Shot peening system and method for special-shaped workpieces

Abstract

The present invention discloses a shot peening system and method for special-shaped workpieces, relating to the technical field of shot peening processing of special-shaped workpieces, wherein the shot peening system for special-shaped workpieces includes a mounting shaft, a shot peening device, a switching mechanism, an image acquisition module and a control module, wherein a support assembly is sleeved on the mounting shaft; the shot peening device is mounted on the support assembly; the output shaft of the switching mechanism is connected to the mounting shaft; the image acquisition module is used to acquire the contour of the special-shaped workpiece; the control module is used to control the switching mechanism to drive the mounting shaft to rotate, and drive the shot peening device to rotate with the mounting shaft through the support assembly; the present invention controls the first shot peening end or the second shot peening end of the shot peening device to face the special-shaped workpiece through the switching mechanism, and uses the first shot material and the second shot material of different particle sizes to respectively perform shot peening on the to-be-processed surface of the special-shaped workpiece, so as to adapt to the different processing requirements of the special-shaped workpiece, ensure the uniformity of the shot peening coverage of the special-shaped workpiece, and improve the flexibility and production efficiency of the shot peening processing.

Description

Technical Field

[0001] The present invention relates to the technical field of shot peening processing of special-shaped workpieces, and in particular to a shot peening system and method for special-shaped workpieces. Background Art

[0002] Shot peening is a special processing technology that uses high-speed projectiles (such as steel shots, glass beads, etc.) to spray onto the surface of the workpiece, causing plastic deformation on the surface of the part and forming a strengthening layer of a certain thickness, thereby improving its fatigue strength and stress corrosion resistance. This process is widely used in many industrial fields, including aerospace, automobile manufacturing, energy, and medical equipment. The core of the shot peening process is to form a compressive stress layer on the surface of the workpiece through the impact of the projectile. This compressive stress layer can significantly improve the fatigue resistance, stress corrosion resistance and overall surface quality of the workpiece. Traditional shot peening processes often use industrial robots to shot peen workpieces.

[0003] However, for special-shaped workpieces (i.e., workpieces with complex and irregular shapes and multiple geometric features such as grooves, holes, curved surfaces, etc.), traditional shot peening processes are difficult to evenly treat the surface of special-shaped workpieces. The complex shape of special-shaped workpieces makes it difficult to ensure uniformity of shot peening coverage. Specific areas may be over-treated, while other areas may be under-treated. Summary of the Invention

[0004] The main purpose of the present invention is to provide a shot peening system and method for special-shaped workpieces, aiming to solve the technical problem in the prior art that the complex shape of special-shaped workpieces makes it difficult to ensure uniformity of shot peening coverage.

[0005] To achieve the above-mentioned object, the present invention provides a shot peening system for special-shaped workpieces, comprising:

[0006] An installation shaft, wherein a support assembly is sleeved on the installation shaft;

[0007] a shot blasting device, the shot blasting device being mounted on the support assembly; the shot blasting device comprising a first shot blasting end and a second shot blasting end, the first shot blasting end and the second shot blasting end being spaced apart along the circumference of the mounting shaft;

[0008] a switching mechanism, wherein an output shaft of the switching mechanism is connected to the mounting shaft;

[0009] An image acquisition module, the image acquisition module being mounted on the support assembly and configured to acquire the contour of the special-shaped workpiece and generate contour information;

[0010] A control module, the shot peening device, the switching mechanism and the image acquisition module are all electrically connected to the control module, the control module is used to receive the contour information and control the switching mechanism to drive the mounting shaft to rotate according to the contour information, and drive the shot peening device to rotate with the mounting shaft through the support assembly, so that the first shot peening end is directed toward the special-shaped workpiece and sprays a first shot material, or the second shot peening end is directed toward the special-shaped workpiece and sprays a second shot material, and the particle size of the first shot material is different from the particle size of the second shot material.

[0011] In one embodiment, the shot peening device includes two shot peening mechanisms, which are respectively a first shot peening mechanism and a second shot peening mechanism. The first shot peening mechanism and the second shot peening mechanism are installed on opposite sides of the support assembly. The first shot peening mechanism and the second shot peening mechanism are arranged at intervals along the circumference of the mounting axis. The first shot peening mechanism forms the first shot peening end, and the second shot peening mechanism forms the second shot peening end.

[0012] In one embodiment, each of the shot blasting mechanisms includes a nozzle, a feed pipe, an end plate, a mounting plate and a pipe bracket, the mounting plate is connected to the support assembly, the pipe bracket is connected to the mounting plate, the nozzle is connected to the mounting plate through the end plate, the end plate and the pipe bracket are spaced apart, the feed pipe can be slidably inserted into the pipe bracket, and the feed end of the nozzle is connected to the feed pipe.

[0013] In one embodiment, the image acquisition module includes a mounting bracket and an image acquisition unit, the image acquisition unit is electrically connected to the control module, the image acquisition unit is mounted on the mounting plate via the mounting bracket, the mounting bracket is arranged between the pipe support and the end plate, and the image acquisition unit is used to capture the contour of the special-shaped workpiece and generate the contour information.

[0014] In one embodiment, the shot peening system for special-shaped workpieces further includes a shot detection module, which is electrically connected to the control module; the shot detection module has a sensing unit installed on the feed pipe, and the sensing unit is located between the pipe support and the nozzle. The sensing unit is used to sense the vibration of the feed pipe to generate the shot information and send the shot information to the control module, and the control module is used to receive the shot information and control the start and stop of the shot peening device according to the shot information.

[0015] In one embodiment, the support assembly includes a connecting ring, a first support rod, a second support rod, a third support rod and a support plate, the connecting ring is sleeved on the mounting shaft, the first support rod, the second support rod and the third support rod are connected to the connecting ring at intervals along the circumference of the connecting ring, the second support rod is connected to the support plate, the first support rod and the second support rod form a first support portion, the first shot peening end is installed on the first support portion, the third support rod and the support plate form a second support portion, and the second shot peening end is installed on the second support portion.

[0016] In one embodiment, the switching mechanism includes a robotic arm and a driving member, the robotic arm is formed with an installation space for accommodating the mounting shaft and the shot blasting device, the driving member is installed on the robotic arm, the driving member is electrically connected to the control module, the output shaft of the driving member is connected to the mounting shaft, and the control module is used to receive the contour information and control the output shaft of the driving member to drive the mounting shaft to rotate according to the contour information.

