面摩擦造成的高温，使轮胎橡胶瞬间溶化形成橡胶粘污物并涂抹道面纹理中，业内称为“胶黑”，随着摩擦次数的增加和时间的推移，道面上的胶黑不断加厚，累积达到一定厚度，就会降低航空器与跑道表面的摩擦力，影响飞机的制动性，特别是在道面为湿润状态下，跑道摩擦力明显降低，直接影响飞机的安全着陆。
目前机场跑道去除胶黑常用的方法有机械打磨除胶、化学除胶和超高压水射流冲洗法。机械打磨去除胶黑的优点是道面面层和填缝料不会受到破损；但由于机械打磨法是采用铣刨机、研磨机或旋转硬质钢丝刷等清除混凝土跑道胶泥，操作不当易损伤混凝土道面，破坏道面刻槽，甚至产生微裂缝，不宜长期大范围使用,并且速度慢，较多依赖操作人员实际经验.原有防滑体系被破坏,摩擦系数明显降低，修复难度极大，造价极高。
化学去除胶黑方法是通过在道面上洒化学除胶剂来软化并分解胶黑，然后用高压水清除软化的胶黑，优点是道面面层不受物理损坏，操作工艺简单，缺点是对环境有污染，且化学制剂会对混凝土产生影响，引起组织疏松、剥离等，不易修复，修复成本极高，且化学去除胶黑方法虽然短期内可能提升跑道的摩擦系数，但需要与其他方法结合使用、除胶成本高并且在冬季与高寒地区高压水会产生结冰、结霜、在轮胎表面形成高速水膜等不安全因素，严重降低摩擦力。
使用超高压水射流技术冲洗胶黑，根据超高压水射流设备的喷头形式可分为雾化射流和集束射流，需控制水射流的水压力为140～240Mpa，喷枪与道面夹角、喷枪嘴与冲洗道面的距离对除胶迹效果和对道面面层的影响要经过试验确定，以提高去除胶黑的效果质量并防止冲坏道面面层，随后将冲洗掉的胶沫清除干净。
然而，由于超高压水射流技术的成本高，而作用于机理不同的混凝土道面和沥青道面时，既保证要全面清理胶质且又不伤及地面，且去除胶黑时需要以240M/h低速稳定行驶才能保证除胶质量，其虽可通过离合器控制达到低速运行但无法保证车速的稳定性，使得使用超高压水射流技术去除胶黑的单次除胶成本较高，机动性及效率不高导致不易推广。
此外，在使用超高压水冲洗道面时，很容易将道面层半裸在水泥砂浆中的砂粒冲掉，降低了道面本身的抗滑能力，并对混凝土地面造成微损伤，不易修复。因此，在选择超高压水进行跑道除胶时一定要做好监视，根据道面实际状况选择合适的压力进行除胶工作，并且在冬季与高寒地区并不适用，因为水雾会结冰、结霜、形成水膜降低了摩擦力，同时，使用超高压水射流技术冲洗胶黑还将产生二次废水对环境造成进一步污染。
有鉴于此，确有必要提出一种激光清洁装置，以解决上述问题。
发明内容
本发明的目的在于提供一种具有高工作效率、杜绝二次污染的激光清洁装置、使用该激光清洁装置的激光清洁系统以及应用于该激光清洁系统的激光清洁方法。
为实现上述发明目的，本发明提供了一种激光清洁装置，用于对橡胶剧烈摩擦产生的胶黑进行清理及回收，包括：激光除胶组件、回收组件以及用于承载所述激光除胶组件和所述回收组件的承载组件，所述激光除胶组件用于胶黑进行清理，包括激光发生器、与所述激光发生器连接的激光发射器以及用于调节所述激光发生器的工作位置的位置调节装置；所述位置调节装置 可在所述承载组件上移动，用于带动所述激光发射器移动至所述胶黑的存在位置，以通过所述激光发生器产生的激光对所述胶黑进行清理；所述回收组件包括真空收集装置和与所述真空收集器连接的回收处理装置，所述真空收集装置用于对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行收集，并通过所述回收处理装置对所述橡胶碎屑进行造粒回收。
作为本发明的进一步改进，所述位置调节装置包括连接在所述承载组件上的X轴调节组件、与所述X轴调节组件垂直设置的Y轴调节组件以及与所述X轴调节组件和所述Y轴调节组件所在平面垂直设置的Z轴调节组件，且所述激光发生器连接在所述Z轴调节组件上。
作为本发明的进一步改进，所述真空收集装置包括真空发生器以及与所述真空发生器管路连接的回收构件，所述回收构件固定在所述承载组件上以对所述橡胶碎屑进行收集。
