CN111571000B - Laser cleaning device and method for large-scale equipment - Google Patents
Laser cleaning device and method for large-scale equipment Download PDFInfo
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- CN111571000B CN111571000B CN202010438905.2A CN202010438905A CN111571000B CN 111571000 B CN111571000 B CN 111571000B CN 202010438905 A CN202010438905 A CN 202010438905A CN 111571000 B CN111571000 B CN 111571000B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A laser cleaning device and method for large-scale equipment, the laser cleaning device includes the chassis of the crawler, is used for realizing the movement in the horizontal direction; the rotating part is arranged on the chassis of the tracked vehicle and is used for realizing rotation in the horizontal direction; the lifting component is arranged on the rotating component and plays a lifting role; the moving component is arranged on the lifting component; the cleaning processing head is arranged on the moving unit; a laser component arranged inside the cleaning processing head and used for generating laser; the telecentric lens positioning component is arranged on the moving part and used for positioning; and the control component is used for realizing the cleaning of the cleaning processing head on the large-scale equipment. The automatic cleaning device can realize the automatic cleaning of large structural parts; the complexity of the automatic control system can be simplified by dividing the large structure through a grid division method.
Description
Technical Field
The invention relates to the field of equipment cleaning, in particular to a laser cleaning device and method for large-scale equipment.
Background
The laser cleaning is a novel green and precise cleaning technology, and compared with chemical cleaning and mechanical cleaning, the laser cleaning device does not need any chemical reagent, is free of grinding, stress and material consumption, and has the advantages of extremely small damage to a base material and no pollution.
The laser can be flexibly transmitted by utilizing the optical fiber, and the execution end of the cleaning processing head is arranged on the arm of the robot, so that the automatic precise and fixed-point cleaning is realized. The automatic cleaning of large-scale device based on technologies such as mechanical arm, automatic positioning and combining laser cleaning technology is the main application direction at present of laser cleaning, especially to the automatic cleaning of some large-scale equipment, such as aircraft surface paint cleaning work, can practice thrift a large amount of manpowers and time, and whole green is pollution-free.
Present laser cleaning needs the manual work to pull laser cleaning system and shifts to the equipment different positions and carry out the handheld washing of manpower, and manual washing precision and washing position constantly descend along with manpower physical power, and the cleaning efficiency descends thereupon, wastes time and energy, and efficiency is not high, and the cleaning quality is difficult for guaranteeing more.
Disclosure of Invention
In view of the above, it is a primary objective of the present invention to provide a laser cleaning apparatus and method for large-scale equipment, so as to at least partially solve at least one of the above technical problems.
In order to achieve the above object, as one aspect of the present invention, there is provided a laser cleaning apparatus for a large-scale equipment, comprising:
the crawler chassis is used for realizing horizontal direction movement;
the rotating part is arranged on the chassis of the tracked vehicle and is used for realizing rotation in the horizontal direction;
the lifting component is arranged on the rotating component and plays a lifting role;
the moving component is arranged on the lifting component;
the cleaning processing head is arranged on the moving unit;
a laser component arranged inside the cleaning processing head and used for generating laser;
the telecentric lens positioning component is arranged on the moving part and used for positioning; and
and the control part is used for realizing the cleaning of the large-scale equipment by the cleaning processing head.
As another aspect of the present invention, there is also provided a laser cleaning method including:
carrying out grid division on a space field for placing large equipment to be cleaned to form space field grids, marking the space field grids, and forming working position points of the space field laser cleaning device according to the grid marks;
mapping the space field grid to the large-scale equipment, dividing the large-scale equipment to be cleaned into a plurality of sub-components according to the grid, and marking a standard characteristic point on each sub-component;
and the laser cleaning device operates to the working position points one by one according to the grid marks to clean the large equipment to be cleaned according to the cleaning coordinates, so that the large equipment to be cleaned is cleaned.
Based on the above technical solution, the laser cleaning apparatus and method for large-scale equipment of the present invention have at least one of the following advantages over the prior art:
1. the automatic cleaning of large structural parts can be realized;
2. the complexity of the automatic control system can be simplified by dividing the large structure through a grid division method.
Drawings
FIG. 1 is a schematic structural diagram of an automated laser cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an automated laser cleaning apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the spatial field calibration during the automated laser cleaning process in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for segmenting the surface of an aircraft skin during automated laser cleaning according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an automatic cleaning process of an aircraft skin according to an embodiment of the invention.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
The invention discloses a laser cleaning device for large-scale equipment, which comprises:
the crawler chassis is used for realizing horizontal direction movement;
the rotating part is arranged on the chassis of the tracked vehicle and is used for realizing rotation in the horizontal direction;
the lifting component is arranged on the rotating component and plays a lifting role;
the moving component is arranged on the lifting component;
the cleaning processing head is arranged on the moving unit;
a laser component arranged inside the cleaning processing head and used for generating laser;
the telecentric lens positioning component is arranged on the moving part and used for positioning; and
and the control part is used for realizing the cleaning of the large-scale equipment by the cleaning processing head.
In some embodiments of the invention, the moving part comprises a robotic arm.