[0017] The present invention further provides a shot peening method for a special-shaped workpiece, using the above-mentioned shot peening system for special-shaped workpieces. The shot peening method for special-shaped workpieces comprises:

[0018] The image acquisition module acquires the contour of the special-shaped workpiece to generate the contour information and sends the contour information to the control module;

[0019] The control module receives the contour information and processes the contour information to generate a preset processing path;

[0020] The control module controls the switching mechanism to drive the shot peening device to rotate along the preset processing path with the mounting shaft, so as to direct the first shot peening end toward the special-shaped workpiece, or direct the second shot peening end toward the special-shaped workpiece, and correspondingly, the first shot peening end sprays the first shot material toward the special-shaped workpiece, or the second shot peening end sprays the second shot material toward the special-shaped workpiece.

[0021] In one embodiment, the control module receives the contour information and processes the contour information to generate a preset processing path, including:

[0022] The control module receives the contour information and plans a shot peening processing path of the special-shaped workpiece according to the contour information;

[0023] The control module patrols the shot peening processing path of the special-shaped workpiece to obtain a patrol result;

[0024] The control module generates the preset processing path according to the patrol result.

[0025] In one embodiment, the step of the control module generating the preset processing path according to the patrol result includes:

[0026] The control module determines whether there is a corner in the shot peening processing path of the special-shaped workpiece according to the patrol result;

[0027] If so, marking switching information at a position corresponding to the corner on the shot peening processing path of the special-shaped workpiece, and obtaining the preset processing path;

[0028] After the step of the control module controlling the switching mechanism to drive the shot peening device to rotate along the mounting shaft along the preset processing path so as to direct the first shot peening end toward the irregularly shaped workpiece, or direct the second shot peening end toward the irregularly shaped workpiece, and correspondingly directing the first shot peening end to spray the first shot material toward the irregularly shaped workpiece, or directing the second shot material toward the irregularly shaped workpiece, the shot peening method for irregularly shaped workpieces further includes:

[0029] According to the switching information, the control module is used to control the switching mechanism to drive the shot peening device to rotate along with the mounting shaft to switch between the first shot peening end and the second shot peening end;

[0030] The shot peening process is continued on the special-shaped workpiece until the shot peening process of the special-shaped workpiece is completed.

[0031] The technical solution of the present invention controls the first shot peening end or the second shot peening end of the shot peening device toward the surface to be processed of the special-shaped workpiece through a switching mechanism, and uses the first shot material and the second shot material of different particle sizes to shot peen the surface to be processed of the special-shaped workpiece respectively, so as to adapt to the different processing requirements of the special-shaped workpiece, avoid the problem of over-processing or under-processing in local areas of the special-shaped workpiece, and ensure the uniformity of shot peening coverage of the special-shaped workpiece. Moreover, through the cooperation of the image acquisition module and the control module, the control module can adjust the working state of the switching mechanism and the shot peening device according to the contour information, and ensure that the first shot peening end or the second shot peening end of the shot peening device is aligned with the specific area to be processed of the workpiece, which not only improves the accuracy and uniformity of the shot peening processing of the special-shaped workpiece, but also improves the flexibility and production efficiency of the shot peening processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0033] Figure 1A schematic structural diagram of an embodiment of a shot peening system for special-shaped workpieces provided by the present invention;

[0034] Figure 2 A schematic structural diagram of another embodiment of a shot peening system for special-shaped workpieces provided by the present invention;

[0035] Figure 3 A schematic structural diagram of an embodiment of a shot blasting device according to the present invention;

[0036] Figure 4 It is a structural schematic diagram of an embodiment of the first shot peening mechanism and the second shot peening mechanism according to the present invention;

[0037] Figure 5 This is a structural schematic diagram of an embodiment of a support assembly according to the present invention;

[0038] Figure 6 A schematic flow chart of an embodiment of a shot peening method for special-shaped workpieces provided by the present invention.

[0039] Description of Figure Numbers:

[0040] 100. Mounting shaft; 200. Support assembly; 300. Shot blasting device; 301. First shot blasting end; 302. Second shot blasting end; 400. Switching mechanism; 500. Image acquisition module; 310. First shot blasting mechanism; 320. Second shot blasting mechanism; 31. Nozzle; 32. Feed pipe; 33. End plate; 34. Mounting plate; 35. Pipe support; 510. Mounting frame; 520. Image acquisition unit; 210. Connecting ring; 220. First support rod; 230. Second support rod; 240. Third support rod; 250. Support plate; 410. Robotic arm; 420. Drive member; 401. Installation space.

[0041] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] In the existing technology, for special-shaped workpieces (i.e., workpieces with complex and irregular shapes and multiple geometric features such as grooves, holes, curved surfaces, etc.), traditional shot peening processes are difficult to evenly treat the surface of special-shaped workpieces. The complex shape of special-shaped workpieces makes it difficult to ensure the uniformity of shot peening coverage. Specific areas may be over-treated, while other areas may be under-treated.

[0046] In order to solve this technical problem, the present invention provides a shot peening system and method for special-shaped workpieces.

[0047] See also Figures 1 to 5 In one embodiment of the present invention, the shot peening system for special-shaped workpieces includes a mounting shaft 100, a shot peening device 300, a switching mechanism 400, an image acquisition module 500, and a control module. The mounting shaft 100 is sleeved with a support assembly 200; the shot peening device 300 is mounted on the support assembly 200; the shot peening device 300 includes a first shot peening end 301 and a second shot peening end 302, and the first shot peening end 301 and the second shot peening end 302 are arranged at intervals along the circumference of the mounting shaft 100; the output shaft of the switching mechanism 400 is connected to the mounting shaft 100; the image acquisition module 500 is mounted on the support assembly 200 The image acquisition module 500 is used to capture the contour of the special-shaped workpiece and generate contour information; the shot peening device 300, the switching mechanism 400 and the image acquisition module 500 are all electrically connected to the control module, and the control module is used to receive the contour information and control the switching mechanism 400 to drive the installation shaft 100 to rotate according to the contour information, and drive the shot peening device 300 to rotate with the installation shaft 100 through the support assembly 200, so that the first shot peening end 301 is directed toward the special-shaped workpiece and sprays the first shot material, or the second shot peening end 302 is directed toward the special-shaped workpiece and sprays the second shot material, and the particle size of the first shot material is different from the particle size of the second shot material.

[0048] Specifically, a support assembly 200 is sleeved on the mounting shaft 100, and the support assembly 200 is used to fix and support the shot peening device 300 and the image acquisition module 500. The first shot peening end 301 and / or the second shot peening end 302 of the shot peening device 300 are arranged at intervals along the circumference of the mounting shaft 100, so that the shot peening device 300 and the image acquisition module 500 can rotate together with the mounting shaft 100, thereby improving the image acquisition range of the image acquisition module 500 while ensuring that the shot peening device 300 can use the first shot peening end 301 or the second shot peening end 302 to shot peen the surface of the special-shaped workpiece at an appropriate angle and position. The first shot peening end 301 sprays the first shot material, and the second shot peening end 302 sprays the second shot material, and the particle sizes of the two shot materials are different to adapt to the processing requirements of different surface features (i.e., complex and irregular shapes with multiple geometric features such as grooves, holes, curved surfaces, etc.).

