Automatic shot blasting equipment system for complex parts based on intelligent identification

Abstract

The invention relates to an automatic shot blasting equipment system for complex parts based on intelligent identification, which mainly comprises three parts, namely shot blasting equipment, a control device and a machine vision identification module, a workpiece mechanical arm capable of grabbing a workpiece and a spray head mechanical arm capable of grabbing a spray head are arranged in a treatment bin of the shot blasting equipment; the workpiece mechanical arm is mounted at the top of the treatment bin, and the spray head mechanical arm is mounted on the side wall of the treatment bin; the control device is used for controlling the shot blasting equipment to work, the machine vision recognition module is used for scanning to obtain workpiece image data and transmitting the workpiece image data to the control device, and the control device analyzes the position and posture of each related part in a workpiece according to the workpiece image data and is used for controlling the shot blasting equipment in real time. The device is simple in structure, capable of implementing automatic control and suitable for complex workpieces.

Description

Technical Field

[0001] The invention relates to an automated shot peening equipment system for complex parts based on intelligent identification. Background Art

[0002] Shot peening equipment is divided into large assembly line shot peening machines and small handheld shot peening machines in terms of volume and application scenarios. Among them, large assembly line shot peening machines are mainly used in large-scale industrial production of the same model. They have high processing efficiency and low cost, but can only process workpieces with relatively simple structures and small surface curvatures; small handheld shot peening machines are mainly used in the field of fine processing. Based on the personal experience and skills of the operators, they can achieve high-precision processing of workpieces with very complex structures, but the processing accuracy depends on the personal factors of the operators, and the efficiency is low. A large amount of dust will be generated during processing, which has a certain negative impact on the health of long-term operators. For example, Chinese patent document CN117506743A discloses a forging shot peening cleaning equipment, including a support platform, a cleaning box with an opening at the top, a drive assembly, a positioning device, a shot peening equipment and two retractable mechanisms, wherein the cleaning box is mounted on the support platform; the drive assembly is arranged in the cleaning box, and the drive assembly includes an annular support plate, a material guide pipe and a first drive mechanism, wherein the annular support plate is rotatably arranged on the middle bottom wall of the cleaning box, and a plurality of shot discharge ports distributed around the annular support plate are opened on the bottom wall of the cleaning box; the material guide pipe is vertically and rotatably arranged on the middle bottom wall of the cleaning box. Chinese patent document CN221254633U discloses a shot peening device, including a conveying mechanism, a heating mechanism and a shot peening mechanism; the conveying mechanism is connected to the heating mechanism and the shot peening mechanism respectively, the conveying mechanism has a conveying channel, the conveying channel passes through the heating mechanism and the shot peening mechanism in sequence, the plate passes through the heating mechanism and the shot peening mechanism in sequence through the conveying channel, the heating mechanism can heat the plate, and the shot peening mechanism can shot peen the heated plate; by forming a heat treatment and shot peening structure into an integrated structure, it is ensured that the heated plate can be directly shot peened, thereby achieving the effects of strong processing capability, high forming quality and low energy consumption. Chinese patent document CN117925968A discloses an easy-to-clean powder-feeding shot peening device, comprising an inner tube, a processing chamber and an ultrasonic probe; the inner tube is provided with a cooling chamber for loading a cooling medium, the cooling chamber is communicated with the processing chamber, the inner tube and the processing chamber are detachably connected, and a carrier surface is provided at one end of the inner tube adjacent to the processing chamber; the ultrasonic probe is inserted into the processing chamber, the ultrasonic probe is used to generate vibration, and the vibrating part of the ultrasonic probe is aligned with the cooling chamber; a mixture is provided in the processing chamber, and the mixture includes shot and copper powder; a workpiece to be processed is placed between the carrier surface and the mixture, and the cooling chamber is used to transfer low temperature through the contact between the cooling medium and the workpiece to be processed, so that the material performance is improved by ultrasonic shot peening and the coating is prepared with high throughput.Chinese patent document CN118682671A discloses a device and method for controlling multi-flow rates of projectiles for pneumatic shot peening, wherein the device comprises a projectile flow rate control module and a projectile chamber for supplying projectiles; the input end of the projectile flow rate control module is connected to the projectile chamber, in which a projectile conveying mechanism and a projectile recovery mechanism are arranged; the projectiles at the input end are conveyed to a first projectile outlet at a set flow rate by the projectile conveying mechanism, the first projectile outlet is connected to a projectile nozzle through an air pipe, and the projectile flow rate can be adjusted in real time; the unconsumed projectiles at the input end are conveyed to a second projectile outlet and recovered by the projectile recovery mechanism. Summary of the invention

