阅读说明：本技术 一种激光金属件清洗除锈钝化机器人和方法 (Robot and method for cleaning, derusting and passivating laser metal parts ) 是由 刘伟 苏文斌 刘洪涛 黄军凯 谢百明 牧灏 李波 陈俊卫 孙博 张莉蔷 胡全 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种激光金属件清洗除锈钝化机器人和方法,包括激光清洗头、喷涂机械臂、行走小车和激光器,喷涂机械臂安装在行走小车上,激光清洗头安装在喷涂机械臂自由端部并连接到激光器,喷涂机械臂自由端部还安装有摄像头和测距仪。本发明通过对激光束焦点精确控制,实现对光束能量密度的精确控制。通过自动控制系统对光束扫描路径自动规划和扫描速度精确控制达到清洗质量和清洗效率最优状态,并实现自动清洗作业。(The invention discloses a robot and a method for cleaning, derusting and passivating a laser metal part. The invention realizes the accurate control of the energy density of the laser beam by accurately controlling the focus of the laser beam. The automatic control system can automatically plan the scanning path of the light beam and accurately control the scanning speed to achieve the optimal state of cleaning quality and cleaning efficiency, and realize automatic cleaning operation.)

1. The utility model provides a laser metalwork washs rust cleaning passivation robot which characterized in that: the laser cleaning machine comprises a laser cleaning head (1), a spraying mechanical arm (4), a walking trolley (5) and a laser (7), wherein the spraying mechanical arm (4) is installed on the walking trolley (5), the laser cleaning head (1) is installed at the free end part of the spraying mechanical arm (4) and is connected to the laser (7), and a camera (3) and a range finder (2) are further installed at the free end part of the spraying mechanical arm (4).

2. The robot for cleaning, derusting and passivating the laser metal part according to claim 1, wherein: the laser cleaning head (1), the range finder (2), the camera (3), the spraying mechanical arm (4), the walking trolley (5) and the laser (7) are connected to the control system (6).

3. The robot for cleaning, derusting and passivating the laser metal part according to claim 1, wherein: the spraying mechanical arm (4) adopts six degrees of freedom.

4. The robot for cleaning, derusting and passivating the laser metal part according to claim 1, wherein: the laser (7) is connected to the laser cleaning head (1) through an optical fiber.

5. The robot for cleaning, derusting and passivating the laser metal part according to claim 1, wherein: the spraying mechanical arm (4) is detachably mounted on the walking trolley (5), and the laser cleaning head (1), the camera (3) and the range finder (2) are detachably mounted on the spraying mechanical arm (4).

6. The cleaning method of the robot for cleaning, derusting and passivating the laser metal part according to any one of claims 1 to 5, characterized by comprising the following steps: the method comprises the following steps: shooting a steel structure workpiece according to a camera, returning a shot picture to a control system, identifying the outline and the corrosion area of the steel structure workpiece by the control system according to an image recognition technology, planning a cleaning path of a laser cleaning head according to the outline and the corrosion area, enabling the laser cleaning head to be aligned to the surface of a component to be cleaned of the workpiece through the swinging of a spraying mechanical arm under the monitoring of the camera, measuring the distance between the laser cleaning head and the surface of the component to be cleaned through a distance meter, and adjusting the focus of laser output by the laser cleaning head to the starting point position of the corrosion position on the surface of the component to be cleaned through the front-back swinging of the spraying mechanical arm; and then starting a laser, outputting laser through focusing of a laser cleaning head by an optical fiber, executing cleaning operation by a swinging mechanical arm according to a planned cleaning path, monitoring the cleaning process in real time by a camera and a distance meter, adjusting the focusing distance in real time, ensuring that a focus is always positioned in a rusty area, moving the walking trolley to the next position after one section of cleaning operation is completed, and repeating the above processes until the whole equipment operation task is completed.