作为本发明的进一步改进，所述回收处理装置包括与所述真空收集装置连通的造粒组件及与所述造粒组件对应设置的称量打包组件。
作为本发明的进一步改进，所述激光清洁装置还包括连接在所述承载装置上的定位组件，所述定位组件用于定位所述胶黑的位置，所述位置调节装置与所述定位装置控制连接，以控制所述位置调节装置带动所述激光发射器移动至清洁位置。
为实现上述发明目的，本发明还提供了一种激光清洁系统，用于清洗物体表面或地面的胶黑，包括激光清洁装置和用于承载所述激光清洁装置的驱动系统，所述激光清洁装置包括：用于对所述胶黑进行清理的激光除胶组件，所述激光除胶组件连接在所述驱动系统中，包括激光发生器、与所述激光发生器连接的激光发射器以及用于调节所述激光发生器的工作位置的位置调节装置；用于对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行回收的回收组件，所述回收组件连接在所述驱动系统中，包括真空收集装置和与所述真空收集器连接的回收处理装置；以及用于承载所述激光除胶组件和所述回收组件的承载组件；所述驱动组件包括主体、设置在所述主体上用于控制所 述激光清洁装置的控制组件以及用于为所述激光清洁装置提供电能的供能组件；所述位置调节装置通过所述承载组件滑动连接在所述主体上，以带动所述激光发射器移动至所述胶黑的存在位置，并通过所述激光发生器产生的激光对所述胶黑进行清理，所述真空收集装置对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行收集，并通过所述回收处理装置对所述橡胶碎屑进行造粒回收。
作为本发明的进一步改进，所述承载组件包括滑动连接在所述主体上的第一承载部和与所述第一承载部转动连接的第二承载部，所述激光发生器通过所述位置调节装置可调连接在所述第二承载部上。
作为本发明的进一步改进，所述驱动组件还包括用于限定所述第二承载部承载位置的翻转组件，所述翻转组件具有限定所述第二承载部使所述激光发射器处于收纳状态的收纳位置，及用于释放所述第二承载部使所述激光发射器处于工作状态的工作位置。
作为本发明的进一步改进，所述激光清洁装置还包括与所述控制组件控制连接的定位组件，所述定位组件至少包括连接在所述主体下方的第一定位构件、连接在所述承载组件上的第二定位构件和第三定位构件。
作为本发明的进一步改进，所述驱动系统还包括与所述激光发生器对应设置的冷却装置，所述冷却装置与所述激光发生器并排/并列设置在所述主体上，以为所述激光发生器降温。
作为本发明的进一步改进，所述回收组件还包括与所述真空收集装置和所述回收处理装置管路连接的除尘过滤装置，所述橡胶碎屑经所述真空收集装置进入所述除尘过滤装置中进行除尘过滤，除尘过滤后的所述橡胶碎屑进入所述回收处理装置中进行造粒回收。
为实现上述发明目的，本发明还提供了一种激光清洁方法，应用于前述的激光清洁系统，包括如下步骤：
S1、驱动系统中的控制组件控制主体运行并带动连接在所述主体上的激光清洁装置移动，并通过设置在所述主体下方的定位组件检测胶黑的所在位 置；
S2、所述控制组件接收到所述定位组件采集的所述胶黑的位置信息时，所述控制组件控制所述主体减速，并通过翻转组件控制连接在位置调节装置上激光发生器移动至工作位置；
S3、所述激光发生器在所述主体的带动下匀速移动，且所述激光发生器在所述位置调节装置的带动下沿S型路线移动并循环去除地面上的所述胶黑，且所述定位组件对地面上的所述胶黑进行实时监测，直至地面上的所述胶黑被清除完全；
S4、所述激光发生器除胶的同时，所述控制组件控制回收组件开启，对所述激光发生器除胶产生的橡胶碎屑进行回收，并对所述橡胶碎屑进行造粒成型；
S5、所述回收组件对造粒成型后的橡胶颗粒进行称重、包装，所述激光清洁系统对所述胶黑的清洁和回收过程结束。