In some embodiments of the invention, the laser component comprises a laser generator and an optical fiber.
In some embodiments of the invention, the laser cleaning device further comprises a power source motor for providing power.
In some embodiments of the present invention, the moving member is disposed on an upper end surface or a lower end surface of the elevating member.
The invention also discloses a laser cleaning method, which comprises the following steps:
carrying out grid division on a space field for placing large equipment to be cleaned to form space field grids, marking the space field grids, and forming working position points of the space field laser cleaning device according to the grid marks;
mapping the space field grid to the large-scale equipment, dividing the large-scale equipment to be cleaned into a plurality of sub-components according to the grid, and marking a standard characteristic point on each sub-component;
and the laser cleaning device operates to the working position points one by one according to the grid marks to clean the large equipment to be cleaned according to the cleaning coordinates, so that the large equipment to be cleaned is cleaned.
In some embodiments of the present invention, in the cleaning step, the telecentric lens positioning component on the laser cleaning device performs photographing measurement on the standard feature point, and the spatial position coordinate mapping between the laser cleaning device and the sub-component to be cleaned is completed according to the measurement result, so as to form a new cleaning coordinate and then perform cleaning.
In some embodiments of the invention, the standard feature point is a pattern of regular shape and size that determines the position in two dimensions, the position of the standard feature point on the sub-part to be cleaned being a known position;
in some embodiments of the invention, the standard feature points comprise rectangles or diamonds in shape.
In some embodiments of the invention, the laser cleaning apparatus comprises:
the crawler chassis is used for realizing horizontal direction movement;
the rotating part is arranged on the chassis of the tracked vehicle and is used for realizing rotation in the horizontal direction;
the lifting component is arranged on the rotating component and plays a lifting role;
the moving component is arranged on the lifting component;
the cleaning processing head is arranged on the moving unit;
a laser component arranged inside the cleaning processing head and used for generating laser;
the telecentric lens positioning component is arranged on the moving part and used for positioning; and
and the control part is used for realizing the cleaning of the large-scale equipment by the cleaning processing head.
In some embodiments of the invention, the moving part comprises a robotic arm;
in some embodiments of the invention, the laser component comprises a laser generator and an optical fiber;
in some embodiments of the invention, the apparatus further comprises a power source motor for providing power;
in some embodiments of the present invention, the moving member is disposed on an upper end surface or a lower end surface of the elevating member.
The technical solution of the present invention is further illustrated by the following specific embodiments in conjunction with the accompanying drawings. It should be noted that the following specific examples are given by way of illustration only and the scope of the present invention is not limited thereto.
Referring to fig. 1, the present invention provides an automatic laser cleaning device movement executing system (i.e. a laser cleaning device for large-scale equipment), comprising:
the device comprises a laser generator 20, an optical fiber 22, a cleaning processing head 21, a telecentric lens positioning assembly 23, a mechanical arm 30, a lifting component 12, a power source motor 13, a rotating component 16 and a crawler chassis 11.
The laser generator 20 is used for outputting high-energy laser for cleaning, the high-energy laser realizes long-distance flexible transmission through an optical fiber 22, and a cleaning processing head 21 is arranged at the output end of the optical fiber and used for removing substances to be cleaned. The cleaning processing head 21 is mounted on a six-axis mechanical arm 30, so that the mechanical arm 30 can drive the cleaning processing head 21 to clean the surface of the complex structural part. The mechanical arm is arranged on a lifting component 12 which can move up and down in the Z direction, the lifting component is arranged on a rotating component 16 which can rotate around the Z axis, and the rotating component is arranged on a crawler chassis 11 which can move in an X and Y direction plane, so that the working range of the processing head 21 is greatly improved.
Referring to fig. 2, the motion execution system of the automatic laser cleaning device according to the present invention can further improve the flexibility of cleaning and eliminate the cleaning blind area that cannot be cleaned by changing the position of the six-axis robot 30 installed on the lower end surface of the lifting member 12.
Referring to fig. 3, in the cleaning process of the present invention, a space field for placing a large device needs to be first gridded and calibrated by a working position point 31, where the working position point 31 is a working position of the motion execution system of the automatic laser cleaning device when cleaning the large device 40.
Referring to fig. 4, an embodiment of the present invention selects an aircraft as the large device to be cleaned. In the cleaning process of the invention, the airplane needs to be subjected to grid division, the surface of the airplane is divided into a plurality of sub-components to be cleaned, and a standard characteristic point 30, such as a circular point, is marked on the surface of each sub-component to be cleaned.