[0049] The output shaft of the switching mechanism 400 is connected to the mounting shaft 100, and the switching mechanism 400 is controlled by a control module. The control module can control the rotation angle of the mounting shaft 100 through a rotation instruction, thereby switching the first shot peening end 301 or the second shot peening end 302 of the shot peening device 300 toward the surface to be processed of the special-shaped workpiece, so as to improve the surface shot peening processing quality of the special-shaped workpiece.

[0050] The image acquisition module 500 is mounted on the support assembly 200 and is used to collect the contour information of the irregular-shaped workpiece in real time. By acquiring and analyzing the geometric shape of the workpiece, the image acquisition module 500 can generate accurate contour information and provide it to the control module for processing. The control module is electrically connected to the shot peening device 300, the switching mechanism 400, and the image acquisition module 500. It is responsible for receiving the contour information generated by the image acquisition module 500 and controlling the switching mechanism 400 to drive the mounting shaft 100 to rotate based on this information, so that the first shot peening end 301 or the second shot peening end 302 of the shot peening device 300 faces the surface to be processed of the irregular-shaped workpiece to adapt to the different processing requirements of the irregular-shaped workpiece. At the same time, the control module can also adjust the operating parameters of the shot peening device 300 (such as injection pressure, flow rate, etc.) according to the contour information to ensure that the shot peening device 300 can evenly process different parts of the irregular-shaped workpiece.

[0051] More specifically, the image acquisition module 500 acquires workpiece contour information in real time. Using this contour information, the control module precisely controls the switching mechanism 400 to adjust the angle of the shot peening device 300, aligning the first peening end 301 or the second peening end 302 of the shot peening device 300 with a specific area of ​​the workpiece. Shots of varying particle sizes are optimized for the workpiece's varying surface features, ensuring uniform peening treatment of complex workpiece surfaces. The entire shot peening process is automatically controlled by the control module, dynamically adjusting the peening parameters and injection ports based on real-time workpiece contour information, increasing the system's flexibility and automation. This automated control reduces manual intervention and setup time, improving production efficiency and the quality of shot peening for irregularly shaped workpieces. The collaboration between the image acquisition module 500 and the control module enables real-time acquisition of contour information for irregularly shaped workpieces and generates accurate contour data. Based on this contour information, the control module dynamically adjusts the operating state of the switching mechanism 400 and the shot peening device 300, ensuring that the first peening end 301 or the second peening end 302 of the shot peening device 300 is aligned with the specific area to be processed. At the same time, the control module adjusts the shot peening parameters (such as injection pressure and flow rate) based on the contour information to ensure that each area is properly treated. This closed-loop control method not only improves the accuracy and uniformity of the shot peening process, but also significantly enhances the level of automation, reduces human intervention and setup time, and improves the system's flexibility and production efficiency. The technical solution of the present invention can effectively adapt to various complex shapes and various processing requirements of special-shaped workpieces, achieving a high-quality shot peening process.

[0052] It should be noted that the interaction between the control module, the image acquisition module 500, the shot blasting device 300 and the switching mechanism 400 is all based on the existing technology. The image acquisition module 500 is connected to the input interface of the control module via a data transmission cable and is used to transmit the collected contour information of the irregular workpiece to the control module. The image sensor and processor integrated in the image acquisition module 500 convert the collected image data into digital signals, which are then transmitted to the control module via the data transmission cable. The first output interface of the control module is connected to the input interface of the drive motor in the switching mechanism 400 via a data transmission cable to send rotation instructions and control signals. The drive motor of the switching mechanism 400 controls the rotation angle of the mounting shaft 100 based on the received signals, thereby driving the rotation of the shot peening device 300. The second and third output interfaces of the control module are respectively connected to the input interfaces of the first and second shot peening terminals 301 and 302 of the shot peening device 300 via data transmission cables, respectively, for independently controlling the ejection of the two types of shot materials. Based on the received contour information, the control module sends a control signal to the shot peening device 300 to activate the ejection of the first and second shot peening terminals 301 and 302. The irregular workpiece refers to a plate with a folded edge.

[0053] It should be understood that to reduce the data processing workload of the control module and improve the control accuracy of the shot peening device 300, the rotation angle of the mounting shaft 100 is set between 0° and 90°. Furthermore, by connecting the image acquisition module 500 and the shot peening device 300 simultaneously through the same support assembly 200, the image acquisition module 500 and the shot peening device 300 can be driven simultaneously using a single drive source, simplifying the control module's program complexity and reducing the possibility of mechanical errors.

[0054] In the technical solution provided by the present invention, the first shot peening end 301 or the second shot peening end 302 of the shot peening device 300 is controlled by the switching mechanism 400 to be directed toward the surface to be processed of the special-shaped workpiece, and the first shot material and the second shot material with different particle sizes are used to respectively perform shot peening on the surface to be processed of the special-shaped workpiece to adapt to the different processing requirements of the special-shaped workpiece, avoid the problem of over-processing or under-processing in local areas of the special-shaped workpiece, and ensure the uniformity of shot peening coverage of the special-shaped workpiece. Moreover, through the cooperation of the image acquisition module 500 and the control module, the control module can adjust the working state of the switching mechanism 400 and the shot peening device 300 according to the contour information, and ensure that the first shot peening end 301 or the second shot peening end 302 of the shot peening device 300 is aligned with the specific area to be processed of the workpiece, which not only improves the accuracy and uniformity of the shot peening processing of the special-shaped workpiece, but also improves the flexibility and production efficiency of the shot peening processing.

[0055] Please continue reading Figures 1 to 3 There are many forms of implementation of the shot peening device 300. In an embodiment of the present invention, the shot peening device 300 includes two shot peening mechanisms, namely a first shot peening mechanism 310 and a second shot peening mechanism 320. The first shot peening mechanism 310 and the second shot peening mechanism 320 are installed on opposite sides of the support assembly 200. The first shot peening mechanism 310 and the second shot peening mechanism 320 are arranged at intervals along the circumference of the installation shaft 100. The first shot peening mechanism 310 forms a first shot peening end 301, and the second shot peening mechanism 320 forms a second shot peening end 302.

