Steel shot cleaning method for hydraulic support structural part coating line

Abstract

A hydraulic support structural part coating line steel shot cleaning method specifically comprises the following steps that (1) a coordinate system in a shot cleaning chamber, coordinates of a structural part in the shot cleaning chamber and the specific height h1 needing to be supported by the structural part are defined; (2) pre-defining a high-risk steel shot residual area, a high-frequency vibration area and a structural part shot cleaning standard of the structural part; (3) identifying the size information of the structural member; (4) accurately judging the type of the structural member entering the pill cleaning chamber; (5) the structural part is lifted up by the specific height h1; (6) steel shots and dust mingled in gaps of chain links of the pendant chain, the surface of a structural part and an inner cavity are shaken off; (7) according to the projected high-brightness light spots or laser spots, the high-risk steel shot residual area is subjected to precise purging and suction removal; (8) judging whether the cleaning effect meets the pill cleaning standard of the structural part or not; and (9) conveying the structural part subjected to pill cleaning out of the pill cleaning chamber. The problems of potential safety hazards, efficiency, labor intensity, operation procedures and the like are solved, the pill cleaning effect is remarkably improved, and the coating quality is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of coating technology for hydraulic support structural components, and more specifically, to a method for cleaning steel shot in a coating line for hydraulic support structural components. Background Technology

[0002] In the surface treatment process before metal coating, shot blasting is the core surface treatment method. Its operational quality and shot cleaning effect directly determine the coating's adhesion, corrosion resistance, and service life. Hydraulic support structural components mainly refer to three categories of workpieces: top beams, protective beams, and bases. These hydraulic support structural components are welded from multiple steel plates and are characterized by complex structures (including multiple box-like structures, column sockets, and other internal cavities) and large tonnage (typically 5-25 tons). The current surface treatment process for hydraulic support structural components before coating involves sequentially passing them through a shot blasting chamber and a shot cleaning chamber via an accumulating conveyor chain for shot blasting and shot cleaning. However, due to the fixed height of the workpieces suspended by the accumulating conveyor chain, coupled with the complex internal structure and large tonnage of the hydraulic support structure, the shot cleaning work after shot blasting is difficult. Currently, the shot cleaning method for hydraulic support structures is as follows: First, compressed air is used manually to blow away the residual steel shot on the surface of the hydraulic support structure. Then, one climbs onto the suspended hydraulic support structure and manually uses a special shot cleaning device to remove the residual steel shot accumulated in the dead corners of the inner cavity such as the housing and column socket. In addition, a hammer is used manually to strike the suspension chain of the hydraulic support structure to clean the steel shot and dust trapped in the gaps between the chain links.

[0003] The above-mentioned shot cleaning method has the following shortcomings: (1) Prominent safety hazards: Due to the existing purely manual operation mode, the operator must stand directly on the suspended hydraulic support structure to carry out the shot cleaning operation. This high-altitude and dynamic working environment lacks effective mechanical protection and stable support measures. The risk of personnel falling from height or being squeezed by moving parts is extremely high, posing a major safety hazard; (2) Low efficiency and high labor intensity: Since the existing method mainly relies on manual autonomous operation and lacks special cleaning tools for complex structures and corresponding shot cleaning operation standards, when faced with the accumulation of steel shot in the inner cavity of the structural parts and the steel shot and dust mixed in the gap of the chain links, the operator has to frequently change work positions to identify whether there is residual steel shot, resulting in non-productive time loss and complicated operation; especially for the steel shot remaining in the gap of the chain links, the current (2) The technical means are limited (only manual hammering and vibration can be used), the cleaning process is time-consuming and laborious, and the efficiency is extremely low. The shot cleaning time can no longer match the current production line rhythm requirements, resulting in excessive labor intensity for workers; (3) The shot cleaning effect of the hanging chain is poor, which directly affects the coating quality: The existing method is to use a hammer to hit the hanging chain in a taut state. On the one hand, it will cause the structural parts to shake. On the other hand, the hanging chain has tension, and the hanging chain is difficult to vibrate, making it difficult to effectively clean the steel shot remaining in the gap between the hanging chain links. These residual steel shot will continue to fall onto the surface of the coating that has been sprayed but has not yet cured during the process of the hydraulic support structural parts walking with the accumulation conveyor chain, causing pollution and defects, which seriously damages the final coating quality; (4) There is a problem of omission in shot cleaning: The cleaning sequence of the shot cleaning area depends on the personal experience and preferences of the employees, which is easy to cause omission in shot cleaning. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a method for cleaning steel shot in the coating line of hydraulic support structural components. This invention fundamentally solves the problems of safety hazards, efficiency, labor intensity, and work process in existing technologies, and significantly improves the shot cleaning effect. In particular, it solves the problem of steel shot residue in difficult-to-clean areas such as the gaps between chain links and the inner cavities of structural components, thereby ensuring coating quality.

[0005] To achieve the above objectives, the technical solution adopted by this invention is: a method for cleaning steel shot in a hydraulic support structural component coating line, specifically including the following steps: (a) Import the process parameters of structural components into the database according to the production schedule; Define the coordinate system inside the cleaning chamber, the coordinates of the structural components inside the cleaning chamber, and the specific height h1 that the structural components need to be supported; wherein, when the structural components are supported to a specific height h1, the lifting chain is exactly in a slack state and remains unhooked. (ii) Predefine the high-risk steel shot residue area and the area requiring high-frequency vibration of the structural component. The database automatically obtains the coordinates of the high-risk steel shot residue area and the area requiring high-frequency vibration; among which, the area requiring high-frequency vibration is the internal cavity structure of the structural component. Simultaneously, predefine the shot cleaning standards for structural components; High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the coordinates of the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the coordinates of the area requiring high-frequency vibration. (iii) The shot-blasted structural components are conveyed into the shot cleaning chamber via an accumulation conveyor chain; The system automatically identifies the dimensions of the structural components and the real-time distance between the structural components and the electromagnetic vibration lifting platform, and transmits the identification information to the control system in real time. The dimensions of the structural components include the length, width, and height of the structural components. (iv) The control system accurately determines the type of structural component entering the shot cleaning chamber by comparing the structural component process parameters in the database based on the structural component size information, and then controls the accumulating conveyor chain to stop the structural component at the defined coordinate orthogonal projection position of the structural component in the shot cleaning chamber. (v) The control system controls the electromagnetic vibration lifting platform to rise a certain distance and lift the structural component to a predefined specific height h1 based on the real-time distance between the structural component and the electromagnetic vibration lifting platform; (vi) First, the chain is vibrated by an electric vibration device to shake off the steel shot and dust trapped in the gaps between the chain links; then, the predefined high-frequency vibration area on the structural component is vibrated by a variable amplitude vibration system, while the electromagnetic vibration lifting platform vibrates the structural component itself at a low frequency to peel off the steel shot and dust embedded or stuck in the inner cavity of the structural component, and shake off the steel shot and dust on the surface of the structural component. (vii) The sound and light projection alarm system projects a bright spot or laser point onto the predefined high-risk steel shot residue area on the structural component and projects an indicator number in the order of cleaning. Workers quickly locate high-risk steel shot residue areas on structural components based on the projected bright spot or laser point, and use compressed air guns and special shot suction equipment to precisely blow away and remove the high-risk steel shot residue areas; (viii) After the visual inspection system detects that the operator has passed through the high-risk steel shot residue area, it obtains the image of the high-risk steel shot residue area by taking a picture or scanning. The control system judges whether the cleaning effect shown in the image of the high-risk steel shot residue area meets the defined shot cleaning standard for structural components. If the shot cleaning standard is not met, the sound and light projection alarm system will issue a sound and light alarm signal to remind the operator to clean again until the shot cleaning standard is met. (ix) The electromagnetic vibration lifting platform is reset, and the accumulating conveyor chain transports the cleaned structural component out of the cleaning chamber, completing the cleaning task of one structural component. Repeat steps (3) to (9) to complete the shot cleaning task for multiple shot-blasted structural components.