[0003] The object of the present invention is to provide a shot peening equipment system which can implement automatic control and is suitable for complex workpieces.

[0004] The technical solution of the present invention is: an automated shot peening equipment system for complex parts based on intelligent identification, comprising: Shot peening equipment, the shot peening equipment is provided with a processing box, the upper part of the processing box is a processing chamber, the lower part is a collecting bucket, the processing chamber is provided with a workpiece mechanical arm capable of grabbing a workpiece and a nozzle mechanical arm capable of grabbing a nozzle, the workpiece mechanical arm is installed on the top of the processing chamber, and the nozzle mechanical arm is installed on the side wall of the processing chamber; The control device is used to control the operation of the shot peening equipment, including controlling the movement of the workpiece mechanical arm to make the workpiece in the real-time position and posture it should be in, controlling the movement of the nozzle mechanical arm to make the nozzle in the real-time position and posture it should be in, and controlling the working state of the shot peening system to make it in the working state it should be in.

[0005] Preferably, this automated shot peening equipment system is also provided with a machine vision recognition module, which is used to scan and obtain workpiece image data, and transmit the workpiece image data to the control device, which analyzes the position and posture of each relevant part in the workpiece based on the workpiece image data, extracts the surface condition parameters of the workpiece, determines or adjusts the position and posture of the nozzle and the workpiece when shot peening is performed on the part based on the position and posture of the relevant part in the workpiece, and determines or adjusts the shot peening parameters of the shot peening system when shot peening is performed on the part based on the surface condition parameters of the relevant part before and during shot peening.

[0006] For example, the machine vision recognition module may be provided with an industrial camera, which is mounted on the housing of the processing chamber and is in a position suitable for scanning the workpiece.

[0007] Preferably, the workpiece robot arm is provided with a turntable with a vertical rotation axis, which is used to drive the workpiece robot arm to rotate around its rotation axis, and the nozzle robot arm is provided with a turntable with a longitudinal rotation axis, which is used to drive the nozzle robot arm to rotate. Preferably, the nozzle robot arm is also provided with a plurality of flexure joints for adjusting the position and posture of its end effector.

[0008] Preferably, one or more image acquisition devices for obtaining the surface image of the workpiece are provided in the processing chamber, so as to constitute the machine vision recognition module.

[0009] Preferably, the image acquisition device is an industrial camera.

[0010] Preferably, the workpiece robot arm is installed in a fixed manner on the top of the processing chamber.

[0011] Preferably, the workpiece robot arm is provided with a rear arm and a forearm, the rear arm of the workpiece robot arm is fixedly mounted on the turntable of the turntable of the workpiece robot arm, the rear arm of the workpiece robot arm is connected to the forearm of the workpiece robot arm through a folding joint, and the front end of the forearm of the workpiece robot arm is provided with a workpiece end effector for grasping / clamping the workpiece.

[0012] The workpiece end effector may be a two-finger angular translation gripper or other adaptable forms of manipulator.

[0013] Preferably, the nozzle robot arm is installed on the side wall of the processing chamber through a two-dimensional moving mechanism, and the two-dimensional moving mechanism is composed of a horizontal linear moving pair and a vertical linear moving pair.

[0014] Preferably, the nozzle robot arm is provided with a rear arm, a middle arm and a forearm, the rear arm of the nozzle robot arm is fixedly mounted on the turntable of the turntable of the nozzle robot arm, the rear arm of the nozzle robot arm is connected to the middle arm of the nozzle robot arm through a rear folding joint, the middle arm of the nozzle robot arm is connected to the forearm of the nozzle robot arm through a front folding joint, and the front end of the forearm of the nozzle robot arm is provided with a nozzle end effector for grasping / clamping the nozzle.