本发明的有益效果是：本发明的激光清洁装置无视地域与季节变换带来的影响,通过设置激光除胶组件，哪怕高寒地区及冰雪天气依然可以使用激光对胶黑进行彻底清除，并避免因路面不平、细孔、冷热伸缩槽、缩松和裂纹对胶黑清除效果的影响，同时避免因冲击力和化学腐蚀对路面造成损坏；而与激光除胶组件对应设置的回收组件除净化烟气外，还可有效对激光除胶组件清除胶黑产生的橡胶碎屑进行收集，并进一步进行造粒和回收，避免了二次污染的产生，且可对回收后的橡胶颗粒进行再次利用，具有节能环保的优点。
附图说明
图1是本发明激光清洁系统的立体示意图。
图2是图1中激光清洁系统取消部分主体后的立体示意图。
图3是图1承载组件与位置调节装置组合时的立体示意图。
图4是图1回收组件中造粒组件的立体示意图。
图5是图2中翻转组件与主体组合时的部分立体示意图。
图6是图2中装车组件的立体示意图。
图7是本发明激光清洁方法的流程图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
在此，需要说明的是，为了避免因不必要的细节而模糊了本发明，在附图中仅仅示出了与本发明的方案密切相关的结构和/或处理步骤，而省略了与本发明关系不大的其他细节。
另外，还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。
请参阅图1～图5所示，为本发明提供的一种激光清洁系统100，用于清洗物体表面或地面的胶黑，并对清洁胶黑后产生的橡胶碎屑进行清理及回收。激光清洁系统100包括用于对胶黑进行清洁和回收的激光清洁装置1和用于承载激光清洁装置1的驱动系统2。
激光清洁装置1包括激光除胶组件11、回收组件12以及用于承载激光除胶组件11和回收组件12的承载组件13。激光除胶组件11连接在驱动系统2中，包括激光发生器111、与激光发生器连接的激光发射器112以及用于调节激光发生器111的工作位置的位置调节装置113。
激光发生器111用于产生激光并通过激光发射器112作用在胶黑存在的位置，激光发生器111包括激光发生控制柜1111以及与激光发生控制柜1111电性连接的空气压缩机1112。在本发明中，激光发生器111为用于产生高频短波激光的高频短波激光发生器。
需要说明的是，在本申请中仅以激光发生器111为高频短波激光发生器为例进行举例说明，在本申请的其它实施例中，激光发生器111还可为频率 和/或波长可调的激光发生装置，以进一步提升激光清洁系统100在应用于不同场景时的除胶效果。
激光发射器112连接在位置调节装置113中，位置调节装置113带动激光发射器112激光在承载组件13上移动，以调节激光发射器112与胶黑所在位置之间的距离。在本申请中，位置调节装置113包括连接在承载组件13上的X轴调节组件1131、与X轴调节组件1131垂直设置的Y轴调节组件1132以及与X轴调节组件1131和Y轴调节组件1132所在平面垂直设置的Z轴调节组件1133，且X轴调节组件1131、Y轴调节组件1132以及Z轴调节组件1133均为防尘滚珠丝杠直线导轨与滑块的组合。其中，X轴调节组件1131中的防尘滚珠丝杠直线导轨连接在承载组件13中，Y轴调节组件1132中的防尘滚珠丝杠直线导轨连接在X轴调节组件1131中的滑块上，而Z轴调节组件1133中的防尘滚珠丝杠直线导轨则连接在Y轴调节组件1132中的滑块上，且激光发生器112连接在Z轴调节组件1133中的滑块上，如此可使得激光发生器112在X轴、Y轴以及Z轴方向上移动，继而方便调整激光发生器112的位置。
进一步的，位置调节装置113还包括伺服电机，伺服电机分别与X轴调节组件1131、Y轴调节组件1132以及Z轴调节组件1133中的滑块对应设置，以驱动滑块在防尘滚珠丝杠直线导轨上滑动，如此设置可通过伺服电机对滑块的移动位置进行调整，有效提升了位置调节装置113调节激光发生器112的工作位置的调节精度。