[0056] Specifically, the first and second shot peening mechanisms 310 and 320 are located on opposite sides of the support assembly 200 and spaced circumferentially along the mounting shaft 100. By rotating the mounting shaft 100, the first or second shot peening end 301 and 302 can be selectively aligned with the surface of the irregularly shaped workpiece to be processed. The first shot peening end 301 can use smaller-sized shot for fine peening, while the second shot peening end 302 can use larger-sized shot for intensive peening. Controlled by a switching mechanism 400, the first and second shot peening ends 301 and 302 are switched to avoid over- or under-peening.

[0057] Please continue reading Figures 1 to 4More specifically, in an embodiment of the present invention, each shot peening mechanism includes a nozzle 31, a feed pipe 32, an end plate 33, a mounting plate 34, and a pipe bracket 35. The mounting plate 34 is connected to the support assembly 200, and the pipe bracket 35 is connected to the mounting plate 34. The nozzle 31 is connected to the mounting plate 34 via the end plate 33. The end plate 33 and the pipe bracket 35 are spaced apart. The feed pipe 32 is slidably inserted into the pipe bracket 35, and the feed end of the nozzle 31 is connected to the feed pipe 32. The mounting plate 34 firmly mounts the shot peening mechanism on the support assembly 200, ensuring the stability of the entire device during the shot peening process. The pipe bracket 35 provides a guide rail for the feed pipe 32, which is used to support and guide the sliding of the feed pipe 32. By connecting the pipe bracket 35 to the mounting plate 34, the stability of the feed pipe 32 is ensured when the shot peening device 300 is shot peening or switching between the first shot peening end 301 and the second shot peening end 302, thus preventing mechanical operation errors. The nozzle 31 is secured to the mounting plate 34 via an end plate 33, ensuring a fixed position and accurate machining angle. The end plate 33 is spaced from the pipe support 35, allowing the feed pipe 32 to slide smoothly and communicate with the nozzle 31. The feed pipe 32 passes through the pipe support 35 and, guided by the pipe support 35, can bend without affecting the shot supply when switching between the first and second shot peening ends 301, 302. This allows for a continuous supply of shot, avoids insufficient feed during the shot peening process, and improves the continuity and stability of the shot peening process.

[0058] As an optional implementation of this embodiment, the first shot peening mechanism 310 and / or the second shot peening mechanism 320 each include a plurality of nozzles 31, and the plurality of nozzles 31 are arranged in an array on the support assembly 200, and each nozzle 31 can independently adjust the spray angle and pressure. The control module adjusts the spray angle and pressure of each nozzle 31 in the nozzle 31 array according to the real-time contour information of the workpiece to ensure that different areas of the special-shaped workpiece are properly shot peened to achieve uniform surface coverage.

[0059] As another optional implementation of this embodiment, the first shot peening mechanism 310 and / or the second shot peening mechanism 320 both include multiple nozzles 31, the support assembly 200 is connected to a rotating disk, and the multiple nozzles 31 are evenly distributed on the rotating disk along the circumference of the rotating disk. The rotating disk drives the nozzles 31 to rotate at high speed, and by independently controlling the opening and closing of each nozzle 31, it is ensured that different areas of the special-shaped workpiece can receive uniform shot peening treatment.

[0060] Please continue reading Figures 1 to 4The image acquisition module 500 can be implemented in various ways. In an embodiment of the present invention, the image acquisition module 500 includes a mounting bracket 510 and an image acquisition unit 520. The image acquisition unit 520 is electrically connected to the control module. The image acquisition unit 520 is mounted on the mounting plate 34 via the mounting bracket 510. The mounting bracket 510 is positioned between the pipe support 35 and the end plate 33. The image acquisition unit 520 is used to capture the contour of the irregularly shaped workpiece and generate contour information. The mounting bracket 510 is positioned between the pipe support 35 and the end plate 33. This arrangement provides a stable mounting platform, allowing the image acquisition unit 520 to operate in an ideal position. By being fixed between the pipe support 35 and the end plate 33, the mounting bracket 510 effectively avoids vibration and other external interference, improving the stability and accuracy of image acquisition. The image acquisition unit 520 uses the mounting bracket 510 to capture contour information of the irregularly shaped workpiece. This information may include the workpiece's geometry, dimensions, and surface features. The complex shapes and irregular surface features of irregularly shaped workpieces require precise data acquisition. Stably mounted on the mounting bracket 510, the image acquisition unit 520 accurately captures the workpiece's contour information at various angles and positions. This precise contour information serves as the basis for dynamic adjustments to the subsequent shot peening process, ensuring that each area receives appropriate treatment. The contour information generated by the image acquisition unit 520 is processed by the control module. Based on this information, the control module adjusts the shot peening equipment's parameters, such as injection pressure, angle, and flow rate. Real-time data feedback and dynamic adjustments ensure that the shot peening process can adapt to the diverse and complex shapes of irregularly shaped workpieces, achieving a uniform and high-quality surface finish.

[0061] As an optional implementation of this embodiment, image acquisition unit 520 is a single high-resolution industrial camera commonly used in the prior art. The operating process is as follows: a workpiece passes through a conveyor belt and enters the camera's field of view. The camera captures the workpiece surface, generating a 2D image. This image is then transmitted to the control module for contour analysis and data processing.

[0062] As an alternative embodiment of this embodiment, the image acquisition unit 520 is composed of two or three conventional high-resolution cameras, forming a stereoscopic vision system. The cameras are installed at different locations between the pipe support 35 and the end plate 33 to ensure that images from different angles can be obtained. The operating process is as follows: A workpiece enters the imaging area of ​​the stereoscopic vision system. Multiple cameras capture the workpiece from different angles, generating multi-view images. These images are transmitted to the control module, where a stereoscopic vision algorithm is used to generate 3D contour information of the workpiece.

[0063] As another alternative embodiment of this embodiment, image acquisition unit 520 is a conventional laser scanner capable of generating high-precision 3D point cloud data. The operating process is as follows: a workpiece enters the working range of the laser scanner. The laser scanner emits a laser beam, scanning the workpiece surface and generating 3D point cloud data. This point cloud data is then transmitted to the control module for contour reconstruction and data processing.

[0064] As another alternative embodiment of this embodiment, image acquisition unit 520 is a conventional structured light scanner that performs measurement by projecting a grating pattern. The working process is as follows: a workpiece enters the working area of ​​the structured light scanner. The scanner projects a grating pattern onto the workpiece surface. The camera captures the deformation of the grating pattern and generates 3D contour data. This data is then transmitted to the control module for processing and analysis.

