Paint removal method and system before flaw detection of workpiece

Abstract

The invention provides a paint removal method before flaw detection of a workpiece, which comprises the following steps of: transporting the workpiece into a processing mute room through a transfer trolley, acquiring the mounting position of the workpiece through an image acquisition device, and automatically removing paint through laser paint removal equipment after confirming that the position of the workpiece is abnormal by applying a first detection method. The invention further provides a paint removal system before flaw detection of the workpiece, and the paint removal system is applied to the paint removal method before flaw detection of the workpiece. The device has the beneficial effects that manual operation is not needed, the processing efficiency is effectively improved, and environmental pollution is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece flaw detection, and in particular to a paint removal method and system before workpiece flaw detection. Background Art

[0002] Workpiece flaw detection is to inspect the workpiece through flaw detection equipment to detect cracks or damage in the workpiece. Before the workpiece flaw detection, the paint on the surface of the workpiece needs to be removed to prevent the paint from interfering with the accurate detection of the flaw detection equipment. Among them, paint removal with paint remover is the main paint removal method currently. The workpiece is moved to the paint removal position, and the paint remover is manually applied to the surface of the workpiece. Wait for the paint remover and the paint to react chemically for 10-20 minutes. After the reaction, the paint is manually cleaned with a high-pressure water gun. This generally consumes more than 5 tons of clean water, and 3-4 people work at the same time. The workers are exposed to the environment where the paint remover evaporates in large quantities, which poses a high occupational hazard. In addition, the sewage formed by cleaning the paint remover and the paint is discharged into the sewage system, which will cause certain water pollution.

[0003] This existing paint removal method involves manual application of paint remover and manual washing, and the overall operation process is inefficient and not conducive to rapid paint removal.

[0004] Therefore, it is necessary to study a paint removal method and system for workpieces before flaw detection to solve the above problems or alleviate the impact of the above problems. Summary of the invention

[0005] On one hand, the present invention provides a method for removing paint from a workpiece before flaw detection, which realizes automatic paint removal by using an image acquisition device and a first detection method in conjunction with a laser paint removal device, so as to effectively solve the above-mentioned problems or alleviate the impact of the above-mentioned problems.

[0006] The paint removal method before flaw detection of a workpiece of the present invention may include the following steps:

[0007] S100. Control the transfer vehicle to transport the carrier and the workpieces on the carrier into the processing silent room;

[0008] S200. Control the image acquisition device to photograph the workpiece to obtain workpiece image information;

[0009] S300. Process the workpiece image information using the first detection method and output the processing result; the processing result includes correct positioning and abnormal positioning. If the output positioning is correct, proceed to step S500; if the output positioning is abnormal, proceed to step S400;

[0010] S400. The control alarm module sounds an alarm, the workpiece is transported out of the processing silent room, and the workpiece is reset, and the process returns to step S100;

[0011] S500. Controlling the laser paint removal equipment to remove paint from the surface of the workpiece;

[0012] S600. Control the transfer vehicle to transport the carrier and the workpiece out of the processing silent room;

[0013] The first detection method in step S300 includes the following steps:

[0014] S310. Acquire a virtual frame of the workpiece image information;

[0015] S320. Search the database to obtain the corresponding workpiece model and the safety fence corresponding to the workpiece model;

[0016] S330. Compare the virtual frame with the safety fence. If the virtual frame is within the safety fence, the output positioning is correct. If the virtual frame is outside the installation fence, the output positioning is abnormal.

[0017] In one embodiment, the image acquisition device in step S200 includes a plurality of 3D cameras, and the workpiece image information is three-dimensional point cloud data.

[0018] In one embodiment, step S310 specifically includes the following steps:

[0019] S311. Set the direction in which the workpiece enters the processing silent room as the Y-axis direction, obtain the two second positioning points of the workpiece image information that are farthest apart along the Y-axis direction, and form two second virtual reference planes that are perpendicular to the Y-axis direction and include the second positioning points;

[0020] S312. Set the vertical direction as the Z-axis direction, obtain the two third positioning points of the workpiece image information that are farthest apart along the Z-axis direction, and form two third virtual reference planes that are perpendicular to the Z-axis direction and include the third positioning points;

[0021] S313. Set the direction perpendicular to the Y-axis direction and the Z-axis direction as the X-axis direction, obtain the two first positioning points of the workpiece image information that are farthest apart along the X-axis direction, and form two first virtual reference planes perpendicular to the X-axis direction and including the first positioning points;

[0022] S314. Enclose the two first virtual reference planes, the two second virtual reference planes, and the two third virtual reference planes to form a virtual frame.

