Rust removal device

Abstract

The invention discloses a derusting device. According to the derusting device, a master control module is connected with a turnover mechanism, a rotating mechanism, a laser and a laser movement module; the turnover mechanism is linked with the pneumatic clamping jaw, and the rotating mechanism is linked with the pneumatic clamping jaw; the axis of the plane surrounded by the pneumatic clamping jaws coincides with the rotating axis of the rotating mechanism. The laser movement module is linked with the laser; the pneumatic clamping jaw is used for outputting a workpiece in-place signal after clamping the workpiece to be derusted; the master control module is used for forming a first control signal, a second control signal and a third control signal; the turnover mechanism drives the pneumatic clamping jaw to turn over, and a turnover in-place signal is formed when turnover is finished; the rotating mechanism drives the pneumatic clamping jaw to rotate; the laser movement module controls the light-emitting surface of the laser to reach a designated position, a laser movement in-place signal is formed when the laser finishes moving, and the laser controls the laser to emit light. Automatic laser rust removal of all faces of the brake disc is achieved, the working efficiency is improved, and the rust removal quality is good.

Description

Technical Field

[0001] The invention relates to the field of locomotive braking, and in particular to a rust removal device. Background Art

[0002] Workpiece processing for motor vehicle brake discs includes workpiece rust removal for motor vehicle brake discs.

[0003] In the prior art, rust removal of motor vehicle brake discs is usually done manually. The dust from the rust removal operation can cause harm to the human body. The rust removal has high labor intensity, low operation efficiency, and dust pollution leads to a poor working environment. The grinding quality is greatly affected by human factors and the grinding quality varies. Summary of the invention

[0004] The invention provides a rust removal device, which realizes the automation of the rust removal process, reduces manual intervention and improves work efficiency.

[0005] The embodiment of the present invention provides a rust removal device, which includes: a plurality of pneumatic claws, a flip mechanism, a rotation mechanism, a laser, a laser motion module and a general control module;

[0006] The general control module is respectively connected with the flipping mechanism, the rotating mechanism, the laser and the laser motion module;

[0007] The pneumatic clamping claw is used to clamp the workpiece to be derusted, and output a workpiece in place signal according to the clamping state of the workpiece to be derusted; the general control module is used to form a first control signal according to the workpiece in place signal;

[0008] The flipping mechanism is linked with the pneumatic claw, and is used to drive the plane surrounded by the pneumatic claw to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the general control module generates a second control signal according to the flipping in place signal;

[0009] The axis of the plane surrounded by the plurality of pneumatic jaws coincides with the rotation axis of the rotating mechanism, the rotating mechanism is linked with the pneumatic jaws, and the rotating mechanism is used to drive the pneumatic jaws to rotate according to the second control signal;

[0010] The laser motion module is linked with the laser, and is used to control the light-emitting surface of the laser to be arranged opposite to the rust-removed surface of the workpiece to be rust-removed according to the second control signal. The laser motion module generates a laser movement in place signal when the laser movement ends; and the general control module generates a third control signal according to the laser movement in place signal.

[0011] The laser emits light according to the third control signal.

[0012] Optionally, the flip mechanism includes: a first power supply input unit, a first switch unit, a flip unit, a first transistor output type controller, a first switch power supply and a flip information detection unit;

[0013] The control end of the first transistor output type controller is connected to the general control module and is used to receive the first control signal;

[0014] The three output ends of the first power supply input unit are respectively connected to the first switch unit, the first transistor output type controller and the power supply end of the first switch power supply;

[0015] The output end of the first switch unit is connected to the first input end of the flip unit;

[0016] The first output end of the first transistor output type controller is connected to the control end of the first switch unit, and the first transistor output type controller is used to send a first power control signal to the first switch unit according to the first control signal to control the conduction or disconnection between the flip unit and the output end of the first power input unit;

[0017] The second output terminal of the first transistor output type controller is connected to the second input terminal of the flip unit, and the first transistor output type controller is used to send a first control positioning pulse string to the flip unit according to the first control signal to control the flip unit to perform flip positioning control;

[0018] The power supply end of the flip information detection unit is connected to the first switch power supply, and the first switch power supply supplies power to the flip information detection unit;

[0019] The output end of the flip information detection unit is connected to the input end of the first transistor output type controller, and is used to collect the flip position information of the flip mechanism and send it to the first transistor output type controller; the first transistor output type controller sends the flip position signal to the main control module according to the flip position information.

[0020] Optionally, the flip unit includes: a flip servo amplifier, a flip servo motor, a first encoder and a flip reducer;

[0021] The first input end of the flip servo amplifier is used as the first input end of the flip unit, the second input end of the flip servo amplifier is used as the second input end of the flip unit, the output end of the flip servo amplifier is connected to the input end of the flip servo motor, the input end of the first encoder is connected to the first output end of the flip servo motor, and the first encoder is used to collect the feedback signal of the flip servo motor;

[0022] The output end of the first encoder is connected to the third input end of the flip servo amplifier, and the flip servo amplifier outputs a flip control signal according to the first control positioning pulse string and the feedback signal of the flip servo motor;

[0023] The second output end of the flip servo motor is connected to the input end of the flip reducer, and the flip servo motor is used to drive the flip reducer according to the flip control signal.

[0024] Optionally, the rotating mechanism comprises: a second power supply input unit, a second switch unit, a rotating unit and a second transistor output type controller;

[0025] The control end of the second transistor output type controller is connected to the main control module and is used to receive the second control signal;

[0026] The two output ends of the second power supply input unit are respectively connected to the power supply ends of the second switch unit and the second transistor output type controller;

[0027] The output end of the second switch unit is connected to the first input end of the rotation unit;

[0028] The first output terminal of the second transistor output type controller is connected to the control terminal of the second switch unit; the second transistor output type controller is used to send a second power supply control signal to the second switch unit according to the first control signal to control the conduction or disconnection between the rotating unit and the output terminal of the second power supply input unit;

[0029] The second output end of the second transistor output type controller is connected to the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse string to the rotating unit according to the second control signal to control the rotating unit to perform rotation positioning control.

