Paint removal method and system before workpiece flaw detection

Abstract

The present application provides a paint removal method before workpiece flaw detection, workpieces are transported into a processing silent room by a transfer trolley, the mounting position of the workpieces is obtained by an image acquisition device, and after confirming that the workpiece position is normal by a first detection method, automatic paint removal is performed by a laser paint removal device. The present application also provides a paint removal system before workpiece flaw detection, which is applied to the paint removal method before workpiece flaw detection. The beneficial effects of the present application include: no manual operation, effectively improving the processing efficiency, and no environmental pollution.

Description

TECHNICAL FIELD

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

[0002] Workpiece flaw detection is to check the workpiece by flaw detection equipment to detect cracks or damage in the workpiece. The paint on the surface of the workpiece needs to be removed before workpiece flaw detection to avoid interference with the accurate detection of the flaw detection equipment. Among them, paint removal by paint remover is the current main paint removal method. The workpiece is transported to the paint removal position, the paint remover is manually applied to the surface of the workpiece, and the paint remover is allowed to react with the paint for 10-20 minutes. After the reaction, the paint is manually cleaned by a high-pressure water gun. This generally requires more than 5T of clean water, and 3-4 people work simultaneously. The workers are exposed to a large amount of volatile paint remover, which has high occupational hazards. In addition, the sewage formed by cleaning the paint remover and the paint is discharged into the sewage system, which will cause water pollution.

[0003] This existing paint removal method uses manual paint removal and manual flushing, which is low in overall operation efficiency and is not conducive to fast paint removal.

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

[0005] The present application provides a paint removal method before workpiece flaw detection, which uses image acquisition device and first detection method to cooperate with laser paint removal equipment to realize automatic paint removal, thereby effectively solving the above problems or alleviating the impact of the above problems.

[0006] The paint removal method before workpiece flaw detection of the present application can include the following steps:

[0007] S100. Control the transfer trolley to transport the consignment shelf and the workpiece on the consignment shelf into the processing quiet room;

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

[0009] 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 correct positioning is output, step S500 is performed, and if the abnormal positioning is output, step S400 is performed;

[0010] S400. Control the alarm module to alarm, transport the workpiece out of the processing quiet room, reset the workpiece, and return to step S100;

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

[0012] S600. Control the transfer trolley to transport the consignment shelf and the workpiece out of the machining quiet room;

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

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

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

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

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

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

[0019] S311. Set the direction in which the workpiece enters the machining quiet room as the Y-axis direction, obtain two second positioning points farthest apart along the Y-axis direction of the workpiece image information, and form two second virtual reference surfaces perpendicular to the Y-axis direction and containing the second positioning points;

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

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

[0023] In one embodiment, in the step S320, two first safety planes are preset on the workpiece perpendicularly to the X-axis direction, two second safety planes are preset on the workpiece perpendicularly to the Y-axis direction, and two third safety planes are preset on the workpiece perpendicularly to the Z-axis direction, and the two first safety planes, the two second safety planes and the two third safety planes form a safety fence.

[0024] In one embodiment, the lower third virtual reference plane and the lower third safety plane are the top surface of the transport frame.

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

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

[0027] S520. controlling the end effector of the six-axis robot arm to adjust the position, so that the laser head arranged on the end effector is directed to the paint removal area on the workpiece;

[0028] S530. controlling the generator body to generate laser, and controlling the six-axis robot arm to adjust the position, so that the laser head on the end effector moves in the paint removal area.

[0029] Another aspect of the present application also provides a paint removal system before workpiece inspection, which is applied to the paint removal method before workpiece inspection as described above, and comprises:

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

[0031] An image acquisition device, which comprises a door-shaped frame arranged inside the processing mute room close to one side of the room door, and a plurality of 3D cameras arranged on the door-shaped frame;

[0032] A transfer mechanism, which comprises a transfer trolley and a transport frame arranged on the transfer trolley;

[0033] A laser paint removal device, which is used for removing paint on the surface of the workpiece;

[0034] A central control device, which is used for controlling the image acquisition device, the transfer trolley and the laser paint removal device to work.

[0035] In one embodiment, four camera mounting assemblies are arranged on the door-shaped frame, two of which are symmetrically arranged on the horizontal rod of the door-shaped frame along the X-axis direction, and the remaining two are arranged on the two vertical rods of the door-shaped frame, respectively.

