CN113909228A - Automatic cleaning method - Google Patents
Automatic cleaning method Download PDFInfo
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- CN113909228A CN113909228A CN202111109384.7A CN202111109384A CN113909228A CN 113909228 A CN113909228 A CN 113909228A CN 202111109384 A CN202111109384 A CN 202111109384A CN 113909228 A CN113909228 A CN 113909228A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
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Abstract
The invention provides an automatic cleaning method, which comprises the following steps: (1) clamping a workpiece to be cleaned; (2) obtaining basic product parameters of a workpiece to be cleaned; (3) determining standard cleaning parameters of a workpiece; (4) determining online scanning dynamic parameters; (5) obtaining cleaning control process parameters of a workpiece to be cleaned; (6) automatically cleaning the workpiece to be cleaned by the laser cleaning device according to the cleaning control process parameters; (7) and analyzing and evaluating the cleaning effect after the cleaning program is operated. The invention solves the requirement of oil cylinder cleaning under the condition of high roughness requirement of the sealing surface and the inside of the oil cylinder in the prior art, overcomes the defects of low efficiency, substandard cleaning effect, high labor intensity and the like of the prior cleaning process, and has the unique advantages of simple cleaning operation, high automation degree, good cleaning effect and the like.
Description
Technical Field
The invention relates to the technical field of workpiece cleaning, in particular to an automatic cleaning method, and particularly relates to an automatic cleaning method for a hydraulic support oil cylinder.
Background
The hydraulic cylinder is the key part of hydraulic support steady operation production, it washs generally can divide into to examine and repair and disassemble back washing and production in-process washing, the hydraulic support is in the use in the pit, the hydro-cylinder, the post is inside can bond a large amount of coal slime, dust, dirt etc. of gathering, and the hydro-cylinder part is in production and refabrication in-process, the hydro-cylinder surface also can generate pollutants such as burr, smear metal, dust, welding slag and greasy dirt, and in order to make the work that the hydro-cylinder can be more stable, and guarantee the needs process quality afterwards, all need be with these filth sanitizations. At the present stage, the hydraulic oil cylinder is generally sealed by adopting a high-end combined seal, the requirement on assembly conditions is high, and meanwhile, the bracket generally adopts a hydraulic control pilot or electro-hydraulic pilot control technology, so that the requirement on the cleanliness of the cylinder body is high. The most original cleaning method in the cylinder is to clean the cylinder by using a brush or a high-pressure water gun, some upright columns have large cylinder diameter, long cylinder barrel and much dirt, and are difficult to clean manually, so that the maintenance efficiency is low, and the sealing area cannot hurt the surface of a substrate due to the high roughness requirement of the sealing area and can only be cleaned by using rags and soft brushes, so that the labor intensity of workers is high, the working efficiency is low, the cleaning effect is poor, and the manufacturing quality is directly influenced.
Disclosure of Invention
Aiming at the technical problems, the defects of the existing oil cylinder cleaning process are overcome, the invention aims to provide a full-automatic cleaning process technology, in particular to an automatic cleaning process method for a hydraulic support oil cylinder, the oil cylinder cleaning requirement under the condition of high roughness requirement of the sealing surface and the inside of the existing oil cylinder is met, the defects of low efficiency, substandard cleaning effect, high labor intensity and the like of the existing cleaning process are overcome, and the full-automatic oil cylinder cleaning process technology has the unique advantages of simple cleaning operation, high automation degree, good cleaning effect and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic cleaning method, comprising the steps of:
the method comprises the following steps: fixedly clamping a workpiece to be cleaned through loading equipment;
step two: obtaining basic product parameters of a workpiece to be cleaned, and matching the basic product parameters with a preset standard model of the workpiece to be cleaned;
step three: determining standard cleaning parameters of the workpiece based on the matched standard cleaning workpiece model;
step four: determining on-line scanning dynamic parameters of the workpiece to be cleaned based on view scanning and spectral analysis;
step five: carrying out comprehensive coupling analysis and optimized matching processing on the basic product parameters determined in the step two, the workpiece standard cleaning parameters determined in the step three and the online scanning dynamic parameters determined in the step four to obtain cleaning control process parameters of the workpiece to be cleaned;
step six: guiding cleaning control process parameters into a laser cleaning device, and automatically cleaning a workpiece to be cleaned by the laser cleaning device according to the cleaning control process parameters;
step seven: and after the cleaning program controlled based on the cleaning control process parameters is operated, evaluating the cleaning effect through view scanning and spectral analysis, finishing the cleaning process if the cleaning effect meets the cleaning standard requirement, and repeatedly executing the fourth step to the seventh step if the cleaning effect does not meet the cleaning standard requirement until the cleaning effect meets the cleaning standard requirement and finishing the cleaning process.