[0065] In an embodiment of the present invention, the shot peening system for irregularly shaped workpieces further includes a shot detection module (not shown), which is electrically connected to the control module. The shot detection module includes a sensing unit mounted on the feed pipe 32, located between the pipe support 35 and the nozzle 31. The sensing unit senses the vibration of the feed pipe 32 to generate shot information, which is then transmitted to the control module. The control module receives the shot information and controls the start and stop of the shot peening device 300 based on the shot information. The coordination between the shot detection module and the control module ensures a stable shot supply and a continuous shot peening process, preventing uneven treatment of the workpiece surface due to unstable shot supply, improving the quality of the shot peening process, and ensuring uniformity and consistency of the workpiece surface.

[0066] It should be noted that the sensing unit is a high-frequency vibration sensor in the prior art.

[0067] Specifically, sensing units, or high-frequency vibration sensors, are installed at key locations within the shot blasting machine, such as the feed pipe 32, vibrating plate, or near the nozzle 31. The shot detection module uses the sensing units to collect real-time vibration signals generated during shot flow. These signals reflect the interaction between the shot and the machine, including its flow velocity, density, and uniformity. The module performs preprocessing operations such as filtering and denoising on the collected vibration signals to improve signal quality. Spectral analysis methods, such as the Fast Fourier Transform (FFT), are used to convert the time-domain signal into the frequency domain, extracting the frequency components of the vibration signal. Key features, such as the dominant frequency, amplitude, and frequency distribution, are then extracted from the spectrum to determine the flow state of the shot. Through extensive experimentation and data accumulation, the vibration signal pattern of normal shot flow is established. Using algorithms such as pattern recognition and machine learning, the real-time collected vibration signal is compared with the normal pattern to determine whether anomalies exist. For example, a threshold is set, and when the vibration signal characteristics exceed the threshold range, an abnormal state is flagged.

[0068] As an optional implementation of this embodiment, a high-frequency vibration sensor is installed on the feed pipe 32. The shot detection module collects vibration signals in real time and transmits them to the processor in the control module. The processor performs signal processing and spectrum analysis to extract vibration characteristics. An anomaly detection algorithm is used to determine whether there is shot blockage. When the vibration signal characteristics exceed the normal range, a blockage is marked. Based on the detection results, the control module switches between the first shot peening end 301 and the second shot peening end 302, or initiates the shot replacement program.

[0069] As another optional implementation of this embodiment, a high-frequency vibration sensor is mounted on the vibrating plate. The sensor collects vibration signals in real time and transmits them to a processor. The processor performs signal processing and spectrum analysis to extract vibration characteristics. An anomaly detection algorithm is used to determine whether there is uneven shot material distribution. When the vibration signal characteristics exceed the normal range, an uneven state is indicated. Based on the detection results, the control module switches between the first shot peening end 301 and the second shot peening end 302, or initiates a shot material replacement program.

[0070] Please continue reading Figure 4 and Figure 5 There are many forms of implementation of the support assembly 200. In an embodiment of the present invention, the support assembly 200 includes a connecting ring 210, a first support rod 220, a second support rod 230, a third support rod 240 and a support plate 250. The connecting ring 210 is sleeved on the mounting shaft 100, and the first support rod 220, the second support rod 230 and the third support rod 240 are connected to the connecting ring 210 at intervals along the circumference of the connecting ring 210. The second support rod 230 is connected to the support plate 250. The first support rod 220 and the second support rod 230 form a first support portion, the first shot peening end 301 is installed on the first support portion, the third support rod 240 and the support plate 250 form a second support portion, and the second shot peening end 302 is installed on the second support portion. The second support rod 230 forms a first support portion and a second support portion with the first support rod 220 and the third support rod 240, respectively. The first support rod 220, the second support rod 230, and the third support rod 240, spaced circumferentially along the connecting ring 210, form two stable triangular structures. Triangular structures are widely considered one of the most stable geometric shapes in engineering design, effectively dispersing and offsetting externally applied forces, thereby providing extremely high structural rigidity and stability. The sharing of the second support rod 230 by the first and second support portions reduces the need for separate supports, thereby reducing material usage. This not only lowers production costs but also reduces the weight of the entire support assembly 200, improving the system's flexibility and operability.

[0071] As an optional implementation of this embodiment, the first support rod 220, the second support rod 230, the third support rod 240 and the support plate 250 are all designed to have adjustable length structures, such as through a threaded connection or a telescopic mechanism to achieve length adjustment, so as to allow the first shot peening end 301 and the second shot peening end 302 to be independently and flexibly adjusted between different workpieces and positions, adapting to workpieces of different shapes and sizes, thereby improving the coverage and uniformity of the shot peening process. Specifically, the first support rod 220, the second support rod 230, the third support rod 240 and the support plate 250 each have two threaded rod segments, one end of each threaded rod segment has an external thread and the other end has an internal thread, the external thread end of one threaded rod segment is connected to the internal thread end of the other threaded rod segment, and the length of each structure can be adjusted by adjusting the rotation amount of the two threaded rod segments, and a locking nut is provided at the threaded connection position for tightening and fixing after adjusting to the desired length. In addition, the first support rod 220, the second support rod 230, the third support rod 240 and the support plate 250 respectively include an outer sleeve and an inner sleeve, the inner sleeve is inserted into the outer sleeve, and the outer sleeve and the inner sleeve are slidably matched. By adjusting the length of the inner sleeve inserted into the outer sleeve, the length of each structure itself can be adjusted.

[0072] As another optional implementation of this embodiment, the first support rod 220, the second support rod 230, and the third support rod 240 are all connected to the connecting ring 210 via a rotating bracket, allowing the first support rod 220, the second support rod 230, and the third support rod 240 to rotate around the connecting ring 210. This provides additional degrees of freedom for the first shot peening end 301 and the second shot peening end 302, allowing the shot peening ends to adjust their positions and angles within a wider range. By rotating the bracket, the spraying direction of the first shot peening end 301 and the second shot peening end 302 can be more accurately controlled, thereby improving the shot peening effect on special-shaped workpieces.

[0073] As another alternative embodiment of this embodiment, the first support rod 220, the second support rod 230, and the third support rod 240 are connected to the connecting ring 210 or the support plate 250 via elastic connectors (such as springs or flexible materials). The elastic connectors can absorb and offset some vibrations, reducing the impact on the shot peening device 300 and extending the service life of the device. They also improve the stability of the first shot peening end 301 and the second shot peening end 302, resulting in more uniform spraying.

[0074] As another alternative embodiment of this embodiment, the second support rod 230 and the support plate 250 are connected by a shock-absorbing device, which can be a rubber pad, shock absorber, or the like as known in the art. The shock-absorbing device can effectively reduce vibration and impact during the shot peening process, protect the shot peening device 300 and the workpiece, and improve the stability and uniformity of the shot peening process.