[0023] In one embodiment, in step S320, the workpiece is preset with two first safety planes perpendicular to the X-axis direction, two second safety planes perpendicular to the Y-axis direction, and two third safety planes perpendicular to the Z-axis direction. The two first safety planes, the two second safety planes and the two third safety planes surround to form a safety fence.

[0024] In one embodiment, the third virtual reference plane located below and the third safety plane located below are the top surface of the shipping rack.

[0025] In one embodiment, step S500 specifically includes the following steps:

[0026] S510. driving the six-axis robot to move along the Z-axis direction and the Y-axis direction to the paint removal area;

[0027] S520. Control the end effector of the six-axis robot arm to adjust the position so that the laser head provided on the end effector faces the area to be painted on the workpiece;

[0028] S530. Control the generator body to generate laser, and control the six-axis robot arm to adjust its position, so that the laser head on the end effector moves within the area to be painted.

[0029] Another aspect of the present invention further provides a paint removal system for a workpiece before flaw detection, the paint removal system is applied to the paint removal method for a workpiece before flaw detection as described above, and the paint removal system comprises:

[0030] A processing silent room is provided with a door at one end along the Y-axis direction;

[0031] An image acquisition device, comprising a door-shaped frame arranged inside the processing silent room near the door, and a plurality of 3D cameras arranged on the door-shaped frame;

[0032] A transfer mechanism, which includes a transfer vehicle and a transport rack provided on the transfer vehicle;

[0033] Laser paint removal equipment, which is used to remove paint from the surface of workpieces;

[0034] A central control device is used to control the operation of the image acquisition device, the transfer vehicle and the laser paint removal equipment.

[0035] In one embodiment, the door-shaped frame is provided with four camera mounting assemblies, wherein two of the camera mounting assemblies are symmetrically arranged on the crossbar of the door-shaped frame along the X-axis direction, and the remaining two camera mounting assemblies are respectively arranged on two vertical bars of the door-shaped frame;

[0036] The camera mounting assembly includes a main box body, which is detachably connected to the portal frame via a mounting piece, and the 3D camera is detachably mounted inside the main box body; the 3D camera located on the horizontal bar of the portal frame shoots the workpiece downward, and the 3D cameras located on the two vertical bars of the portal frame shoot the workpiece toward the sides close to each other.

[0037] In one embodiment, a panel is provided at one end of the main box body away from the mounting member, a window is provided in the middle of the panel, and the 3D camera photographs the workpiece through the window;

[0038] A dustproof cavity is also provided in the middle of the panel, and the dustproof cavity has a first opening. A dustproof baffle that can extend along the first opening is provided inside the dustproof cavity. A micro cylinder is installed on the top of the main box body through a mounting seat. A connecting plate is provided at the end of the dustproof baffle away from the dustproof cavity, and the connecting plate is connected to the telescopic rod of the micro cylinder.

[0039] In one embodiment, an adjustment assembly is provided at the middle portion of the top of the portal frame, and the adjustment assembly includes an adjustment shaft rotatably connected to the middle portion of the cross bar of the portal frame, an adjustment gear is mounted on the top of the adjustment shaft, and racks are provided at both radial ends of the adjustment gear along the Y-axis direction, and both of the two racks are meshed and connected to the adjustment gear, and the ends of the two racks that are far away from each other are respectively connected to the two camera mounting assemblies.

[0040] The paint removal method for workpiece before flaw detection provided by the present invention has at least the following beneficial effects compared with the prior art:

[0041] The paint removal method before flaw detection of the workpiece of the present invention transports the workpiece into a processing silent room by a transfer vehicle, obtains the installation position of the workpiece by an image acquisition device, and uses a first detection method to confirm that there is no abnormality in the position of the workpiece, and then automatically removes the paint by a laser paint removal device. The entire process is programmed, and the transportation, determination of positioning information and paint removal can all be performed through programming instructions in the central control device, without manual operation, effectively improving the processing efficiency, and laser paint removal by laser paint removal equipment, compared with paint removal using a paint remover, the paint removal efficiency of the present invention is faster, the effect is better, and there is no environmental pollution.

[0042] The paint removal system for workpieces before flaw detection provided by the present invention also has the above-mentioned beneficial effects because it is applied to the above-mentioned paint removal method for workpieces before flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0044] Figure 1 It is a step flow chart of the paint removal method according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of an installation structure of a laser paint removal device in a paint removal system according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of an installation structure of a door-type frame in a paint removal system according to an embodiment of the present invention;

[0047] Figure 4 yes Figure 3 A structural schematic diagram of a local enlargement of the B area;

[0048] Figure 5 A schematic cross-sectional structure diagram of a main box body in a paint removal system according to an embodiment of the present invention;

[0049] Figure 6 for Figure 3 A structural schematic diagram of a local enlargement of the middle C area;

[0050] Figure 7 for Figure 3 A structural schematic diagram of a local enlargement of area A in the middle.