[0030] Optionally, the rotating unit includes: a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating reducer;

[0031] The first input end of the rotary servo amplifier serves as the first input end of the rotary unit, the second input end of the rotary servo amplifier serves as the second input end of the rotary unit, the output end of the rotary servo amplifier is connected to the input end of the rotary servo motor, the input end of the second encoder is connected to the first output end of the rotary servo motor, and the second encoder is used to collect a feedback signal of the rotary servo motor;

[0032] The output terminal of the second encoder is connected to the third input terminal of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and the feedback signal of the rotary servo motor;

[0033] The second output end of the rotary servo motor is connected to the input end of the rotary reducer, and the rotary servo motor is used to drive the rotary reducer according to the rotary control signal.

[0034] Optionally, the laser motion module includes: a third power supply input unit, a third switch unit, a laser rotation unit, a third transistor output type controller, a cylinder, a solenoid valve, a second switch power supply and a laser motion information detection unit;

[0035] The control end of the third transistor output type controller is connected to the general control module for receiving the second control signal;

[0036] The three output ends of the third power supply input unit are respectively connected to the third switch unit, the third transistor output type controller and the power supply end of the second switch power supply;

[0037] The output end of the third switch unit is connected to the first input end of the laser rotation unit;

[0038] The first output terminal of the third transistor output type controller is connected to the first input terminal of the third switch unit, and the third transistor output type controller is used to send a third power supply control signal to the laser rotation unit according to the second control signal to control the conduction or disconnection between the laser rotation unit and the output terminal of the third power supply input unit;

[0039] The second output terminal of the third transistor output type controller is connected to the second input terminal of the laser rotation unit, and the third transistor output type controller is used to send a third control positioning pulse string to the laser rotation unit according to the second control signal to control the laser rotation unit to perform laser rotation positioning control;

[0040] The third output terminal of the third transistor output type controller is connected to the control terminal of the solenoid valve, and the third transistor output type controller is used to send a motion control signal to the solenoid valve according to the second control signal; the first terminal of the solenoid valve is connected to an external air source, and the second terminal is connected to the cylinder;

[0041] The solenoid valve is turned on or off according to the motion control signal to connect or disconnect the cylinder from the external steam source;

[0042] The laser motion information detection unit is connected to the third transistor output type controller to collect the motion position information of the laser motion module and send it to the third transistor output type controller; the third transistor output type controller sends the laser motion in place signal to the general control module according to the motion position information;

[0043] The second switch power supply is connected to the power supply end of the laser motion information detection unit and the solenoid valve, and is used to supply power to the laser motion information detection unit and the solenoid valve.

[0044] Optionally, the laser rotation unit includes: a laser rotation servo amplifier, a laser rotation servo motor, a third encoder and a laser rotation reducer;

[0045] The first input end of the laser rotation servo amplifier serves as the first input end of the laser rotation unit; the output end of the laser rotation servo amplifier is connected to the input end of the laser rotation servo motor; the second input end of the laser rotation servo motor serves as the second input end of the laser rotation unit, the input end of the third encoder is connected to the first output end of the laser rotation servo motor, and the third encoder is used to collect a feedback signal of the laser rotation servo motor;

[0046] The output end of the third encoder is connected to the second input end of the laser rotation servo amplifier, and the laser rotation servo amplifier outputs a laser rotation control signal according to the third control positioning pulse train and the feedback signal of the laser rotation servo motor;

[0047] The second output end of the laser rotation servo motor is connected to the input end of the laser rotation reducer, and the laser rotation servo motor is used to drive the laser rotation reducer according to the laser rotation control signal.

[0048] Optionally, the laser comprises: a fourth power supply input unit, a fourth switch unit, a fourth transistor output type controller and a laser light output unit;

[0049] The control end of the fourth transistor output type controller is connected to the general control module for receiving the third control signal;

[0050] The two output ends of the fourth power supply input unit are respectively connected to the power supply ends of the fourth switch unit and the fourth transistor output type controller;

[0051] The output end of the fourth switch unit is connected to the first input end of the laser light emitting unit;

[0052] The first output end of the fourth transistor output type controller is connected to the control end of the fourth switch unit, and the fourth transistor output type controller is used to send a fourth power supply control signal to the fourth switch unit according to the third control signal to control the conduction or disconnection between the laser light emitting unit and the output end of the fourth power supply input unit;

[0053] The second output end of the fourth transistor output type controller is connected to the second input end of the laser light emitting unit, and the fourth transistor output type controller sends a control pulse signal to the laser light emitting unit to control the laser light emitting unit to perform light emitting mode control and start / stop light emitting control.

[0054] Optionally, the laser light output unit includes: a laser host and a laser head;

[0055] The first input end of the laser host serves as the first input end of the laser light emitting unit, the second input end of the laser host serves as the second input end of the laser light emitting unit, the output end of the laser host is connected to the laser head, and the laser host is used to drive the laser head to emit light according to the control pulse signal.

[0056] Optionally, the general control module includes: a fifth power supply input unit and a control unit;

[0057] The fifth power supply input unit is connected to the power supply terminal of the control unit;

[0058] The first output end of the control unit is connected to the pneumatic claw, the flipping mechanism, the rotating mechanism, the laser and the laser motion module;

[0059] The first input terminal of the control unit is connected to an external host computer.

[0060] The rust removal device provided by the present invention realizes the automation of the rust removal process by precisely controlling each component through the overall control module, reduces manual intervention, and improves work efficiency. At the same time, by precisely irradiating the workpiece with a laser, fine rust removal can be achieved on the surface of the workpiece, avoiding the damage that may be caused by the rust removal method in the prior art.

[0061] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 these drawings without creative work.

