Robot automatic sand blasting equipment based on machine vision technology

Abstract

The invention discloses robot automatic sand blasting equipment based on a machine vision technology, and relates to the technical field of sand blasting equipment, the robot automatic sand blasting equipment comprises a base, an electric control system and a robot body, and further comprises a moving assembly arranged on the base; the adjusting assembly is arranged on the moving assembly; the machine vision assembly is arranged on the adjusting assembly and used for measuring and obtaining three-dimensional information of the workpiece; the dustproof assembly is arranged on the moving assembly and used for providing dustproof protection for the machine vision assembly; the sand blasting assembly is arranged on the robot body and used for being matched with the robot body to conduct sand blasting work; the telescopic movement of the electric telescopic rod fixed on the dustproof box through the first fixing block drives the second fixing block fixedly connected to the electric telescopic rod and the sealing door connected with the second fixing block to move, so that the machine vision assembly can work conveniently, the dustproof effect can be achieved, the dustproof capacity of the machine vision structure is improved, and the service life of the machine vision structure is prolonged. And the sand blasting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sandblasting equipment, and in particular to a robot automatic sandblasting equipment based on machine vision technology. Background Art

[0002] Sandblasting is a surface treatment process. Using compressed air as a power source, a high-speed jet beam is used to project abrasive material (copper ore sand, quartz sand, corundum, iron sand, or sea sand) onto the workpiece surface, altering its appearance or shape. The impact and cutting action of the abrasive imparts a certain degree of cleanliness and varying degrees of roughness to the workpiece surface, improving its mechanical properties. This enhances fatigue resistance, increases adhesion to the coating, extends coating durability, and facilitates coating leveling and decorative effects. Robotic sandblasting equipment, powered by machine vision technology, is a highly automated and intelligent surface treatment device.

[0003] Although existing robotic sandblasting equipment can reduce workers' workload through machine vision technology, a large amount of sand dust will be generated when the sandblasting device is performing sandblasting. A large amount of sand dust will float to the machine vision mechanism, causing the vision mechanism to be covered with sand dust, making it impossible for the machine vision mechanism to perform detection and scanning work. It needs to be shut down and manually cleaned, which in turn reduces the dust-proof effect of the machine vision mechanism in the equipment and reduces the sandblasting efficiency. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a robot automatic sandblasting equipment based on machine vision technology, aiming to solve the technical problem that the dustproof effect of the machine vision mechanism in the above-mentioned equipment is not high, which reduces the sandblasting efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A robot automatic sandblasting device based on machine vision technology includes a base, an electronic control system, a robot body, and also includes: A moving component, disposed on the base, for expanding the sandblasting range of the robot body; An adjusting component, disposed on the moving component, for adjusting a position of visual measurement; A machine vision component, disposed on the adjustment component, for measuring and obtaining three-dimensional information of the workpiece; A dustproof component, disposed on the mobile component, for providing dustproof protection for the machine vision component; The sandblasting component is arranged on the robot body and is used for cooperating with the robot body to perform sandblasting work.

[0006] Preferably, the moving component comprises: A track is fixedly connected to the base, and the track is slidably connected to the moving platform; A limit plate is provided on the base and fixedly connected to the base, and the limit plate is fixedly connected to the track; An installation frame fixedly connected to the limit plate; The driving motor is fixedly connected to the mounting frame.

[0007] Preferably, the moving component further comprises: A bearing is provided on the limit plate and fixedly connected to the limit plate; a threaded rod, detachably connected to the bearing, the threaded rod being fixedly connected to the output shaft of the drive motor, and the threaded rod being threadedly connected to the moving platform; A first chute is provided on the movable platform; The first roller is arranged on the first sliding groove and is rotationally connected to the moving platform. The first roller is rollingly connected to the track.

[0008] Preferably, the adjustment component comprises: A first multi-stage electro-hydraulic push rod is fixedly connected to the dustproof box; a slider fixedly connected to the first multi-stage electro-hydraulic push rod; a second chute, disposed on the movable platform; a second roller, disposed on the second slide groove and rollingly connected to the movable platform, and the second roller is rotationally connected to the slider; The second multi-stage electro-hydraulic push rod is fixedly connected to the sliding block.