[0051] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale.

[0052] Reference numerals:

[0053] 1- Processing silent room, 11- Door,

[0054] 2-image acquisition device, 21-door frame, 22-camera installation assembly, 221-main box body, 222-mounting piece, 2221-connecting straight plate, 2222-connecting folding plate, 2223-locking bolt, 223-panel, 224-window, 225-dustproof chamber, 226-dustproof baffle, 227-mounting seat, 228-micro cylinder, 229-connecting plate, 2210-solenoid valve, 23-3D camera, 231-stud, 232-nut, 24-adjustment assembly, 241-adjustment shaft, 242-adjustment gear, 243-rack, 244-adjustment handle, 25-shooting range,

[0055] 3-laser paint removal equipment, 31-ground rail, 32-lifting device, 33-six-axis robotic arm, 34-laser generating device, 341-generator body, 342-laser head. DETAILED DESCRIPTION

[0056] The present invention will be further described below in conjunction with the accompanying drawings.

[0057] Example 1

[0058] Please refer to Figures 1 to 7The paint removal method of the workpiece before flaw detection of the present invention comprises the following steps:

[0059] S100. Control the transfer vehicle to transport the carrier and the workpiece on the carrier into the processing silent room 1.

[0060] The transfer vehicle is a common AGV (Automated Guided Vehicle), which is controlled by the programming code in the central control device to enter the processing silent room 1 from the door 11 of the processing silent room 1 along a fixed route and stop at a designated position in the room. In addition, the central control device is a combination of a common computer and a programmable logic controller, which is a common control device and will not be described in detail here.

[0061] S200. Control the image acquisition device 2 to photograph the workpiece to obtain workpiece image information.

[0062] In some examples, the image acquisition device 2 in step S200 includes a plurality of 3D cameras 23, and the workpiece image information is three-dimensional point cloud data;

[0063] The 3D camera 23 is disposed in the first chamber, and the first chamber has a window 224 that can be opened and closed. The three-dimensional point cloud data refers to a set of vectors in a three-dimensional coordinate system, that is, after photographing or scanning the workpiece, it is recorded in the form of points, and each point corresponds to a three-dimensional coordinate. Further, step S200 specifically includes the following steps:

[0064] S210. Control window 224 is open;

[0065] S220. When the workpiece enters the processing silent room 1, the 3D camera 23 is controlled to scan and photograph the workpiece through the window 224;

[0066] S230. Control window 224 to close.

[0067] In this way, by controlling the opening and closing of the window 224, the opening and closing of the first chamber is realized, which plays an effective dust-proof role and prevents dust from covering the surface of the 3D camera 23 and causing unclear images. Further, when the workpiece enters the processing silent room 1, the 3D camera 23 is controlled to scan and shoot the workpiece through the window 224. Each shooting can form a number of point cloud data, and these point cloud data are connected with a smooth curve. In this way, each shooting will obtain a curve, and each curve is a line that fits the surface of the workpiece. After all the curves are combined, the outer surface of the workpiece can be formed. Therefore, the workpiece image information is the relevant parameters of each point on the outer surface of the workpiece.

[0068] S300. Use the first detection method to process the workpiece image information and output the processing result; the processing result includes correct positioning and abnormal positioning. If the output positioning is correct, proceed to step S500; if the output positioning is abnormal, proceed to step S400. Through the first detection method, when the workpiece position is abnormal, the user can adjust the workpiece position in time to avoid inadequate laser paint removal caused by factors such as inaccurate positioning.

[0069] The first detection method in step S300 includes the following steps:

[0070] S310. Obtain a virtual frame of the workpiece image information.

[0071] In some examples, step S310 specifically includes the following steps:

[0072] S311. Set the direction in which the workpiece enters the processing silent room 1 as the Y-axis direction, obtain the two second positioning points of the workpiece image information along the Y-axis direction that are farthest apart, and form two second virtual reference planes that are perpendicular to the Y-axis direction and contain the second positioning points

[0073] S312. Set the vertical direction as the Z-axis direction, obtain the workpiece image information along the Z-axis direction of the two third positioning points that are farthest apart, and form two third virtual reference planes that are perpendicular to the Z-axis direction and include the third positioning points;

[0074] S313. Set the direction perpendicular to the Y-axis direction and the Z-axis direction as the X-axis direction, obtain the two first positioning points of the workpiece image information that are farthest apart along the X-axis direction, and form two first virtual reference planes perpendicular to the X-axis direction and containing the first positioning points;

[0075] S314. Enclose the two first virtual reference planes, the two second virtual reference planes, and the two third virtual reference planes to form a virtual frame.