[0063] Figure 1 It is a structural schematic diagram of a rust removal device provided by an embodiment of the present invention;

[0064] Figure 2 It is a structural schematic diagram of a flipping mechanism provided by an embodiment of the present invention;

[0065] Figure 3 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present invention;

[0066] Figure 4 is a structural schematic diagram of a laser motion module provided by an embodiment of the present invention;

[0067] Figure 5 is a schematic structural diagram of a laser provided by an embodiment of the present invention;

[0068] Figure 6 It is a structural schematic diagram of another rust removal device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0070] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0071] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0072] Figure 1 Schematic diagram of a rust removal device provided by an embodiment of the present invention. Figure 1 As shown, the rust removal device includes: a plurality of pneumatic claws 102, a turning mechanism 103, a rotating mechanism 104, a laser 106, a laser motion module 105 and a general control module 101; wherein the general control module 101 is respectively connected to the turning mechanism 103, the rotating mechanism 104, the laser 106 and the laser motion module 105;

[0073] The pneumatic clamping claw 102 is used to clamp the workpiece to be derusted, and output a workpiece in place signal according to the clamping state of the workpiece to be derusted; the general control module 101 is used to form a first control signal according to the workpiece in place signal;

[0074] The flipping mechanism 103 is linked with the pneumatic clamping claw 102. The flipping mechanism 103 is used to drive the plane surrounded by the pneumatic clamping claw 102 to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the main control module 101 generates a second control signal according to the flipping in place signal;

[0075] The axis of the plane surrounded by the multiple pneumatic jaws 102 coincides with the rotation axis of the rotating mechanism 104. The rotating mechanism 104 is linked with the pneumatic jaws 102. The rotating mechanism 104 is used to drive the pneumatic jaws 102 to rotate according to the second control signal.

[0076] The laser motion module 105 is linked with the laser 106. The laser motion module 105 is used to control the light-emitting surface of the laser 106 to be arranged relative to the rust-removed surface of the workpiece to be rust-removed according to the second control signal. The laser motion module 105 forms a laser motion in place signal when the laser 106 ends its motion; the general control module 101 forms a third control signal according to the laser motion in place signal; and the laser 106 emits light according to the third control signal.

[0077] Specifically, the general control module controls all mechanisms or modules of the rust removal device. When the workpiece to be rusted is clamped by the pneumatic clamp 102, the pneumatic clamp 102 outputs a workpiece arrival signal to the general control module. The general control module 101 generates a first control signal based on the received workpiece arrival signal and sends it to the flip mechanism 103.

[0078] The flip mechanism 103 is linked to the pneumatic clamping jaw 102, and the flip mechanism 103 can drive the plane surrounded by the pneumatic clamping jaw to rotate from a first angle with the horizontal plane to a second angle with the horizontal plane. The first angle is the angle when the workpiece to be derusted is just clamped on the pneumatic clamping jaw 102, and the second angle is the angle when the workpiece to be derusted is irradiated with laser for derusting. Optionally, the plane surrounded by the pneumatic clamping jaw changes from the first angle with the horizontal plane to the plane surrounded by the pneumatic clamping jaw at 0° with the horizontal plane; the plane surrounded by the pneumatic clamping jaw changes from the second angle with the horizontal plane to the plane surrounded by the pneumatic clamping jaw at 90° with the horizontal plane.

[0079] The flipping mechanism 103 generates a flipping in place signal at the end of flipping; specifically, at the end of flipping, the plane surrounded by the pneumatic claws changes from a first angle to a second angle with the horizontal plane. The general control module 101 generates a second control signal according to the angle information of the workpiece to be derusted contained in the flipping in place signal.

[0080] The axis of the plane surrounded by the multiple pneumatic jaws 102 coincides with the rotation axis of the rotating mechanism 104, and the rotating mechanism 104 is linked with the pneumatic jaws 102. Optionally, when the angle information of the workpiece to be derusted contained in the second control signal indicates that the workpiece to be derusted has reached an angle at which the workpiece to be derusted can be derusted by laser irradiation, the rotating structure 104 drives the pneumatic jaws 102 to rotate at a preset speed; when the angle information of the workpiece to be derusted contained in the second control signal indicates that the workpiece to be derusted has not reached an angle at which the workpiece to be derusted can be derusted by laser irradiation, the rotating structure 104 drives the pneumatic jaws 102 to rotate at a speed of 0rpm.

[0081] The laser motion module 105 is linked to the laser 106, and the laser motion module 105 can drive the laser to move and rotate so that the light emitting surface of the laser can be relatively arranged on the rust-removed surface of the workpiece to be rust-removed. Optionally, the rust-removed workpiece in the embodiment of the present invention is a brake disc, and the rust-removed surface of the workpiece to be rust-removed includes: a friction surface, a heat dissipation rib surface, and a brake disc peripheral surface.

[0082] The laser motion module 105 is used to control the light-emitting surface of the laser 106 to be arranged relative to the rust-removed surface of the workpiece to be rust-removed according to the second control signal. The general control module 101 generates a second control signal to control the laser motion module 105 to drive the laser 106 to move according to the angular position information of the workpiece to be rust-removed contained in the flip-in-place signal. Optionally, when the surface to be rust-removed includes multiple surfaces to be rust-removed, the general control module generates a second control signal including a laser transposition control signal according to the rotation information of the rotating mechanism 104. Exemplarily, the laser 106 emits laser light for rust removal on the friction surface of the workpiece to be rust-removed, and the rotating mechanism 104 drives the workpiece to be rust-removed to rotate so that the friction surfaces of the workpiece to be rust-removed are all irradiated by the laser 106. When the main control module 101 detects that the rotating mechanism 104 has rotated a preset angle, it is determined that the current friction surface has been derusted, and the main control module 101 generates a second control signal including a laser transposition control signal. The laser motion module 105 drives the laser 106 to rotate to the next position according to the second control signal so that the light emitting surface of the laser 106 is arranged opposite to the heat dissipation rib surface or the peripheral surface of the brake disc of the workpiece to be derusted.

[0083] Optionally, after laser rust removal of the rust-removed workpiece is completed, the main control module 101 controls the rotating mechanism 104 to stop rotating, and after the main control module 101 controls the laser motion module 105 to link the laser 106 to rise to the upper limit position, the main control module 101 controls the flipping mechanism 103 to drive the plane surrounded by the pneumatic claw 102 to be horizontal with the horizontal plane, and the pneumatic claw is released to place the brake disc on the brake disc transmission line, and the rust removal of the rust-removed workpiece is completed.