[0015] The nozzle end effector is a manipulator that can adopt a two-finger parallel gripper, a two-finger angle gripper or other adaptable forms.

[0016] The beneficial effects of the present invention are as follows: due to the reasonable arrangement of the workpiece robot arm for controlling the workpiece and the nozzle robot arm for controlling the nozzle, the relative position and posture between the workpiece and the nozzle can be flexibly controlled without overly complex robot arm structures, which is suitable for shot peening of complex workpieces, and can be combined with existing automatic control technology to obtain higher processing accuracy and higher production efficiency; due to the provision of an industrial camera or other image acquisition device capable of obtaining workpiece image data, it is possible to cooperate with machine vision technology to perform detailed scanning of various parts of the workpiece before and / or during processing, store the scanned data, provide accurate basic data for the processing process, and then realize precise control of the shot peening process under the control of the matching control device; it is possible to implement real-time monitoring and parameter adjustment based on machine vision; it is possible to ensure that the shot peening parameters are adjusted according to real-time data on the basis of continuously obtaining the current processing state and workpiece surface parameters, thereby improving processing accuracy and efficiency; it is possible to analyze the workpiece surface parameters in real time, compare them with predetermined data, realize dynamic regulation of the shot peening progress and state, and ensure the accuracy and efficiency of the processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of a shot peening device according to the present invention; Figure 2 is a schematic diagram of a spray head mechanical arm involved in the present invention; Figure 3 It is a schematic diagram of a workpiece robot arm involved in the present invention. DETAILED DESCRIPTION

[0018] This automated shot peening equipment system mainly consists of three parts: shot peening equipment (or shot peening device), shot peening equipment control device and machine vision recognition module. The shot peening equipment implements shot peening treatment on the workpiece under the control of the control device. The machine vision recognition module scans the workpiece (related parts) before, during and after the treatment to obtain workpiece image data, so that the control device can obtain the actual condition of the workpiece based on the workpiece image data, implement shot peening control, and record the results before and after the treatment.

[0019] The control device controls the shot peening equipment mainly in the following ways: controlling the movement of the workpiece robot arm to make the workpiece in the real-time position and posture (orientation) it should be in; controlling the movement of the nozzle robot arm to make the nozzle in the real-time position and posture it should be in; controlling the working state of the shot peening system (including shot peening and non-shot peening, and shot peening parameters, such as flow rate, flow velocity, etc.) to make it in the working state it should be in.

[0020] The control device analyzes the position and posture (various direction angles relative to the entire workpiece, for example, the inclination and rotation angle relative to the center axis / set axis of the workpiece) of each relevant part (the part that needs to be shot peened) in the workpiece based on the workpiece image data, extracts (analyzes and obtains) surface condition parameters (for example, surface roughness), determines or adjusts the position and posture of the nozzle (and the workpiece, if necessary) when shot peening is performed on the part based on the position and posture of the relevant part in the workpiece, and adjusts the shot peening parameters (working parameters of the shot peening system) and the position and posture of the nozzle (if necessary) for shot peening the part based on the surface condition parameters of the relevant part before and during shot peening.

[0021] The machine vision recognition module includes an industrial camera, which is mounted on the housing of the processing chamber and is in a position suitable for scanning the workpiece, for example, on the side wall of the processing chamber, with the lens facing the area where the workpiece is located. The workpiece image data is obtained by scanning with the industrial camera, and the workpiece image data (including analysis data, if any) is transmitted to the control device. A local memory can be set in the machine vision recognition module and / or the control device to store relevant data.