[0076] Among them, the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other, the first virtual reference plane, the second virtual reference plane and the third virtual reference plane are perpendicular to each other, the virtual frame is in the shape of a cuboid, and the workpiece is located in the cuboid.

[0077] S320. Search the database to obtain the corresponding workpiece model and the safety fence corresponding to the workpiece model.

[0078] The model data of each workpiece is pre-entered in the database, and each workpiece corresponds to a model. After the workpiece model is retrieved, the corresponding model is output to the central control device for the user to record and archive. Each workpiece model also corresponds to a data parameter of a safety fence. In addition, optionally, the retrieval method of the retrieval database is to convert the workpiece image information into a three-dimensional model, detect the three-dimensional model formed by scanning through feature detection and matching algorithms, obtain the features of the three-dimensional model, match the features with the pre-entered workpiece model, thereby retrieving the corresponding workpiece model and obtaining the corresponding parameters.

[0079] In some examples, in step S320, the workpiece is preset with two first safety planes perpendicular to the X-axis direction, two second safety planes perpendicular to the Y-axis direction, and two third safety planes perpendicular to the Z-axis direction. The two first safety planes, the two second safety planes, and the two third safety planes surround to form a safety fence.

[0080] S330. Compare the virtual frame with the safety fence. If the virtual frame is within the safety fence, the output positioning is correct. If the virtual frame is outside the installation fence, the output positioning is abnormal.

[0081] Among them, the safety fence and the virtual frame use the same three-dimensional coordinate system. Therefore, the virtual frame formed by scanning a workpiece corresponds to the safety fence of the corresponding workpiece model in the database. If the virtual frame formed by the actual scanning model exceeds the preset safety fence, it means that the position of the workpiece deviates from the preset position.

[0082] In some examples, the third lower virtual reference plane and the third lower safety plane are the top surface of the shipping rack.

[0083] Among them, the two third virtual reference planes and the two third safety planes are all distributed and set in the vertical direction, and the workpiece is installed on the top of the shipping rack, so the third virtual reference plane located below and the third safety plane located below are the top surface of the shipping rack. That is, in the process of comparing the virtual frame and the safety fence, there is no need to consider the situation where the virtual frame extends downward from the safety fence, so there is no need to set a 3D camera 23 under the workpiece to avoid the problem of interference with the movement of the transfer vehicle due to the components set under the workpiece. Optionally, the origin of the model coordinate system can be set to the center point of the shipping rack or one of the four end points. When the 3D camera 23 scans, the point cloud data is recorded with the origin. When the first safety plane, the second safety plane and the third safety plane are preset, the workpiece model is simulated and placed on the shipping rack, and the relevant parameters are also recorded with the origin to ensure that the two have a unified coordinate system for easy comparison.

[0084] S400. Control the alarm module to sound an alarm, transport the workpiece out of the silent processing room 1, reset the workpiece, and return to step S100.

[0085] Among them, the alarm module of the central control device first alarms the user, and the user learns that there is a positioning problem with the workpiece to be depainted, and goes outside the processing quiet room 1, and the central control device controls the transfer vehicle to transport the shipping rack and the workpiece out of the processing quiet room 1. The user inspects and processes the workpiece outside the processing quiet room 1, and then fixes the workpiece to the shipping rack after processing, waiting to perform step S100 again. Among them, the alarm module can be a buzzer installed outside the processing quiet room 1, which makes a sound to remind the user, or it can be a pop-up program set in the computer, which pops up a pop-up window in the operation interface or control interface to remind the user. Furthermore, the above-mentioned inspection and processing includes checking whether there are other parts installed on the workpiece, whether there are hard objects, whether the surface of the workpiece is covered with dust or hard objects, etc.

[0086] S500. Control the laser paint removal device 3 to remove paint from the surface of the workpiece.

[0087] In some examples, step S500 specifically includes the following steps:

[0088] S510. Drive the six-axis robot 33 to move along the Z-axis direction and the Y-axis direction to the paint removal area;

[0089] S520. Control the end effector of the six-axis robot 33 to adjust the position so that the laser head 342 provided on the end effector faces the paint removal area on the workpiece;

[0090] S530. Control the generator body 341 to generate laser, and control the six-axis robot arm 33 to adjust the position, so that the laser head 342 on the end effector moves within the area to be painted.