7. The cleaning method of the robot for cleaning, derusting and passivating the laser metal part according to claim 6, characterized by comprising the following steps: the detailed steps of the image recognition analysis method are as follows:

firstly, collecting an image;

secondly, preprocessing an image;

thirdly, graying and binary processing the color image;

fourthly, performing opening operation and closing operation processing on the result image after the binarization of the part image; the starting operation is to carry out corrosion and expansion treatment on the original image, and basically maintains the size of the original target object while separating the adhesion target object; the closed operation is to expand and then corrode the original image, and basically keep the size of the original object while combining the fractured objects, so as to finally obtain the outline of the part, namely the outline coordinates of the part.

8. The cleaning method of the robot for cleaning, derusting and passivating the laser metal part according to claim 7, characterized by comprising the following steps: the cleaning path planning method comprises the following steps: and resolving the contour coordinates of the parts, obtaining rotation coordinates according to the conversion relation of the contour coordinates of the parts, and calculating an operation instruction of the mechanical arm, wherein the instruction corresponds to a path from the starting point of the scanning path to the end point of the mechanical arm needing to move.

Technical Field

The invention relates to a robot and a method for cleaning, derusting and passivating a laser metal part, and belongs to the technical field of derusting equipment.

Background

The steel structural member is a steel structural combined member which is formed by cold bending or welding steel such as steel plates, angle steels, channel steels, I-shaped steels, steel pipes and H-shaped steels or is connected through connecting pieces and can bear and transmit load. The steel structural member system has the advantages of light dead weight, factory manufacturing, quick installation, short construction period, good seismic performance and the like, and is widely applied to the aspects of buildings, bridges, power communication iron towers and the like.

The fire prevention and corrosion prevention of the steel structural member are realized by coating, a certain treatment needs to be carried out on the surface of the steel structural member before the steel structural member is coated, and the rust removal treatment before the coating needs to be carried out. When the surface coating is aged and damaged, the coating needs to be repaired in time so as to avoid damaging the steel structural part. The original coating and rust are also required to be cleaned during repair so as to coat a new coating. The quality of cleaning and derusting has a decisive influence on the coating quality, and is one of the key factors influencing the protection effect and the service life of the coating.

The existing cleaning and rust removing modes comprise traditional cleaning modes such as manual polishing, sand blasting, chemical acid washing and the like and newer cleaning and rust removing modes such as laser cleaning, ultrasonic cleaning and the like. The laser cleaning is a cleaning mode without grinding, non-contact, non-thermal effect and working medium. Compared with the traditional cleaning mode, the cleaning method has the advantages of no contact, no damage, no pollution of working media, high cleaning efficiency, good effect and the like on workpieces, is an environment-friendly cleaning process, and is gradually widely applied.

The laser cleaning technology is a technological process of utilizing high-energy laser beams to focus and irradiate the surface of a workpiece, enabling dirt, rusty spots or a coating on the surface to be instantly evaporated or stripped, and effectively removing attachments or a surface coating on the surface of a cleaning object at a high speed, so that the surface of a clean part is cleaned. The energy density of the laser beam and the scanning path and speed of the beam are critical process parameters. To achieve good cleaning performance, these several process parameters must be strictly controlled. Too low energy density of the laser beam does not achieve the cleaning effect, and too high energy density of the laser beam burns the base material of the workpiece. When cleaning, proper laser beam power density is needed, and under the condition that the laser power is determined, the position of the focal point of the laser beam relative to the surface of the workpiece needs to be accurately controlled, so that the energy of the laser beam is stable. Similarly, poor control of the scanning path and the scanning speed can affect the cleaning effect and the cleaning efficiency, and the scanning path needs to be planned and the scanning speed needs to be controlled accurately.

With the stricter requirements of environmental protection regulations and the increasing awareness of environmental protection and safety, the types of chemicals used in industrial cleaning will become less and less. How to find a cleaner and non-damaging cleaning method becomes a problem to be considered. The laser cleaning has the advantages of no grinding, no contact,

The cleaning solution is suitable for cleaning objects made of various materials, and is considered to be the most reliable and effective solution. Meanwhile, the laser cleaning can solve the problem which cannot be solved by adopting the traditional cleaning mode.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the robot and the method for cleaning, derusting and passivating the laser metal part are provided to solve the technical problems in the prior art.