[0084] The embodiment of the present invention provides a rust removal device, wherein the general control module is connected to a flipping mechanism, a rotating mechanism, a laser and a laser motion module respectively; the flipping mechanism is linked to a pneumatic clamping claw, and the rotating mechanism is linked to a pneumatic clamping claw; the axis of the plane surrounded by the pneumatic clamping claw coincides with the rotation axis of the rotating mechanism; the laser motion module is linked to the laser; the pneumatic clamping claw clamps the workpiece to be rusted and outputs a workpiece in place signal. After receiving the signal, the general control module forms a first control signal to control the action of the flipping mechanism. According to the first control signal, the flipping mechanism flips the plane surrounded by the pneumatic clamping claw to a first angle or a second angle with the horizontal plane, and forms a flipping in place signal at the end of the flipping. The general control module then forms a second control signal according to the flipping in place signal to control the action of the rotating mechanism. The rotation axis of the rotating mechanism coincides with the axis of the plane surrounded by multiple pneumatic clamping claws, and it drives the pneumatic clamping claws to rotate according to the second control signal. At the same time, the laser motion module controls the light-emitting surface of the laser to be arranged relative to the rust-removed surface of the workpiece to be rusted according to the second control signal, and forms a laser motion in place signal at the end of the movement. The general control module finally forms a third control signal according to the laser movement in place signal, and controls the laser to emit light for rust removal. The rust removal device provided by the present invention realizes the automation of the rust removal process through the precise control of each component by the general control module, reduces manual intervention, and improves work efficiency. At the same time, by accurately irradiating the workpiece with the laser, fine rust removal can be achieved on the surface of the workpiece, avoiding the damage that may be caused by the rust removal method in the prior art.

[0085] Figure 2 is a schematic diagram of a structure of a flip mechanism provided by an embodiment of the present invention, such as Figure 2 As shown, the flip mechanism 103 includes: a first power supply input unit 1031, a first switch unit 1032, a flip unit 1033, a first transistor output type controller 1034, a first switch power supply 1035 and a flip information detection unit 1036;

[0086] The control end of the first transistor output type controller 1034 is connected to the main control module 101 for receiving a first control signal;

[0087] The three output terminals of the first power supply input unit 1031 are respectively connected to the power supply terminals of the first switch unit 1032, the first transistor output type controller 1034 and the first switch power supply 1035;

[0088] An output terminal of the first switch unit 1032 is connected to a first input terminal of the flip unit 1033;

[0089] The first output terminal of the first transistor output type controller 1034 is connected to the control terminal of the first switch unit 1032, and the first transistor output type controller 1034 is used to send a first power control signal to the first switch unit 1032 according to the first control signal to control the conduction or disconnection between the flip unit 1033 and the output terminal of the first power input unit 1031;

[0090] The second output terminal of the first transistor output type controller 1034 is connected to the second input terminal of the flip unit 1033, and the first transistor output type controller 1034 is used to send a first control positioning pulse string to the flip unit 1033 according to the first control signal to control the flip unit 1033 to perform flip positioning control;

[0091] The power supply end of the flip information detection unit 1036 is connected to the first switch power supply 1035, and the first switch power supply 1035 supplies power to the flip information detection unit 1036;

[0092] The output end of the flip information detection unit 1036 is connected to the first transistor output type controller 1034, which is used to collect the flip position information of the flip mechanism 103 and send it to the first transistor output type controller 1034; the first transistor output type controller 1034 sends a flip position signal to the main control module 101 according to the flip position information.

[0093] The flip unit 1033 includes: a flip servo amplifier 10331, a flip servo motor 10332, a first encoder 10333 and a flip reducer 10334;

[0094] The first input end of the flip servo amplifier 10331 serves as the first input end of the flip unit 1033, the second input end of the flip servo amplifier 10331 serves as the second input end of the flip unit 1033, the output end of the flip servo amplifier 10331 is connected to the input end of the flip servo motor 10332, the input end of the first encoder 10333 is connected to the first output end of the flip servo motor 10332, and the first encoder 10333 is used to collect the feedback signal of the flip servo motor 10332;

[0095] The output end of the first encoder 10333 is connected to the third input end of the flip servo amplifier 10331, and the flip servo amplifier 10331 outputs a flip control signal according to the first control positioning pulse train and the feedback signal of the flip servo motor 10332;

[0096] The second output end of the flip servo motor 10332 is connected to the input end of the flip reducer 10334, and the flip servo motor 10332 is used to drive the flip reducer 10334 according to the flip control signal.

[0097] Specifically, in the flipping mechanism 103, when the first transistor output type controller 1034 receives the first control signal of the main control module 101, the first transistor output type controller 1034 generates a first power control signal according to the first control signal and sends it to the first switch unit 1032 to control the power supply of the flip unit 1033; generates a first control positioning pulse string and sends it to the flip unit 1033 for flip positioning control. During the flipping process, the flipping information detection unit 1036 collects the flipping position information of the flipping mechanism 103 and sends it to the first transistor output type controller 1034. The first transistor output type controller 1034 processes and judges the flipping position information. When it is detected that the current flipping position meets the preset position, it generates and sends a flipping position signal to the main control module. Optionally, the preset position is that the angle between the workpiece to be derusted and the horizontal plane is 90°.

[0098] In the flip unit 1033, the first encoder 10333 collects the feedback signal of the flip servo motor 10332, and encodes it and sends it to the flip servo amplifier 10331. The flip servo amplifier 10331 outputs a flip control signal to the flip servo motor 10332 according to the first control positioning pulse train and the feedback signal of the flip servo motor 10332, so as to control the flip reducer 10334 to realize the flipping of the workpiece to be derusted.

[0099] Optionally, the first power supply input unit 1031 includes a three-way circuit breaker, and when one of the three circuits is overloaded or short-circuited, the circuit breaker cuts off the system power supply to protect the system. The input end of the first power supply input unit 1031 is connected to a single-phase AC 220V power supply.

[0100] Optionally, the first switch unit 1032 includes an electromagnetic contactor.

[0101] Optionally, the first transistor output type controller 1034 can also be connected to a pneumatic clamping claw unit; the pneumatic clamping claw unit includes a solenoid valve and a pneumatic clamping claw, the first input end of the solenoid valve is connected to an external steam source, and the second input end is connected to the pneumatic clamping claw. The first transistor output type controller 1034 also includes a third output end, and the third output end is connected to the control end of the solenoid valve. The first transistor output type controller 1034 controls the conduction and disconnection of the pneumatic clamping claw and the external steam source according to the pneumatic clamping claw drive signal input to the solenoid valve, thereby controlling the clamping or loosening of the pneumatic clamping claw. At the same time, the first transistor output type controller 1034 outputs a workpiece arrival signal to the general control module according to the clamping state of the pneumatic clamping claw on the workpiece to be derusted.