Further, according to the automatic cleaning method of the present invention, the second step specifically includes the following steps:
(1) basic product parameters of the workpiece to be cleaned are obtained by measuring basic conditions of the workpiece to be cleaned, wherein the measuring mode comprises physical dimension detection and component chemical detection, and the basic product parameters comprise one or more parameters of the appearance shape, the basic dimension, the material variety and the surface pollution species of the workpiece to be cleaned;
(2) and inputting the obtained basic product parameters of the workpieces to be cleaned into a cleaning database system, inquiring and calling a standard cleaning workpiece model matched with the basic product parameters in the cleaning database system, wherein the standard cleaning workpiece model corresponding to the basic product parameters of each workpiece to be cleaned is prestored in the cleaning database system.
Further, according to the automatic cleaning method of the present invention, in the third step, according to the determined standard model of the cleaning workpiece, the standard cleaning parameter of the workpiece corresponding to the standard model of the cleaning workpiece is searched and determined in the cleaning database system, and the standard cleaning parameter of the workpiece corresponding to each standard model of the cleaning workpiece is set in the cleaning database system, and the standard cleaning parameter of the workpiece includes: the power of cleaning equipment, the category of a cleaning light source and the distance between a cleaning head and a workpiece; the power of the cleaning equipment is 10-1000W laser power, the type of the cleaning light source is a laser light source outputting flat top light or Gaussian light, and the distance between the cleaning head and the workpiece is 1-100 cm.
Further, according to the automatic cleaning method of the present invention, the fourth step specifically includes the following steps:
(1) based on visual identification image equipment, carrying out outer surface image scanning identification on a workpiece to be cleaned to generate an image scanning file;
(2) performing external surface element spectral analysis scanning on a workpiece to be cleaned based on spectral modular analysis equipment to generate an element spectral analysis scanning file;
(3) and performing coupling analysis on the image scanning file and the element spectrum analysis scanning file to determine online scanning dynamic parameters of the workpiece to be cleaned, wherein the online scanning dynamic parameters record the pollutant distribution state of each position area on the outer surface of the workpiece to be cleaned.
Further according to the invention, the automatic cleaning method comprises:
the method specifically comprises the steps that the visual recognition image equipment scans and captures an image of the outer surface of a workpiece to be cleaned through a visual recognition sensor lens, and an image scanning file of the outer surface of the workpiece to be cleaned is generated through a visual recognition image analysis system, wherein the image scanning file records pollutant state information of the outer surface of the workpiece to be cleaned, and the pollutant state information at least comprises pollutant area and pollutant coordinate position; the visual identification sensor lens is in one or more of a CCD (charge coupled device) or a CMOS (complementary metal oxide semiconductor);
the step (2) specifically comprises the steps that the spectral modular analysis equipment carries out element spectral analysis scanning on the outer surface of a workpiece to be cleaned through a spectral scanning sensing lens, and the generated element spectral analysis scanning file records the element composition and the content of each scanning area position on the surface of the workpiece;
and (3) specifically, performing coupling analysis on an image scanning file and an element spectrum analysis scanning file of the workpiece to be cleaned in a cleaning system, performing corresponding association on pollutant state information recorded in the image scanning file and element composition and content of corresponding positions recorded in the element spectrum analysis scanning file through the coupling analysis, and recording the pollutant distribution state of each position area on the outer surface of the workpiece to be cleaned by the obtained online scanning dynamic parameters, wherein the pollutant distribution state at least comprises pollutant area, pollutant element composition and content distribution of each element.
Further, according to the automatic cleaning method of the present invention, the comprehensive coupling analysis and optimization matching process in the fifth step includes determining the cleaning path, the type and power of the cleaning light source, and the distance between the cleaning head and the workpiece according to the parameters of the basic product, then determining the control parameters of the cleaning process including the cleaning rate and the retention time according to the dynamic parameters of the online scanning, and effectively associating the parameters, and the obtained cleaning control process parameters record the type and the laser power of the laser cleaning light source adopted for the workpiece to be cleaned, the cleaning path along the surface of the workpiece to be cleaned, the distance between the cleaning head at each position along the cleaning path and the surface of the workpiece, the movement rate and the laser scanning rate of the cleaning head, the laser scanning width, and the retention time of the cleaning head in the area to be cleaned.
Further, according to the automatic cleaning method of the present invention, in the sixth step, the laser cleaning device includes a laser generating device, an optical fiber, a heat dissipation system, a laser cleaning head, and a host system, the host system is connected with the laser generating device and the laser cleaning head, the laser beam output by the laser generating device is transmitted to the laser cleaning head through the optical fiber, the heat dissipation system is connected with the laser generating device, the cleaning control process parameters are led into the host system, the host system controls the output power of the laser generating device according to the cleaning control process parameters, controls the laser cleaning head to travel according to the cleaning path, controls the distance between the laser cleaning head and the surface of the workpiece, controls the moving speed and the laser scanning speed of the laser cleaning head, controls the laser scanning width and controls the cleaning retention time of the cleaning head, and realizes the automatic cleaning of the workpiece to be cleaned.