The technical scheme adopted by the invention is as follows: the utility model provides a laser metalwork washs rust cleaning passivation robot, includes laser cleaning head, spraying arm, walking dolly and laser instrument, and the spraying arm is installed on the walking dolly, and the laser cleaning head is installed at the free tip of spraying arm and is connected to the laser instrument, and camera and distancer are still installed to the free tip of spraying arm.

Preferably, the laser cleaning head, the range finder, the camera, the spraying mechanical arm, the walking trolley and the laser are connected to a control system.

Preferably, the spraying mechanical arm adopts six degrees of freedom.

Preferably, the laser is connected to the laser cleaning head by an optical fiber.

Preferably, above-mentioned spraying arm detachably installs on the walking dolly, and laser cleaning head, camera and distancer detachably install on the spraying arm.

Preferably, the cleaning method of the robot for cleaning, derusting and passivating the laser metal part comprises the following steps: shooting a steel structure workpiece according to a camera, returning a shot picture to a control system, identifying the outline and the corrosion area of the steel structure workpiece by the control system according to an image recognition technology, planning a cleaning path of a laser cleaning head according to the outline and the corrosion area, enabling the laser cleaning head to be aligned to the surface of a component to be cleaned of the workpiece through the swinging of a spraying mechanical arm under the monitoring of the camera, measuring the distance between the laser cleaning head and the surface of the component to be cleaned through a distance meter, and adjusting the focus of laser output by the laser cleaning head to the starting point position of the corrosion position on the surface of the component to be cleaned through the front-back swinging of the spraying mechanical arm; and then starting a laser, outputting laser through focusing of a laser cleaning head by an optical fiber, executing cleaning operation by a swinging mechanical arm according to a planned cleaning path, monitoring the cleaning process in real time by a camera and a distance meter, adjusting the focusing distance in real time, ensuring that a focus is always positioned in a rusty area, moving the walking trolley to the next position after one section of cleaning operation is completed, and repeating the above processes until the whole equipment operation task is completed.

The detailed steps of the image recognition analysis method are as follows:

firstly, collecting an image;

secondly, preprocessing an image;

thirdly, graying and binary processing the color image;

fourthly, performing opening operation and closing operation processing on the result image after the binarization of the part image; the starting operation is to carry out corrosion and expansion treatment on the original image, and basically maintains the size of the original target object while separating the adhesion target object; the closed operation is to expand and then corrode the original image, and basically keep the size of the original object while combining the fractured objects, so as to finally obtain the outline of the part, namely the outline coordinates of the part.

The cleaning path planning method comprises the following steps: and resolving the contour coordinates of the parts, obtaining rotation coordinates according to the conversion relation of the contour coordinates of the parts, and calculating an operation instruction of the mechanical arm, wherein the instruction corresponds to a path from the starting point of the scanning path to the end point of the mechanical arm needing to move.

The invention has the beneficial effects that: compared with the prior art, the invention realizes the accurate control of the energy density of the laser beam by accurately controlling the focus of the laser beam. The automatic control system can automatically plan the scanning path of the light beam and accurately control the scanning speed to achieve the optimal state of cleaning quality and cleaning efficiency, and realize automatic cleaning operation.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments.

A complete set of laser cleaning system generally includes a laser system, a beam adjustment and transmission system, a mobile platform or laser scanning system, a real-time monitoring system, a semi/full automatic control and operation system, and other auxiliary systems. The laser system generates laser and obtains laser beams for cleaning through focusing and shaping of the beam adjusting and transmitting system; the moving platform or the laser scanning system completes the cleaning operation by moving the workpiece or the laser beam to form a scanning path, and can be divided into an active type and a passive type according to the type of a moving part. The active mode means that an object to be cleaned is placed on a moving platform, a laser keeps the position still, and all positions of a sample are cleaned through the moving platform, so that the active mode is mainly used for cleaning parts which are small and convenient to disassemble; in a passive mode, the object to be cleaned is not moved, and the moving platform drives the laser or the laser output end to move for cleaning; the real-time monitoring system is used for monitoring the cleaning process in real time; and the automatic control operating system controls the whole system to run.