[0102] By collecting the feedback signal of the flip servo motor 10332 through the first encoder 10333, the operating status and position of the motor can be monitored in real time. This feedback mechanism makes the flip control more precise and can ensure that the workpiece to be derusted is accurately flipped to a predetermined angle. The flip servo amplifier 10331 outputs a flip control signal based on the first control positioning pulse train and the feedback signal of the motor. This closed-loop control method can maintain the stability and reliability of the flip process. Even in the face of load changes or external interference, the accuracy and consistency of the flip can be maintained by adjusting the control signal.

[0103] Figure 3 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present invention, such as Figure 3 As shown, the rotating mechanism 104 includes: a second power supply input unit 1041, a second switch unit 1042, a rotating unit 1043 and a second transistor output type controller 1044;

[0104] The control end of the second transistor output type controller 1044 is connected to the main control module 101 for receiving a second control signal;

[0105] Two output ends of the second power supply input unit 1041 are respectively connected to the second switch unit 1042 and the power supply end of the second transistor output type controller 1044;

[0106] An output terminal of the second switch unit 1042 is connected to a first input terminal of the rotation unit 1043;

[0107] The first output terminal of the second transistor output type controller 1044 is connected to the control terminal of the second switch unit 1042; the second transistor output type controller 1044 is used to send a second power control signal to the second switch unit 1042 according to the first control signal to control the conduction or disconnection between the rotation unit 1043 and the output terminal of the second power input unit 1041;

[0108] The second output terminal of the second transistor output type controller 1044 is connected to the second input terminal of the rotation unit 1043, and the second transistor output type controller 1044 is used to send a second control positioning pulse string to the rotation unit 1043 according to the second control signal to control the rotation unit 1043 to perform rotation positioning control.

[0109] The rotating unit 1043 includes: a rotating servo amplifier 10431, a rotating servo motor 10432, a second encoder 10433 and a rotating reducer 10434;

[0110] The first input end of the rotary servo amplifier 10431 serves as the first input end of the rotary unit 1043, the second input end of the rotary servo amplifier 10431 serves as the second input end of the rotary unit 1043, the output end of the rotary servo amplifier 10431 is connected to the input end of the rotary servo motor 10432, the input end of the second encoder 10433 is connected to the first output end of the rotary servo motor 10432, and the second encoder 10433 is used to collect the feedback signal of the rotary servo motor 10432;

[0111] The output terminal of the second encoder 10433 is connected to the third input terminal of the rotation servo amplifier 10431, and the rotation servo amplifier 10431 outputs a rotation control signal according to the second control positioning pulse train and the feedback signal of the rotation servo motor 10432;

[0112] The second output end of the rotary servo motor 10432 is connected to the input end of the rotary reducer 10434 , and the rotary servo motor 10432 is used to drive the rotary reducer 10434 according to the rotary control signal.

[0113] Specifically, in the rotating mechanism 104, when the second transistor output type controller 1044 receives the second control signal of the main control module 101, the second transistor output type controller 1044 generates a second power control signal according to the second control signal and sends it to the second switch unit 1042 to perform power control on the rotating unit 1043; generates a second control positioning pulse string and sends it to the rotating unit 1043 for rotational positioning control.

[0114] In the rotating unit 1043, the second encoder 10433 collects the feedback signal of the rotating servo motor 10432, and encodes it and sends it to the rotating servo amplifier 10431. The rotating servo amplifier 10431 outputs a flip control signal to the rotating servo motor 10432 according to the first control positioning pulse train and the feedback signal of the rotating servo motor 10432, so as to control the rotating reducer 10434 to realize the rotation of the workpiece to be derusted.

[0115] Optionally, the second power supply input unit 1041 includes two circuit breakers, and when one of the circuits is overloaded or short-circuited, the circuit breaker cuts off the system power supply to protect the system. The input end of the second power supply input unit 1041 is connected to a single-phase AC 220V power supply.

[0116] Optionally, the second switch unit 1042 includes an electromagnetic contactor.

[0117] Optionally, an information collection unit is set to collect rotation information of the rotating mechanism, and the collected information includes the angle at which the rotating mechanism has rotated. The information collection unit collects the rotation information of the rotating mechanism and sends it to the second transistor output type controller 1044 for recording. The laser starts to emit light at the first time point to start recording the rotation angle of the rotating mechanism, and the rotation angle of the rotating mechanism at the first time point is 0°; when the rotation angle of the rotating mechanism recorded at the second time point is 360°, it is considered that the current surface to be derusted has been derusted, and the second transistor output type controller 1044 sends a notification signal to the main control module 101, and the main control module 101 performs the next control action according to the notification signal. It is also possible to set the rotation angle of the rotating mechanism to 720°, and then consider that the current surface to be derusted has been derusted. The specific angle setting is set according to the requirements for the rust removal effect in actual conditions, and is not limited here.

[0118] Figure 4 is a schematic diagram of the structure of a laser motion module provided by an embodiment of the present invention, such as Figure 4 As shown, the laser motion module 105 includes: a third power supply input unit 1051, a third switch unit 1052, a laser rotation unit 1053, a third transistor output type controller 1054, a cylinder, a solenoid valve, a second switch power supply 1055 and a laser motion information detection unit 1056;

[0119] The control end of the third transistor output type controller 1054 is connected to the main control module 101 for receiving the second control signal;

[0120] The three output terminals of the third power supply input unit 1051 are respectively connected to the third switch unit 1052, the third transistor output type controller 1054 and the power supply terminal of the second switch power supply 1055;

[0121] An output end of the third switch unit 1052 is connected to a first input end of the laser rotation unit 1053;

[0122] The first output terminal of the third transistor output type controller 1054 is connected to the first input terminal of the third switch unit 1052, and the third transistor output type controller 1054 is used to send a third power supply control signal to the laser rotation unit 1053 according to the second control signal to control the conduction or disconnection between the laser rotation unit 1053 and the output terminal of the third power supply input unit 1051;

[0123] The second output terminal of the third transistor output type controller 1054 is connected to the second input terminal of the laser rotation unit 1053, and the third transistor output type controller 1054 is used to send a third control positioning pulse string to the laser rotation unit 1053 according to the second control signal to control the laser rotation unit 1053 to perform laser rotation positioning control;

[0124] The third output terminal of the third transistor output type controller 1054 is connected to the control terminal of the solenoid valve 1057, and the third transistor output type controller 1054 is used to send a motion control signal to the solenoid valve 1057 according to the second control signal; the first terminal of the solenoid valve 1057 is connected to the external air source, and the second terminal is connected to the cylinder 1058;

[0125] The solenoid valve 1057 is turned on or off according to the motion control signal to connect or disconnect the cylinder 1058 to the external steam source; the laser motion information detection unit 1056 is connected to the third transistor output type controller 1054 to collect the motion position information of the laser motion module 105 and send it to the third transistor output type controller 1054; the third transistor output type controller 1054 sends a laser motion in place signal to the general control module 101 according to the motion position information;

[0126] The second switch power supply 1055 is connected to the power supply end of the laser motion information detection unit 1056 and the solenoid valve 1057 , and is used to supply power to the laser motion information detection unit 1056 and the solenoid valve 1057 .