[0091] Among them, due to the increase in the volume of the workpiece, the six-axis robot arm 33 cannot completely cover all the areas to be painted in one time, so the workpiece is divided into several areas to be painted in the Z-axis direction and the Y-axis direction, and steps S510 to S530 are performed multiple times for each area to be painted, and laser paint removal is performed on each area to be painted. In addition, the laser head 342 is directed toward the area to be painted on the workpiece, which means that the laser emitted by the laser head 342 falls on the area to be painted, and then the movement in step S530 means that the laser landing point moves in the area to be painted, and the laser landing point has a high energy, which can vaporize the paint skin at a very fast speed to achieve the purpose of paint removal.

[0092] S600. Control the transfer vehicle to transport the carrier and the workpiece out of the processing silent room 1. The user can remove the workpiece, replace it with another workpiece to be depainted, repeat step S100, and depaint again. Before controlling the transfer vehicle to transport the workpiece out, the laser head 342 needs to move through all the areas to be depainted, that is, the laser landing point moves through all the areas to be depainted and removes all the paint on the surface of the workpiece.

[0093] In summary, the beneficial effects of the paint removal method before flaw detection of a workpiece of the present invention include:

[0094] The paint removal method of the present invention uses a transfer vehicle to transport the workpiece into a processing silent room, and the image acquisition device obtains the installation position of the workpiece, and after applying the first detection method to confirm that the position of the workpiece is normal, the laser paint removal equipment automatically removes the paint. The entire process is programmed, and the transportation, judgment of positioning information and paint removal can all be performed through programming instructions in the central control device, without manual operation, effectively improving the processing efficiency, and laser paint removal is performed by laser paint removal equipment. Compared with paint removal using a paint remover, the paint removal efficiency of the present invention is faster, the effect is better, and there is no environmental pollution. The paint removal method of the present invention is designed with an image acquisition device and a first detection method. By presetting a safety fence, the image acquisition device captures each virtual reference surface of the workpiece, and the virtual frame formed by the image acquisition device includes the entire workpiece. Therefore, when the virtual frame exceeds the safety fence, the workpiece position is abnormal, and the user can adjust the workpiece position in time, which can avoid the situation where the laser paint removal is insufficient due to inaccurate positioning.

[0095] Example 2

[0096] Based on the paint removal method steps of the above embodiment 1, as Figure 2-Figure 7 As shown, the present invention provides a paint removal system for workpieces before flaw detection that can be applied to the above-mentioned paint removal method, comprising:

[0097] A processing silent room 1 is provided with a door 11 at one end along the Y-axis direction;

[0098] The image acquisition device 2 includes a door-shaped frame 21 disposed inside the processing silent room 1 near the door 11, and a plurality of 3D cameras 23 disposed on the door-shaped frame 21;

[0099] A transfer mechanism (not shown in the drawings), which includes a transfer vehicle and a transport rack provided on the transfer vehicle;

[0100] Laser paint removal equipment 3, which is used to remove paint from the surface of the workpiece;

[0101] The central control device (not shown in the drawings) is used to control the image acquisition device 2, the transfer vehicle and the laser paint removal equipment 3 to work.

[0102] Among them, the central control device is a combination of a common computer and a programmable logic controller, which is a common control device and will not be described in detail here. Optionally, a guide rail extending along the X-axis direction and a guide wheel that can move along the guide rail are provided at the bottom of the door 11. A micro motor that controls the rotation of the guide wheel is provided on the door 11. The central control device controls the forward or reverse rotation of the micro motor, so that the guide wheel can roll forward or backward along the guide rail, driving the door 11 to open or close, further improving the degree of automation, reducing the time waste caused by manual operation, and improving the paint removal efficiency.

[0103] In some examples, four camera mounting assemblies 22 are disposed on the door-shaped frame 21, wherein two camera mounting assemblies 22 are symmetrically disposed on the horizontal bars of the door-shaped frame 21 along the X-axis direction, and the remaining two camera mounting assemblies 22 are respectively disposed on two vertical bars of the door-shaped frame 21;

[0104] The camera mounting assembly 22 includes a main box body 221, which is detachably connected to the portal frame 21 via a mounting piece 222. The 3D camera 23 is detachably mounted inside the main box body 221. The 3D camera 23 on the horizontal bar of the portal frame 21 shoots the workpiece downward, and the 3D cameras 23 on the two vertical bars of the portal frame 21 shoot the workpiece toward the sides close to each other.