[0009] Preferably, the machine vision component comprises: A mounting plate fixedly connected to the second multi-stage electro-hydraulic push rod; A support cylinder is provided on the mounting plate and is fixedly connected to the mounting plate; A first servo motor is fixedly connected to the mounting plate; The rotating plate is fixedly connected to the output shaft of the first servo motor, and the rotating plate is rotatably connected to the supporting cylinder.

[0010] Preferably, the machine vision component further comprises: A bracket, disposed on the rotating plate and fixedly connected to the rotating plate; a second servo motor, fixedly connected to the bracket; a laser scanner fixedly connected to the output shaft of the second servo motor, the laser scanner being rotatably connected to the bracket; A high-resolution industrial camera is arranged on the laser scanner and fixedly connected to the laser scanner.

[0011] Preferably, the dustproof component includes: A dustproof box, fixedly connected to the mobile platform; A sealing door, slidably connected to the dustproof box; a first fixing block, fixedly connected to the dustproof box; a second fixing block, fixedly connected to the sealing door; The electric telescopic rod is fixedly connected to the first fixing block and the second fixing block.

[0012] Preferably, the sandblasting assembly comprises: A mounting column is provided on the robot body and is detachably connected to the robot body; A connecting plate, fixedly connected to the mounting post; A sand transport hose is fixedly connected to the connecting plate; A connecting pipe, threadedly connected to the connecting plate; a sealing ring, disposed on the connecting pipe and fixedly connected to the connecting pipe; The nozzle is fixedly connected to the sealing ring.

[0013] Preferably, a plurality of first rollers are provided and are evenly distributed on the first chute.

[0014] Preferably, the robot body is fixed to the moving platform by bolts.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: Through the setting of the dust-proof component, the telescopic movement of the electric telescopic rod fixed to the dust-proof box by the first fixed block drives the movement of the second fixed block fixedly connected to the electric telescopic rod and the sealing door connected to the second fixed block, so that it is convenient for the machine vision component to work and the dust-proof effect can be achieved, thereby improving the dust-proof ability of the machine vision structure in the sandblasting equipment and improving the sandblasting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1A three-dimensional structural schematic diagram of a robotic automatic sandblasting device based on machine vision technology is shown.

[0018] Figure 2 A first partial cross-sectional view of a robot automatic sandblasting device based on machine vision technology is shown.

[0019] Figure 3 Show Figure 2 A local enlarged schematic diagram of point A in the middle.

[0020] Figure 4 A second partial cross-sectional view of a robot automatic sandblasting device based on machine vision technology is shown.

[0021] Figure 5 Shown Figure 4 A partial enlarged schematic diagram of point B in the middle.

[0022] Figure 6 A third partial cross-sectional view of a robot automatic sandblasting device based on machine vision technology is shown.

[0023] Figure 7 Shown Figure 6 A partial enlarged schematic diagram of point C in the middle.

[0024] Figure 8 Shown Figure 6 A local enlarged schematic diagram of point D in the middle.

[0025] Legend: 1. Base; 2. Electronic control system; 3. Robot body; 4. Moving platform; 5. Dustproof box; 6. Sealing door; 7. First fixed block; 8. Second fixed block; 9. Electric telescopic rod; 10. Track; 11. Limit plate; 12. Mounting frame; 13. Drive motor; 14. Bearing; 15. Threaded rod; 16. First slide; 17. First roller; 18. First multi-stage electro-hydraulic push rod; 19. Slider; 20. Second slide; 21. Second roller; 22. Second multi-stage electro-hydraulic push rod; 23. Mounting plate; 24. Support cylinder; 25. First servo motor; 26. Rotating plate; 27. Bracket; 28. Second servo motor; 29. ​​Laser scanner; 30. High-resolution industrial camera; 31. Mounting column; 32. Connecting plate; 33. Sand transport hose; 34. Connecting pipe; 35. Sealing ring; 36. Nozzle. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0028] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0030] Reference Figures 1 to 8 An embodiment of a robot automatic sandblasting equipment based on machine vision technology of the present invention is further described.