Further, according to the present invention, the automatic cleaning method, wherein the laser generating device comprises: pulse laser generating device, continuous laser generating device, modulated pulse laser generating device, nanosecond pulse laser generating device, picosecond pulse laser generating device and femtosecond pulse laser generating device, wherein the pulse laser generating device can be one or more of a fiber laser, a CO2 laser, a YAG laser, an excimer laser and a disc laser; the laser power in the laser generating device comprises one or more forms of 10-1000W; the laser wavelength in the laser generating device comprises one or more forms of 100-1064 nm; the laser pulse frequency in the laser generating device comprises one or more forms of 5-1000 KHz; the laser pulse width in the laser generating device comprises one or more forms of 5-500 ns; the laser pulse energy in the laser generating device comprises one or more forms of 0.1-500 mJ; the laser scanning speed in the laser generating device comprises one or more types of 1-50000 mm/s.
Further, according to the automatic cleaning method of the present invention, the seventh step specifically includes:
(1) after the cleaning program controlled based on the cleaning control process parameters is operated, executing the step four again to obtain the on-line scanning dynamic parameters of the cleaned workpiece;
(2) comparing and analyzing the on-line scanning dynamic parameters of the cleaned workpiece with the on-line scanning dynamic parameters of the workpiece before cleaning, and evaluating and judging the cleaning effect based on the comparison and analysis result;
(3) and if the difference between the pollutant distribution state in the on-line scanning dynamic parameters after cleaning and the pollutant distribution state in the on-line scanning dynamic parameters before cleaning exceeds a preset standard, judging that the cleaning effect meets the cleaning standard requirement, and ending the cleaning process, otherwise, judging that the cleaning effect does not meet the cleaning standard requirement, and repeatedly executing the fourth step to the seventh step until the cleaning effect meets the cleaning standard requirement, and ending the cleaning process.
The automatic cleaning method is further characterized in that the workpiece to be cleaned is a cylindrical workpiece and comprises a hydraulic support oil cylinder, a piston rod and a plunger workpiece.
Compared with the prior art, the invention has the following outstanding advantages.
(1) The invention has high automation degree and can realize the automatic cleaning, detecting and identifying functions of the inner wall and the outer wall of the hydraulic oil cylinder.
(2) The invention has excellent cleaning effect, does not damage the base material and is particularly suitable for workpieces with high roughness requirement.
(3) The cleaning process only consumes electric energy, does not consume consumables, and realizes green energy-saving cleaning.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to enable those skilled in the art to more clearly understand the present invention, but not to limit the scope of the present invention.
The invention provides an automatic cleaning method, which creatively constructs a set of multifunctional cleaning process capable of realizing online identification detection and automatic cleaning by combining a system integration technology, an automatic module process, a software communication coordination system, an online detection system and a pulse laser cleaning system, wherein the cleaning process can realize the conversion application of a laser among different functions by utilizing corresponding programming software through the software communication coordination system and selecting a surface treatment function station and formulating process parameters according to the surface performance of a material. The automatic cleaning method of the present invention is particularly suitable for cleaning the hydraulic support cylinder, and the following detailed process description is performed in conjunction with the cleaning of the hydraulic support cylinder, but not limited thereto.
The automatic cleaning method provided by the invention comprises the following steps:
the method comprises the following steps: and loading the workpiece to be cleaned, and fixedly clamping the workpiece to be cleaned through loading equipment. The workpiece to be cleaned is preferably a cylindrical workpiece, and the fixed clamping mode can be mechanical clamping jaw clamping or electromagnetic adsorption clamping. The workpiece to be cleaned is preferably a hydraulic support oil cylinder.
Step two: and acquiring basic product parameters of the workpiece to be cleaned, and matching the basic product parameters of the workpiece to be cleaned with a standard cleaning workpiece model preset by the system. The method specifically comprises the following steps:
(1) basic product parameters of the workpiece to be cleaned are obtained by measuring basic conditions of the workpiece to be cleaned, the measuring mode can comprise physical dimension detection and component chemical detection, and the obtained basic product parameters comprise the appearance shape, the basic dimension (diameter, length and the like), the material variety, the surface dirt variety and the like of the workpiece to be cleaned. The basic product parameters can also be obtained by manual measurement input, automatic scanning identification input, database calling input and the like.