The laser system and the beam adjusting and transmitting system form the optical core part of the cleaning system, and determine the performance and the application range of the laser cleaning system. The laser mainly comprises a CO2 laser, a Ruby laser, an Nd-YAG laser, an excimer laser, a fiber laser and the like, and different lasers are usually selected according to cleaning objects and cleaning modes. The beam adjusting and transmitting system generally comprises some special optical elements, and aims to adjust the spot shape, size and energy distribution of laser output by the laser according to actual requirements. For the same type of cleaning mode and mechanism, when the power/energy of the laser is constant, the output laser can have different energy densities simply by adjusting the area of a light spot according to the difficulty of dirt or particles to be cleaned.

According to the operation mode of a mobile platform or laser scanning, the existing laser cleaning equipment can be divided into a manual mode and an automatic mode. The manual mode is to hold the light guide device output end through operating personnel and will be with laser output to appointed washing position, and it is simpler, convenient to use, but degree of automation is low, is applicable to simpler operation environment, single small batch cleaning operation. The cleaning quality is greatly influenced by the operating level of personnel, the labor intensity is high, the operating environment is severe, and certain potential safety hazards exist. The automatic mode is to use a mechanical arm or a mobile platform to realize computer control, program cleaning paths and process parameters in advance, perform two-dimensional or three-dimensional moving scanning according to the complexity of the structure of an object to be cleaned, and even rotate or perform other complex motions in some cases, thereby realizing high moving and positioning precision. The cleaning process is not manually operated, the cleaning quality is good, and the consistency is high.

The current full-automatic cleaning mode is suitable for cleaning operation of fixed types of parts in a production line or other fixed stations. The steel structural part is complicated and various in structural style, large in size and changeable in operating environment, and can only be manually cleaned by laser cleaning equipment in a manual mode at present. The labor intensity of workers is high, and the cleaning quality is difficult to ensure.

Based on the reason, the patent provides a full-automatic laser cleaning robot, through to the accurate control of laser beam focus, realizes the accurate control to beam energy density. The automatic control system can automatically plan the scanning path of the light beam and accurately control the scanning speed to achieve the optimal state of cleaning quality and cleaning efficiency, and realize automatic cleaning operation.

Example 1: as shown in figure 1, the robot for cleaning, derusting and passivating the laser metal part comprises a laser cleaning head 1, a spraying mechanical arm 4, a walking trolley 5 and a laser 7, wherein the spraying mechanical arm 4 is installed on the walking trolley 5, the laser cleaning head 1 is installed at the free end part of the spraying mechanical arm 4 and is connected to the laser 7, and a camera 3 distance meter 2 is further installed at the free end part of the spraying mechanical arm 4.

Preferably, the laser cleaning head 1, the distance measuring instrument 2, the camera 3, the spraying mechanical arm 4, the walking trolley 5 and the laser 7 are connected to a control system 6.

Preferably, the spraying robot 4 has six degrees of freedom.

Preferably, the laser 7 is connected to the laser cleaning head 1 through an optical fiber.

Preferably, 4 detachably of above-mentioned spraying arm are installed on walking dolly 5, and laser cleaning head 1, camera 3 and distancer 2 detachably install on spraying arm 4, and detachable construction installs, can select different robot chassis according to the shape characteristics of being washd the steel construction work piece, and the arm of different shapes, degree of freedom is in order to adapt to different operation demands.

With the development of artificial intelligence technology, image recognition technology is becoming mature and widely used in many industries. Image recognition, which refers to a technique for processing, analyzing and understanding images by using a computer to recognize various different patterns of targets and objects, is a practical application of deep learning algorithms. The image identification process comprises four steps: image acquisition → image preprocessing → feature extraction → image recognition. The first step of image recognition is to recognize the edge of the image to determine the outline of the object, and then recognize the object by matching with other characteristics of the image.

By using the image recognition technology and matching with distance measuring equipment, the three-dimensional modeling of the object can be realized. In the patent, the camera installed on the equipment is used for shooting the image of the cleaned steel structural part in real time and sending the image to the control computer for recognition processing, and the outline shape and the size of the cleaned part can be determined by matching with the distance information measured by the distance meter. And then automatically planning a scanning path of laser cleaning according to preset information such as the laser power, the laser power density, the scanning speed, the cleaning quality requirement and the like. And automatically finishing the cleaning operation according to the planned scanning path. Meanwhile, the position of the laser focus is determined by continuous distance measurement of the distance measuring instrument in the cleaning process, the execution mechanism is controlled to adjust the position of the laser focus in real time, the position tracking of the laser focus on the undulated surface of the cleaned surface is realized, the power density of the laser beam is kept stable, and the stability of the cleaning quality is ensured.