回收组件12用于对激光除胶组件11去除胶黑时产生的橡胶碎屑进行回收和处理。回收组件12连接在驱动系统2中，包括真空收集装置121和与真空收集器121连接的回收处理装置122。真空收集装置121包括真空发生器(未图示)以及与真空发生器管路连接的回收构件1211，回收构件1211固定在承载组件13上，具体的，回收构件1211呈中空设置并与真空发生器管路连接，真空发生器产生的负压作用在回收构件1211上以对橡胶碎屑进行收集。
回收处理装置122用于对真空收集装置121收集的橡胶碎屑进行二次处理，在本申请中，回收处理装置122包括与真空收集装置121连通的造粒组件123及与造粒组件123对应设置的称量打包组件124。造粒组件123包括固定在驱动系统2上的安装支架1231、通过减震快接支架1232成对安装在安装支架1231上的造粒辊轮1233以及固定在安装支架1231上并与造粒辊轮1233通过正反转齿轮(未图示)驱动连接的且驱动电机1234，进一步的，造粒组件123还包括设置在真空收集器121与造粒辊轮1233之间的加热装置(未图示)以及位于造粒辊轮1233下方的吹扫装置(未图示)。
需要说明的是，本申请说明书和附图中示出的造粒组件123仅是示例性的，在本申请的其它实施例中，造粒组件123还可呈其他形式设置，只需保证造粒组件123可对回收的橡胶碎屑进行造粒即可。
事实上，胶黑的残留物主要以橡胶为主，轻度、细微的碎屑已被气化与烧焦，但还有些相对大些的橡胶碎屑具有一定粘度，经真空收集器121收集的橡胶碎屑进入造粒组件123中，加热装置对进入造粒组件123中的橡胶碎屑进行加热，进一步的，经加热装置轻度加热的橡胶碎屑进入两个造粒辊轮1233之间实现造粒，并进一步在吹扫装置的吹扫作用下自造粒辊轮1233上脱离，实现橡胶碎屑的二次加工，并制备获得橡胶颗粒。优选的，本发明中的造粒辊轮1233为采用含铬不锈钢材料制成的锻造辊轮，且造粒辊轮1233上的造粒尺寸为3.15～3.5mm，进一步的，造粒辊轮1233的表面抛光设置，且造粒辊轮1233的表面粗糙度≤0.4μm，如此设置，可进一步方便吹吸装置将造粒后的橡胶颗粒自造粒辊轮1233上脱离。
称量打包组件124用于对造粒后的橡胶颗粒进行回收并称重包装，具体的，称量打包组件124包括连接在造粒组件123的下方并与造粒组件123管路连接称量单元，以及位于称量单元下方的包装单元，即，造粒获得的橡胶颗粒首先进入称量单元中进行称量，称量结束后进入包装单元中进行包装，并最终完成回收利用。
在本发明的一较佳实施例中，回收组件12还包括位于真空收集装置121 和回收处理装置122之间的除尘过滤装置125，除尘过滤装置125分别与真空收集装置121和回收处理装置122管路连接，在本申请中，除尘过滤装置125主要包括真空泵、波纹管、进料软管、下料锥管、滤芯等结构，如此设置，经真空收集装置121收集的橡胶碎屑首先进入除尘过滤装置125进行除尘过滤，除尘过滤后的橡胶碎屑进入回收处理装置中进行造粒回收，防止造粒过程中有杂质混入橡胶颗粒中，有效降低了二次加工获取的橡胶颗粒中的杂质含量。同时，除尘过滤装置125还可对橡胶碎屑造粒过程中产生的烟尘进行处理，防止橡胶碎屑加热或回收过程中的有害烟气或烟尘的逸散，防止对环境造成二次污染。
承载组件13用于将激光发射器112、位置调节装置113以及回收构件1211可移动地连接在驱动组件2上。承载组件13包括滑动连接在驱动组件2上的第一承载部131和与第一承载部131转动连接的第二承载部132，具体的，第一承载部131和第二承载部132之间通过螺旋摆动液压缸133转动连接，以方便第一承载部131和第二承载部132之间的角度调节。
位置调节装置113可调连接在第二承载部132的一侧，第二承载部132与位置调节装置113相对设置的另一侧上设置有用于支撑第二承载部132的万向轮1321，即，第二承载部132可在驱动组件2的带动下在地面上滑动并支撑激光发射器112、位置调节装置113和回收构件1211进行相应的工作。