(2) And determining a standard cleaning workpiece model matched with the basic product parameters of the workpiece to be cleaned according to the obtained basic product parameters. Preferably, the parameters of the basic product of the workpiece to be cleaned can be input into a cleaning software database, and a standard model of the workpiece to be cleaned matched with the database is inquired and called. Preferably, standard cleaning workpiece models for common workpieces to be cleaned are pre-stored in a cleaning software database, and each standard cleaning workpiece model can be obtained by inquiring and calling after similarity and identity matching analysis is carried out after corresponding workpiece basic product parameters are input. Therefore, the standard cleaning workpiece model corresponding to the basic product parameters is obtained by inputting the basic product parameters of the workpiece to be cleaned and calling the basic product parameters and is used as the standard cleaning workpiece model corresponding to the workpiece to be cleaned in a matching way.
Step three: and determining standard cleaning parameters of the workpiece based on the standard cleaning workpiece model matched with the workpiece to be cleaned. And setting a standard workpiece cleaning parameter corresponding to each standard cleaning workpiece model in a cleaning software database, calling a basic product parameter of the workpiece to be cleaned to obtain the corresponding standard cleaning workpiece model, and determining the corresponding standard cleaning parameter of the workpiece through the standard cleaning workpiece model, wherein the standard cleaning parameter of the workpiece is used as the standard cleaning parameter conforming to the workpiece to be cleaned. Preferably, the standard workpiece cleaning parameters are standardized parameters set in a database for different models, and mainly include: the method comprises the following steps of laser cleaning equipment power, laser cleaning light source types and the distance between a laser cleaning head and a workpiece, wherein the laser cleaning equipment power comprises one or more of 10-1000W, the laser cleaning light source types comprise one or more of flat top light and Gaussian light, and the distance between the laser cleaning head and the workpiece ranges from 1 cm to 100 cm.
Step four: determining on-line scanning dynamic parameters of a workpiece to be cleaned based on view scanning and spectral analysis, and specifically comprising the following steps:
(1) the method comprises the steps that outer surface image scanning recognition is carried out on a workpiece to be cleaned based on visual recognition image equipment, an image scanning file is generated, preferably, the visual recognition image equipment captures an outer surface image of the workpiece to be cleaned through scanning of a visual recognition sensor lens, and a clear image scanning file of the outer surface of the workpiece to be cleaned is generated through a visual recognition image analysis system, and the clear image scanning file records the dirt state of the surface of the workpiece to be cleaned and comprises the dirt area on the surface of the workpiece, the dirt area coordinate position and the like. The visual identification sensor lens is in one or more of a CCD or a CMOS.
(2) And performing external surface element spectral analysis scanning on the workpiece to be cleaned based on the spectral modular analysis equipment to generate an element spectral analysis scanning file. Preferably, the spectrum modularized analysis equipment performs element spectrum analysis scanning on the outer surface of the workpiece to be cleaned through the spectrum scanning sensing lens, and the generated element spectrum analysis scanning file records the element composition and the content of each scanning area position on the surface of the workpiece. Generally, most of the dirt on the surface of the workpiece is rust, oil sludge, paint film and other pollutants, the element composition of a scanning area corresponding to the dirt is displayed by an element spectrum analysis scanning file and comprises carbon element, oxygen element and the like, and the element content specific gravity of the carbon element and the oxygen element is large.
(3) And performing coupling analysis on the image scanning file and the element spectrum analysis scanning file to determine the online scanning dynamic parameters of the workpiece to be cleaned. Preferably, the image scanning file of the workpiece to be cleaned and the element spectrum analysis scanning file are subjected to coupling analysis in a cleaning software system, and the pollutant area image, such as the pollutant area and the pollutant position, recorded in the image scanning file is subjected to one-to-one corresponding association with the element analysis results, such as the element composition and the content of the corresponding position, recorded in the element spectrum analysis scanning file through the coupling analysis, so that the corresponding association parameters of the pollutant position, the pollutant area, the element composition and the content of the surface of the workpiece to be cleaned, namely the on-line scanning dynamic parameters, are obtained. Therefore, the on-line scanning dynamic parameters obtained through coupling analysis record the pollutant states of each position area on the outer surface of the workpiece to be cleaned, including pollutant area, pollutant element composition, content distribution of each element and the like.