[0031] A robot automatic sandblasting device based on machine vision technology includes a base 1, an electric control system 2, and a robot body 3. The robot body 3 is fixed to the moving platform 4 by bolts, and further includes: The mobile component is provided on the base 1 and is used to expand the sandblasting range of the robot body 3. The mobile component includes: The track 10 is fixedly connected to the base 1 and is slidably connected to the moving platform 4; The limiting plate 11 is provided on the base 1 and fixedly connected to the base 1. The limiting plate 11 is fixedly connected to the track 10; The mounting frame 12 is fixedly connected to the limiting plate 11; The driving motor 13 is fixedly connected to the mounting frame 12; The bearing 14 is provided on the limiting plate 11 and is fixedly connected to the limiting plate 11; The threaded rod 15 is detachably connected to the bearing 14 , the threaded rod 15 is fixedly connected to the output shaft of the drive motor 13 , and the threaded rod 15 is threadedly connected to the movable platform 4 ; The first chute 16 is provided on the movable platform 4; The first roller 17 is disposed on the first chute 16 and is rotatably connected to the movable platform 4 . The first roller 17 is rollingly connected to the track 10 . There are a plurality of first rollers 17 , which are evenly distributed on the first chute 16 .

[0032] Start the drive motor 13, and the output shaft of the drive motor 13 rotates to drive the threaded rod 15 fixedly connected to the output shaft of the drive motor 13 to rotate, thereby driving the movable platform 4 threadedly connected to the threaded rod 15 and restricted by the sliding track 10 to move, and the first roller 17 rotatably connected on the movable platform 4 is rollingly connected to the track 10, so the robot body 3 fixed on the movable platform 4 can move stably along the track 10 until the robot body 3 moves to the top of the middle part of the workpiece to be sandblasted, and then the drive motor 13 is turned off to achieve the effect of driving the robot body 3.

[0033] Reference Figures 1 to 8 , an adjustment component is provided on the mobile component and is used to adjust the position of the visual measurement. The adjustment component includes: The first multi-stage electro-hydraulic push rod 18 is fixedly connected to the dustproof box 5; The slider 19 is fixedly connected to the first multi-stage electro-hydraulic push rod 18; The second chute 20 is provided on the movable platform 4; The second roller 21 is disposed on the second slide groove 20 and is in rolling connection with the movable platform 4. The second roller 21 is in rotational connection with the slider 19. The second multi-stage electro-hydraulic push rod 22 is fixedly connected to the slider 19 .

[0034] Start the first multi-stage electro-hydraulic push rod 18, the first multi-stage electro-hydraulic push rod 18 extends and drives the slider 19 fixedly connected to the first multi-stage electro-hydraulic push rod 18 to move, and since the second roller 21 rotatably connected to the slider 19 is rollingly connected to the movable platform 4, the slider 19 can move smoothly, and the movement of the slider 19 drives the second multi-stage electro-hydraulic push rod 22 fixedly connected to the slider 19 to move, thereby driving the machine vision component on the second multi-stage electro-hydraulic push rod 22 to move, until the slider 19 moves to the end of the second slide groove 20 away from the dustproof box 5, close the first multi-stage electro-hydraulic push rod 18, start the second multi-stage electro-hydraulic push rod 22, the second multi-stage electro-hydraulic push rod 22 extends and drives the machine vision component on the second multi-stage electro-hydraulic push rod 22 to move, thereby achieving the effect of automatically adjusting the machine vision.

[0035] Reference Figures 1 to 8 The machine vision component is provided on the adjustment component and is used to measure and obtain the three-dimensional information of the workpiece. The machine vision component includes: The mounting plate 23 is fixedly connected to the second multi-stage electro-hydraulic push rod 22; The support cylinder 24 is provided on the mounting plate 23 and is fixedly connected to the mounting plate 23; The first servo motor 25 is fixedly connected to the mounting plate 23; The rotating plate 26 is fixedly connected to the output shaft of the first servo motor 25, and the rotating plate 26 is rotatably connected to the support cylinder 24; The bracket 27 is provided on the rotating plate 26 and is fixedly connected to the rotating plate 26; The second servo motor 28 is fixedly connected to the bracket 27; The laser scanner 29 is fixedly connected to the output shaft of the second servo motor 28, and the laser scanner 29 is rotatably connected to the bracket 27; The high-resolution industrial camera 30 is disposed on the laser scanner 29 and is fixedly connected to the laser scanner 29 .