[0127] The laser rotation unit 1053 includes: a laser rotation servo amplifier 10531, a laser rotation servo motor 10532, a third encoder 10533 and a laser rotation reducer 10534;

[0128] The first input end of the laser rotation servo amplifier 10531 serves as the first input end of the laser rotation unit 1053; the output end of the laser rotation servo amplifier 10531 is connected to the input end of the laser rotation servo motor 10532; the second input end of the laser rotation servo motor 10532 serves as the second input end of the laser rotation unit 1053, the input end of the third encoder 10533 is connected to the first output end of the laser rotation servo motor 10532, and the third encoder 10533 is used to collect the feedback signal of the laser rotation servo motor 10532;

[0129] The output end of the third encoder 10533 is connected to the second input end of the laser rotation servo amplifier 10531, and the laser rotation servo amplifier 10531 outputs a laser rotation control signal according to the third control positioning pulse string and the feedback signal of the laser rotation servo motor 10532;

[0130] The second output end of the laser rotation servo motor 10532 is connected to the input end of the laser rotation reducer 10534, and the laser rotation servo motor 10532 is used to drive the laser rotation reducer 10534 according to the laser rotation control signal.

[0131] Specifically, the laser motion module 105 controls the movement of the laser 106 according to the second control signal. In the laser motion module 105, when the third transistor output type controller 1054 receives the second control signal of the general control module 101, the third transistor output type controller 1054 generates a third power control signal according to the second control signal and sends it to the third switch unit 1052 to control the power supply of the laser rotation unit 1053; generates a third control positioning pulse string and sends it to the laser rotation unit 1053 to perform laser rotation positioning control. During the laser rotation process, the laser motion information detection unit 1056 collects the motion position information of the laser motion module of the laser motion module 105 and sends it to the third transistor output type controller 1054. The third transistor output type controller 1054 processes and judges the motion position information of the laser motion module. When it is detected that the current position information meets the preset position, it generates and sends the laser motion in place signal to the general control module.

[0132] In the laser motion unit 1053, the third encoder 10533 collects the feedback signal of the laser rotation servo motor 10532, and encodes it and sends it to the laser rotation servo amplifier 10531. The laser rotation servo amplifier 10531 outputs a flip control signal to the laser rotation servo motor 10532 according to the first control positioning pulse train and the feedback signal of the laser rotation servo motor 10532, so as to control the laser rotation reducer 10534 to realize the rotation of the workpiece to be derusted.

[0133] In the laser motion module 105, the laser rotation unit 1053 controls the rotation of the laser 106, while the pneumatic unit controls the linear motion of the laser 106. For the pneumatic unit, the third transistor output type controller 1054 is connected to the solenoid valve 1057, and the third transistor output type controller 1054 controls the conduction of the solenoid valve 1057 to the cylinder and the external steam source through the motion control signal to realize the driving of the pneumatic unit for the laser motion.

[0134] Optionally, the third power supply input unit 1051 includes a three-way circuit breaker, and when one of the three circuits is overloaded or short-circuited, the circuit breaker cuts off the system power supply to protect the system. The input end of the third power supply input unit 1051 is connected to a single-phase AC 220V power supply.

[0135] Optionally, the third switch unit 1052 includes an electromagnetic contactor.

[0136] Figure 5 is a schematic diagram of the structure of a laser provided by an embodiment of the present invention, such as Figure 5 As shown, the laser 106 includes: a fourth power supply input unit 1061, a fourth switch unit 1062, a fourth transistor output type controller 1064 and a laser light output unit 1063;

[0137] The control end of the fourth transistor output type controller 1064 is connected to the main control module 101 and is used to receive the third control signal;

[0138] The two output ends of the fourth power supply input unit 1061 are respectively connected to the power supply ends of the fourth switch unit 1062 and the fourth transistor output type controller 1064;

[0139] The output end of the fourth switch unit 1062 is connected to the first input end of the laser light output unit 1063;

[0140] The first output terminal of the fourth transistor output type controller 1064 is connected to the control terminal of the fourth switch unit 1062, and the fourth transistor output type controller 1064 is used to send a fourth power supply control signal to the fourth switch unit 1062 according to the third control signal to control the conduction or disconnection between the laser light output unit 1063 and the output terminal of the fourth power supply input unit 1061;

[0141] The second output end of the fourth transistor output type controller 1064 is connected to the second input end of the laser light emitting unit 1063, and the fourth transistor output type controller 1064 sends a control pulse signal to the laser light emitting unit 1063 to control the laser light emitting unit 1063 to perform light emitting mode control and start / stop light emitting control.

[0142] The laser light output unit 1063 includes: a laser host 106 and a laser head;

[0143] The first input end of the laser host 106 serves as the first input end of the laser light emitting unit 1063, the second input end of the laser host 106 serves as the second input end of the laser light emitting unit 1063, the output end of the laser host 106 is connected to the laser head, and the laser host 106 is used to drive the laser head to emit light according to the control pulse signal.

[0144] Specifically, when the laser motion module 105 controls the laser 106 to move to a specified position, the general control module 101 generates a third control signal according to the laser movement position signal and sends it to the laser 106. The laser 106 emits light to remove rust.

[0145] After receiving the third control signal, the fourth transistor output type controller 1064 sends a control pulse signal to the laser light emitting unit 1063 to control the laser light emitting unit 1063 to perform light emitting mode control and start / stop light emitting control.