进一步的，激光清洁装置1还包括与驱动组件2控制连接的定位组件14，定位组件14用于对胶黑的位置进行定位，并对激光发射器112的工作位置和清洁程度进行检测和控制。具体的，定位组件14至少包括连接在驱动组件2下方的第一定位构件、连接在第二承载部132上的第二定位构件以及连接在位置调节装置113上用于对激光发射器112的位置高度进行检测的第三定位构件，且第一定位构件为具有图像采集和识别功能的摄像装置，第三定位构件为可进行竖直方向高度检测的测距装置，且第三定位构件的检测端与激光发射器112的激光发出端位于同一水平面上，以使得第三定位构件可对激光发射器112的出光高度进行精准检测，优选的，第一定位构件和第二定位构 件均为具有500W像素的摄像头，第三定位构件为激光测距仪。
具体来讲，第一定位构件用于对胶黑的位置和胶黑的清洁情况进行检测，以对地面上胶黑的图像进行实时采集，并将采集到的胶黑的图像信息和位置信息传递至驱动组件2中进行处理，以进一步通过图像识别算法(如对比图识别法、粗糙度与RGB颜色空间图像识别算法等)对胶黑的存在位置进行识别，根据二维坐标系原理控制X轴调节组件1131和Y轴调节组件1132带动承载激光发射器112的Z轴调节组件1133移动至胶黑的存在位置，进一步的，第二定位构件检测第二承载部132的水平位置，以使得通过Z轴调节组件1133对激光发射器112的出光高度进行检测，以使第二承载部132的所在平面与主体21的底面平行，当确定第二承载部132的所在平面与主体21的底面平行后，第三定位构件调节激光发射器112的使用高度，使得激光发射器112移动至适宜进行除胶的高度，优选的，激光发生器111产生的激光的有效作用距离为250～300mm，幅宽为900mm；则驱动组件2控制Z轴调节组件1133带动激光发射器112移动至距地面260mm的高度，以使得激光发射器112具有最佳的清洁高度。
驱动组件2包括主体21、设置在主体21上用于控制激光清洁装置1的控制组件22以及收容在主体21内为激光清洁装置1的运行提供电能的供能组件23。在本发明中，主体21用于承载激光清洁系统100中的各类组件或装置，具体的，驱动组件2中还包括用于带动主体21运行的行走组件211和用于驱动行走组件211的动力单元(未图示)，即，在本申请中，动力单元驱动行走组件211运行，并进一步带动主体21和连接固定在主体21上的各类组件或装置移动。
在本申请的一较佳实施例中，主体21为行车单元，且主体21上设有用于承载操作者的驾驶室，且控制组件22收容在驾驶室中，如此设置，可方便行车单元带动连接在其上的激光除胶组件11和回收组件12同时工作，实现了激光除胶和橡胶碎屑回收的一体化，同时，可通过行车单元带动激光除胶组件11和回收组件12匀速运行，进一步提升了激光清洗系统100的使用便 捷性，当然在本申请的其它实施例中，主体21还为其他用于承载激光清洁装置1和其他组件或装置的承载体，即本申请说明书及附图中的行车单元仅为示例性的，不应以此为限。
控制组件22分别与激光除胶组件11、回收组件12以及承载组件13控制连接，以用于控制激光除胶组件11、回收组件12以及承载组件13的运行，优选的，控制组件22为PLC主控系统。供能组件23收容在主体1内并位于激光清洁装置1的旁侧，以为其运行提供电力，且在本申请中供能组件23为可充电锂电池组。
进一步的，驱动组件2还包括翻转组件24。在本申请中，翻转组件24用于限定第二承载部132承载位置，同时还可对连接在翻转组件24上的激光发射器112和/或回收构件1211进行保护，以提升激光清洁装置1和使用该激光清洁装置1的激光清洁系统100使用寿命。
在本申请的一较佳实施例中，翻转组件24包括与主体21的箱体翻转连接的翻转构件241、与控制组件22控制连接的翻转电机242以及用于翻转连接翻转构件241和主体21的连杆组件243，且连杆组件243与翻转电机242驱动连接，并进一步通过多连杆原理控制翻转构件241的翻转。