[0075] Please continue reading Figure 1 and Figure 2There are many forms of implementation of the switching mechanism 400. In an embodiment of the present invention, the switching mechanism 400 includes a robotic arm 410 and a driving member 420. The robotic arm 410 is formed with an installation space 401 for accommodating the installation shaft 100 and the shot blasting device 300. The driving member 420 is installed on the robotic arm 410. The driving member 420 is electrically connected to the control module. The output shaft of the driving member 420 is connected to the installation shaft 100. The control module is used to receive contour information and control the output shaft of the driving member 420 to drive the installation shaft 100 to rotate according to the contour information.

[0076] It should be noted that the robotic arm 410 is an industrial robot in the prior art, and the driving component 420 is a servo motor in the prior art.

[0077] Specifically, the robotic arm 410 provides stable support and accurate positioning functions to ensure that the installation shaft 100 and the shot peening device 300 can work stably. The installation space 401 is used to accommodate the installation shaft 100 and the shot peening device 300 to ensure that they can operate freely in the robotic arm 410. At the same time, the structure is compact, which is more conducive to improving the control accuracy of the shot peening device 300, thereby improving the processing effect of special-shaped workpieces.

[0078] More specifically, by mounting the shot peening device 300 on the support assembly 200 and utilizing the compact structure of the support assembly 200 and shot peening device 300, the mounting shaft 100 and shot peening device 300 can be efficiently operated within a limited space. The drive member 420 is compactly mounted on the robotic arm 410, and the output shaft of the drive member 420 is directly connected to the mounting shaft 100, eliminating intermediate connecting components and reducing system complexity. Furthermore, the compact structural design reduces the degrees of freedom and connection errors between components, improving the stability and shot peening accuracy of the system, increasing the overall rigidity of the system, and reducing possible deformation and displacement during operation. Furthermore, it saves workspace, enabling the shot peening equipment to operate efficiently in limited production environments and adapt to various production line layouts. It reduces the path length for signal transmission and mechanical movement, improves the system's response speed, and enables the shot peening device 300 to be quickly adjusted to the ideal position, thereby improving production efficiency. Furthermore, due to the compact overall structure of the system, the various components operate more closely in coordination, ensuring uniform shot peening coverage and avoiding the problem of uneven local treatment.

[0079] Please continue reading Figures 1 to 5 , and see Figure 6 The present invention further proposes a shot peening method for a special-shaped workpiece, using the above-mentioned shot peening system for a special-shaped workpiece. The shot peening method for a special-shaped workpiece comprises:

[0080] Step S10: the image acquisition module 500 acquires the contour of the special-shaped workpiece to generate the contour information and sends the contour information to the control module;

[0081] Step S20: the control module receives the contour information and processes the contour information to generate a preset processing path;

[0082] In step S30, the control module controls the switching mechanism 400 to drive the shot peening device 300 to rotate along the preset processing path with the mounting shaft 100, so as to direct the first shot peening end 301 toward the special-shaped workpiece, or direct the second shot peening end 302 toward the special-shaped workpiece, and correspondingly, the first shot peening end 301 sprays the first shot material toward the special-shaped workpiece, or the second shot peening end 302 sprays the second shot material toward the special-shaped workpiece.

[0083] It should be noted that, due to the dusty environment of shot blasting, the image acquisition end of the image acquisition unit 520 is easily contaminated by dust. In order to ensure the accuracy and completeness of the surface contour image of the special-shaped workpiece in the contour information when collecting the special-shaped workpiece, in each cycle of shot blasting of the special-shaped workpiece, the image acquisition unit 520 is installed before the shot blasting. Before the shot blasting of the special-shaped workpiece is performed, it is manually judged whether the image acquisition unit 520 can collect clear contour information of the special-shaped workpiece. If not, the image acquisition end of the image acquisition unit 520 is manually cleaned; and thus the contour information of the special-shaped workpiece has been collected before the shot blasting device 300300 is used for shot blasting.

[0084] For ease of understanding, a specific implementation process is shown here:

[0085] The irregularly shaped workpiece is secured to the workpiece fixture to ensure its stability during the shot peening process. The switching mechanism 400 is used to drive the mounting shaft 100 to rotate, adjusting the position of the image acquisition module 500 (e.g., a camera based on a visual sensor) to align it with the surface of the irregularly shaped workpiece to be processed. The image acquisition module 500 can be adjusted via the robotic arm 410 or guide rails to achieve the optimal viewing angle. This allows for the capture of contour information. The precise positioning of the image acquisition module 500 ensures the accuracy of subsequent data, providing a reliable basis for contour information for the control module.

[0086] The control module activates the image acquisition module 500 and begins scanning the exterior of the irregularly shaped workpiece. High-resolution 3D modeling is performed using laser scanning or optical sensors. The collected contour information of the workpiece surface is transmitted to the control module via a high-speed data transmission interface (such as Ethernet or a wireless network). After receiving the contour information, the control module performs preliminary data processing and modeling to generate a three-dimensional contour map of the workpiece. The control module can accurately obtain the workpiece geometry, providing basic data for subsequent path planning.

[0087] The control module uses image processing algorithms (such as edge detection, 3D reconstruction, etc.) to process the collected contour information and generate a detailed three-dimensional model of the workpiece. Based on the three-dimensional model, the control module calculates the optimal shot peening path. The path generation algorithm takes into account the shape and surface characteristics of the workpiece and the operating parameters of the shot peening device 300 (such as injection angle, pressure, etc.), and automatically generates the preset processing path and sets specific processing parameters for each surface area to ensure the uniformity and effectiveness of the shot peening. Through the precise processing of the contour information and intelligent path planning, the optimized shot peening path design for complex-shaped workpieces is achieved to ensure that each area is properly treated.

[0088] The control module sends instructions to control the driving member 420 of the switching mechanism 400 according to the preset processing path, and the driving member 420 rotates the mounting shaft 100 to select the first shot peening end 301 or the second shot peening end 302 to align with the area to be processed of the workpiece. The shot peening device 300 adjusts the injection parameters (such as injection pressure, flow rate, etc.) according to the instructions of the control module to adapt to the processing requirements of different surface areas. During the actual shot peening process, the control module monitors the shot peening process in real time and makes dynamic adjustments through the feedback control system to ensure the quality of shot peening. After the shot peening process is completed, the system stops automatically, and the shot peening device 300 and the switching mechanism 400 are reset to prepare for the processing of the next workpiece. Through the coordinated work of the control module, the switching mechanism 400 and the shot peening device 300, the system can achieve accurate and efficient shot peening processing and adapt to the complex shapes and processing requirements of different workpieces.