[0006] Beneficial effects: (1) Effectively improves the safety and comfort of the working environment: The present invention is equipped with an electromagnetic vibration lifting platform in the shot cleaning room. The operator can stand stably on the electromagnetic vibration lifting platform to carry out shot cleaning operations, avoiding the need for the operator to stand on the suspended structural parts to carry out shot cleaning operations in the traditional method, eliminating the risk of the operator falling from a height; at the same time, the electromagnetic vibration lifting platform can be raised and lift the structural parts to a predefined specific height h1, avoiding the structural parts from being suspended, and thus avoiding the danger caused by the accidental movement or shaking of the structural parts. Therefore, the safety and comfort of the working environment are fundamentally improved.

[0007] (2) Significantly reduce the labor intensity of operators: The present invention uses an electric vibration device to vibrate the chain and a variable amplitude vibration system to vibrate the predefined high-frequency vibration areas on the structural components. At the same time, it uses an electromagnetic vibration lifting platform to vibrate the structural components themselves at low frequency. In this way, the cleaning process of steel shot and dust in the gaps between the structural components and the chain links is automated, completely eliminating the necessity of manual hammering and vibration. This can liberate operators from high-intensity repetitive physical labor and make manual work mainly about checking and cleaning the steel shot and dust in the predefined high-risk steel shot residue areas on the structural components.

[0008] (3) Effectively improve overall shot cleaning efficiency: This invention integrates the lifting platform and electric vibration cleaning function in the shot cleaning room. Compared with the traditional shot cleaning method, 70% of the shot cleaning workload is completed by electric vibration. Its efficiency and consistency far exceed those of manual cleaning, reducing cleaning time. The manual operation time has been reduced from 10 minutes to 4-6 minutes. Operators only need to complete the shot cleaning work of structural parts and hanging chains on a single electromagnetic vibration lifting platform, avoiding frequent changes of work positions, reducing non-productive time loss and complex movement.

[0009] (4) Improve the shot removal effect of the hanging chain and ensure and improve the quality of subsequent spraying: When the electric vibration device of the present invention vibrates the hanging chain, the hanging chain is in a relaxed state and does not disengage because the structural components are lifted to a predefined specific height h1. The tension of the hanging chain is eliminated, and the hanging chain is easy to vibrate. In this way, the electric vibration device can effectively shake off the steel shot and dust mixed in the gap between the hanging chain links and reduce the steel shot residue.

[0010] (5) Improve the shot cleaning effect of structural components: The high-frequency vibration of the variable amplitude vibration system and the low-frequency vibration of the electromagnetic vibration lifting platform are coupled to form a composite vibration field that acts on the structural components, which can effectively promote the steel shot and dust to fall from the inner cavity and surface of the structural components, thereby significantly improving the shot cleaning effect.

[0011] (6) Standardized work process to avoid omissions in shot cleaning: Before mass production of structural components, the present invention uses relevant structural components as prototypes for trial production. Based on the prototype production situation, high-risk steel shot residue areas and areas requiring high-frequency vibration are predefined for the structural components. The high-risk steel shot residue areas are classified into risk levels according to the amount of steel shot residue, and the cleaning sequence is predefined according to the risk level. In this way, the predefined parameters can be automatically obtained by identifying the structural components. Then, according to the predefined coordinates of the high-risk steel shot residue areas, the sound and light projection alarm system projects a bright spot or laser point onto the predefined high-risk steel shot residue areas on the structural components and projects indicator numbers according to the cleaning sequence, so that the operators can clean according to the sequence. The system precisely blows and removes high-risk steel shot residue areas in a sequential manner, standardizing the work process. Simultaneously, a visual inspection system photographs or scans the high-risk steel shot residue areas traversed by workers, obtaining images of these areas. The control system compares these images with standard cleaning images of the corresponding structural components to determine if the cleaning effect meets the defined standards. If the standards are not met, the control system activates an audible and visual alarm system to alert workers to re-clean until the standards are met. This significantly improves the efficiency and thoroughness of manual shot cleaning and prevents omissions.