[0022] The main working processes involved in the machine vision recognition module include: 1) (Initial) scanning and information storage. The machine vision recognition module uses intelligent sensors to perform detailed scans of all parts of the workpiece before processing, and stores the scanned data to provide accurate initial parameters for subsequent processing; 2) Real-time monitoring and parameter adjustment. During the processing, the machine vision recognition module continuously obtains the current processing status and workpiece surface parameters to ensure that the shot peening parameters can be adjusted according to real-time data to improve processing accuracy and efficiency; 3) Processing effect recognition. After the processing is completed, the machine vision recognition module performs a final scan on the processed workpiece, obtains and records the surface parameter values ​​after processing, to ensure that the processing quality meets the expected standards.

[0023] Any suitable existing model tools and software platforms can be used to implement the required machine vision recognition. For example, image preprocessing and feature extraction can be implemented based on OpenCV; more image analysis algorithms can be implemented based on scikit-image; and dedicated detection and recognition models can be trained based on TensorFlow / PyTorch.

[0024] The machine vision recognition module can use the following devices: 1) Industrial cameras: Basler acA1920-40uc: A popular USB 3.0 industrial camera offering 1920x1200 resolution; FLIR Blackfly S BFS-U3-51S5M-C: USB 3.0 camera offering 5.1 MP resolution for a wide range of industrial applications; Allied Vision Mako G-030B / C: compact cameras with GigE interface for space-constrained applications.

[0025] 2) Lens: Computar M0814-MP2: 8mm fixed focal length lens, suitable for high-resolution cameras; Tamron M112FM08: Solid fixed focal length lens with high optical performance for FA applications; Kowa LM12HC: 12mm high-resolution lens supporting camera sensors up to 5 MP.

[0026] 3) Lighting device: CCS LDR2-90RD2: Ring-shaped LED light, suitable for uniform lighting; Smart Vision Lights LE Series: Linear LED lights for edge and surface inspection; Metaphaser LED Ring Light: Provides low-angle lighting to highlight surface features.

[0027] The main indicator of shot peening is surface roughness. A high-resolution camera or 3D scanner can be used to obtain the workpiece surface image, and then the frequency domain and spatial domain analysis can be performed. Gradient detection and FFT analysis can be used to measure micro-texture fluctuations to implement image processing, and texture descriptors such as GLCM and LBP can be used for roughness quantification.

[0028] Surface roughness detection and analysis can be performed using OpenCV, using a range of image processing and analysis techniques.

[0029] The following is an example process and corresponding algorithm that shows how to use OpenCV to analyze surface roughness. The basic steps are: 1) Read and preprocess the image: Use preprocessing steps such as grayscale and Gaussian blur to remove noise and irrelevant details; 2) Edge detection: Apply edge detection algorithms (such as Canny edge detection) to identify the edges of surface unevenness; 3) Morphological transformation: Use morphological operations (such as dilation and erosion) to enhance and connect edges; 4) Contour detection: further analyze the details and roughness characteristics of the surface by finding the contour; 5) Feature extraction and analysis: Calculate the shape parameters of the contour (such as perimeter, area, etc.) to quantify the surface roughness.

[0030] The main working processes involved in the control device include: 1) Preset adjustment before processing. By receiving machine vision recognition data, analyzing the multi-dimensional information of the workpiece, and presetting the working status of the shot peening equipment, ensure that the initial preparation for processing meets the requirements; 2) Dynamic control during processing. Real-time analysis of workpiece surface parameters, comparison with predetermined data, dynamic control of shot peening progress and status, and guarantee of accuracy and efficiency of the processing.

[0031] 3) Post-processing quality confirmation. Extract workpiece surface information, compare with user requirements / set standards, ensure the result accuracy is within the allowable error, and make further adjustments based on feedback if necessary to improve product quality and customer satisfaction.

[0032] Specifically, in the processing preparation stage, it includes: 1) Parts positioning and identification: Through the automatic identification function and, if necessary, through the collaboration of the workpiece robot arm, the parts to be processed can be accurately positioned and scanned to ensure the accuracy and efficiency of subsequent processes, laying the foundation for high-quality processing; 2) Shot peening preset adjustment: Use the nozzle mechanical arm to clamp the nozzle (or spray gun) and adjust the multi-dimensional parameters such as shot peening angle, speed and material material according to the specific needs of the part surface to meet the processing requirements of different parts and ensure the processing quality; 3) Preset adjustment of dual robotic arms collaborative operation: Dual robotic arms work collaboratively, one is responsible for grasping and positioning the workpiece (parts), and the other is responsible for precise shot peening. Through efficient collaboration, the processing efficiency and accuracy are improved and the production cycle is shortened.