[0146] Optionally, the control of the light emission mode includes controlling the width of the emitted laser, so as to set the laser emission of a specified wavelength according to different situations to improve the rust removal efficiency. When laser rust removal is performed on the friction surface and the heat dissipation rib surface, the first laser mode is used, and when rust removal is performed on the peripheral surface of the brake disc, the second laser mode is used, and the light emission widths of the two modes are different. The light emission width of the first laser mode is greater than that of the second laser mode.

[0147] Optionally, the laser head 10632 emits a laser with a wavelength of 1064nm, and the light power radiated by the output head is greater than 300W.

[0148] Optionally, starting the light emission control includes starting the laser light emission. According to the control pulse signal sent by the fourth transistor output type controller 1064, the laser host 10631 controls the laser head to emit light for rust removal. Stopping the light emission control includes stopping the laser light emission. When the laser rust removal is completed, the laser host 10631 controls the laser head to stop emitting light.

[0149] Optionally, the fourth power supply input unit 1061 includes two circuit breakers, and when one of the circuits is overloaded or short-circuited, the circuit breaker cuts off the system power supply to protect the system. The input end of the fourth power supply input unit 1061 is connected to a single-phase AC 220V power supply.

[0150] Optionally, the fourth switch unit 1062 includes an electromagnetic contactor.

[0151] Figure 6 is a schematic diagram of the structure of another rust removal device provided by an embodiment of the present invention, such as Figure 6 As shown, the rust removal device includes: the main control module 101 includes: a fifth power supply input unit 1011 and a control unit 1012; the fifth power supply input unit 1011 is connected to the power supply end of the control unit 1012; the first output end of the control unit 1012 is connected to the pneumatic claw 102, the flip mechanism 103, the rotation mechanism 104, the laser 106 and the laser motion module 105; the first input end of the control unit 1012 is connected to an external host computer.

[0152] Specifically, the control unit 1012 communicates with the first transistor output type controller 1034 , the second transistor output type controller 1044 , the third transistor output type controller 1054 and the fourth transistor output type controller 1064 to receive signals and send corresponding control signals.

[0153] Specifically, the host computer is connected to the control unit 1012 so as to control the rust removal device through the host computer, or the host computer is connected to multiple rust removal devices in the above embodiments so as to perform unified control of multiple rust removal devices through the host computer.

[0154] Optionally, the host computer and the control unit 1012 are connected wirelessly or by wire.

[0155] Optionally, the first transistor output type controller 1034, the second transistor output type controller 1044, the third transistor output type controller 1054 and the fourth transistor output type controller 1064 can be the same transistor output type controller. The transistor output type controller has multiple output ends. After receiving the control signal of the main control module 101, the multiple output ends respectively output corresponding control positioning pulse strings to control the pneumatic clamp 102, the flipping mechanism 103, the rotating mechanism 104 and the laser motion module connection 105; at the same time, it can also output control pulse signals to control the laser 106.

[0156] Optionally, the control unit 1012 is connected to each transistor output type controller using a communication line.

[0157] Optionally, the rust removal device further comprises a remote controller, which is connected to each transistor output type controller to manually control the pneumatic claw 102, the flip mechanism 103, the rotation mechanism 104, the laser 106 and the laser motion module connection 105. The remote controller is connected to each transistor output type controller wirelessly or wiredly.

[0158] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rust removal device, characterized in that: The rust removal device comprises: a plurality of pneumatic claws, a turning mechanism, a rotating mechanism, a laser, a laser motion module and a general control module; The general control module is respectively connected with the flipping mechanism, the rotating mechanism, the laser and the laser motion module; The pneumatic clamping claw is used to clamp the workpiece to be derusted, and output a workpiece in place signal according to the clamping state of the workpiece to be derusted; the general control module is used to form a first control signal according to the workpiece in place signal; The flipping mechanism is linked with the pneumatic claw, and is used to drive the plane surrounded by the pneumatic claw to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the general control module generates a second control signal according to the flipping in place signal; The axis of the plane surrounded by the plurality of pneumatic jaws coincides with the rotation axis of the rotating mechanism, the rotating mechanism is linked with the pneumatic jaws, and the rotating mechanism is used to drive the pneumatic jaws to rotate according to the second control signal; The laser motion module is linked with the laser, and is used to control the light-emitting surface of the laser to be arranged opposite to the rust-removed surface of the workpiece to be rust-removed according to the second control signal. The laser motion module generates a laser movement in place signal when the laser movement ends; and the general control module generates a third control signal according to the laser movement in place signal. The laser emits light according to the third control signal.

2. The rust removal device according to claim 1, characterized in that: The flip mechanism comprises: a first power supply input unit, a first switch unit, a flip unit, a first transistor output type controller, a first switch power supply and a flip information detection unit; The control end of the first transistor output type controller is connected to the general control module and is used to receive the first control signal; The three output ends of the first power supply input unit are respectively connected to the first switch unit, the first transistor output type controller and the power supply end of the first switch power supply; The output end of the first switch unit is connected to the first input end of the flip unit; The first output end of the first transistor output type controller is connected to the control end of the first switch unit, and the first transistor output type controller is used to send a first power control signal to the first switch unit according to the first control signal to control the conduction or disconnection between the flip unit and the output end of the first power input unit; The second output terminal of the first transistor output type controller is connected to the second input terminal of the flip unit, and the first transistor output type controller is used to send a first control positioning pulse string to the flip unit according to the first control signal to control the flip unit to perform flip positioning control; The power supply end of the flip information detection unit is connected to the first switch power supply, and the first switch power supply supplies power to the flip information detection unit; The output end of the flip information detection unit is connected to the input end of the first transistor output type controller, and is used to collect the flip position information of the flip mechanism and send it to the first transistor output type controller; the first transistor output type controller sends the flip position signal to the main control module according to the flip position information.

3. The rust removal device according to claim 2, characterized in that: The flip unit comprises: a flip servo amplifier, a flip servo motor, a first encoder and a flip reducer; The first input end of the flip servo amplifier is used as the first input end of the flip unit, the second input end of the flip servo amplifier is used as the second input end of the flip unit, the output end of the flip servo amplifier is connected to the input end of the flip servo motor, the input end of the first encoder is connected to the first output end of the flip servo motor, and the first encoder is used to collect the feedback signal of the flip servo motor; The output end of the first encoder is connected to the third input end of the flip servo amplifier, and the flip servo amplifier outputs a flip control signal according to the first control positioning pulse string and the feedback signal of the flip servo motor; The second output end of the flip servo motor is connected to the input end of the flip reducer, and the flip servo motor is used to drive the flip reducer according to the flip control signal.