[0012] Based on the above, the accumulating conveyor chain passes through the shot cleaning chamber, and the structural components are suspended on the carrying trolley of the accumulating conveyor chain by two sets of hanging chains, each set of hanging chains including two hanging chains; The automatic identification system includes a first sensor and a grating identification device installed at the entrance of the cleaning chamber. When the first sensor detects a structural component, it triggers the grating identification device to work, so that the grating identification device continuously identifies the structural components entering the cleaning chamber, thereby identifying the size information of the structural components and the real-time distance between the structural components and the electromagnetic vibration lifting platform. The electromagnetic vibration lifting platform is set directly below the coordinates of the structural component defined in the cleaning chamber, and is used to lift the structural component to a specific height h1; Electric vibration equipment includes an electric vibrator, which is mounted on an electromagnetic vibration lifting platform via an electric rotating frame and is used to vibrate the corresponding suspension chain; The amplitude-modulated vibration system includes an amplitude-modulated vibrator, which is installed in the shot cleaning chamber via a reciprocating machine or a robotic arm to vibrate predefined high-frequency vibration areas on the structural components. The sound and light projection alarm system includes an LED high-brightness spot projector or a laser projector with a buzzer. The LED high-brightness spot projector or laser projector is set around the perimeter of the shot cleaning room and above the coordinates of the structural components, thereby projecting high-brightness spots or laser points onto the predefined high-risk steel shot residue area on the structural components. The visual inspection system includes an industrial camera with a second sensor. The industrial camera is set around the perimeter of the shot cleaning chamber and above the coordinates of the structural components. The second sensor detects that the operator has walked through the high-risk steel shot residue area and triggers the industrial camera to take pictures or scan the high-risk steel shot residue area. The control system is connected to the accumulating conveyor chain, the first sensor, the grating recognition device, the electromagnetic vibrating lifting platform, the electric vibrator, the electric rotating frame, the amplitude vibrator, the robotic arm or reciprocating machine, the buzzer, the LED high-brightness spot projector or the laser projector, the second sensor, and the industrial camera signal.

[0013] Beneficial effects: The arrangement of the above equipment enables the shot cleaning process for hydraulic support structural components.

[0014] Based on the above, step (1) specifically involves: importing the structural component process parameters into the database according to the production schedule; Before mass production of structural components, relevant structural components are used as prototypes for trial production. During prototype production, the coordinate system in the shot cleaning chamber, the coordinates of the structural components in the shot cleaning chamber, and the specific height h1 that the structural components need to be supported are defined. The specific height h1 is calculated using the following formula: In the formula, M: weight of the structural component, in kg; g: acceleration due to gravity, taken as 9.8 N / kg; k: Stiffness coefficient of a single chain (unit: N / m); θ1: The angle between the first set of suspension chains and the vertical direction; θ2: The angle between the second set of suspension chains and the vertical direction; N: Safety margin factor is taken as 1.05 to 1.2.

[0015] Beneficial effects: Through the above definition, the conveying distance of structural components on the accumulating conveyor chain can be precisely controlled, so that the same structural components stop at the same fixed position in the shot cleaning chamber, ensuring that the position of the subsequently projected high-brightness light spot or laser point coincides with the coordinate position of the predefined high-risk steel shot residue area.

[0016] Based on the above, step (II) is as follows: the operator uses a 3D scanner to scan the structural parts after shot blasting during the production of the prototype, obtains the steel shot accumulation based on the scanning cloud map data of the 3D scanner, predefines the high-risk steel shot residue area of ​​the structural parts in the database based on the steel shot accumulation, and predefines the high-frequency vibration area of ​​the structural parts in the database. The database automatically obtains the coordinates of the high-risk steel shot residue area and the coordinates of the high-frequency vibration area. Structural components that have completed shot cleaning and passed the shot cleaning process during prototype production are also scanned using a 3D scanner. The standard shot cleaning images of the scanned structural components are then imported into the database, and the shot cleaning standards for the structural components are predefined. High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the area requiring high-frequency vibration.

[0017] Beneficial effects: Through the above steps, the coordinates of high-risk steel shot residue areas and areas requiring high-frequency vibration can be obtained. At the same time, the risk level of high-risk steel shot residue areas can be divided according to the amount of steel shot residue, and the cleaning sequence can be predefined according to the risk level. It is also possible to establish a mapping relationship between the sound and light projection alarm system and the high-risk steel shot residue areas, as well as a mapping relationship between the amplitude vibration system and the areas requiring high-frequency vibration.

[0018] Based on the above, step (iii) is as follows: after shot blasting, the structural component enters the shot cleaning chamber through the accumulation conveyor chain. When the structural component passes through the entrance of the shot cleaning chamber, the first sensor detects the structural component and triggers the grating recognition device to work, so that the grating recognition device continuously recognizes the structural component entering the shot cleaning chamber, thereby recognizing the size information of the structural component and the real-time distance between the structural component and the electromagnetic vibration lifting platform. The grating recognition device transmits the recognition information to the control system in real time.

[0019] Beneficial effects: It accurately identifies information about structural components entering the pellet cleaning chamber, enabling the control system to control the corresponding equipment to operate according to the set program.

[0020] Based on the above, step (5) is as follows: The control system then accurately calculates and controls the lifting distance of the electromagnetic vibrating lifting platform according to the real-time distance between the structural component and the electromagnetic vibrating lifting platform, so that the electromagnetic vibrating lifting platform first rises to contact the bottom surface of the structural component, eliminating the initial distance between the structural component and the electromagnetic vibrating lifting platform. Then the electromagnetic vibrating lifting platform continues to rise to lift the structural component to a predefined specific height h1, so that the lifting chain is just in a slack state and does not disengage.

[0021] Beneficial effects: By eliminating the tension of the chain through the above steps, the chain can vibrate more easily. In this way, the electric vibration device can effectively shake off the steel shot and dust trapped in the gaps between the chain links, reducing steel shot residue.

[0022] Based on the above, step (six) is as follows: First, start the electric vibrator and rotate it to contact the corresponding chain using the electric rotating frame. The electric vibrator vibrates the chain to shake off the steel shot and dust trapped in the gaps between the chain links. Then, the electric rotating frame drives the electric vibrator to reset. Next, according to the coordinates of the high-frequency vibration area predefined on the structural component, the control system controls the reciprocating machine or robotic arm to extend the amplitude vibrator to the predefined high-frequency vibration area on the structural component. The amplitude vibrator provides high-frequency vibration to generate micro-jet and shock wave to act on the high-frequency vibration area. At the same time, the electromagnetic vibration lifting platform provides low-frequency vertical excitation force to the structural component itself, thereby peeling off the steel shot and dust embedded or stuck in the internal cavity of the structural component, and shaking off the steel shot and dust on the surface of the structural component.

[0023] Beneficial effects: Through the above steps, steel shot and dust trapped in the gaps between the chain links are effectively shaken off, reducing steel shot residue; at the same time, the high-frequency vibration of the amplitude vibrator and the low-frequency vibration of the electromagnetic vibration lifting platform are coupled to form a composite vibration field that acts on the structural components, which can effectively promote the steel shot and dust to fall from the inner cavity and surface of the structural components, thereby significantly improving the shot cleaning effect.