[0036] The camera mounting assembly comprises a main box body which is detachably connected with the door-shaped frame through a mounting piece, and the 3D camera is detachably mounted in the main box body; the 3D camera located on the cross bar of the door-shaped frame downwardly shoots the workpiece, and the 3D cameras located on the two vertical bars of the door-shaped frame shoot the workpiece from the side close to each other.

[0037] In one embodiment, an end of the main box body away from the mounting piece is provided with a panel, a window is arranged in the middle of the panel, and the 3D camera shoots the workpiece through the window;

[0038] The middle of the panel is further provided with a dustproof cavity, the dustproof cavity has a first opening, a dustproof baffle capable of extending out of the first opening is arranged in the dustproof cavity, a miniature air cylinder is mounted on the top end of the main box body through a mounting seat, and an end of the dustproof baffle away from the dustproof cavity is provided with a connecting plate connected with the telescopic rod of the miniature air cylinder.

[0039] In one embodiment, the middle of the top end of the door-shaped frame is provided with an adjusting assembly, the adjusting assembly comprises an adjusting shaft rotatably connected to the middle of the cross bar of the door-shaped frame, an adjusting gear is sleeved on the top of the adjusting shaft, the adjusting gear is provided with a rack at the radial ends in the direction of the Y axis, the two racks are in meshing connection with the adjusting gear, and the mutually far ends of the two racks are connected with the two camera mounting assemblies, respectively.

[0040] Compared with the prior art, the paint removal method for workpieces before flaw detection provided by the application has at least the following beneficial effects:

[0041] The paint removal method for workpieces before flaw detection provided by the application comprises the following steps: transporting the workpiece into a processing mute room by a transfer trolley, obtaining the mounting position of the workpiece by an image acquisition device, confirming that the workpiece position is normal by applying a first detection method, and automatically removing paint by a laser paint removal device. The entire process is programmed and operated, so that the conveying, positioning information judgment and paint removal can be realized by programming instructions in the central control device without manual operation, the processing efficiency is effectively improved, the laser paint removal is performed by the laser paint removal device, the paint removal efficiency is faster and the effect is better compared with paint removal by using a paint removal agent, and there is no environmental pollution.

[0042] The paint removal system for workpieces before flaw detection provided by the application also has the beneficial effects of the paint removal method for workpieces before flaw detection. BRIEF DESCRIPTION OF DRAWINGS

[0043] In the following, the application will be described in more detail based on embodiments and with reference to the drawings.

[0044] Figure 1 is a step flow chart of the paint removal method of the embodiment of the application;

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

[0046] Figure 3 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application; Figure 3 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application;

[0049] Figure 6 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application; Figure 3 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application;

[0050] Figure 7 is a schematic diagram of a mounting structure of a door frame in a paint removal system according to an embodiment of the present application. Figure 3

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

[0052] Reference Signs:

[0053] 1 - processing quiet room, 11 - door,

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

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

[0056] The present application will be further described below with reference to the drawings.

[0057] Example 1

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

[0059] S100. Control the transfer trolley to transport the consignment shelf and the workpiece on the consignment shelf into the processing mute room 1.

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

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

[0062] In some examples, the image acquisition device 2 in step S200 comprises several 3D cameras 23, and the workpiece image information is three-dimensional point cloud data.

[0063] The 3D camera 23 is arranged in the first chamber, the first chamber has a window 224 that can be opened and closed, and the three-dimensional point cloud data refers to a set of vectors in a three-dimensional coordinate system, that is, after shooting 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 comprises the following steps:

[0064] S210. Control the window 224 to be opened;

[0065] S220. Control the 3D camera 23 to scan and shoot the workpiece through the window 224 during the process of the workpiece entering the processing mute room 1;

[0066] S230. Control the window 224 to be closed.

[0067] In this way, by controlling the opening and closing of the window 224, the opening and closing of the first chamber are realized, which effectively prevents dust from covering the surface of the 3D camera 23 and causing unclear images. Further, during the process of the workpiece entering the processing mute room 1, the 3D camera 23 is controlled to scan and shoot the workpiece through the window 224, and each shooting can form several point cloud data, and the smooth curve is connected to the several point cloud data, so that each shooting can obtain a curve, and each curve is a line that fits the surface of the workpiece. Therefore, the workpiece image information is the related parameters of each point on the surface of the workpiece.