[0105] like Figure 2 and Figure 3 As shown, when the transfer vehicle transports the carrier and the workpiece into the processing silent room 1, four 3D cameras 23 quickly shoot the workpiece, and the shooting range 25 can be referred to as Figure 3 As shown, each shot can form a number of point cloud data, and these point cloud data are connected by smooth curves, so that each shot will obtain a curve, each curve is a line that fits the surface of the workpiece, and all curves are combined to form the outer surface of the workpiece. Therefore, the workpiece image information is the relevant parameters of each point on the outer surface of the workpiece. Among them, the interior of the main box body 221 is the first chamber, and optionally, as Figure 5 As shown, a stud 231 is provided at the top of the 3D camera 23, and a through hole is provided at one end of the main box body 221. The stud 231 passes through the through hole and is threadedly connected with a nut 232. The nut 232 abuts against the outer wall of the main box body 221 to achieve locking, so as to realize a detachable connection between the 3D camera 23 and the main box body 221, thereby ensuring the stability of the 3D camera 23 after installation.

[0106] In some examples, a panel 223 is provided at one end of the main box body 221 away from the mounting member 222, and a window 224 is provided in the middle of the panel 223, and the 3D camera 23 photographs the workpiece through the window 224;

[0107] A dustproof cavity 225 is also provided in the middle of the panel 223. The dustproof cavity 225 has a first opening. A dustproof baffle 226 that can extend along the first opening is provided inside the dustproof cavity 225. A micro cylinder 228 is installed on the top of the main box body 221 through a mounting seat 227. A connecting plate 229 is provided at the end of the dustproof baffle 226 away from the dustproof cavity 225. The connecting plate 229 is connected to the telescopic rod of the micro cylinder 228.

[0108] like Figure 4 and Figure 5As shown, the camera mounting assembly 22 also includes a solenoid valve 2210 connected to the micro cylinder 228. The central control device can send a start command to the solenoid valve 2210, and the solenoid valve 2210 can change the gas flow direction, drive the telescopic rod of the micro cylinder 228 to extend, drive the connecting plate 229 and the dust baffle 226 to extend from the dust chamber 225 along the first opening, and the 3D camera 23 shoots the workpiece through the window 224; after the shooting is completed, the central control device sends a closing command to the solenoid valve 2210, and the solenoid valve 2210 changes the gas flow direction back to the initial state, drives the telescopic rod of the micro cylinder 228 to retract into the cylinder body, drives the dust baffle 226 to retract into the dust chamber 225 along the first opening, and closes the window 224, which plays a role in sealing and dustproofing. Optionally, a dust collector is provided in the processing silent room 1 to discharge the dust or gas formed by laser paint removal to the outside, further improving the dustproof effect.

[0109] In some examples, such as Figure 6 As shown, the mounting member 222 may include a connecting straight plate 2221 detachably connected to the main box body 221, and a connecting folding plate 2222 threadedly connected to the connecting straight plate 2221, a first channel is provided between the connecting folding plate 2222 and the connecting straight plate 2221, the door-shaped frame 21 is inserted into the first channel, and the outer edge is matched with the inner edge of the first channel. Furthermore, a locking bolt 2223 is threadedly connected to the middle of the connecting folding plate 2222, and the locking bolt 2223 abuts against the door-shaped frame 21. Due to the self-locking effect of the thread, the stress applied to the door-shaped frame 21 increases the static friction force, and then the larger static friction force limits the mounting member 222 from sliding along the door-shaped frame 21.

[0110] In some examples, such as Figure 7 As shown, an adjustment component 24 is provided in the middle of the top of the door-shaped frame 21. The adjustment component 24 includes an adjustment shaft 241 which is rotatably connected to the middle of the cross bar of the door-shaped frame 21. An adjustment gear 242 is mounted on the top of the adjustment shaft 241. Racks 243 are provided at both radial ends of the adjustment gear 242 along the Y-axis direction. The two racks 243 are meshed with the adjustment gear 242. The ends of the two racks 243 which are far away from each other are respectively connected to the two camera mounting components 22.

[0111] like Figure 7As shown, the adjustment shaft 241 is rotated to drive the adjustment gear 242 to rotate, and the two racks 243 are driven to move along the X-axis direction through meshing, so that the two camera mounting assemblies 22 can be driven to move synchronously closer or farther away, so as to ensure the symmetrical arrangement of the two camera mounting assemblies 22 and the corresponding 3D cameras 23, and also facilitate the subsequent adjustment of the positions of the two. In addition, the rack 243 is connected to the connecting folding plate 2222. Before adjusting the position, it is necessary to rotate the locking bolt 2223 to release the lock to prevent it from abutting against the door-shaped frame 21 and causing the mounting member 222 to be unable to move. Optionally, an adjustment knob 244 is also provided at the bottom of the adjustment shaft 241 to facilitate the user to manually rotate the adjustment shaft 241.