[0033] During the processing, including: 1) Intelligent recognition and shot peening adjustment: The intelligent recognition module based on machine vision captures the surface parameters of the workpiece in real time, provides data support for accurate adjustment of shot peening parameters, and ensures processing quality; 2) Dynamic control and real-time improvement: Using the real-time monitoring and improvement module, compare and analyze the real-time workpiece surface parameters and the expected processing results, dynamically control the shot peening progress and status, correct any deviations in time, and improve the processing accuracy; 3) Environmental protection treatment and material recycling: Through the setting of box sealing and dust removal device, dust can be prevented from overflowing during the shot peening process, and the materials after shot peening can be effectively recovered, which not only protects the environment but also realizes the reuse of materials and improves the efficiency of resource utilization.

[0034] The surface condition standards (relevant thresholds / standard values ​​of surface condition parameters) that each relevant part of the workpiece should have after shot peening can be pre-set. During the shot peening process, the machine vision recognition module continuously or intermittently (periodically) scans the shot peening parts, and determines the shot peening end point of the relevant parts based on the real-time surface condition parameters extracted from the workpiece image data. When the set surface condition standards are reached, the shot peening of the relevant parts is stopped (completed), and the surface condition parameters of the relevant parts when (or after) the shot peening is completed are recorded.

[0035] The angle (or angle range) of the nozzle relative to the relevant part of the workpiece during shot peening can be preset. The preset angle can be a constant (fixed value) or a variable (variable value, or function value) that changes with the shot peening intensity and / or the surface condition parameters of the relevant part of the workpiece. The specific setting can be based on the shot peening technology / process requirements. The distance range between the nozzle and the workpiece involved in the shot peening (the relevant part on the workpiece) can also be preset based on the shot peening technology / process requirements.

[0036] Each joint / action control of each robot arm (workpiece robot arm and nozzle robot arm) can be implemented based on existing technology, so that the workpiece or nozzle held by the end effector of each robot arm is in the required position and posture.

[0037] The main (or any) part to be processed (surface to be processed) of the workpiece can be taken as the starting shot peening part, and the workpiece robot arm can be controlled to move so that the starting shot peening part faces the nozzle robot arm (the nozzle robot arm under normal conditions, or the center position of the normal adjustment range of the nozzle robot arm), and the workpiece is kept motionless in this state. Within the normal adjustment range of the nozzle robot arm, the position and posture of the nozzle are controlled / adjusted by the nozzle robot arm, and shot peening is performed on some or all relevant parts that can (adapt to) shot peening in this workpiece state. Then, the workpiece robot arm directs the parts of the workpiece that have not yet been shot peened (for example, the parts to be processed that are adjacent / close to the parts where shot peening is completed) toward the nozzle robot arm and keeps them motionless, and shot peening is performed on all relevant parts that can be shot peened in this workpiece state, and so on, until the shot peening of all parts on the workpiece that need to be shot peened is completed.

[0038] See also Figure 1 , Figure 2 and Figure 3The shot peening equipment controls the relative position relationship and relative posture between the workpiece (not shown) and the nozzle 60 through the workpiece mechanical arm 20 and the nozzle mechanical arm 30, so that the nozzle can perform shot peening treatment at the required angle on different parts of the workpiece surface in an appropriate position and posture. The workpiece can be shot peened in all directions according to the shot peening requirements. In order to adapt to the workpiece with a more complex shape (referred to as complex workpiece), the movement freedom and rotation freedom of each mechanical arm can be reasonably set, and the range of activity of each mechanical arm can be reasonably set to adapt to the processing requirements of complex workpieces, so that the nozzle can be in the position and posture (spraying direction) required for shot peening. The freedom and adjustment range of the two mechanical arms (the general term for the nozzle mechanical arm and the workpiece mechanical arm) can be relied on, and through the cooperation of the two mechanical arms, the nozzle can be adjusted to any spray angle (or required spray angle) relative to any part (or required part) of the workpiece.