[0068] S300. Processing the workpiece image information using the first detection method to output a processing result; the processing result includes correct positioning and abnormal positioning, if the correct positioning is output, step S500 is performed, and if the abnormal positioning is output, step S400 is performed. Through the first detection method, when the workpiece position is abnormal, the user can timely adjust the workpiece position to avoid the situation that the laser paint removal is insufficient due to inaccurate positioning and the like.

[0069] In step S300, the first detection method includes the following steps:

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

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

[0072] S311. Setting the direction of the workpiece entering the processing mute room 1 as the Y-axis direction, obtaining two second positioning points farthest apart in the Y-axis direction of the workpiece image information, and forming two second virtual reference surfaces perpendicular to the Y-axis direction and containing the second positioning points.

[0073] S312. Setting the vertical direction as the Z-axis direction, obtaining two third positioning points farthest apart in the Z-axis direction of the workpiece image information, and forming two third virtual reference surfaces perpendicular to the Z-axis direction and containing the third positioning points.

[0074] S313. Setting the direction perpendicular to the Y-axis direction and the Z-axis direction as the X-axis direction, obtaining two first positioning points farthest apart in the X-axis direction of the workpiece image information, and forming two first virtual reference surfaces perpendicular to the X-axis direction and containing the first positioning points.

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

[0076] In the above, the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other, the first virtual reference surface, the second virtual reference surface, and the third virtual reference surface are perpendicular to each other, the virtual frame is in the form of a cuboid, and the workpiece is located in the cuboid.

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

[0078] The model data of each workpiece is pre-recorded in the database, 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, and each workpiece model also corresponds to the data parameters of a safety fence. In addition, the retrieval method of the database is to convert the workpiece image information into a three-dimensional model, detect the three-dimensional model formed by scanning through a feature detection and matching algorithm, obtain the features of the three-dimensional model, match the features with the pre-recorded workpiece model, so as to retrieve the corresponding workpiece model and obtain the corresponding parameters.

[0079] In some examples, in step S320, two first safety planes are pre-set in the vertical direction of the X axis, two second safety planes are pre-set in the vertical direction of the Y axis, and two third safety planes are pre-set in the vertical direction of the Z axis, and the two first safety planes, the two second safety planes and the two third safety planes form a safety fence.

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

[0081] The safety fence and the virtual frame use the same three-dimensional coordinate system, so the virtual frame formed by scanning the 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 pre-set safety fence, it means that the position of the workpiece deviates from the pre-set position.

[0082] In some examples, the third virtual reference surface located below and the third safety plane located below are the top surface of the transfer frame.

[0083] The two third virtual reference surfaces and the two third safety planes are both arranged in the vertical direction, and the workpiece is installed on the top end of the transfer frame, so the third virtual reference surface located below and the third safety plane located below are the top surface of the transfer frame. That is, during the comparison of the virtual frame and the safety fence, it is not necessary to consider the case that the virtual frame extends downward beyond the safety fence, and therefore it is not necessary to arrange the 3D camera 23 below the workpiece, thereby avoiding the problem that the arrangement of components below the workpiece may interfere with the movement of the transfer vehicle. Alternatively, the origin of the model coordinate system can be set as one of the center point or the four end points of the transfer frame, and the point cloud data is recorded with the origin during the scanning of the 3D camera 23, and when the first safety plane, the second safety plane and the third safety plane are pre-set, the workpiece model is simulated on the transfer frame, and the relevant parameters are also recorded with the origin, so as to ensure that the two have a unified coordinate system and facilitate comparison.

[0084] S400. Control the alarm module to alarm, transport the workpiece out of the machining quiet room 1, reset the workpiece, and return to step S100.

[0085] Wherein, the alarm module of the central control device alarms the user first, the user learns that the workpiece to be stripped of paint has positioning problems, goes to the processing silent room 1, and the central control device controls the transfer trolley to transport the transport frame and the workpiece out of the processing silent room 1. The user checks and processes the workpiece outside the processing silent room 1, fixes the workpiece to the transport frame after processing, and waits for the workpiece to be stripped of paint again. The alarm module can be a buzzer installed outside the processing silent room 1 to remind the user by sound, or a pop-up program set in the computer to pop up a pop-up window on the operation interface or control interface to remind the user. Further, the above-mentioned checking and processing includes checking whether other parts are installed on the workpiece, whether hard objects appear, whether dust or hard objects are attached to the surface of the workpiece, etc.