[0036] Start the first servo motor 25, and the output shaft of the first servo motor 25 rotates to drive the rotating plate 26 fixedly connected to the output shaft of the first servo motor 25 to rotate, thereby driving the bracket 27 fixedly connected to the rotating plate 26 to rotate. The rotation of the bracket 27 drives the laser scanner 29 rotatably connected to the bracket 27 and the high-resolution industrial camera 30 fixed on the laser scanner 29 to rotate horizontally. Start the second servo motor 28, and the output shaft of the second servo motor 28 rotates to drive the laser scanner 29 fixedly connected to the output shaft of the second servo motor 28 and the high-resolution industrial camera 30 fixed on the laser scanner 29 to rotate, so that the laser scanner 29 and the high-resolution industrial camera 30 can completely scan the oversized workpiece and obtain three-dimensional information of the workpiece, thereby effectively improving the accuracy of providing the precise spatial information required for the robot to plan the sandblasting path.

[0037] Reference Figures 1 to 8 , dustproof component, set on the mobile component, used to provide dustproof protection for the machine vision component, the dustproof component includes: A dustproof box 5 is fixedly connected to the mobile platform 4; A sealing door 6 is slidably connected to the dustproof box 5; A first fixing block 7 is fixedly connected to the dustproof box 5; The second fixing block 8 is fixedly connected to the sealing door 6; The electric telescopic rod 9 is fixedly connected to the first fixed block 7 and the second fixed block 8.

[0038] Start the electric telescopic rod 9, the electric telescopic rod 9 extends, thereby driving the second fixed block 8 fixedly connected to the electric telescopic rod 9 to move, and the movement of the second fixed block 8 drives the sealing door 6 fixedly connected to the second fixed block 8 to move, until the sealing door 6 opens to a degree that facilitates the adjustment component and the machine vision component to enter and exit the dustproof box 5, close the electric telescopic rod 9, and when the machine vision component detection work is completed and retracted into the dustproof box 5, start the electric telescopic rod 9 so that the sealing door 6 seals the dustproof box 5, thereby effectively preventing sand and dust from falling on the machine vision component during sandblasting.

[0039] Through the setting of the dustproof component, the telescopic movement of the electric telescopic rod 9 fixed to the dustproof box 5 by the first fixed block 7 drives the second fixed block 8 fixedly connected to the electric telescopic rod 9 and the sealing door 6 connected to the second fixed block 8 to move, so that it is convenient for the machine vision component to work and the dustproof effect can be achieved, thereby improving the dustproof ability of the machine vision structure in the sandblasting equipment and improving the sandblasting efficiency.

[0040] Reference Figures 1 to 8 The sandblasting component is provided on the robot body 3 and is used to cooperate with the robot body 3 to perform sandblasting. The sandblasting component includes: The mounting column 31 is provided on the robot body 3 and is detachably connected to the robot body 3; The connecting plate 32 is fixedly connected to the mounting post 31; The sand transport hose 33 is fixedly connected to the connecting plate 32; The connecting pipe 34 is threadedly connected to the connecting plate 32; The sealing ring 35 is provided on the connecting pipe 34 and is fixedly connected to the connecting pipe 34; The nozzle 36 is fixedly connected to the sealing ring 35 .

[0041] When the nozzle 36 needs to be replaced, the nozzle 36 is twisted, and the rotation of the nozzle 36 drives the sealing ring 35 fixedly connected to the nozzle 36 to rotate, thereby driving the connecting pipe 34 fixedly connected to the sealing ring 35 to rotate until the connecting pipe 34 is detached from the threaded connecting plate 32, thereby achieving a quick and convenient replacement effect.