进一步的，翻转组件24具有限定第二承载部132使激光发射器112处于收纳状态的收纳位置，及用于释放第二承载部132使激光发射器112处于工作状态的工作位置，且当翻转组件24处于收纳位置时，第二承载部132垂直第一承载部131设置，且此时位置调节装置113和激光发射器112收容在主体21和翻转构件241之间；而当翻转组件24处于工作位置时，第一承载部131沿设置在主体21上的滑轨213滑动至主体21外，且第二承载部132在螺旋摆动液压缸133的驱动下沿远离主体21的一侧翻转，且设置在第二承载部132上的万向轮1321与地面接触，以支撑连接在第二承载部132上的激光发射器112和回收构件1211完成相应的除胶和回收工作，需要说明的是，当控制组件22控制第二承载部132向地面所在方向翻折时，控制组件22控制Z轴调节组件1133带动激光发射器112向远离第二承载部132的一侧滑动， 以防止第二承载部132在翻折后与地面保持平行并滑动的过程中，激光发射器112与地面发生磕碰，造成激光发射器112的使用异常。
驱动系统2还包括与激光发生器111对应设置的冷却装置25(如图1)，冷却装置25与激光发生器111并排/并列设置在主体21上，以为激光发生器111降温，且在本申请中，冷却装置25包括空调压缩机、温控系统、送风系统以及水冷系统，以分别为激光发生器111和收容在主体21中的供能组件23降温，以防止激光发生器111和供能组件23应为温度过高造成使用异常。
请参阅图6并结合图2所示，在本申请的一较佳实施例中，激光清洁系统100还包括装车组件3，装车组件3设置在主体1上并与激光清洁单元1对应设置，且装车组件3位于回收组件12的下方，呈可翻转的结构设置，以方便激光清洁单元1回收的橡胶颗粒的转运。具体的，装车组件3包括滑动连接在主体21上的支撑托架31、可调连接在支撑托架31上的支撑平台32以及用于限定支撑平台32转动和滑动位置的限位支撑33，即，当需要对回收组件2回收造粒获得的胶体颗粒进行转运时，可通过释放装车组件3在主体1和地面之间搭设倾斜设置支撑平台32，继而方便的胶体颗粒的转运，同时，装车组件3的设置还可方便其他工作组件或装置的安装/运输，有效提升了激光清洗系统100的实用性。
请参阅图7所示，本发明还提供了一种激光清洁方法200，以用于对激光清洁系统100进行操作控制。激光清洁方法200包括如下步骤：
S1、驱动系统2带动激光清洁装置1移动，并通过设置在驱动系统2的主体21下方的定位组件14检测胶黑的所在位置；
S2、控制组件22接收到定位组件14采集的胶黑的位置信息时，控制组件22控制驱动系统2减速，并通过翻转组件23控制连接在位置调节装置113上激光发生器112移动至工作位置；
S3、激光发生器112在主体21的带动下匀速移动，且激光发生器112在位置调节装置113的带动下沿S型路线移动并循环去除地面上的胶黑，且定位组件14对地面上的胶黑进行实时监测，直至地面上的胶黑被清除完全；
S4、激光发生器112除胶的同时，控制组件22控制回收组件12开启，对激光发生器112除胶产生的橡胶碎屑进行回收，并对橡胶碎屑进行造粒成型；
S5、回收组件12对造粒成型后的橡胶颗粒进行称重、包装，激光清洁系统100对胶黑的清洁和回收过程结束。
以下说明书部分将针对步骤S1～S4进行详细说明。
步骤S1具体为：操作者控制控制组件22开启，并通过控制组件22控制主体21运行，以使得连接在主体21上的激光清洁装置1移动至胶黑的存在位置。进一步的，控制组件22控制定位组件14运行，以通过第一定位构件对胶黑的存在位置进行定位。