[0086] S500. Control the laser paint stripping device 3 to strip paint on the surface of the workpiece.

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

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

[0089] S520. Control the end effector of the six-axis robot arm 33 to adjust the position, so that the laser head 342 provided on the end effector faces the area to be stripped of paint 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 in the area to be stripped of paint.

[0091] Wherein, because the volume of the workpiece is increased, the six-axis robot arm 33 cannot completely cover all the areas to be stripped of paint at one time, so the workpiece is divided into several areas to be stripped of paint along the Z-axis direction and the Y-axis direction, steps S510 to S530 are performed multiple times for each area to be stripped of paint, and laser paint stripping operation is performed on each area to be stripped of paint. In addition, the laser head 342 facing the area to be stripped of paint on the workpiece means that the laser emitted by the laser head 342 falls on the area to be stripped of paint, and the movement in step S530 means that the laser landing point moves in the area to be stripped of paint. The laser landing point has high energy and can vaporize paint at a very fast speed to achieve the purpose of paint stripping.

[0092] S600. Control the transfer trolley to transport the transport frame and the workpiece out of the processing silent room 1. The user can take down the workpiece, replace another workpiece to be stripped of paint, repeat step S100, and perform paint stripping again. Before the transfer trolley transports the workpiece, the laser head 342 needs to move in all the areas to be stripped of paint, i.e. the laser landing point moves through all the areas to be stripped of paint, and all the paint on the surface of the workpiece is removed.

[0093] In summary, the paint removal method before workpiece inspection has the following advantages:

[0094] The paint removal method of the present application transports the workpiece into the processing quiet room by the transfer trolley, obtains the installation position of the workpiece by the image acquisition device, and confirms that the workpiece position is normal by the first detection method. Then, the automatic paint removal is performed by the laser paint removal equipment. The entire process is programmed and operated, so that the transportation, positioning information judgment and paint removal can be realized by the programming instructions in the central control device without manual operation, thereby effectively improving the processing efficiency. Moreover, the laser paint removal is performed by the laser paint removal equipment, which is faster and better than using paint removal agent, and does not pollute the environment. The paint removal method of the present application is designed with an image acquisition device and a first detection method. The image acquisition device collects each virtual reference surface of the workpiece, and the virtual frame formed by surrounding the virtual reference surface contains the entire workpiece. Therefore, when the virtual frame exceeds the safety fence, the workpiece position is abnormal, and the user can timely adjust the workpiece position to avoid the inaccurate positioning causing insufficient laser paint removal.

[0095] Example 2

[0096] Based on the paint removal method steps of the above-mentioned example 1, as shown in the following table, Figures 2-7 the present application provides a paint removal system before workpiece inspection, which can be applied to the above-mentioned paint removal method, comprising:

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

[0098] The image acquisition device 2 comprises a door-shaped frame 21 arranged inside the processing quiet room 1 near one side of the door 11, and a plurality of 3D cameras 23 arranged on the door-shaped frame 21;

[0099] The transfer mechanism (not shown in the figure) comprises a transfer trolley and a transfer rack arranged on the transfer trolley;

[0100] The laser paint removal equipment 3 is used for removing the paint on the surface of the workpiece;

[0101] The central control device (not shown in the figure) is used for controlling the work of the image acquisition device 2, the transfer trolley and the laser paint removal equipment 3.

[0102] 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 here. Optionally, the bottom end of the door 11 is provided with a guide rail extending along the X-axis direction, and a guide rail wheel movable along the guide rail. A micro motor is arranged on the door 11 to control the rotation of the guide rail wheel. The forward or reverse rotation of the micro motor can be controlled by the central control device to realize the forward or reverse rolling of the guide rail wheel, drive the door 11 to open or close, further improve the degree of automation, reduce the time waste caused by manual operation, and improve the paint removal efficiency.

[0103] In some examples, four camera mounting assemblies 22 are arranged on the door-shaped frame 21, two of which are symmetrically arranged on the horizontal rod of the door-shaped frame 21 along the X-axis direction, and the remaining two are arranged on the two vertical rods of the door-shaped frame 21.

[0104] The camera mounting assembly 22 comprises a main box body 221 which is detachably connected to the door-shaped frame 21 through a mounting piece 222, and a 3D camera 23 which is detachably mounted inside the main box body 221. The 3D camera 23 arranged on the horizontal rod of the door-shaped frame 21 downwardly photographs the workpiece, and the 3D camera 23 arranged on the two vertical rods of the door-shaped frame 21 photographs the workpiece towards the side close to each other.