Step five: and (4) carrying out comprehensive coupling analysis and optimal matching treatment on the basic product parameters of the workpiece to be cleaned determined in the step two, the standard cleaning parameters of the workpiece determined in the step three and the on-line scanning dynamic parameters determined in the step four through self-learning data matching to obtain the optimal cleaning control process parameters of the workpiece to be cleaned. The comprehensive coupling analysis and the optimized matching processing can be determined based on the incidence relation of each parameter, can be realized by means of the existing mature analysis software, and can also be obtained by directly correlating each parameter, such as determining the cleaning path, the type and the power of the cleaning light source and the distance between the cleaning head and the workpiece according to the parameters of basic products, then determining the control parameters of the cleaning process including the cleaning speed and the retention time according to the dynamic parameters of online scanning, and effectively correlating each parameter, wherein the obtained cleaning control process parameters record the type and the laser power of the laser cleaning light source adopted by the workpiece to be cleaned, the cleaning path along the surface of the workpiece to be cleaned (namely the cleaning motion track of the cleaning head on the surface of the workpiece to be cleaned), the distance between the cleaning head at each position along the cleaning path and the surface of the workpiece, the moving speed and the laser scanning speed, And all cleaning process control parameters such as laser scanning width, residence time of a cleaning head in a region to be cleaned and the like are correlated and determined to be relatively mature. The self-learning data matching is that the cleaning system automatically adjusts the cleaning process parameters by self-learning to compare the laser cleaning effect. The self-learning database matching mode can be that the database directly calls the set scanning path model and the cleaning parameters.
And step six, controlling the laser generating device to carry out laser cleaning by using the optimal cleaning control process parameters generated in the step five, and carrying out laser cleaning on the surface of the workpiece to be cleaned through the laser generating device according to the cleaning path determined by the cleaning control process parameters. The method specifically comprises the following steps:
(1) leading the optimal cleaning control process parameters into a cleaning system, and starting a laser cleaning device;
(2) the laser cleaning device outputs high-energy laser to the workpiece to be cleaned according to the cleaning path determined by the cleaning control process parameters, and surface dirt is cleaned.
The laser cleaning device mainly comprises a laser generating device, an optical fiber, a heat dissipation system, a laser cleaning head and a host system.
Further the laser generating device comprises: the laser device comprises one or more of a pulse laser generating device, a continuous laser generating device, a modulated pulse laser generating device, a nanosecond pulse laser generating device, a picosecond pulse laser generating device and a femtosecond pulse laser generating device, and specifically can select one or more of a fiber laser, a CO2 laser, a YAG laser, an excimer laser and a disc laser. The laser power in the laser generating device comprises one or more types of 10-1000W. The laser wavelength in the laser generating device comprises one or more of 100-1064 nm. The laser pulse frequency in the laser generating device comprises one or more forms in 5-1000 KHz. The laser pulse width in the laser generating device comprises one or more forms of 5-500 ns. The laser pulse energy in the laser generating device comprises one or more forms of 0.1-500 mJ. The laser scanning speed in the laser generating device comprises one or more types of 1-50000 mm/s.
The high-energy laser output by the laser cleaning head is transmitted through an optical fiber after being emitted by the pulse laser and is output to the surface of a workpiece to be cleaned by the laser cleaning head. After the laser cleaning head outputs laser, the pulse laser irradiates dirt on the surface of the workpiece at a certain frequency, and the instantaneous laser can gasify and oscillate the dirt due to the short pulse width, so that the dirt is gasified and peeled from the surface of the workpiece. Meanwhile, after the laser vaporizes and peels off dirt from the surface of the workpiece, the element content of the dirt area of the original workpiece is changed, and carbon element and oxygen element which account for large area are reduced in specific gravity due to the removal of the dirt.
The cleaning method aims at the cleaning process method of the hydraulic support oil cylinder, wherein the laser pulse width is the duration from the light emitting of the laser to the end, and the unit of the laser pulse width is one or more of nanosecond, picosecond and femtosecond.
Step seven: and (4) evaluating the cleaning result and analyzing and optimizing the cleaning quality, and evaluating the cleaning effect through secondary matching analysis of the view and the spectrum after the operation of the cleaning program is finished. The method specifically comprises the following steps:
(1) after the cleaning program is finished, executing the fourth step again, namely starting the visual identification image equipment and the spectral modular analysis equipment to obtain an outer surface image scanning file and an element spectral analysis scanning file of the workpiece, and coupling to obtain online scanning dynamic parameters of the cleaned workpiece;
(2) comparing and analyzing the on-line scanning dynamic parameters of the cleaned workpiece with the on-line scanning dynamic parameters of the workpiece before cleaning, and judging the cleaning result based on the comparison and analysis result;
(3) and if the difference between the pollutant distribution state in the on-line scanning dynamic parameters after cleaning and the pollutant distribution state in the on-line scanning dynamic parameters before cleaning exceeds a preset standard, judging that the cleaning meets the requirement, ending the cleaning process, otherwise, judging that the cleaning does not meet the requirement, continuously executing the fourth step to the sixth step, and continuing cleaning until the cleaning meets the requirement. The preferable pollutant distribution state difference standard in the online scanning dynamic parameters before and after cleaning can be set as: the reduction rate of the pollutant area is more than or equal to 95 percent, the reduction rate of main elements (carbon element and oxygen element) of the pollutant is more than or equal to 90 percent, the cleaning is judged to be in accordance with the requirement when the difference of the distribution states of the pollutant before and after cleaning reaches the standard, the cleaning process is ended, otherwise, the cleaning quality is judged to be not in accordance with the requirement when any one of the pollutant does not reach the standard.