[0112] In some examples, such as Figure 2 and Figure 3 , the laser paint removal equipment 3 includes:

[0113] The eight-axis linkage mechanism includes two ground rails 31 distributed at both ends of the processing silent room 1 along the X-axis direction. The lengths of the two ground rails 31 are along the Y-axis direction. The slides of the two ground rails 31 are provided with lifting devices 32. The ground rails 31 drive the slides of the ground rails 31 and the lifting devices 32 to move along the Y-axis direction. The slides of the two lifting devices 32 are provided with six-axis robotic arms 33. The lifting devices 32 drive the slides of the lifting devices 32 and the six-axis robotic arms 33 to move along the Z-axis direction.

[0114] The laser generating device 34 includes two generator bodies 341 disposed between the two ground rails 31 , and the laser heads 342 of the two generator bodies 341 are respectively disposed on the end effectors of the two six-axis robotic arms 33 .

[0115] like Figure 1 and Figure 2 As shown, the workpiece is divided into several areas to be depainted. The central control device controls the ground rail 31 and the lifting device 32 to drive the six-axis robot 33 to move to an area to be depainted, and then the six-axis robot 33 drives the laser head 342 to move to depaint the area to be depainted. After completion, the ground rail 31 and the lifting device 32 are controlled to drive the six-axis robot 33 to move to another area to be depainted. This process is repeated multiple times to depaint all the areas to be depainted.

[0116] In summary, the beneficial effects of the paint removal system before flaw detection of workpieces of the present invention include at least:

[0117] The paint removal system of the present invention is provided with a camera mounting assembly, and the dust baffle is driven by a micro-cylinder to slide out or return from the dust-proof cavity to realize the opening and closing of the window. The 3D camera shoots the workpiece through the window to obtain the workpiece image information, which plays an effective dust-proof role and prevents dust from covering the surface of the 3D camera and causing unclear images. Furthermore, the paint removal system of the present invention is provided with a solenoid valve, which can change the action of the micro-cylinder, that is, change the moving direction of the dust baffle driven by the micro-cylinder, and the solenoid valve is controlled by the central control device to start or close, so as to realize the purpose of automatically closing the 3D camera after shooting is completed, thereby improving the automation operation of the image acquisition device.

[0118] The paint removal system of the present invention is also provided with an adjustment component, which drives the corresponding camera mounting component to move by rotating the adjustment shaft so that the adjustment gear drives the rack to move. Because the workpiece is large, the two 3D cameras on the cross bar of the door-type frame need to be symmetrically arranged, and the corresponding two camera mounting components are driven to move synchronously by the movement of the rack, which is convenient for users to adjust the positions of the two 3D cameras and avoid shooting blind spots or errors caused by asymmetry. When the workpiece needs to be changed and adjusted again, the adjustment efficiency and accuracy can be improved through the adjustment component.

[0119] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for removing paint from a workpiece before flaw detection, characterized in that: The paint removal method comprises the following steps: S100. Control the transfer vehicle to transport the carrier and the workpieces on the carrier into the processing silent room; S200. Control the image acquisition device to photograph the workpiece to obtain workpiece image information; S300. Process the workpiece image information using the first detection method and output the processing result; the processing result includes correct positioning and abnormal positioning. If the output positioning is correct, proceed to step S500; if the output positioning is abnormal, proceed to step S400; S400. The control alarm module sounds an alarm, the workpiece is transported out of the processing silent room, and the workpiece is reset, and the process returns to step S100; S500. Controlling the laser paint removal equipment to remove paint from the surface of the workpiece; S600. Control the transfer vehicle to transport the carrier and the workpiece out of the processing silent room; The first detection method in step S300 includes the following steps: S310. Acquire a virtual frame of the workpiece image information; S320. Search the database to obtain the corresponding workpiece model and the safety fence corresponding to the workpiece model; S330. Compare the virtual frame with the safety fence. If the virtual frame is within the safety fence, the output positioning is correct. If the virtual frame is outside the installation fence, the output positioning is abnormal.

2. The method for removing paint from a workpiece before flaw detection according to claim 1, characterized in that: The image acquisition device in step S200 includes a plurality of 3D cameras, and the workpiece image information is three-dimensional point cloud data.