Because steel structural component size is great, this patent laser scanning adopts passive mode: the workpiece is fixed, and the laser beam moves. In order to realize automatic cleaning operation, the mobile executing mechanism adopts an automatically controlled multi-degree-of-freedom mechanical arm and is matched with the structural mode of a chassis of the mobile trolley. When in implementation, only the laser output component, the laser and the control system can be arranged on the chassis of the trolley in order to reduce the weight of the scanning component. The laser is connected with the laser output component through the optical fiber to output laser. The mechanical arm is simultaneously provided with a camera and a distance measuring instrument component. And the control system is used as a control center of the whole machine, and all the components such as the laser, the mechanical arm, the trolley chassis, the camera, the distance meter and the like are connected with the control system, are controlled by the control system and feed back respective working states. The control system also receives the data of the camera and the range finder to complete intelligent operation processing. And receiving control instructions of operators and feeding back working state information to related personnel.

Example 2: a cleaning method of a robot for cleaning, derusting and passivating a laser metal part comprises the following steps: shooting a steel structure workpiece according to a camera, returning a shot picture to a control system, identifying the outline and the corrosion area of the steel structure workpiece by the control system according to an image recognition technology, planning a cleaning path of a laser cleaning head according to the outline and the corrosion area, enabling the laser cleaning head to be aligned to the surface of a component to be cleaned of the workpiece through the swinging of a spraying mechanical arm under the monitoring of the camera, measuring the distance between the laser cleaning head and the surface of the component to be cleaned through a distance meter, and adjusting the focus of laser output by the laser cleaning head to the starting point position of the corrosion position on the surface of the component to be cleaned through the front-back swinging of the spraying mechanical arm; and then starting a laser, outputting laser through focusing of a laser cleaning head by an optical fiber, executing cleaning operation by a swinging mechanical arm according to a planned cleaning path, monitoring the cleaning process in real time by a camera and a distance meter, adjusting the focusing distance in real time, ensuring that a focus is always positioned in a rusty area, moving the walking trolley to the next position after one section of cleaning operation is completed, and repeating the above processes until the whole equipment operation task is completed.

The detailed steps of the image recognition analysis method are as follows:

firstly, collecting an image;

secondly, preprocessing an image;

thirdly, graying and binary processing the color image;

fourthly, performing opening operation and closing operation processing on the result image after the binarization of the part image; the starting operation is to carry out corrosion and expansion treatment on the original image, and basically maintains the size of the original target object while separating the adhesion target object; the closed operation is to expand and then corrode the original image, and basically keep the size of the original object while combining the fractured objects, so as to finally obtain the outline of the part, namely the outline coordinates of the part.

The cleaning path planning method comprises the following steps: and resolving the contour coordinates of the parts, obtaining rotation coordinates according to the conversion relation of the contour coordinates of the parts, and calculating an operation instruction of the mechanical arm, wherein the instruction corresponds to a path from the starting point of the scanning path to the end point of the mechanical arm needing to move.

The invention has the following advantages:

(1) the structural outline of the steel structure workpiece is automatically obtained through imaging by the camera and recognition of image processing software, and the outline boundary and the scanning path of laser cleaning scanning are automatically determined. Completing the automatic cleaning operation of parts with complex and changeable shapes;

(2) the distance measuring instrument measures the distance and is used for automatically finishing accurate laser focusing by assisting the swinging of the mechanical arm, the focus position is dynamically tracked and adjusted in the operation process, the accurate focus position is maintained in the whole cleaning process, and the cleaning quality is ensured;

(3) different robot chassis and mechanical arms with different shapes and degrees of freedom can be selected according to the shape characteristics of the steel structure workpiece to be cleaned so as to adapt to different operation requirements;

(4) the cleaning process can be completed automatically, and the labor and time are saved.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.