步骤S2具体为：控制组件22接收第一定位构件传递的胶黑的位置信息，并通过控制组件22对胶黑的位置、大小等进行分析，同时，控制组件22控制主体21降速，翻转组件23在控制组件22的控制作用下释放承载组件13，此时，第一承载部131沿滑轨移动至主体21外并在指定位置处停止，进一步的，控制组件22控制螺旋摆动液压缸133带动第二承载部132翻转，并使万向轮1321与地面接触，同时，控制组件22接收定位组件14，包括第一定位构件、第二定位构件以及第三定位构件，传递的胶黑的位置信息，控制位置调节装置113带动激光发生器112移动至工作位置。
进一步的，在步骤S3中，主体21带动连接在承载组件13上的激光发生器112匀速移动，此时，控制组件22根据步骤S2中控制组件22获取的胶黑的位置和大小信息通过位置调节装置113带动激光发生器112沿S型路线循环去除地面上的胶黑，同时，第一定位构件和第二定位构件对地面上的胶黑进行实时监测，直至地面上的胶黑清除完全。
需要说明的是，步骤S3中的S型路线为激光发生器112的运行路线，并非主体21的运行路线，进一步的，在步骤S3中优选的主体21的运行速度为360m/h。
在步骤S4中，控制组件22在控制激光发生器112除胶的同时，控制回收组件12开启，此时，回收组件12中的真空收集装置121对激光发生器112清除胶黑产生的橡胶碎屑进行收集，并进一步通过除尘过滤装置125对收集的橡 胶碎屑进行除尘过滤，而经除尘过滤后的橡胶碎屑进入回收处理装置122进行造粒成型，完成橡胶碎屑的二次加工获取橡胶颗粒。
而步骤S5则是对步骤S4中制备的橡胶颗粒进行称重、包装，且包装结束后的橡胶颗粒可通过装车组件3进行转运，以在完成对胶黑的清洁的同时，实现橡胶碎屑的回收和二次利用。
综上所述，本发明的激光清洁装置1通过设置激光除胶组件11使用激光对胶黑进行清除，避免因路面不平、细孔、缩松和裂纹对胶黑清除效果的影响，同时避免因冲击力和化学腐蚀对路面造成损坏；而与激光除胶组件11对应设置的回收组件12则可有效对激光除胶组件11清除胶黑产生的橡胶碎屑进行收集，并进一步进行造粒和回收，避免了二次污染的产生且可对回收后的橡胶颗粒进行再次利用，实现了激光除胶和橡胶颗粒回收的一体化，具有节能环保的优点。
以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围。

Claims (12)

  1. 一种激光清洁装置，用于对橡胶剧烈摩擦产生的胶黑进行清理及回收，其特征在于，包括：激光除胶组件、回收组件以及用于承载所述激光除胶组件和所述回收组件的承载组件，所述激光除胶组件用于胶黑进行清理，包括激光发生器、与所述激光发生器连接的激光发射器以及用于调节所述激光发生器的工作位置的位置调节装置；所述位置调节装置可在所述承载组件上移动，用于带动所述激光发射器移动至所述胶黑的存在位置，以通过所述激光发生器产生的激光对所述胶黑进行清理；所述回收组件包括真空收集装置和与所述真空收集器连接的回收处理装置，所述真空收集装置用于对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行收集，并通过所述回收处理装置对所述橡胶碎屑进行造粒回收。
  2. 根据权利要求1所述的激光清洁装置，其特征在于：所述位置调节装置包括连接在所述承载组件上的X轴调节组件、与所述X轴调节组件垂直设置的Y轴调节组件以及与所述X轴调节组件和所述Y轴调节组件所在平面垂直设置的Z轴调节组件，且所述激光发生器连接在所述Z轴调节组件上。
  3. 根据权利要求1所述的激光清洁装置，其特征在于：所述真空收集装置包括真空发生器以及与所述真空发生器管路连接的回收构件，所述回收构件固定在所述承载组件上以对所述橡胶碎屑进行收集。
  4. 根据权利要求3所述的激光清洁装置，其特征在于：所述回收处理装置包括与所述真空收集装置连通的造粒组件及与所述造粒组件对应设置的称量打包组件。