3. The method for removing paint from a workpiece before flaw detection according to claim 1, characterized in that: The step S310 specifically includes the following steps: S311. Set the direction in which the workpiece enters the processing silent room as the Y-axis direction, obtain the two second positioning points of the workpiece image information that are farthest apart along the Y-axis direction, and form two second virtual reference planes that are perpendicular to the Y-axis direction and include the second positioning points; S312. Set the vertical direction as the Z-axis direction, obtain the two third positioning points of the workpiece image information that are farthest apart along the Z-axis direction, and form two third virtual reference planes that are perpendicular to the Z-axis direction and include the third positioning points; S313. Set the direction perpendicular to the Y-axis direction and the Z-axis direction as the X-axis direction, obtain the two first positioning points of the workpiece image information that are farthest apart along the X-axis direction, and form two first virtual reference planes perpendicular to the X-axis direction and including the first positioning points; S314. Enclose the two first virtual reference planes, the two second virtual reference planes, and the two third virtual reference planes to form a virtual frame.

4. The method for removing paint from a workpiece before flaw detection according to claim 3, characterized in that: In the step S320, the workpiece is preset with two first safety planes perpendicular to the X-axis direction, two second safety planes perpendicular to the Y-axis direction, and two third safety planes perpendicular to the Z-axis direction. The two first safety planes, the two second safety planes and the two third safety planes surround to form a safety fence.

5. The method for removing paint from a workpiece before flaw detection according to claim 4, characterized in that: The third virtual reference plane located below and the third safety plane located below are the top surfaces of the shipping rack.

6. The method for removing paint from a workpiece before flaw detection according to claim 5, characterized in that: The step S500 specifically includes the following steps: S510. driving the six-axis robot to move along the Z-axis direction and the Y-axis direction to the paint removal area; S520. Control the end effector of the six-axis robot arm to adjust the position so that the laser head provided on the end effector faces the area to be painted on the workpiece; S530. Control the generator body to generate laser, and control the six-axis robot arm to adjust its position, so that the laser head on the end effector moves within the area to be painted.

7. A paint removal system for workpieces before flaw detection, characterized in that: The paint removal system is applied to the paint removal method before flaw detection of a workpiece according to any one of claims 1 to 6, and the paint removal system comprises: A processing silent room is provided with a door at one end along the Y-axis direction; An image acquisition device, comprising a door-shaped frame arranged inside the processing silent room near the door, and a plurality of 3D cameras arranged on the door-shaped frame; A transfer mechanism, which includes a transfer vehicle and a transport rack provided on the transfer vehicle; Laser paint removal equipment, which is used to remove paint from the surface of workpieces; A central control device is used to control the operation of the image acquisition device, the transfer vehicle and the laser paint removal equipment.

8. The paint removal system before flaw detection of a workpiece according to claim 7, characterized in that: The door-shaped frame is provided with four camera mounting assemblies, wherein two of the camera mounting assemblies are symmetrically arranged on the horizontal bars of the door-shaped frame along the X-axis direction, and the remaining two camera mounting assemblies are respectively arranged on two vertical bars of the door-shaped frame; The camera mounting assembly includes a main box body, which is detachably connected to the portal frame via a mounting piece, and the 3D camera is detachably mounted inside the main box body; the 3D camera located on the horizontal bar of the portal frame shoots the workpiece downward, and the 3D cameras located on the two vertical bars of the portal frame shoot the workpiece toward the sides close to each other.

9. The paint removal system before flaw detection of a workpiece according to claim 8, characterized in that: A panel is provided at one end of the main box body away from the mounting member, a window is provided in the middle of the panel, and the 3D camera photographs the workpiece through the window; A dustproof cavity is also provided in the middle of the panel, and the dustproof cavity has a first opening. A dustproof baffle that can extend along the first opening is provided inside the dustproof cavity. A micro cylinder is installed on the top of the main box body through a mounting seat. A connecting plate is provided at the end of the dustproof baffle away from the dustproof cavity, and the connecting plate is connected to the telescopic rod of the micro cylinder.

10. The paint removal system before flaw detection of a workpiece according to claim 8, characterized in that: An adjustment assembly is provided in the middle of the top of the portal frame, and the adjustment assembly includes an adjustment shaft rotatably connected to the middle of the cross bar of the portal frame, and an adjustment gear is mounted on the top of the adjustment shaft. Racks are provided at both radial ends of the adjustment gear along the Y-axis direction, and both of the two racks are meshed and connected with the adjustment gear, and the ends of the two racks that are far away from each other are respectively connected to the two camera mounting assemblies.

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