Step eight: and finishing cleaning and shutting down the system when the cleaning standard is reached.
The automatic cleaning method is particularly suitable for automatically cleaning the hydraulic support oil cylinder, and the workpiece to be cleaned is preferably a cylindrical workpiece and comprises the oil cylinder, a piston rod, a plunger workpiece and the like.
Example 1
The following provides a reference example for cleaning the hydraulic support cylinder by using the automatic cleaning process of the invention.
Aiming at the hydraulic support oil cylinder, automatic cleaning is carried out according to the following process:
(1) clamping and fixing the hydraulic support cylinder through a chuck, measuring the outer diameter of the cylinder and the length of a workpiece, observing the type of dirt on the surface of the hydraulic support cylinder, checking the material grade of the hydraulic support cylinder, inputting the basic product parameters of the hydraulic support cylinder into a cleaning software system, and matching a standard model which accords with the basic product parameters of the hydraulic support cylinder in the system.
(2) The method is characterized in that the surface of the hydraulic support cylinder is mainly provided with dirt such as rust, oil sludge and paint films, wherein the proportion of carbon elements and oxygen elements in the total elements is large, and the rust, oil sludge and paint films are obviously different from the metal color of a workpiece body in color, so that dynamic parameter scanning is started for the hydraulic support cylinder, the workpiece to be cleaned is subjected to dirt area image scanning identification and dirt area element spectral analysis by using visual identification image equipment and spectral modular analysis equipment, and the dynamic parameters are parameters in a scanning file obtained by scanning the outer surface of the hydraulic support cylinder by using the visual identification image equipment and the spectral modular analysis equipment. The visual recognition image equipment scans and recognizes the state of a to-be-cleaned dirt region through the CCD visual recognition sensing lens to generate a to-be-cleaned two-dimensional region image scanning file, and the parameters of the image scanning file comprise the dirt area on the surface of the workpiece and the dirt area coordinate position. The spectral module analysis equipment performs spectral scanning on the surface of the hydraulic support oil cylinder through the spectral scanning sensing lens, and obtains an element spectral analysis scanning file through analysis software in the spectral module analysis equipment, wherein parameters of the spectral analysis scanning file comprise element composition, content and the like of a scanning area. The image scanning file provides azimuth coordinate parameters and data parameters of the initial surface state of the workpiece for the subsequent cleaning path optimization, and the element content of a scanning area in the spectral analysis scanning software is an initial numerical value of surface elements before the hydraulic support oil cylinder is cleaned.
(3) And performing coupling analysis on the image scanning file and the element spectrum analysis scanning file, namely, corresponding the area images of the pollutants on the surface of the workpiece to the element analysis results one by one to obtain the composition and the content of the pollutant elements in each area. The dirt category can be accurately judged by combining the dirt surface color image parameters with the dirt element analysis, so that after the coupling analysis of the image scanning file and the element spectrum analysis scanning file, the self-learning data matching is carried out by the cleaning system, the dynamic parameters and the basic product parameters are matched with the cleaning system database, the optimized cleaning control process parameters aiming at the substances to be cleaned on the surface of the area to be cleaned are generated, the optimized cleaning process comprises a cleaning path, cleaning parameters and the like, the cleaning path comprises the distance between the cleaning head and the surface of the workpiece, the moving distance of the cleaning head, the staying time of the cleaning head in the area to be cleaned on the surface of the workpiece and the like, and the cleaning parameters comprise laser power, laser scanning speed, laser scanning width and the like.
(4) Inputting optimized cleaning control process parameters into a cleaning system, starting laser cleaning equipment, transmitting nanosecond pulse laser from a laser generating device through optical fibers, outputting the nanosecond pulse laser from a laser cleaning head connected with the optical fibers, gasifying, oscillating and stripping dirt on the surface of a workpiece by utilizing high energy of the laser, and performing laser cleaning on the hydraulic support oil cylinder according to a cleaning process generated by the system.