[0105] As shown in Figure 2 and Figure 3 , during the process of transporting the consignment frame and the workpiece into the processing mute room 1 by the transfer trolley, the four 3D cameras 23 quickly photograph the workpiece, and the photographing range 25 can be referred to Figure 3 . Each photographing can form a plurality of point cloud data, and a smooth curve is used to connect the plurality of point cloud data. In this way, each photographing can obtain a curve, and each curve is a line fitting the surface of the workpiece. After all the curves are combined, the outer surface of the workpiece can be formed, and thus the image information of the workpiece is the related parameters of each point on the outer surface of the workpiece. The inside of the main box body 221 is the first chamber. Optionally, as shown in Figure 5 , a threaded stud 231 is arranged at the top end of the 3D camera 23, a through hole is arranged at one end of the main box body 221, and a nut 232 is threadedly connected to the threaded stud 231 through the through hole. The nut 232 abuts against the outer wall of the main box body 221 to realize locking, so as to realize the detachable connection between the 3D camera 23 and the main box body 221, and ensure the stability of the 3D camera 23 after installation.

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

[0107] The middle of the panel 223 is also provided with a dustproof cavity 225, the dustproof cavity 225 has a first opening, a dustproof baffle 226 capable of extending out of the first opening is arranged inside the dustproof cavity 225, a miniature pneumatic cylinder 228 is mounted on the top end of the main box body 221 through a mounting seat 227, and a connecting plate 229 is arranged at the end of the dustproof baffle 226 away from the dustproof cavity 225. The connecting plate 229 is connected with the telescopic rod of the miniature pneumatic cylinder 228.

[0108] As shown in Figure 4 and Figure 5As shown, the camera mounting assembly 22 further comprises an electromagnetic valve 2210 connected with the micro-cylinder 228. The central control device can send a starting instruction to the electromagnetic valve 2210, the electromagnetic 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 dustproof baffle 226 to extend from the dustproof cavity 225 along the first opening, and the 3D camera 23 can shoot the workpiece through the window 224; after shooting, the central control device sends a closing instruction to the electromagnetic valve 2210, the electromagnetic 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 dustproof baffle 226 to retract into the dustproof cavity 225 along the first opening, and seals the window 224, which plays a sealing and dustproof role. Optionally, a dust collector is arranged in the processing silent room 1, and dust or gas generated by laser paint removal is discharged outward, further improving the dustproof effect.

[0109] In some examples, as shown in FIG. 1, the door-shaped frame 21 comprises a main box body 221, and a plurality of camera mounting assemblies 22 are arranged on the main box body 221. Figure 6 As shown in FIG. 2, the mounting member 222 can comprise a connecting straight plate 2221 detachably connected with the main box body 221, and a connecting folded plate 2222 threadedly connected with the connecting straight plate 2221, the connecting folded plate 2222 and the connecting straight plate 2221 have a first channel, the door-shaped frame 21 is inserted into the first channel, and the outer edge is fitted with the inner edge of the first channel.

[0110] In some examples, as shown in FIG. 1, the door-shaped frame 21 comprises a main box body 221, and a plurality of camera mounting assemblies 22 are arranged on the main box body 221. Figure 7 As shown in FIG. 2, the mounting member 222 can comprise a connecting straight plate 2221 detachably connected with the main box body 221, and a connecting folded plate 2222 threadedly connected with the connecting straight plate 2221, the connecting folded plate 2222 and the connecting straight plate 2221 have a first channel, the door-shaped frame 21 is inserted into the first channel, and the outer edge is fitted with the inner edge of the first channel.

[0111] As shown in FIG. 2, the door-shaped frame 21 comprises a main box body 221, and a plurality of camera mounting assemblies 22 are arranged on the main box body 221. Figure 7As shown, the adjusting shaft 241 is rotated to drive the adjusting gear 242 to rotate, and through the meshing effect, the two racks 243 are driven to move along the X-axis direction, and in turn, the two camera mounting assemblies 22 are synchronously approached or synchronously moved away, so as to ensure the symmetrical arrangement of the two camera mounting assemblies 22 and the corresponding 3D cameras 23, and facilitate subsequent adjustment of the positions of the two camera mounting assemblies 22. In addition, the rack 243 is connected with the connecting flap 2222, and before the position is adjusted, the locking bolt 2223 needs to be rotated to be unlocked, so as to avoid the case that the mounting part 222 cannot be moved due to the abutment of the door-shaped frame 21. Optionally, the bottom end of the adjusting shaft 241 is also provided with an adjusting handle 244, so as to facilitate the user to manually rotate the adjusting shaft 241.