[0024] Based on the above, step (seven) is as follows: After the electric vibrator, the amplitude vibrator and the electromagnetic vibrating lifting platform complete the vibration cleaning, the control system retrieves the coordinates of the predefined high-risk steel shot residue area and sends them to the LED high-brightness spot projector or the laser projector. The control system projects the LED high-brightness spot projector or the laser projector according to the predefined coordinates of the high-risk steel shot residue area, projects the high-brightness spot or the laser point onto the predefined high-risk steel shot residue area on the structural component, and projects the indicator numbers according to the defined cleaning sequence. Workers boarded the electromagnetic vibration lifting platform and used compressed air guns and special shot suction equipment to precisely blow away and remove high-risk steel shot residue areas of the structural components in the order indicated by the projected numbers, thoroughly cleaning the steel shot and dust.

[0025] Beneficial effects: The above steps enable operators to precisely blow away and remove high-risk steel shot residue areas in the order of cleaning, thus standardizing the work process.

[0026] Based on the above, step (eight) is as follows: When the second sensor detects that the operator has passed through the high-risk steel shot residue area, the industrial camera is triggered to work. The industrial camera automatically takes pictures or scans the high-risk steel shot residue area according to the predefined coordinates of the high-risk steel shot residue area, thereby obtaining an image of the high-risk steel shot residue area. The control system compares the image of the high-risk steel shot residue area with the shot cleaning standard image of the corresponding structural component to determine whether the cleaning effect shown in the image of the high-risk steel shot residue area meets the defined shot cleaning standard of the structural component. If the shot cleaning standard is not met, the control system controls the corresponding LED high-brightness spot projector or laser projector to flash continuously, and at the same time triggers the corresponding alarm to remind the operator to clean again until the shot cleaning standard is met.

[0027] Beneficial effect: By following the above steps, the omission of pills can be avoided.

[0028] This invention has outstanding substantive features and significant progress compared to the prior art. Specifically, this invention significantly reduces the amount of steel shot residue on the surface of structural components and on the lifting chain before spraying, ensuring that the spraying operation can be carried out under substrate conditions that meet the process requirements. This directly improves the adhesion between the coating and the substrate, enhances the overall density and anti-corrosion barrier effect of the coating, and can meet the requirement that no serious corrosion occurs during the service warranty period.

[0029] This invention fundamentally solves the problems of safety hazards, efficiency and labor intensity, and work process in existing technologies, and significantly improves the shot cleaning effect, especially solving the problem of steel shot residue in difficult-to-clean areas such as the gaps between chain links and the inner cavities of structural components, thereby ensuring coating quality. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure inside the pill chamber of the present invention.

[0031] Figure 2 This is a schematic diagram of the high-frequency vibration zone on the top beam.

[0032] Figure 3 This is a schematic diagram of the high-frequency vibration area on the base.

[0033] Figure 4 This is a schematic diagram of the area on the protective beam that requires high-frequency vibration.

[0034] In the diagram: 1. Structural component; 2. Lifting chain; 3. Accumulating conveyor chain; 4. Grating recognition device; 5. Electric vibrator; 6. Electric rotating frame; 7. Electromagnetic vibration platform; 8. Jack; 9. Leakage hole; 10. Guardrail. Detailed Implementation

[0035] The technical solution of the present invention will be further described in detail below through specific embodiments.

[0036] Example 1 like Figure 1 As shown, a method for cleaning steel shot in a hydraulic support structural component coating line specifically includes the following steps: (a) According to the production schedule, import the process parameters of structural component 1 into the database; Define the coordinate system in the shot cleaning chamber, the coordinates of structural component 1 in the shot cleaning chamber, and the specific height h1 that structural component 1 needs to be lifted. When the structural component is lifted to the specific height h1, the lifting chain 2 is exactly in a slack state and remains unhooked. The purpose of this setting is that since the lifting chain is composed of multiple identical elliptical steel rings, these elliptical steel rings cannot move when the lifting chain is taut. If steel shot enters the gaps between the elliptical steel rings, it is difficult to effectively clean the steel shot by manually hammering. However, as long as the structural component is lifted, the tension of the lifting chain is eliminated, the tension force is reduced, and these elliptical steel rings can move. Then, the steel shot can be effectively cleaned by vibrating the lifting chain. (ii) Predefine the high-risk steel shot residue area and the area requiring high-frequency vibration for structural component 1. The database automatically obtains the coordinates of the high-risk steel shot residue area and the area requiring high-frequency vibration. Among them, the area requiring high-frequency vibration is the internal cavity structure of the structural component, mainly including the following areas: Top beam: the area around the column socket, the area around the jack lugs of the side support plate, and the hinged joint area between the protective beam and the top beam, such as... Figure 2 The area indicated by the arrow in the image; Base: The area surrounding the column socket and the area where it hinges with the front and rear connecting rods, such as... Figure 3 The area indicated by the arrow in the image; Protective beam: The area where it hinges with the front and rear connecting rods, such as... Figure 4 The area indicated by the arrow in the image; Note: The area around the column socket structure is a pit-shaped area, where steel shot is difficult to bounce or roll out after being thrown in; while the area around the hinged joint is surrounded by stiffening plates or ear plates, forming a dead corner area; steel shot accumulates in these areas, making manual cleaning labor-intensive and difficult. Therefore, this invention uses high-frequency vibration in these areas to vibrate out some of the steel shot, thereby reducing the amount of manual cleaning and lowering the cleaning difficulty. Simultaneously, the standard for structural component 1 (cleaning shot) is predefined; High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the coordinates of the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the coordinates of the area requiring high-frequency vibration. (iii) The shot-blasted structural component 1 is conveyed into the shot cleaning chamber by the accumulating conveyor chain 3; The system automatically identifies the dimensions of structural component 1 and the real-time distance between structural component 1 and the electromagnetic vibration lifting platform, and transmits the identification information to the control system in real time. The dimensions of structural component 1 include its length, width, and height. (iv) The control system accurately determines the type of structural component 1 entering the shot cleaning chamber by comparing the structural component 1 process parameters in the database based on the size information of structural component 1, and then controls the accumulating conveyor chain 3 to stop structural component 1 at the defined coordinate orthogonal projection position of structural component 1 in the shot cleaning chamber. (v) The control system controls the electromagnetic vibration lifting platform to rise a certain distance and lift the structural component 1 to a predefined specific height h1 based on the real-time distance between the structural component 1 and the electromagnetic vibration lifting platform; (vi) First, the chain 2 is vibrated by an electric vibration device to shake off the steel shot and dust trapped in the gaps between the chain links of the chain 2; then, the high-frequency vibration is performed on the predefined high-frequency vibration area on the structural component 1 by a variable amplitude vibration system, while the electromagnetic vibration lifting platform performs low-frequency vibration on the structural component 1 itself to peel off the steel shot and dust embedded or stuck in the inner cavity of the structural component 1, and to shake off the steel shot and dust on the surface of the structural component 1. (vii) The sound and light projection alarm system projects a bright spot or laser point onto the predefined high-risk steel shot residue area on structural component 1 and projects indicator numbers in the cleaning sequence; Based on the projected bright spot or laser point, the operators quickly locate the high-risk steel shot residue area on structural component 1, and use compressed air guns and special shot suction equipment to precisely blow and remove the high-risk steel shot residue area. (viii) After the visual inspection system detects that the operator has passed through the high-risk steel shot residue area, it obtains the image of the high-risk steel shot residue area by taking a picture or scanning. The control system judges whether the cleaning effect shown in the image of the high-risk steel shot residue area meets the defined shot cleaning standard of structural component 1. If the shot cleaning standard is not met, the sound and light projection alarm system will issue a sound and light alarm signal to remind the operator to clean again until the shot cleaning standard is met. (ix) The electromagnetic vibration lifting platform is reset, and the accumulating conveyor chain 3 transports the cleaned structural component 1 out of the cleaning chamber, completing the cleaning task of one structural component 1. Repeat steps (3) to (9) to complete the shot cleaning task for multiple shot-blasted structural components 1.