  5. 根据权利要求1所述的激光清洁装置，其特征在于：所述激光清洁装置还包括连接在所述承载装置上的定位组件，所述定位组件用于定位所述胶黑的位置，所述位置调节装置与所述定位装置控制连接，以控制所述位置调节装置带动所述激光发射器移动至清洁位置。
  6. 一种激光清洁系统，用于清洗物体表面或地面的胶黑，其特征在于，包括激光清洁装置和用于承载所述激光清洁装置的驱动系统，所述激光清洁装置 包括：
    用于对所述胶黑进行清理的激光除胶组件，所述激光除胶组件连接在所述驱动系统中，包括激光发生器、与所述激光发生器连接的激光发射器以及用于调节所述激光发生器的工作位置的位置调节装置；
    用于对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行回收的回收组件，所述回收组件连接在所述驱动系统中，包括真空收集装置和与所述真空收集器连接的回收处理装置；以及用于承载所述激光除胶组件和所述回收组件的承载组件；
    所述驱动组件包括主体、设置在所述主体上用于控制所述激光清洁装置的控制组件以及用于为所述激光清洁装置提供电能的供能组件；
    所述位置调节装置通过所述承载组件滑动连接在所述主体上，以带动所述激光发射器移动至所述胶黑的存在位置，并通过所述激光发生器产生的激光对所述胶黑进行清理，所述真空收集装置对所述激光除胶组件清理所述胶黑产生的橡胶碎屑进行收集，并通过所述回收处理装置对所述橡胶碎屑进行造粒回收。
  7. 根据权利要求6所述的激光清洁系统，其特征在于：所述承载组件包括滑动连接在所述主体上的第一承载部和与所述第一承载部转动连接的第二承载部，所述激光发生器通过所述位置调节装置可调连接在所述第二承载部上。
  8. 根据权利要求7所述的激光清洁系统，其特征在于：所述驱动组件还包括用于限定所述第二承载部承载位置的翻转组件，所述翻转组件具有限定所述第二承载部使所述激光发射器处于收纳状态的收纳位置，及用于释放所述第二承载部使所述激光发射器处于工作状态的工作位置。
  9. 根据权利要求7所述的激光清洁系统，其特征在于：所述激光清洁装置还包括与所述控制组件控制连接的定位组件，所述定位组件至少包括连接在所述主体下方的第一定位构件和连接在所述承载组件上的第二定位构件。
  10. 根据权利要求6所述的激光清洁系统，其特征在于：所述驱动系统还包括与所述激光发生器对应设置的冷却装置，所述冷却装置与所述激光发生器并排/并列设置在所述主体上，以为所述激光发生器降温。
  11. 根据权利要求6所述的激光清洁系统，其特征在于：所述回收组件还包括与所述真空收集装置和所述回收处理装置管路连接的除尘过滤装置，所述橡胶碎屑经所述真空收集装置进入所述除尘过滤装置中进行除尘过滤，除尘过滤后的所述橡胶碎屑进入所述回收处理装置中进行造粒回收。
  12. 一种激光清洁方法，应用于权利要求6～11任意一项所述的激光清洁系统，其特征在于，包括如下步骤：
    S1、驱动系统中的控制组件控制主体运行并带动连接在所述主体上的激光清洁装置移动，并通过设置在所述主体下方的定位组件检测胶黑的所在位置；
    S2、所述控制组件接收到所述定位组件采集的所述胶黑的位置信息时，所述控制组件控制所述主体减速，并通过翻转组件控制连接在位置调节装置上激光发生器移动至工作位置；
    S3、所述激光发生器在所述主体的带动下匀速移动，且所述激光发生器在所述位置调节装置的带动下沿S型路线移动并循环去除地面上的所述胶黑，且所述定位组件对地面上的所述胶黑进行实时监测，直至地面上的所述胶黑被清除完全；
    S4、所述激光发生器除胶的同时，所述控制组件控制回收组件开启，对所述激光发生器除胶产生的橡胶碎屑进行回收，并对所述橡胶碎屑进行造粒成型；
    S5、所述回收组件对造粒成型后的橡胶颗粒进行称重、包装，所述激光清洁系统对所述胶黑的清洁和回收过程结束。
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