[0112] In some examples, as Figure 2 and Figure 3 The laser paint removal device 3 comprises:

[0113] An eight-axis linkage mechanism comprises two ground rails 31 distributed at two ends inside the processing mute room 1 along the X-axis direction, the lengths of the two ground rails 31 are along the Y-axis direction, the slide tables of the two ground rails 31 are each provided with a lifting device 32, the ground rail 31 drives the slide table and the lifting device 32 of the ground rail 31 to move along the Y-axis direction, the slide tables of the two lifting devices 32 are each provided with a six-axis mechanical arm 33, and the lifting device 32 drives the slide table and the six-axis mechanical arm 33 of the lifting device 32 to move along the Z-axis direction.

[0114] A laser generating device 34 comprises two generator main bodies 341 arranged between the two ground rails 31, and the laser heads 342 of the two generator main bodies 341 are respectively arranged on the end effectors of the two six-axis mechanical arms 33.

[0115] As Figure 1 and Figure 2 shown, the workpiece is divided into a plurality of paint removal areas, the ground rail 31 and the lifting device 32 are controlled by the central control device to drive the six-axis mechanical arm 33 to move to one paint removal area, and then the six-axis mechanical arm 33 drives the laser head 342 to move to remove paint from the paint removal area, and after the operation is completed, the ground rail 31 and the lifting device 32 are controlled to drive the six-axis mechanical arm 33 to move to another paint removal area, and the above operation is repeated to remove paint from all paint removal areas.

[0116] In summary, the paint removal system before workpiece flaw detection of the present application has at least the following beneficial effects:

[0117] The paint removal system of the present application is provided with a camera mounting assembly, and the dustproof baffle is driven by a micro-cylinder to slide out of or return to the dustproof cavity, so as to realize the opening and closing of the window. The 3D camera shoots the workpiece through the window to obtain the image information of the workpiece, and effectively prevents dust from covering the surface of the 3D camera to cause unclear image. Further, the paint removal system of the present application is provided with a solenoid valve, which can change the action of the micro-cylinder, i.e. change the moving direction of the dustproof baffle driven by the micro-cylinder. The solenoid valve is controlled by the central control device to start or stop, so as to realize the purpose of automatic closing after the 3D camera finishes shooting, and improve the automatic operation of the image acquisition device.

[0118] The paint removal system of the present application is further provided with an adjusting assembly. By rotating the adjusting shaft, the adjusting gear drives the rack to move, and the corresponding camera mounting assembly is moved. Since the workpiece is large, the two 3D cameras on the horizontal rod of the door type frame need to be symmetrically arranged. The rack moves to drive the corresponding two camera mounting assemblies to move synchronously, which facilitates the user to adjust the positions of the two 3D cameras, avoids the shooting dead angle or error caused by asymmetry, and improves the adjusting efficiency and accuracy when the workpiece needs to be adjusted again.