[0042] Working principle: Refer to Figures 1 to 8 The drive motor 13 is started by the electronic control system 2. The output shaft of the drive motor 13 rotates to drive the threaded rod 15 fixedly connected to the output shaft of the drive motor 13 to rotate, thereby driving the moving platform 4 threadedly connected to the threaded rod 15 and restricted by the sliding track 10 to move, and the first roller 17 rotatably connected on the moving platform 4 is rollingly connected to the track 10, so the robot body 3 fixed on the moving platform 4 can stably move along the track 10 until the robot body 3 moves to the top of the middle part of the workpiece to be sandblasted. Then, the drive motor 13 is turned off to achieve the effect of driving the robot body 3. The electric telescopic rod 9 is started, and the electric telescopic rod 9 extends, thereby driving the second fixed block 8 fixedly connected to the electric telescopic rod 9 to move. The movement of the second fixed block 8 drives the sealing door 6 fixedly connected to the second fixed block 8 to move until the sealing door 6 opens to a degree that facilitates the adjustment component and the machine vision component to enter and exit the dustproof box 5. The electric telescopic rod 9 is closed; Reference Figures 1 to 8, start the first multi-stage electro-hydraulic push rod 18, the first multi-stage electro-hydraulic push rod 18 extends and moves, thereby driving the slider 19 fixedly connected to the first multi-stage electro-hydraulic push rod 18 to move, and because the second roller 21 rotatably connected to the slider 19 is rollingly connected to the movable table 4, the slider 19 can move smoothly, and the movement of the slider 19 drives the second multi-stage electro-hydraulic push rod 22 fixedly connected to the slider 19 to move, thereby driving the machine vision component on the second multi-stage electro-hydraulic push rod 22 to move, until the slider 19 moves to the end of the second chute 20 away from the dustproof box 5, close the first multi-stage electro-hydraulic push rod 18, start the second multi-stage electro-hydraulic push rod 22, the second multi-stage electro-hydraulic push rod 22 extends and moves the machine vision component on the second multi-stage electro-hydraulic push rod 22, until the laser scanner 29 and the high-resolution industrial camera 30 on the machine vision component can completely scan the workpiece, obtain three-dimensional information of the workpiece, and provide the robot with precise spatial information required for sandblasting path planning, thereby achieving automatic adjustment of the machine vision effect; Reference Figures 1 to 8 When the workpiece is too large and the machine vision component cannot completely scan the workpiece at the highest height, the first servo motor 25 is started, and the output shaft of the first servo motor 25 rotates to drive the rotating plate 26 fixedly connected to the output shaft of the first servo motor 25 to rotate, thereby driving the bracket 27 fixedly connected to the rotating plate 26 to rotate. The rotation of the bracket 27 drives the laser scanner 29 rotatably connected to the bracket 27 and the high-resolution industrial camera 30 fixed on the laser scanner 29 to rotate horizontally. The second servo motor 28 is started, and the output shaft of the second servo motor 28 rotates to drive the laser scanner 29 fixedly connected to the output shaft of the second servo motor 28 and the high-resolution industrial camera 30 fixed on the laser scanner 29 to rotate, so that the laser scanner 29 and the high-resolution industrial camera 30 can completely scan the oversized workpiece, thereby achieving the effect of more effectively and accurately obtaining three-dimensional information of the workpiece; The robot body 3 is started. The robot body 3 obtains three-dimensional information of the workpiece based on the laser scanner 29 and the high-resolution industrial camera 30, and drives the nozzle 36 fixed to the robot body 3 through the mounting column 31 and the connecting plate 32. The high-pressure abrasive material transported by the sand transport hose 33 is sprayed from the nozzle 36 along the sand blasting path onto the workpiece, achieving an automatic and precise spraying effect. Reference Figures 1 to 8 When the nozzle 36 needs to be replaced, twist the nozzle 36. The rotation of the nozzle 36 drives the sealing ring 35 fixedly connected to the nozzle 36 to rotate, thereby driving the connecting pipe 34 fixedly connected to the sealing ring 35 to rotate until the connecting pipe 34 is detached from the threaded connecting plate 32, achieving a quick and convenient replacement effect.