[0037] In this embodiment, the accumulating conveyor chain 3 passes through the cleaning chamber, and the structural component 1 is suspended on the carrying trolley of the accumulating conveyor chain 3 by two sets of hanging chains 2. Each set of hanging chains 2 includes two hanging chains 2. The automatic identification system includes a first sensor and a grating identification device 4 installed at the entrance of the cleaning chamber. When the first sensor detects the structural component 1, it triggers the grating identification device 4 to work, so that the grating identification device 4 continuously identifies the structural component 1 entering the cleaning chamber, thereby identifying the size information of the structural component 1 and the real-time distance between the structural component 1 and the electromagnetic vibration lifting platform. The electromagnetic vibration lifting platform is positioned directly below the coordinates of structural component 1 defined inside the cleaning chamber, and is used to lift structural component 1 to a specific height h1; The electric vibration equipment includes an electric vibrator 5, which is mounted on an electromagnetic vibration lifting platform via an electric rotating frame 6, and is used to vibrate the corresponding hanging chain 2. The amplitude-variable vibration system includes an amplitude-variable vibrator, which is installed in the shot cleaning chamber via a reciprocating machine or a robotic arm to vibrate the predefined high-frequency vibration area on structural component 1. The sound and light projection alarm system includes an LED high-brightness spot projector or a laser projector with a buzzer. The LED high-brightness spot projector or laser projector is set around the perimeter of the shot cleaning chamber and above the coordinates of structural component 1, thereby projecting a high-brightness spot or laser point onto a predefined high-risk steel shot residue area on structural component 1. The visual inspection system includes an industrial camera with a second sensor. The industrial camera is set around the perimeter of the shot cleaning chamber and above the coordinate 1 of the structural component. The second sensor detects that the operator has walked through the high-risk steel shot residue area and triggers the industrial camera to work, so that the industrial camera can take pictures or scan the high-risk steel shot residue area. The control system is connected to the accumulating conveyor chain 3, the first sensor, the grating recognition device 4, the electromagnetic vibration lifting platform, the electric vibrator 5, the electric rotating frame 6, the amplitude vibrator, the robotic arm or reciprocating machine, the buzzer, the LED high-brightness spot projector or laser projector, the second sensor, and the industrial camera signal.

[0038] The electromagnetic vibration lifting platform includes an electromagnetic vibration platform 7 and jacks 8 (powered by hydraulic or electric means) located at the four corners of the bottom of the electromagnetic vibration platform 7. The electromagnetic vibration platform 7 is evenly distributed with drainage holes 9 so that steel shot can fall through the drainage holes 9. A collection trough is set below the electromagnetic vibration platform 7 to collect steel shot. The electromagnetic vibration platform 7 is also equipped with guardrails 10 to improve the safety of the working environment for operators. The control system controls the operation of the jacks 8 and the electromagnetic vibration platform 7 respectively.

[0039] The present invention has the following advantages: (1) Effectively improves the safety and comfort of the working environment: The present invention is equipped with an electromagnetic vibration lifting platform in the shot cleaning room. The operator can stand stably on the electromagnetic vibration lifting platform to carry out the shot cleaning operation, which avoids the need for the operator to stand on the suspended structural component 1 to carry out the shot cleaning operation in the traditional method, and eliminates the risk of the operator falling from a height; at the same time, the electromagnetic vibration lifting platform can be raised and lift the structural component 1 to a predefined specific height h1, which avoids the structural component 1 being suspended in the air, and thus avoids the danger caused by the accidental movement or shaking of the structural component 1. Therefore, the safety and comfort of the working environment are fundamentally improved.

[0040] (2) Significantly reduce the labor intensity of operators: The present invention uses an electric vibration device to vibrate the chain 2 and uses a variable amplitude vibration system to vibrate the predefined high-frequency vibration area on the structural component 1. At the same time, it uses an electromagnetic vibration lifting platform to vibrate the structural component 1 itself at a low frequency. In this way, the cleaning process of steel shot and dust in the gap between the links of the structural component 1 and the chain 2 is automated, completely eliminating the necessity of manual hammering and vibration. It can liberate operators from high-intensity repetitive physical labor and make manual work mainly change to checking and cleaning the steel shot and dust in the predefined high-risk steel shot residue area on the structural component 1.

[0041] (3) Effectively improve the overall shot cleaning efficiency: This invention integrates the lifting platform and the electric vibration cleaning function in the shot cleaning room. Compared with the traditional shot cleaning method, 70% of the shot cleaning workload is completed by electric vibration. Its efficiency and consistency far exceed those of manual cleaning, reducing cleaning time. The manual operation time has been reduced from 10 minutes to 4-6 minutes. Operators only need to complete the shot cleaning work of structural component 1 and hanging chain 2 on the electromagnetic vibration lifting platform at a single workstation, avoiding frequent workstation changes, reducing non-productive time loss and complex movement.

[0042] (4) Improve the shot removal effect of the chain 2 and ensure and improve the subsequent spraying quality: When the electric vibration device of the present invention vibrates the chain 2, the chain 2 is in a relaxed state and does not disengage because the structural component 1 is lifted to a predefined specific height h1. The tension of the chain 2 is eliminated, and the chain 2 is easy to vibrate. In this way, the electric vibration device can effectively shake off the steel shot and dust mixed in the gap between the chain links of the chain 2, and reduce the steel shot residue.