Referring to fig. 5, when the automated laser cleaning apparatus motion execution system is used to clean the skin of the aircraft surface, the automated laser cleaning apparatus motion execution system is positioned above the working position point 31, such that the automated laser cleaning apparatus motion execution system can clean one or more sub-components within the working position point 31. The cleaning processing head arranged at the execution end of the automatic laser cleaning device motion execution system has position deviation from an actual ideal position, namely, the mapping between the coordinates 100 (in figure 1) and the coordinates 200 (in figure 4) has deviation, so the invention arranges a standard characteristic point 30 on the surface of each sub-component to be cleaned, and the automatic laser cleaning device motion execution system adopts the telecentric lens positioning component 23 to adjust the space position between the automatic laser cleaning device motion execution system and the sub-component to be cleaned, namely, the coordinates 100 and the coordinates 200 are remapped. The adoption of telecentric lens positioning assembly 23 to adjust the spatial position between the automatic laser cleaning device movement execution system and the sub-component to be cleaned can be carried out along with the adjustment, and when the lifting component 12, the rotating component 16 and the crawler chassis 11 move, the readjustment is needed.
When the aircraft surface skin is cleaned, the automatic laser cleaning device motion execution system can be respectively operated to different working position points to be cleaned by adopting the automatic laser cleaning device motion execution system through the operation lifting component 12, the rotating component 16 and the crawler chassis 11, and the aircraft surface skin can also be cleaned synchronously by arranging a plurality of automatic laser cleaning device motion execution systems, so that the cleaning efficiency is improved.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A laser cleaning method, comprising:
carrying out grid division on a space field for placing large equipment to be cleaned to form space field grids, marking the space field grids, and forming working position points of the space field laser cleaning device according to the grid marks;
mapping the space field grid to the large-scale equipment, dividing the large-scale equipment to be cleaned into a plurality of sub-components according to the grid, and marking a standard characteristic point on each sub-component;
the laser cleaning device moves to a working position point one by one according to grid marks and cleans the large-scale equipment to be cleaned according to the cleaning coordinates, wherein when the sub-component to be cleaned is cleaned, the telecentric lens positioning assembly on the laser cleaning device performs photographing measurement on the standard characteristic point, the spatial position coordinate mapping between the laser cleaning device and the sub-component to be cleaned is completed according to the measurement result, new cleaning coordinates are formed and then the large-scale equipment to be cleaned is cleaned, and finally the large-scale equipment to be cleaned is cleaned.
2. The method of claim 1,
the standard feature point is a graph with regular shape and size and capable of determining a two-dimensional space position, and the position of the standard feature point on the to-be-cleaned sub-component is a known position;
wherein the standard feature points comprise rectangles or diamonds.
3. The method of claim 2,
the laser cleaning device includes:
the crawler chassis is used for realizing horizontal direction movement;
the rotating part is arranged on the chassis of the tracked vehicle and is used for realizing rotation in the horizontal direction;
the lifting component is arranged on the rotating component and plays a lifting role;
the moving component is arranged on the lifting component;
the cleaning processing head is arranged on the moving part;
a laser component arranged inside the cleaning processing head and used for generating laser;
the telecentric lens positioning component is arranged on the moving part and used for positioning; and
and the control part is used for realizing the cleaning of the large-scale equipment by the cleaning processing head.
4. The method of claim 3,
the moving part comprises a robotic arm;
the laser component comprises a laser generator and an optical fiber;
the device also comprises a power source motor for providing power;
the moving component is arranged on the upper end surface or the lower end surface of the lifting component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438905.2A CN111571000B (en) | 2020-05-21 | 2020-05-21 | Laser cleaning device and method for large-scale equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010438905.2A CN111571000B (en) | 2020-05-21 | 2020-05-21 | Laser cleaning device and method for large-scale equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111571000A CN111571000A (en) | 2020-08-25 |
| CN111571000B true CN111571000B (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010438905.2A Active CN111571000B (en) | 2020-05-21 | 2020-05-21 | Laser cleaning device and method for large-scale equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112934857A (en) * | 2021-01-27 | 2021-06-11 | 南昌市彦畅机电科技有限公司 | Laser cleaning device for aircraft skin |
| CN114833144B (en) * | 2022-05-10 | 2023-04-18 | 中国航空制造技术研究院 | Laser cleaning device and method for aircraft skin panel before welding |
| CN115121553B (en) * | 2022-07-21 | 2024-01-26 | 核工业理化工程研究院 | Laser cleaning system and method for automatically cleaning wall or tank wall |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202014008356U1 (en) * | 2014-10-18 | 2014-11-13 | Alpha Laser Gmbh | Mobile laser device for material processing of large workpieces |
| CN207013390U (en) * | 2017-07-14 | 2018-02-16 | 武汉金顿激光科技有限公司 | Automatic laser cleaning device |
| CN209094074U (en) * | 2018-11-28 | 2019-07-12 | 雷斯罗普(北京)激光科技有限公司 | A kind of airframe laser automatic cleaning system |
-
2020
- 2020-05-21 CN CN202010438905.2A patent/CN111571000B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202014008356U1 (en) * | 2014-10-18 | 2014-11-13 | Alpha Laser Gmbh | Mobile laser device for material processing of large workpieces |
| CN207013390U (en) * | 2017-07-14 | 2018-02-16 | 武汉金顿激光科技有限公司 | Automatic laser cleaning device |
| CN209094074U (en) * | 2018-11-28 | 2019-07-12 | 雷斯罗普(北京)激光科技有限公司 | A kind of airframe laser automatic cleaning system |
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| CN111571000A (en) | 2020-08-25 |
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