[0039] The processing box of the shot peening equipment is installed on the frame 10, the upper part of the processing box is a processing bin 11, and the lower part is a collecting bucket 12. A workpiece robot arm capable of grabbing the workpiece and a nozzle robot arm capable of grabbing the nozzle (the nozzle of the shot peening system) are provided in the processing bin. The workpiece robot arm is installed on the top of the processing bin (on the inner wall of the top plate), and the nozzle robot arm is installed on one side wall of the processing bin. A plurality of shot dropping holes 13 are distributed on the bottom plate of the processing bin to connect with the collecting bucket. The bottom surface of the collecting bucket is an inclined surface or an inclined surface and a vertical surface on each side, and a discharge port is provided at the bottom, and a discharge valve is provided on the discharge port.

[0040] The workpiece robot arm is provided with a turntable (R joint with a turntable, or swivel joint / flip joint) 22 with a vertical rotation axis (or joint axis), which is used to drive the workpiece robot arm (or the workpiece robot arm body) to rotate (or flip) around its rotation axis. The nozzle robot arm is provided with multiple flexure joints (B joints) for adjusting the position and posture (orientation) of its end effector (the nozzle clamped by the effector).

[0041] The processing chamber is equipped with one or more image acquisition devices 40 for obtaining workpiece surface images (digital images, or image data), and the workpiece surface images are obtained by scanning (or photographing). The position and posture of the workpiece can be adjusted by the workpiece manipulator, and / or, different image acquisition devices are arranged at different positions to obtain images of different parts of the workpiece (and at different angles, if necessary).

[0042] The image acquisition device may be an industrial camera.

[0043] The workpiece robot arm can be installed in a fixed manner on the top of the processing chamber, and the base 21 of the turntable can be fixedly installed on the top plate (inner surface) of the processing chamber.

[0044] The workpiece robot arm (or the main body of the workpiece robot arm) is provided with a rear arm 23 and a forearm 26. The rear arm of the workpiece robot arm is fixedly mounted on the turntable (turntable) of the workpiece robot arm, and is connected to the forearm of the workpiece robot arm via a flexure joint (a rotational joint whose rotational axis / joint axis is perpendicular to the extension direction of the forearm). The front end of the forearm of the workpiece robot arm is provided with a workpiece end effector 28 for grasping / clamping the workpiece.

[0045] The workpiece end effector may be a two-finger angular translation clamp (a manipulator provided with a two-finger angular translation clamp) or other suitable manipulators, and the two-finger angular translation clamp is provided with a clamp seat 27, and the connection with the front end of the forearm is realized through the clamp seat. The connection between the clamp seat and the front end of the forearm can usually be a fixed connection, and when necessary, it can also be connected through a rotating joint.

[0046] The installation method of the nozzle robot arm on the side wall of the processing chamber can adopt any suitable installation scheme. One preferred installation method is to flexibly connect it to the side plate (inner surface) of the processing chamber through a two-dimensional (lateral and vertical) moving mechanism to expand the range of movement of the nozzle robot arm and help simplify the structure of the workpiece robot arm.

[0047] The two-dimensional moving mechanism can be composed of a lateral moving pair and a vertical moving pair, and the lateral moving pair and the vertical moving pair are respectively provided with their own lateral moving driving devices (for example, corresponding driving motors and screw nut mechanisms) and vertical moving driving devices (for example, corresponding driving motors and screw nut mechanisms).

[0048] The lateral moving pair may be composed of a slider 51 and a lateral extending slide plate 52, on which a lateral slide groove (e.g., a dovetail groove) is provided for sliding cooperation with the slider. The slide plate side of the slider is a sliding cooperation structure conforming to (matching) the slide groove, and the cooperation structure is inserted into the slide groove to slide laterally relative to the slider. The base 31 of the workpiece manipulator turntable may be fixedly mounted on the slider, thereby realizing the connection / installation of the workpiece manipulator on the two-dimensional moving mechanism.