[0043] (5) Improve the shot cleaning effect of structural component 1: The high-frequency vibration of the variable amplitude vibration system and the low-frequency vibration of the electromagnetic vibration lifting platform are coupled to form a composite vibration field that acts on structural component 1, which can effectively promote the steel shot and dust to fall from the inner cavity and surface of structural component 1, thereby significantly improving the shot cleaning effect.

[0044] (6) The work process is standardized to avoid omissions in shot cleaning. Moreover, before the mass production of structural component 1, the present invention uses the relevant structural component 1 as a prototype for trial production. Based on the prototype production situation, the high-risk steel shot residue area and the area requiring high-frequency vibration of structural component 1 are predefined. The high-risk steel shot residue area is divided into risk levels according to the amount of steel shot residue, and the cleaning sequence is predefined according to the risk level. In this way, the predefined parameters can be automatically obtained by identifying the structural component. Then, according to the predefined coordinates of the high-risk steel shot residue area, the sound and light projection alarm system projects a bright spot or laser point onto the predefined high-risk steel shot residue area on structural component 1, and projects the indicator numbers according to the cleaning sequence, so that the operators can accurately blow and suck away the high-risk steel shot residue area according to the cleaning sequence. The system standardizes the work process and uses a visual inspection system to photograph or scan high-risk areas with steel shot residue that workers have passed through, thus obtaining images of these areas. The control system compares these images with the standard cleaning images of the corresponding structural component 1 to determine whether the cleaning effect shown in the high-risk steel shot residue images meets the defined cleaning standards for structural component 1. If the cleaning standards are not met, the control system activates an audible and visual alarm system to issue an alarm signal. Specifically, the control system controls the corresponding high-brightness LED spot projector or laser projector to flash continuously, while simultaneously triggering the corresponding alarm device to remind workers to clean again until the cleaning standards are met. This significantly improves the efficiency and thoroughness of manual cleaning and avoids omissions in cleaning.

[0045] Therefore, the present invention significantly reduces the amount of steel shot residue on the surface of the structural component 1 before spraying and on the chain 2, ensuring that the spraying operation can be carried out under substrate conditions that meet the process requirements, thereby directly improving the adhesion between the coating and the substrate, enhancing the overall density and anti-corrosion barrier effect of the coating, and ensuring that no serious corrosion occurs during the service warranty period.

[0046] In summary, this invention fundamentally solves the problems of safety hazards, efficiency and labor intensity, and work process in the existing technology, and significantly improves the shot cleaning effect, especially solving the problem of steel shot residue in difficult-to-clean areas such as the gap between the chain links of the lifting chain 2 and the inner cavity of the structural component 1, thereby ensuring the coating quality.

[0047] Example 2 Based on Example 1, step (i) specifically involves: importing the process parameters of structural component 1 into the database according to the production schedule; Before the mass production of structural component 1, the relevant structural component 1 is used as a prototype for trial production. During the prototype production, the coordinate system in the shot cleaning chamber, the coordinates of structural component 1 in the shot cleaning chamber, and the specific height h1 that structural component 1 needs to be supported are defined. The specific height h1 is calculated using the following formula: In the formula, M: weight of the structural component, in kg; g: acceleration due to gravity, taken as 9.8 N / kg; k: Stiffness coefficient of a single hanging chain 2 (unit: N / m); θ1: The angle between the first set of hanging chains 2 and the vertical direction; θ2: The angle between the second set of hanging chains 2 and the vertical direction; N: Safety margin factor is taken as 1.05 to 1.2.

[0048] In this way, the conveying distance of structural component 1 via the accumulating conveyor chain 3 can be precisely controlled, ensuring that the same type of structural component 1 stops at the same fixed position in the shot cleaning chamber, guaranteeing that the position of the subsequently projected high-brightness light spot or laser point coincides with the predefined coordinate position of the high-risk steel shot residue area. Example 3 Based on Example 3, step (II) is as follows: The operator uses a 3D scanner to scan the structural component 1 after shot blasting during the production of the prototype. The steel shot accumulation is obtained based on the scanning cloud map data of the 3D scanner. Based on the steel shot accumulation, the high-risk steel shot residue area of ​​the structural component 1 is predefined in the database. At the same time, the high-frequency vibration area of ​​the structural component 1 is predefined in the database. The database automatically obtains the coordinates of the high-risk steel shot residue area and the coordinates of the high-frequency vibration area. During prototype production, structural component 1, which has completed shot cleaning and passed the shot cleaning test, is also scanned by a 3D scanner. The standard shot cleaning image of structural component 1 obtained from the scan is imported into the database, and the shot cleaning standard of structural component 1 is predefined. High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the area requiring high-frequency vibration.

[0049] Example 4 Based on Example 1, step (iii) is as follows: after shot blasting, the structural component 1 enters the shot cleaning chamber through the accumulating conveyor chain 3. When the structural component 1 passes through the entrance of the shot cleaning chamber, the first sensor detects the structural component 1 and triggers the grating recognition device 4 to work, so that the grating recognition device 4 continuously recognizes the structural component 1 entering the shot cleaning chamber, and then identifies the size information of the structural component 1 and the real-time distance between the structural component 1 and the electromagnetic vibration lifting platform. The grating recognition device 4 transmits the recognition information to the control system in real time so that the control system can identify the type of structural component 1 entering the shot cleaning chamber.

[0050] Example 5 Based on Example 1, step (5) is as follows: The control system then accurately calculates and controls the lifting distance of the electromagnetic vibration lifting platform according to the real-time distance between the structural component 1 and the electromagnetic vibration lifting platform, so that the electromagnetic vibration lifting platform first rises to contact the bottom surface of the structural component 1, eliminating the initial distance between the structural component 1 and the electromagnetic vibration lifting platform. Then the electromagnetic vibration lifting platform continues to rise, lifting the structural component 1 to a predefined specific height h1, so that the lifting chain 2 is just in a slack state and does not disengage, so that the tension of the lifting chain 2 is eliminated, and the lifting chain 2 vibrates easily, which facilitates and effectively cleans the steel shot remaining in the gap between the links of the lifting chain 2.