(5) When the operation of the cleaning process program is finished, the cleaning system starts dynamic parameter scanning again to obtain a cleaned workpiece surface image scanning file and an element spectrum analysis scanning file, and dynamic parameters before and after cleaning are compared. The image of the dirt area in the image scanning file is restored to be the metallic luster of the workpiece body through comparison, the area with the dirt color is greatly reduced, the reduction rate of the dirt area is larger than or equal to 95%, the specific gravity of the initial elements, namely high carbon element and high oxygen element, in the dirt area in the spectral analysis scanning file is relatively reduced after cleaning, the reduction rate of the carbon element and the oxygen element is larger than or equal to 90%, the proportion of the iron element in the total elements is increased, the cleaning quality is judged to meet the requirement based on the specific gravity, and the cleaning is finished by using visual and spectral data dual comparison analysis. And otherwise, if any one of the standard criteria is not met, judging that the cleaning quality does not meet the requirement, returning self-learning data for matching, analyzing the cleaning result by the cleaning system, optimizing the cleaning process again, and starting laser cleaning again until the cleaning result meets the requirement.
Compared with the prior art, the invention has the following outstanding advantages: the invention has high automation degree and can realize the automatic cleaning, detecting and identifying functions of the inner wall and the outer wall of the hydraulic oil cylinder. The invention has excellent cleaning effect, does not damage the base material and is particularly suitable for workpieces with high roughness requirement. The cleaning process only consumes electric energy, does not consume consumables, and realizes green energy-saving cleaning.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. An automatic cleaning method, characterized by comprising the steps of:
the method comprises the following steps: fixedly clamping a workpiece to be cleaned through loading equipment;
step two: obtaining basic product parameters of a workpiece to be cleaned, and matching the basic product parameters with a preset standard model of the workpiece to be cleaned;
step three: determining standard cleaning parameters of the workpiece based on the matched standard cleaning workpiece model;
step four: determining on-line scanning dynamic parameters of the workpiece to be cleaned based on view scanning and spectral analysis;
step five: carrying out comprehensive coupling analysis and optimized matching processing on the basic product parameters determined in the step two, the workpiece standard cleaning parameters determined in the step three and the online scanning dynamic parameters determined in the step four to obtain cleaning control process parameters of the workpiece to be cleaned;
step six: guiding cleaning control process parameters into a laser cleaning device, and automatically cleaning a workpiece to be cleaned by the laser cleaning device according to the cleaning control process parameters;
step seven: and after the cleaning program controlled based on the cleaning control process parameters is operated, evaluating the cleaning effect through view scanning and spectral analysis, finishing the cleaning process if the cleaning effect meets the cleaning standard requirement, and repeatedly executing the fourth step to the seventh step if the cleaning effect does not meet the cleaning standard requirement until the cleaning effect meets the cleaning standard requirement and finishing the cleaning process.
2. The automatic cleaning method according to claim 1, wherein the second step specifically comprises the steps of:
(1) basic product parameters of the workpiece to be cleaned are obtained by measuring basic conditions of the workpiece to be cleaned, wherein the measuring mode comprises physical dimension detection and component chemical detection, and the basic product parameters comprise one or more parameters of the appearance shape, the basic dimension, the material variety and the surface pollution species of the workpiece to be cleaned;
(2) and inputting the obtained basic product parameters of the workpieces to be cleaned into a cleaning database system, inquiring and calling a standard cleaning workpiece model matched with the basic product parameters in the cleaning database system, wherein the standard cleaning workpiece model corresponding to the basic product parameters of each workpiece to be cleaned is prestored in the cleaning database system.
3. The automatic cleaning method according to claim 1, wherein in step three, the standard cleaning parameters of the workpieces corresponding to the determined standard cleaning models of the cleaned workpieces are queried and determined in a cleaning database system, and the standard cleaning parameters of the workpieces corresponding to each standard cleaning model of the cleaned workpieces are set in the cleaning database system, and the standard cleaning parameters of the workpieces include: the power of cleaning equipment, the category of a cleaning light source and the distance between a cleaning head and a workpiece; the power of the cleaning equipment is 10-1000W laser power, the type of the cleaning light source is a laser light source outputting flat top light or Gaussian light, and the distance between the cleaning head and the workpiece is 1-100 cm.
4. The automatic cleaning method according to claim 1, wherein the step four specifically comprises the steps of:
(1) based on visual identification image equipment, carrying out outer surface image scanning identification on a workpiece to be cleaned to generate an image scanning file;
(2) performing external surface element spectral analysis scanning on a workpiece to be cleaned based on spectral modular analysis equipment to generate an element spectral analysis scanning file;
(3) and performing coupling analysis on the image scanning file and the element spectrum analysis scanning file to determine online scanning dynamic parameters of the workpiece to be cleaned, wherein the online scanning dynamic parameters record the pollutant distribution state of each position area on the outer surface of the workpiece to be cleaned.