[0119] Although the present application has been described with reference to the preferred embodiments, various modifications can be made to it without departing from the scope of the present application, and equivalent components can be substituted therefor. In particular, the technical features mentioned in each embodiment can be combined in any manner as long as there is no structural conflict. The present application 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 of removing paint from a workpiece prior to inspection, characterized by, The paint removal method comprises the following steps: S100. Control the transfer trolley to transport the consignment shelf and the workpiece on the consignment shelf into the processing quiet room; S200. Control the image acquisition device to shoot the workpiece to obtain workpiece image information; S300. Process the workpiece image information using a first detection method, and output a processing result; the processing result comprises correct positioning and abnormal positioning; if correct positioning is output, step S500 is performed; if abnormal positioning is output, step S400 is performed; S400. Control the alarm module to alarm, transport the workpiece out of the processing quiet room, and reset the workpiece, and return to step S100; S500. Control the laser paint removal equipment to remove paint from the surface of the workpiece; S600. Control the transfer trolley to transport the consignment shelf and the workpiece out of the processing quiet room; In step S300, the first detection method comprises the following steps: S310. Obtain a virtual frame of the workpiece image information; S320. Retrieve a database to obtain a corresponding workpiece model and a safety fence corresponding to the workpiece model; S330. Compare the virtual frame with the safety fence; if the virtual frame is located within the safety fence, correct positioning is output; if the virtual frame is located outside the safety fence, abnormal positioning is output; Step S310 specifically comprises the following steps: S311. Set the direction in which the workpiece enters the processing quiet room as the Y-axis direction, obtain two second positioning points of the workpiece image information that are farthest apart along the Y-axis direction, and form two second virtual reference surfaces that are perpendicular to the Y-axis direction and contain the second positioning points; S312. Set the vertical direction as the Z-axis direction, obtain two third positioning points of the workpiece image information that are farthest apart along the Z-axis direction, and form two third virtual reference surfaces that are perpendicular to the Z-axis direction and contain 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 two first positioning points of the workpiece image information that are farthest apart along the X-axis direction, and form two first virtual reference surfaces that are perpendicular to the X-axis direction and contain the first positioning points; S314. Enclose the two first virtual reference surfaces, the two second virtual reference surfaces, and the two third virtual reference surfaces to form a virtual frame; In step S320, the workpiece is provided 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 enclose a safety fence.

2. The method according to claim 1, wherein The image acquisition device in step S200 comprises a plurality of 3D cameras, and the workpiece image information is three-dimensional point cloud data.

3. The method according to claim 1, wherein The lower third virtual reference surface and the lower third safety plane are the top surface of the consignment shelf.

4. The method according to claim 3, wherein Step S500 specifically comprises the following steps: S510. Driving the six-axis robot to move to the area to be removed paint along the Z-axis direction and the Y-axis direction; S520. Adjusting the position of the end effector of the six-axis robot, so that the laser head arranged on the end effector is directed to the area to be removed paint on the workpiece; S530. Controlling the generator body to generate laser, and controlling the six-axis robot to adjust the position, so that the laser head on the end effector moves in the area to be removed paint.

5. A paint removal system for use prior to inspection of a workpiece, characterized by, The paint removal system is applied to the paint removal method before the workpiece is inspected, and the paint removal system comprises: A processing mute room, which is provided with a room door at one end along the Y-axis direction; An image acquisition device, which comprises a door frame arranged inside the processing mute room close to one side of the room door, and a plurality of 3D cameras arranged on the door frame; A transfer mechanism, which comprises a transfer trolley and a shipping rack arranged on the transfer trolley; A laser paint removal device for removing paint on the surface of the workpiece; A central control device for controlling the image acquisition device, the transfer trolley and the laser paint removal device to work.

6. The paint removal system for use prior to inspection of a workpiece of claim 5, wherein, Four camera mounting assemblies are arranged on the door frame, two of which are symmetrically arranged on the horizontal rod of the door frame along the X-axis direction, and the remaining two are arranged on the two vertical rods of the door frame, respectively. The camera mounting assembly comprises a main box body, which is detachably connected with the door frame through a mounting piece, and the 3D camera is detachably arranged in the main box body; the 3D cameras arranged on the horizontal rod of the door frame shoot the workpiece downward, and the 3D cameras arranged on the two vertical rods of the door frame shoot the workpiece toward the side close to each other.

7. The paint removal system for use prior to inspection of a workpiece of claim 6, wherein, One end of the main box body away from the mounting piece is provided with a panel, and a window is arranged in the middle of the panel, and the 3D camera shoots the workpiece through the window; The middle of the panel is also provided with a dustproof cavity, the dustproof cavity has a first opening, the dustproof cavity is provided with a dustproof baffle capable of extending out of the first opening, a micro-cylinder is installed on the top end of the main box body through a mounting seat, and one end of the dustproof baffle away from the dustproof cavity is provided with a connecting plate connected with the telescopic rod of the micro-cylinder.

8. The paint removal system for pre-inspection of workpieces of claim 6, wherein, An adjusting assembly is arranged in the middle of the top end of the door frame, the adjusting assembly comprises an adjusting shaft rotatably connected to the middle of the horizontal rod of the door frame, an adjusting gear is sleeved on the top of the adjusting shaft, and a rack is arranged at the radially opposite ends of the adjusting gear along the Y-axis direction, both racks are in meshing connection with the adjusting gear, and the mutually remote ends of the two racks are connected with the two camera mounting assemblies, respectively.

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