[0049] The vertical moving pair can be composed of the above-mentioned slide plate and a vertically extending guide rail (slide rail) 53. The slide plate is provided with a slide hole that is slidably matched with the guide rail. The slide plate is sleeved on the guide rail through the slide hole and can slide vertically under the limiting / guiding effect of the guide rail. The number of the guide rails can be two to facilitate stability. Each guide rail can be fixedly installed on the side wall (for example, the rear wall) of the processing chamber through its own connecting piece or a common connecting piece, thereby realizing the connection / installation of the two-dimensional moving mechanism on the side wall of the processing chamber. Since the lateral moving pair and the vertical moving pair share the same slide plate, not only the connection between the two moving pairs is realized, but also the structure is simplified.

[0050] The nozzle robot arm is provided with a turntable 32 with a longitudinal rotation axis (the rotation axis is horizontal / perpendicular to the vertical, the direction of the rotation axis is the longitudinal direction of the shot peening equipment, and the horizontal direction perpendicular to the longitudinal direction is the lateral direction of the shot peening equipment), which can drive the nozzle robot arm (or the nozzle robot arm body) to rotate.

[0051] The nozzle robot arm (or the main body of the nozzle robot arm) is provided with a rear arm 33, a middle arm 35 and a forearm 36. The rear arm of the nozzle robot arm is fixedly mounted on the turntable (turntable) of the nozzle robot arm. The rear arm of the nozzle robot arm is connected to the middle arm of the nozzle robot arm through a rear folding joint. The middle arm of the nozzle robot arm is connected to the forearm of the nozzle robot arm through a front folding joint. The front end of the forearm of the nozzle robot arm is provided with a nozzle end effector 38 for grasping / clamping the nozzle.

[0052] The joint axes of the rear folding joint and the front folding joint of the spray head robot arm are parallel to each other, and may be perpendicular to each other when necessary to meet the action requirements in different situations.

[0053] The nozzle end effector is a manipulator that can adopt a two-finger parallel gripper, a two-finger angle gripper or other adaptable forms.

[0054] The side wall of the processing chamber on which the nozzle robot arm is installed is in a plane perpendicular to the longitudinal direction to adapt to the setting and operation of the two-dimensional moving mechanism. The other side walls of the processing chamber can be flat, and if necessary, can also be curved or other suitable shapes.

[0055] The rotation axis (or its extension line) of the turntable of the nozzle robot arm and the rotation axis (or its extension line) of the turntable of the workpiece robot arm can intersect vertically to facilitate the mutual cooperation of the two robot arms.

[0056] A shot peening system (or shot peening mechanism) may be provided according to the prior art, and a shot peening output pipe 66 of the shot peening system is connected to the tail (inlet) of the nozzle to achieve shot peening.

[0057] The shot blasting equipment is provided with a dust removal device, and the dust removal device is provided with a dust removal box 15. A dust collector (for example, a bag dust collector) is provided in the dust removal box. The dust removal box serves as an outer shell or protective shell of the dust collector. An ash hopper 16 of the dust collector is arranged below the dust removal box and installed together with the dust removal box. An ash outlet is provided at the bottom of the ash hopper, and an ash outlet valve is provided on the ash outlet.

[0058] The dust removal box can be set at the rear side of the processing bin or other suitable positions. When the dust removal box is set at the rear side of the processing bin, the two can share a wall, and the rear wall of the processing bin is used as the front wall of the dust removal box. The air inlet of the dust collector is connected to the space inside the processing bin. A hole for installing and connecting the air inlet of the dust collector can be opened on the rear wall of the processing bin (or other wall shared with the dust removal box or wall adjacent to the dust removal box). The air in the processing bin is drawn into the dust collector by the fan of the dust collector to implement dust removal. According to the existing technology, the air outlet of the dust collector and the air inlet of the processing bin can be set at a suitable position. The air entering the bin through the air inlet of the processing bin enters the air inlet of the dust collector together with the dust generated by the shot blasting treatment. The air after dust removal is discharged from the air outlet of the dust collector. The dust separated by the dust collector falls into the ash hopper. After accumulating to a certain extent, the ash outlet valve is opened to discharge the accumulated ash (dust) from the ash outlet.