4. The rust removal device according to any one of claims 1 to 3, characterized in that: The rotating mechanism comprises: a second power supply input unit, a second switch unit, a rotating unit, and a second transistor output type controller; The control end of the second transistor output type controller is connected to the main control module and is used to receive the second control signal; The two output ends of the second power supply input unit are respectively connected to the power supply ends of the second switch unit and the second transistor output type controller; The output end of the second switch unit is connected to the first input end of the rotation unit; The first output terminal of the second transistor output type controller is connected to the control terminal of the second switch unit; the second transistor output type controller is used to send a second power control signal to the second switch unit according to the first control signal to control the conduction or disconnection between the rotating unit and the output terminal of the second power input unit; The second output end of the second transistor output type controller is connected to the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse string to the rotating unit according to the second control signal to control the rotating unit to perform rotation positioning control.

5. The rust removal device according to claim 4, characterized in that: The rotating unit comprises: a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating reducer; The first input end of the rotary servo amplifier serves as the first input end of the rotary unit, the second input end of the rotary servo amplifier serves as the second input end of the rotary unit, the output end of the rotary servo amplifier is connected to the input end of the rotary servo motor, the input end of the second encoder is connected to the first output end of the rotary servo motor, and the second encoder is used to collect a feedback signal of the rotary servo motor; The output terminal of the second encoder is connected to the third input terminal of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and the feedback signal of the rotary servo motor; The second output end of the rotary servo motor is connected to the input end of the rotary reducer, and the rotary servo motor is used to drive the rotary reducer according to the rotary control signal.

6. The rust removal device according to claim 1, characterized in that: The laser motion module includes: a third power supply input unit, a third switch unit, a laser rotation unit, a third transistor output type controller, a cylinder, a solenoid valve, a second switch power supply and a laser motion information detection unit; The control end of the third transistor output type controller is connected to the general control module for receiving the second control signal; The three output ends of the third power supply input unit are respectively connected to the third switch unit, the third transistor output type controller and the power supply end of the second switch power supply; The output end of the third switch unit is connected to the first input end of the laser rotation unit; The first output terminal of the third transistor output type controller is connected to the first input terminal of the third switch unit, and the third transistor output type controller is used to send a third power supply control signal to the laser rotation unit according to the second control signal to control the conduction or disconnection between the laser rotation unit and the output terminal of the third power supply input unit; The second output terminal of the third transistor output type controller is connected to the second input terminal of the laser rotation unit, and the third transistor output type controller is used to send a third control positioning pulse string to the laser rotation unit according to the second control signal to control the laser rotation unit to perform laser rotation positioning control; The third output terminal of the third transistor output type controller is connected to the control terminal of the solenoid valve, and the third transistor output type controller is used to send a motion control signal to the solenoid valve according to the second control signal; the first terminal of the solenoid valve is connected to an external air source, and the second terminal is connected to the cylinder; The solenoid valve is turned on or off according to the motion control signal to connect or disconnect the cylinder from the external steam source; The laser motion information detection unit is connected to the third transistor output type controller to collect the motion position information of the laser motion module and send it to the third transistor output type controller; the third transistor output type controller sends the laser motion in place signal to the general control module according to the motion position information; The second switch power supply is connected to the power supply end of the laser motion information detection unit and the solenoid valve, and is used to supply power to the laser motion information detection unit and the solenoid valve.

7. The rust removal device according to claim 6, characterized in that: The laser rotation unit comprises: a laser rotation servo amplifier, a laser rotation servo motor, a third encoder and a laser rotation reducer; The first input end of the laser rotation servo amplifier serves as the first input end of the laser rotation unit; the output end of the laser rotation servo amplifier is connected to the input end of the laser rotation servo motor; the second input end of the laser rotation servo motor serves as the second input end of the laser rotation unit, the input end of the third encoder is connected to the first output end of the laser rotation servo motor, and the third encoder is used to collect a feedback signal of the laser rotation servo motor; The output end of the third encoder is connected to the second input end of the laser rotation servo amplifier, and the laser rotation servo amplifier outputs a laser rotation control signal according to the third control positioning pulse string and the feedback signal of the laser rotation servo motor; The second output end of the laser rotation servo motor is connected to the input end of the laser rotation reducer, and the laser rotation servo motor is used to drive the laser rotation reducer according to the laser rotation control signal.

8. The rust removal device according to claim 1, characterized in that: The laser comprises: a fourth power supply input unit, a fourth switch unit, a fourth transistor output type controller and a laser light output unit; The control end of the fourth transistor output type controller is connected to the general control module for receiving the third control signal; The two output ends of the fourth power supply input unit are respectively connected to the power supply ends of the fourth switch unit and the fourth transistor output type controller; The output end of the fourth switch unit is connected to the first input end of the laser light emitting unit; The first output end of the fourth transistor output type controller is connected to the control end of the fourth switch unit, and the fourth transistor output type controller is used to send a fourth power supply control signal to the fourth switch unit according to the third control signal to control the conduction or disconnection between the laser light emitting unit and the output end of the fourth power supply input unit; The second output end of the fourth transistor output type controller is connected to the second input end of the laser light emitting unit, and the fourth transistor output type controller sends a control pulse signal to the laser light emitting unit to control the laser light emitting unit to perform light emitting mode control and start / stop light emitting control.

9. The rust removal device according to claim 8, characterized in that: The laser light output unit comprises: a laser host and a laser head; The first input end of the laser host serves as the first input end of the laser light emitting unit, the second input end of the laser host serves as the second input end of the laser light emitting unit, the output end of the laser host is connected to the laser head, and the laser host is used to drive the laser head to emit light according to the control pulse signal.

10. The rust removal device according to claim 1, characterized in that: The general control module includes: a fifth power supply input unit and a control unit; The fifth power supply input unit is connected to the power supply terminal of the control unit; The first output end of the control unit is connected to the pneumatic claw, the flipping mechanism, the rotating mechanism, the laser and the laser motion module; The first input terminal of the control unit is connected to an external host computer.

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