5. The automatic cleaning method according to claim 4, wherein:
the method specifically comprises the steps that the visual recognition image equipment scans and captures an image of the outer surface of a workpiece to be cleaned through a visual recognition sensor lens, and an image scanning file of the outer surface of the workpiece to be cleaned is generated through a visual recognition image analysis system, wherein the image scanning file records pollutant state information of the outer surface of the workpiece to be cleaned, and the pollutant state information at least comprises pollutant area and pollutant coordinate position; the visual identification sensor lens is in one or more of a CCD (charge coupled device) or a CMOS (complementary metal oxide semiconductor);
the step (2) specifically comprises the steps that the spectral modular analysis equipment carries out element spectral analysis scanning on the outer surface of a workpiece to be cleaned through a spectral scanning sensing lens, and the generated element spectral analysis scanning file records the element composition and the content of each scanning area position on the surface of the workpiece;
and (3) specifically, performing coupling analysis on an image scanning file and an element spectrum analysis scanning file of the workpiece to be cleaned in a cleaning system, performing corresponding association on pollutant state information recorded in the image scanning file and element composition and content of corresponding positions recorded in the element spectrum analysis scanning file through the coupling analysis, and recording the pollutant distribution state of each position area on the outer surface of the workpiece to be cleaned by the obtained online scanning dynamic parameters, wherein the pollutant distribution state at least comprises pollutant area, pollutant element composition and content distribution of each element.
6. The automatic cleaning method according to claim 1, wherein the comprehensive coupling analysis and optimization matching process in the fifth step includes determining a cleaning path, a type and power of a cleaning light source, and a distance between a cleaning head and a workpiece according to parameters of a basic product, then determining control parameters of a cleaning process including a cleaning rate and a retention time according to on-line scanning dynamic parameters, and effectively associating the parameters, and the obtained cleaning control process parameters record the type and the laser power of a laser cleaning light source adopted for the workpiece to be cleaned, the cleaning path along the surface of the workpiece to be cleaned, the distance between the cleaning head at each position along the cleaning path and the surface of the workpiece, the moving speed and the laser scanning speed of the cleaning head, the laser scanning width, and the retention time of the cleaning head in a region to be cleaned.
7. The automatic cleaning method according to claim 1, wherein in the sixth step, the laser cleaning device comprises a laser generating device, an optical fiber, a heat dissipation system, a laser cleaning head and a host system, the host system is connected with the laser generating device and the laser cleaning head, the laser beam output by the laser generating device is transmitted to the laser cleaning head through the optical fiber, the heat dissipation system is connected with the laser generating device, the cleaning control process parameters are led into the host system, the host system controls the output power of the laser generating device according to the cleaning control process parameters, controls the laser cleaning head to travel according to the cleaning path, controls the distance between the laser cleaning head and the surface of the workpiece, controls the moving speed and the laser scanning speed of the laser cleaning head, controls the laser scanning width and controls the cleaning retention time of the cleaning head, and realizes the automatic cleaning of the workpiece to be cleaned.
8. The automatic cleaning method according to claim 7, wherein the laser generating device comprises: pulse laser generating device, continuous laser generating device, modulated pulse laser generating device, nanosecond pulse laser generating device, picosecond pulse laser generating device and femtosecond pulse laser generating device, wherein the pulse laser generating device can be one or more of a fiber laser, a CO2 laser, a YAG laser, an excimer laser and a disc laser; the laser power in the laser generating device comprises one or more forms of 10-1000W; the laser wavelength in the laser generating device comprises one or more forms of 100-1064 nm; the laser pulse frequency in the laser generating device comprises one or more forms of 5-1000 KHz; the laser pulse width in the laser generating device comprises one or more forms of 5-500 ns; the laser pulse energy in the laser generating device comprises one or more forms of 0.1-500 mJ; the laser scanning speed in the laser generating device comprises one or more types of 1-50000 mm/s.
9. The automatic cleaning method according to claim 1, wherein the seventh step specifically comprises:
(1) after the cleaning program controlled based on the cleaning control process parameters is operated, executing the step four again to obtain the on-line scanning dynamic parameters of the cleaned workpiece;
(2) comparing and analyzing the on-line scanning dynamic parameters of the cleaned workpiece with the on-line scanning dynamic parameters of the workpiece before cleaning, and evaluating and judging the cleaning effect based on the comparison and analysis result;
(3) and if the difference between the pollutant distribution state in the on-line scanning dynamic parameters after cleaning and the pollutant distribution state in the on-line scanning dynamic parameters before cleaning exceeds a preset standard, judging that the cleaning effect meets the cleaning standard requirement, and ending the cleaning process, otherwise, judging that the cleaning effect does not meet the cleaning standard requirement, and repeatedly executing the fourth step to the seventh step until the cleaning effect meets the cleaning standard requirement, and ending the cleaning process.
10. The automatic cleaning method according to any one of claims 1 to 9, wherein the workpiece to be cleaned is a cylindrical workpiece, including a hydraulic support cylinder, a piston rod, and a plunger.
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