[0089] In this embodiment, by real-time collection of workpiece contour information and generation of an optimized processing path based on this information, the system can ensure that the shot peening device 300 is accurately aligned with each area of ​​the workpiece, avoiding over-processing or under-processing, and achieving uniform surface treatment; the entire shot peening process is automatically completed by the control module, from the collection of the contour information to the generation of the preset processing path, and then to the driving of the switching mechanism 400 and the shot peening process, which reduces human intervention and improves production efficiency and processing quality; and by switching shot peening materials of different particle sizes and adjusting shot peening parameters, the system can flexibly respond to the processing requirements of different workpieces and adapt to various complex shapes and surface features of special-shaped workpieces; in addition, the specific structure of the shot peening system for special-shaped workpieces refers to the above-mentioned embodiment. Since the shot peening method for special-shaped workpieces adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0090] Specifically, in an embodiment of the present invention, the step of the control module receiving the contour information and processing the contour information to generate a preset processing path includes:

[0091] Step S31: The control module receives the contour information and plans a shot peening path for the special-shaped workpiece according to the contour information;

[0092] Step S32: the control module patrols the shot peening processing path of the special-shaped workpiece to obtain a patrol result;

[0093] Step S33: The control module generates the preset processing path according to the patrol result.

[0094] For ease of understanding, a specific implementation process is shown here:

[0095] After receiving the contour information, the control module generates a 3D model of the workpiece using 3D modeling software. Using a pre-set path planning algorithm, the control module calculates a preliminary shot peening path. This algorithm takes into account factors such as the workpiece surface characteristics, the effective range of the nozzle 31, and the spray angle.

[0096] The control module simulates the shot peening process and performs a virtual patrol of the initially planned processing path. During the path patrol process, the system simulates the shot peening effect of each surface area of ​​the workpiece to check the rationality of the path. The control module records the processing status of each path point and detects whether there are processing dead ends, path overlaps, or unreasonable spray angles. A patrol report is generated based on the simulation results, indicating the specific areas that need optimization and adjustment. Through the simulation of path patrol, the control module can discover and solve potential problems in path planning in advance, avoiding problems in the actual processing process.

[0097] The control module performs a detailed analysis of the patrol report and identifies the path areas that need to be improved. Based on the patrol results, the control module optimizes and adjusts the preliminary path, including re-planning of the path, adjustment of the injection angle and pressure, etc. The optimized path and parameters are reintegrated to generate the final preset processing path. The preset processing path includes a specific motion trajectory, the parameters of the injection (such as injection angle, pressure, the position of the nozzle 31, etc.), to ensure the efficiency and uniformity of the actual shot peening process. The patrol results drive the optimization adjustment of the path, making the generated preset processing path more accurate and efficient. The dynamic adjustment capability of the control module ensures the accuracy and practicality of the final path.

[0098] More specifically, in an embodiment of the present invention, the step of the control module generating the preset processing path according to the patrol result includes:

[0099] Step S331: The control module determines whether there is a corner in the shot peening processing path of the special-shaped workpiece according to the patrol result;

[0100] Step S332: If yes, marking the switching information at the position corresponding to the corner on the shot peening processing path of the special-shaped workpiece, and obtaining the preset processing path;

[0101] After the control module controls the switching mechanism 400 to drive the shot peening device 300 to rotate along the preset processing path with the mounting shaft 100 so as to direct the first shot peening end 301 toward the irregularly shaped workpiece, or direct the second shot peening end 302 toward the irregularly shaped workpiece, and correspondingly directs the first shot peening end 301 to spray the first shot material toward the irregularly shaped workpiece, or directs the second shot peening end 302 to spray the second shot material toward the irregularly shaped workpiece, the shot peening method for irregularly shaped workpieces further includes:

[0102] Step S50: Based on the switching information, the control module controls the switching mechanism 400 to drive the shot peening device 300 to rotate along with the mounting shaft 100 to switch between the first shot peening end 301 and the second shot peening end 302;

[0103] Step S60: Continue to perform shot peening on the special-shaped workpiece until the shot peening process of the special-shaped workpiece is completed.

[0104] For ease of understanding, a specific implementation process is shown here:

[0105] Based on the patrol results, the control module analyzes the shot peening path of the irregularly shaped workpiece to determine whether there are any corners along the path. Corners may affect the shot peening effect and therefore require special marking. Through detailed analysis of the path, the control module identifies corners requiring special treatment, providing a basis for subsequent steps.

[0106] If there are corners on the path, the control module marks these locations with switching information. This switching information indicates that the nozzle 31 needs to be switched or the spray parameters need to be adjusted at these locations. A preset processing path containing this switching information is generated for use in the actual shot peening process. By marking this switching information, the control module can clearly identify areas on the path that require special treatment, ensuring consistent shot peening quality.

[0107] Based on the preset machining path, the control module controls the switching mechanism 400 to rotate the shot peening device 300. Within a specific path, if necessary, the switching mechanism 400 directs the first shot peening end 301 toward the irregularly shaped workpiece and ejects the first shot material, or directs the second shot peening end 302 toward the irregularly shaped workpiece and ejects the second shot material. Using the preset machining path and switching information, the control module ensures that the shot peening device 300 uses the most appropriate shot peening end and shot material for different areas, ensuring that every corner and complex area is properly treated, thereby improving machining efficiency and effectiveness.

[0108] The control module continues to control the shot peening device 300 to shot peen the irregularly shaped workpiece according to the optimized preset processing path. During the processing, the system monitors the shot peening effect to ensure that each surface area is evenly treated until the shot peening of the entire workpiece is completed.

[0109] Detailed profile information and precise path planning algorithms enable the control module to generate a shot peening path that covers all areas of the workpiece surface, avoiding omissions and over-processing. Path simulation and result-based optimization ensure the rationality of the path and the uniformity of the shot peening effect, improving the treatment quality. The entire process is automated by the control module, from information collection, path planning, simulated patrol, to path optimization, reducing human intervention and significantly improving production efficiency and treatment quality. This ensures the accuracy and efficiency of the shot peening process, solves the uniformity and efficiency issues in traditional shot peening processes, and has significant industrial application value.

[0110] It should be noted that the algorithms used in the above embodiments are all existing technologies.