[0043] The above description of the embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot automatic sandblasting device based on machine vision technology, comprising a base (1), an electric control system (2), and a robot body (3), characterized in that: Also includes: A moving component, arranged on the base (1), for expanding the sandblasting range of the robot body (3); An adjusting component, disposed on the moving component, for adjusting a position of visual measurement; A machine vision component, disposed on the adjustment component, for measuring and obtaining three-dimensional information of the workpiece; A dustproof component, disposed on the mobile component, for providing dustproof protection for the machine vision component; A mobile platform (4) is used to provide a space for installing the dustproof component; The dustproof component includes: A dustproof box (5) fixedly connected to the mobile platform (4); A sealing door (6) is slidably connected to the dustproof box (5); A first fixing block (7) is fixedly connected to the dustproof box (5); A second fixing block (8) is fixedly connected to the sealing door (6); An electric telescopic rod (9) fixedly connected to the first fixed block (7) and the second fixed block (8); A sandblasting component is provided on the robot body (3) and is used for cooperating with the robot body (3) to perform sandblasting work.

2. The robot automatic sandblasting equipment based on machine vision technology according to claim 1 is characterized in that: The mobile component includes: A track (10) is fixedly connected to the base (1), and the track (10) is slidably connected to the moving platform (4); A limit plate (11) is provided on the base (1) and fixedly connected to the base (1); the limit plate (11) is fixedly connected to the track (10); A mounting frame (12) fixedly connected to the limiting plate (11); A drive motor (13) is fixedly connected to the mounting frame (12).

3. The robot automatic sandblasting equipment based on machine vision technology according to claim 2 is characterized in that: The mobile component also includes: A bearing (14) is disposed on the limiting plate (11) and fixedly connected to the limiting plate (11); A threaded rod (15) is detachably connected to the bearing (14), the threaded rod (15) is fixedly connected to the output shaft of the drive motor (13), and the threaded rod (15) is threadedly connected to the moving platform (4); A first chute (16) is provided on the movable platform (4); A first roller (17) is disposed on the first slide groove (16) and is rotationally connected to the moving platform (4). The first roller (17) is rollingly connected to the track (10).

4. The robot automatic sandblasting equipment based on machine vision technology according to claim 3 is characterized in that: The adjustment component includes: A first multi-stage electro-hydraulic push rod (18) is fixedly connected to the dustproof box (5); A slider (19) fixedly connected to the first multi-stage electro-hydraulic push rod (18); A second chute (20) is provided on the movable platform (4); a second roller (21) disposed on the second slide groove (20) and rollingly connected to the movable platform (4); and the second roller (21) is rotationally connected to the slider (19); The second multi-stage electro-hydraulic push rod (22) is fixedly connected to the slider (19).

5. The robot automatic sandblasting equipment based on machine vision technology according to claim 4 is characterized in that: The machine vision components include: A mounting plate (23) fixedly connected to the second multi-stage electro-hydraulic push rod (22); A support cylinder (24) is disposed on the mounting plate (23) and fixedly connected to the mounting plate (23); A first servo motor (25) is fixedly connected to the mounting plate (23); The rotating plate (26) is fixedly connected to the output shaft of the first servo motor (25), and the rotating plate (26) is rotatably connected to the supporting cylinder (24).

6. The robot automatic sandblasting equipment based on machine vision technology according to claim 5 is characterized in that: The machine vision component also includes: a bracket (27) disposed on the rotating plate (26) and fixedly connected to the rotating plate (26); a second servo motor (28) fixedly connected to the bracket (27); a laser scanner (29) fixedly connected to the output shaft of the second servo motor (28), the laser scanner (29) being rotatably connected to the bracket (27); A high-resolution industrial camera (30) is arranged on the laser scanner (29) and is fixedly connected to the laser scanner (29).

7. The robot automatic sandblasting equipment based on machine vision technology according to claim 6 is characterized in that: The sandblasting assembly comprises: A mounting column (31) is provided on the robot body (3) and is detachably connected to the robot body (3); A connecting plate (32) fixedly connected to the mounting column (31); A sand transport hose (33) is fixedly connected to the connecting plate (32); A connecting pipe (34) threadedly connected to the connecting plate (32); A sealing ring (35) is provided on the connecting pipe (34) and is fixedly connected to the connecting pipe (34); The nozzle (36) is fixedly connected to the sealing ring (35).

8. The robot automatic sandblasting equipment based on machine vision technology according to claim 7 is characterized in that: A plurality of first rollers (17) are provided and are evenly distributed on the first chute (16).

9. The robot automatic sandblasting equipment based on machine vision technology according to claim 7, characterized in that: The robot body (3) is fixed on the moving platform (4) by means of bolts.

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