[0059] Unless otherwise specified or when one preferred or optional technical means is a further limitation of another technical means, the preferred and optional technical means disclosed in the present invention can be arbitrarily combined to form several different specific implementation methods.

Claims

1. Automatic shot peening equipment system for complex parts based on intelligent recognition, characterized by include: Shot peening equipment, the shot peening equipment is provided with a processing box, the upper part of the processing box is a processing chamber, the lower part is a collecting bucket, the processing chamber is provided with a workpiece mechanical arm capable of grabbing a workpiece and a nozzle mechanical arm capable of grabbing a nozzle, the workpiece mechanical arm is installed on the top of the processing chamber, and the nozzle mechanical arm is installed on the side wall of the processing chamber; The control device is used to control the operation of the shot peening equipment, including controlling the movement of the workpiece mechanical arm to make the workpiece in the real-time position and posture it should be in, controlling the movement of the nozzle mechanical arm to make the nozzle in the real-time position and posture it should be in, and controlling the working state of the shot peening system to make it in the working state it should be in.

2. The automated shot peening equipment system according to claim 1, characterized in that A machine vision recognition module is also provided, which is used to scan and obtain workpiece image data, and transmit the workpiece image data to the control device. The control device analyzes the position and posture of each relevant part in the workpiece based on the workpiece image data, extracts the surface condition parameters of the workpiece, determines or adjusts the position and posture of the nozzle and the workpiece when shot peening is performed on the part based on the position and posture of the relevant part in the workpiece, and determines or adjusts the shot peening parameters of the shot peening system when shot peening is performed on the part based on the surface condition parameters of the relevant part before and during shot peening.

3. The automated shot peening equipment system according to claim 1 or 2, characterized in that The workpiece robot arm is provided with a turntable with a vertical rotation axis, which is used to drive the workpiece robot arm to rotate around its rotation axis. The nozzle robot arm is provided with a turntable with a longitudinal rotation axis, which is used to drive the nozzle robot arm to rotate.

4. The automated shot peening equipment system according to claim 3, characterized in that The spray head robot arm is also provided with a plurality of flexure joints for adjusting the position and posture of its end effector.

5. The automated shot peening equipment system according to claim 4, characterized in that One or more image acquisition devices for obtaining workpiece surface images are arranged in the processing chamber.

6. The automated shot peening equipment system according to claim 5, characterized in that The image acquisition device is an industrial camera.

7. The automated shot peening equipment system according to claim 4, characterized in that The workpiece robot arm is installed in a fixed manner on the top of the processing chamber.

8. The automated shot peening equipment system according to claim 4, characterized in that The workpiece robot arm is provided with a rear arm and a forearm. The rear arm of the workpiece robot arm is fixedly mounted on the turntable of the turntable of the workpiece robot arm. The rear arm of the workpiece robot arm is connected to the forearm of the workpiece robot arm through a folding joint. The front end of the forearm of the workpiece robot arm is provided with a workpiece end effector for grasping / clamping the workpiece.

9. The automated shot peening equipment system according to claim 4, characterized in that The nozzle robot arm is installed on the side wall of the processing chamber through a two-dimensional moving mechanism, and the two-dimensional moving mechanism is composed of a horizontal linear moving pair and a vertical linear moving pair.

10. The automated shot peening equipment system according to claim 4, characterized in that The nozzle robot arm is provided with a rear arm, a middle arm and a forearm. The rear arm of the nozzle robot arm is fixedly mounted on the turntable of the turntable of the nozzle robot arm. The rear arm of the nozzle robot arm is connected to the middle arm of the nozzle robot arm through a rear folding joint. The middle arm of the nozzle robot arm is connected to the forearm of the nozzle robot arm through a front folding joint. The front end of the forearm of the nozzle robot arm is provided with a nozzle end effector for grasping / clamping the nozzle.

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