[0111] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A shot peening system for special-shaped workpieces, characterized in that: include: An installation shaft (100), wherein a support assembly (200) is sleeved on the installation shaft (100); a shot blasting device (300), the shot blasting device (300) being mounted on the support assembly (200); the shot blasting device (300) comprising a first shot blasting end (301) and a second shot blasting end (302), the first shot blasting end (301) and the second shot blasting end (302) being arranged at intervals along the circumference of the mounting shaft (100); a switching mechanism (400), wherein an output shaft of the switching mechanism (400) is connected to the mounting shaft (100); An image acquisition module (500), the image acquisition module (500) being installed on the support assembly (200), the image acquisition module (500) being used to acquire the contour of the special-shaped workpiece and generate contour information; A control module is provided, wherein the shot peening device (300), the switching mechanism (400) and the image acquisition module (500) are all electrically connected to the control module, and the control module is used to receive the contour information and control the switching mechanism (400) according to the contour information to drive the installation shaft (100) to rotate, and drive the shot peening device (300) to rotate along with the installation shaft (100) through the support assembly (200), so that the first shot peening end (301) faces the special-shaped workpiece and sprays a first shot material, or the second shot peening end (302) faces the special-shaped workpiece and sprays a second shot material, and the particle size of the first shot material is different from the particle size of the second shot material.

2. The shot blasting system for special-shaped workpieces according to claim 1, characterized in that: The shot peening device (300) includes two shot peening mechanisms, which are a first shot peening mechanism (310) and a second shot peening mechanism (320). The first shot peening mechanism (310) and the second shot peening mechanism (320) are installed on opposite sides of the support assembly (200). The first shot peening mechanism (310) and the second shot peening mechanism (320) are arranged at intervals along the circumference of the installation shaft (100). The first shot peening mechanism (310) forms the first shot peening end (301), and the second shot peening mechanism (320) forms the second shot peening end (302).

3. The shot blasting system for special-shaped workpieces according to claim 2, characterized in that: Each shot blasting mechanism comprises a nozzle (31), a feed pipe (32), an end plate (33), a mounting plate (34) and a pipe bracket (35), wherein the mounting plate (34) is connected to the support assembly (200), the pipe bracket (35) is connected to the mounting plate (34), the nozzle (31) is connected to the mounting plate (34) through the end plate (33), the end plate (33) and the pipe bracket (35) are spaced apart, the feed pipe (32) is slidably inserted into the pipe bracket (35), and the feed end of the nozzle (31) is connected to the feed pipe (32).

4. The shot blasting system for special-shaped workpieces according to claim 3, wherein: The image acquisition module (500) comprises a mounting frame (510) and an image acquisition unit (520), wherein the image acquisition unit (520) is electrically connected to the control module, and the image acquisition unit (520) is mounted on the mounting plate (34) via the mounting frame (510), wherein the mounting frame (510) is arranged between the pipe support (35) and the end plate (33), and the image acquisition unit (520) is used to acquire the contour of the special-shaped workpiece and generate the contour information.

5. The shot blasting system for special-shaped workpieces according to claim 3, characterized in that: The shot peening system for special-shaped workpieces further comprises a shot detection module, which is electrically connected to the control module; the shot detection module comprises a sensing unit installed on the feed pipe (32), the sensing unit being located between the pipe support (35) and the nozzle (31), the sensing unit being used to sense vibration of the feed pipe (32) to generate shot information and send the shot information to the control module, the control module being used to receive the shot information and control the start and stop of the shot peening device (300) according to the shot information.

6. The shot blasting system for special-shaped workpieces according to any one of claims 1 to 5, characterized in that: The support assembly (200) comprises a connecting ring (210), a first support rod (220), a second support rod (230), a third support rod (240) and a support plate (250); the connecting ring (210) is sleeved on the mounting shaft (100); the first support rod (220), the second support rod (230) and the third support rod (240) are connected to the connecting ring (210) at intervals along the circumference of the connecting ring (210); the support plate (250) is connected to the second support rod (230); the first support rod (220) and the second support rod (230) form a first support portion; the first shot peening end (301) is mounted on the first support portion; the third support rod (240) and the support plate (250) form a second support portion; and the second shot peening end (302) is mounted on the second support portion.

7. The shot blasting system for special-shaped workpieces according to any one of claims 1 to 5, characterized in that: The switching mechanism (400) includes a mechanical arm (410) and a driving member (420), wherein the mechanical arm (410) is formed with an installation space (401) for accommodating the installation shaft (100) and the shot blasting device (300), and the driving member (420) is installed on the mechanical arm (410), wherein the driving member (420) is electrically connected to the control module, and an output shaft of the driving member (420) is connected to the installation shaft (100), and the control module is used to receive the profile information and control the output shaft of the driving member (420) to drive the installation shaft (100) to rotate according to the profile information.

8. A shot peening method for special-shaped workpieces, characterized in that: The shot peening system for special-shaped workpieces according to any one of claims 1 to 7 is applied, and the shot peening method for special-shaped workpieces comprises: The image acquisition module (500) acquires the contour of the special-shaped workpiece to generate the contour information and sends the contour information to the control module; The control module receives the contour information and processes the contour information to generate a preset processing path; The control module controls the switching mechanism (400) to drive the shot peening device (300) to rotate along the preset processing path with the installation shaft (100) so as to direct the first shot peening end (301) toward the special-shaped workpiece, or direct the second shot peening end (302) toward the special-shaped workpiece, and correspondingly causes the first shot peening end (301) to spray the first shot material toward the special-shaped workpiece, or causes the second shot peening end (302) to spray the second shot material toward the special-shaped workpiece.

9. The shot blasting method for a special-shaped workpiece according to claim 8, wherein: The control module receives the contour information and processes the contour information to generate a preset processing path, including: The control module receives the contour information and plans a shot peening processing path of the special-shaped workpiece according to the contour information; The control module patrols the shot peening processing path of the special-shaped workpiece to obtain a patrol result; The control module generates the preset processing path according to the patrol result.

10. The shot blasting method for a special-shaped workpiece according to claim 9, wherein: The step of the control module generating the preset processing path according to the patrol result includes: The control module determines whether there is a corner in the shot peening processing path of the special-shaped workpiece according to the patrol result; If so, marking switching information at a position corresponding to the corner on the shot peening processing path of the special-shaped workpiece, and obtaining the preset processing path; The control module controls the switching mechanism (400) to drive the shot peening device (300) to rotate along the preset processing path with the mounting shaft (100) so as to direct the first shot peening end (301) toward the special-shaped workpiece, or direct the second shot peening end (302) toward the special-shaped workpiece, and correspondingly direct the first shot peening end (301) to spray the first shot material toward the special-shaped workpiece, or direct the second shot material toward the special-shaped workpiece, after which the shot peening method for special-shaped workpieces further comprises: According to the switching information, the control module is used to control the switching mechanism (400) to drive the shot blasting device (300) to rotate along with the installation shaft (100) to switch the first shot blasting end (301) or the second shot blasting end (302); The shot peening process is continued on the special-shaped workpiece until the shot peening process of the special-shaped workpiece is completed.

Images