[0051] Example 6 Based on Example 1, step (six) is as follows: First, start the electric vibrator 5 and rotate the electric vibrator 5 to contact the corresponding hanging chain 2 through the electric rotating frame 6. The electric vibrator 5 vibrates the hanging chain 2 to shake off the steel shot and dust mixed in the gap between the chain links of the hanging chain 2, thereby reducing the steel shot residue. Then, the electric rotating frame 6 drives the electric vibrator 5 to reset. Next, according to the coordinates of the high-frequency vibration area predefined on the structural component 1, the control system controls the reciprocating machine or robotic arm to extend the amplitude vibrator to the predefined high-frequency vibration area on the structural component 1. The amplitude vibrator provides high-frequency vibration to generate micro-jet and shock wave to act on the high-frequency vibration area. At the same time, the electromagnetic vibration lifting platform provides low-frequency vertical excitation force to the structural component 1 itself, thereby peeling off the steel shot and dust embedded or stuck in the inner cavity of the structural component 1, and shaking off the steel shot and dust on the surface of the structural component 1, thereby significantly improving the shot cleaning effect.

[0052] Example 7 Based on Example 1, step (seven) is as follows: After the electric vibrator 5, the amplitude vibrator and the electromagnetic vibration lifting platform complete the vibration cleaning, the control system retrieves the coordinates of the predefined high-risk steel shot residue area and sends them to the LED high-brightness spot projector or laser projector. The LED high-brightness spot projector or laser projector projects high-brightness spots or laser points according to the predefined coordinates of the high-risk steel shot residue area. The high-brightness spots or laser points are projected onto the predefined high-risk steel shot residue area on the structural component 1, and the indicator numbers are projected according to the defined cleaning sequence. Workers boarded the electromagnetic vibration lifting platform and used compressed air guns and special shot suction equipment to precisely blow away and remove the high-risk steel shot residue area of ​​structural component 1 in the order indicated by the projected numbers, thoroughly cleaning the steel shot and dust, thereby standardizing the work process.

[0053] Example 8 Based on Example 1, step (eight) is as follows: When the second sensor detects that the operator has passed through the high-risk steel shot residue area, the industrial camera is triggered to work. The industrial camera automatically takes pictures or scans the high-risk steel shot residue area according to the predefined coordinates of the high-risk steel shot residue area, thereby obtaining an image of the high-risk steel shot residue area. The control system compares the image of the high-risk steel shot residue area with the shot cleaning standard image of the corresponding structural component 1 to determine whether the cleaning effect shown by the image of the high-risk steel shot residue area meets the defined shot cleaning standard of structural component 1. If the shot cleaning standard is not met, the control system controls the corresponding LED high-brightness spot projector or laser projector to flash continuously, and at the same time triggers the corresponding honeycomb device to alarm, reminding the operator to clean again until the shot cleaning standard is met, which significantly improves the efficiency and thoroughness of manual shot cleaning and avoids shot cleaning omissions.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A method for cleaning steel shot in a hydraulic support structural component coating line, characterized in that: Specifically, the following steps are included: (a) Import the process parameters of structural components into the database according to the production schedule; Define the coordinate system inside the cleaning chamber, the coordinates of the structural components inside the cleaning chamber, and the specific height h1 that the structural components need to be supported; wherein, when the structural components are supported to a specific height h1, the lifting chain is exactly in a slack state and remains unhooked. (ii) Predefine the high-risk steel shot residue area and the area requiring high-frequency vibration of the structural component. The database automatically obtains the coordinates of the high-risk steel shot residue area and the area requiring high-frequency vibration; among which, the area requiring high-frequency vibration is the internal cavity structure of the structural component. Simultaneously, predefine the shot cleaning standards for structural components; High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the coordinates of the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the coordinates of the area requiring high-frequency vibration. (iii) The shot-blasted structural components are conveyed into the shot cleaning chamber via an accumulation conveyor chain; The system automatically identifies the dimensions of the structural components and the real-time distance between the structural components and the electromagnetic vibration lifting platform, and transmits the identification information to the control system in real time. The dimensions of the structural components include the length, width, and height of the structural components. (iv) The control system accurately determines the type of structural component entering the shot cleaning chamber by comparing the structural component process parameters in the database based on the structural component size information, and then controls the accumulating conveyor chain to stop the structural component at the defined coordinate orthogonal projection position of the structural component in the shot cleaning chamber. (v) The control system controls the electromagnetic vibration lifting platform to rise a certain distance and lift the structural component to a predefined specific height h1 based on the real-time distance between the structural component and the electromagnetic vibration lifting platform; (vi) First, the chain is vibrated by an electric vibration device to shake off the steel shot and dust trapped in the gaps between the chain links; then, the predefined high-frequency vibration area on the structural component is vibrated by a variable amplitude vibration system, while the electromagnetic vibration lifting platform vibrates the structural component itself at a low frequency to peel off the steel shot and dust embedded or stuck in the inner cavity of the structural component, and shake off the steel shot and dust on the surface of the structural component. (vii) The sound and light projection alarm system projects a bright spot or laser point onto the predefined high-risk steel shot residue area on the structural component and projects an indicator number in the order of cleaning. Workers quickly locate high-risk steel shot residue areas on structural components based on the projected bright spot or laser point, and use compressed air guns and special shot suction equipment to precisely blow away and remove the high-risk steel shot residue areas; (viii) After the visual inspection system detects that the operator has passed through the high-risk steel shot residue area, it obtains the image of the high-risk steel shot residue area by taking a picture or scanning. The control system judges whether the cleaning effect shown in the image of the high-risk steel shot residue area meets the defined shot cleaning standard for structural components. If the shot cleaning standard is not met, the sound and light projection alarm system will issue a sound and light alarm signal to remind the operator to clean again until the shot cleaning standard is met. (ix) The electromagnetic vibration lifting platform is reset, and the accumulating conveyor chain transports the cleaned structural component out of the cleaning chamber, completing the cleaning task of one structural component. Repeat steps (3) to (9) to complete the shot cleaning task for multiple shot-blasted structural components.

2. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 1, characterized in that: The accumulating conveyor chain passes through the shot cleaning chamber. The structural components are suspended on the carrying trolley of the accumulating conveyor chain by two sets of hanging chains, each set of hanging chains including two hanging chains. The automatic identification system includes a first sensor and a grating identification device installed at the entrance of the cleaning chamber. When the first sensor detects a structural component, it triggers the grating identification device to work, so that the grating identification device continuously identifies the structural components entering the cleaning chamber, thereby identifying the size information of the structural components and the real-time distance between the structural components and the electromagnetic vibration lifting platform. The electromagnetic vibration lifting platform is set directly below the coordinates of the structural component defined in the cleaning chamber, and is used to lift the structural component to a specific height h1; Electric vibration equipment includes an electric vibrator, which is mounted on an electromagnetic vibration lifting platform via an electric rotating frame and is used to vibrate the corresponding suspension chain; The amplitude-modulated vibration system includes an amplitude-modulated vibrator, which is installed in the shot cleaning chamber via a reciprocating machine or a robotic arm to vibrate predefined high-frequency vibration areas on the structural components. The sound and light projection alarm system includes an LED high-brightness spot projector or a laser projector with a buzzer. The LED high-brightness spot projector or laser projector is set around the perimeter of the shot cleaning room and above the coordinates of the structural components, thereby projecting high-brightness spots or laser points onto the predefined high-risk steel shot residue area on the structural components. The visual inspection system includes an industrial camera with a second sensor. The industrial camera is set around the perimeter of the shot cleaning chamber and above the coordinates of the structural components. The second sensor detects that the operator has walked through the high-risk steel shot residue area and triggers the industrial camera to take pictures or scan the high-risk steel shot residue area. The control system is connected to the accumulating conveyor chain, the first sensor, the grating recognition device, the electromagnetic vibrating lifting platform, the electric vibrator, the electric rotating frame, the amplitude vibrator, the robotic arm or reciprocating machine, the buzzer, the LED high-brightness spot projector or the laser projector, the second sensor, and the industrial camera signal.

3. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (1) specifically involves: importing the process parameters of the structural components into the database according to the production schedule; Before mass production of structural components, relevant structural components are used as prototypes for trial production. During prototype production, the coordinate system in the shot cleaning chamber, the coordinates of the structural components in the shot cleaning chamber, and the specific height h1 that the structural components need to be supported are defined. The specific height h1 is calculated using the following formula: In the formula, M: weight of the structural component, in kg; g: acceleration due to gravity, taken as 9.8 N / kg; k: Stiffness coefficient of a single chain (unit: N / m); θ1: The angle between the first set of suspension chains and the vertical direction; θ2: The angle between the second set of suspension chains and the vertical direction; N: Safety margin factor is taken as 1.05 to 1.

2.

4. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (II) is as follows: The operator uses a 3D scanner to scan the structural parts after shot blasting during the production of the prototype. The steel shot accumulation is obtained based on the scanning cloud map data of the 3D scanner. Based on the steel shot accumulation, the high-risk steel shot residue area of ​​the structural parts is predefined in the database. At the same time, the high-frequency vibration area of ​​the structural parts is predefined in the database. The database automatically obtains the coordinates of the high-risk steel shot residue area and the coordinates of the high-frequency vibration area. Structural components that have completed shot cleaning and passed the shot cleaning process during prototype production are also scanned using a 3D scanner. The standard shot cleaning images of the scanned structural components are then imported into the database, and the shot cleaning standards for the structural components are predefined. High-risk areas with residual steel shot are classified into risk levels based on the amount of residual steel shot, and the cleaning sequence is predefined according to the risk level. Then, establish the mapping relationship between the sound and light projection alarm system and the high-risk steel shot residue area, as well as the mapping relationship between the amplitude vibration system and the area requiring high-frequency vibration.

5. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (3) is as follows: After shot blasting, the structural component enters the shot cleaning chamber through the accumulation conveyor chain. When the structural component passes through the entrance of the shot cleaning chamber, the first sensor detects the structural component and triggers the grating recognition device to work. The grating recognition device continuously identifies the structural component entering the shot cleaning chamber, thereby identifying the size information of the structural component and the real-time distance between the structural component and the electromagnetic vibration lifting platform. The grating recognition device transmits the identification information to the control system in real time.

6. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (5) is as follows: The control system then accurately calculates and controls the lifting distance of the electromagnetic vibrating lifting platform based on the real-time distance between the structural component and the electromagnetic vibrating lifting platform, so that the electromagnetic vibrating lifting platform first rises to contact the bottom surface of the structural component, eliminating the initial distance between the structural component and the electromagnetic vibrating lifting platform. After that, the electromagnetic vibrating lifting platform continues to rise to lift the structural component to a predefined specific height h1, so that the lifting chain is just in a slack state and does not disengage.

7. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (six) is as follows: First, start the electric vibrator and rotate it to contact the corresponding chain using the electric rotating frame. The electric vibrator vibrates the chain to shake off the steel shot and dust trapped in the gaps between the chain links. Then, the electric rotating frame drives the electric vibrator to reset. Next, according to the coordinates of the high-frequency vibration area predefined on the structural component, the control system controls the reciprocating machine or robotic arm to extend the amplitude vibrator to the predefined high-frequency vibration area on the structural component. The amplitude vibrator provides high-frequency vibration to generate micro-jet and shock wave to act on the high-frequency vibration area. At the same time, the electromagnetic vibration lifting platform provides low-frequency vertical excitation force to the structural component itself, thereby peeling off the steel shot and dust embedded or stuck in the internal cavity of the structural component, and shaking off the steel shot and dust on the surface of the structural component.

8. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (seven) is as follows: After the electric vibrator, amplitude vibrator and electromagnetic vibrating lifting platform complete the vibration cleaning, the control system retrieves the coordinates of the predefined high-risk steel shot residue area and sends them to the LED high-brightness spot projector or laser projector. The LED high-brightness spot projector or laser projector projects high-brightness spots or laser points according to the predefined coordinates of the high-risk steel shot residue area. The high-brightness spots or laser points are projected onto the predefined high-risk steel shot residue area on the structural component, and the indicator numbers are projected according to the defined cleaning sequence. Workers boarded the electromagnetic vibration lifting platform and used compressed air guns and special shot suction equipment to precisely blow away and remove high-risk steel shot residue areas of the structural components in the order indicated by the projected numbers, thoroughly cleaning the steel shot and dust.

9. The method for cleaning steel shot in the coating line of hydraulic support structural components according to claim 2, characterized in that: Step (8) is as follows: When the second sensor detects that the operator has passed through the high-risk steel shot residue area, the industrial camera is triggered to work. The industrial camera automatically takes pictures or scans the high-risk steel shot residue area according to the predefined coordinates of the high-risk steel shot residue area, thereby obtaining an image of the high-risk steel shot residue area. The control system compares the image of the high-risk steel shot residue area with the corresponding shot cleaning standard image of the structural component to determine whether the cleaning effect shown in the image of the high-risk steel shot residue area meets the defined shot cleaning standard of the structural component. If the shot cleaning standard is not met, the control system controls the corresponding LED high-brightness spot projector or laser projector to flash continuously, and at the same time triggers the corresponding alarm to remind the operator to clean again until the shot cleaning standard is met.

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