A blasting device and method for surface treatment of a cutting tool

Abstract

The application relates to the field of cutting tool manufacturing, and discloses a sand blasting device and method for surface treatment of a cutting tool. The method comprises the following steps: clamping and fixing a tool to be treated, collecting shape, size, thickness and spatial position information of the tool to be treated through a visual recognition measurement component, and generating real-time geometric data; an intelligent control system matches optimal sand blasting process parameters according to the similarity between the data and a preset process parameter database, calculates the motion trajectory of each component, and sends initial control instructions; a tool posture regulation component adjusts the spatial pose and placement position of the tool, so that the cutting edge is directly opposite the jet flow of a spray gun; a sand material conveying component switches to a corresponding abrasive material bin and conveys abrasive materials with adaptive particle sizes; a sand blasting execution component adjusts the position and spraying angle of the spray gun and sprays the abrasive materials; feedback data is continuously collected during sand blasting, and if there is a deviation from target parameters, correction instructions are generated to dynamically compensate for errors, until the requirements are met. The application improves the control precision of the cutting edge parameters of the tool, the processing consistency and the production efficiency.

Description

Technical Field

[0001] This application relates to the field of cutting tool manufacturing, and more particularly to a sandblasting device and method for surface treatment of cutting tools. Background Technology

[0002] In the field of cutting tool manufacturing, cemented carbide, with its extremely high hardness, excellent wear resistance, and good red hardness, has become the core matrix material. Its cutting edge performance directly determines machining efficiency, workpiece surface quality, and tool life. Facing the cutting requirements of difficult-to-machine materials such as hardened steel and high-temperature alloys, sandblasting, as a key process in cutting edge finishing, can achieve cutting edge passivation, shape optimization, and surface quality improvement, providing a clean and activated substrate for subsequent coatings. It is widely used in the manufacturing of complex tools such as turning tools, end mills, and drills.

[0003] Existing sandblasting technology has several significant drawbacks: First, it relies on manual experience to adjust the position, angle, and process parameters of the spray gun, lacking unified standards. This results in inconsistent processing effects across different batches and even within the same batch of tools, with large fluctuations in the K-value, R-value, and chamfering parameters, making it difficult to meet precision machining requirements. Second, it lacks multi-parameter collaborative control capabilities, failing to adaptively adjust processing parameters based on differences in tool type and geometry. For complex curved surface tools, this can easily lead to inadequate or over-processing in certain areas. Third, the freedom of adjustment for the spray gun and tool posture is insufficient. Traditional devices often offer fixed or limited angle adjustments, making it impossible to achieve precise spraying in multiple directions and complex trajectories, thus limiting diverse processing needs. Fourth, process switching relies on manual operation, requiring manual replacement of abrasive materials and adjustment of equipment parameters. This not only increases operational complexity but also easily introduces human error, reducing production efficiency. Fifth, the abrasive material delivery lacks intelligent control, making it difficult to automatically switch between coarse abrasive shaping and fine abrasive finishing. This can easily lead to micro-cracks on the cutting edge surface, affecting tool durability and making it unsuitable for mass production of large-scale, high-precision tools.

[0004] To address the problems existing in the prior art, this application provides a sandblasting device and method for surface treatment of cutting tools. By combining an intelligent control system with a vision recognition and measurement component, a multi-degree-of-freedom sandblasting execution component, a tool posture control component, and an intelligent abrasive conveying component, it solves the problems of existing sandblasting processes that rely on manual experience, have low parameter control accuracy, poor adaptability, insufficient efficiency, and poor cutting edge quality, thereby improving the tool cutting edge parameter control accuracy, processing consistency, and production efficiency. Summary of the Invention

[0005] This application provides a sandblasting device and method for surface treatment of cutting tools, which solves the problems of existing sandblasting treatments such as reliance on manual experience, low parameter control accuracy, poor adaptability, insufficient efficiency and poor cutting edge quality, and improves the control accuracy of tool cutting edge parameters, treatment consistency and production efficiency.

[0006] In a first aspect, this application provides a sandblasting method for surface treatment of cutting tools, the method comprising:

[0007] Step S101: Clamp and fix the tool to be processed, and use the vision recognition measurement component to collect the shape, size, thickness and spatial position information of the tool to be processed, and generate real-time geometric data of the tool;

[0008] Step S102: The intelligent control system calculates the similarity between the real-time geometric data and the preset process parameter database, automatically matches the sandblasting process parameter with the highest similarity, calculates the motion trajectory of the tool posture control component, the abrasive conveying component, and the sandblasting execution component, and sends initial control commands to the tool posture control component, the abrasive conveying component, and the sandblasting execution component.

[0009] Step S103: Based on the initial control command, the tool attitude control component adjusts the spatial pose and placement of the tool to be processed so that the tool cutting edge faces the spray gun jet.

[0010] Step S104: Based on the initial control command, the sand conveying component switches to the abrasive bin corresponding to the sandblasting process parameters and conveys abrasive of the corresponding particle size to the sandblasting execution component;

[0011] Step S105: Based on the initial control command, the sandblasting execution component adjusts the position and spray angle of the spray gun to spray abrasive onto the tool surface;

[0012] Step S106: During the sandblasting process, the real-time geometric data of the tool to be processed is continuously collected and fed back to the intelligent control system. If there is a deviation between the feedback data and the preset target parameters, a correction command is generated to synchronously adjust the spray gun position angle, tool pose and spray parameters, dynamically compensate for errors and contour fluctuations, stably reach the preset target parameters, and complete the sandblasting process.

[0013] Secondly, this application provides a sandblasting device for surface treatment of cutting tools, used to implement the aforementioned sandblasting method for surface treatment of cutting tools. The device includes a vision recognition and measurement component, an intelligent control system, a sandblasting execution component, a tool posture control component, and a sand conveying component, wherein:

[0014] The visual recognition and measurement component is used to collect information on the shape, size, thickness, and spatial position of the tool to be processed, and to generate real-time geometric data of the tool.

[0015] The intelligent control system is used to automatically match the sandblasting process parameters with the highest similarity based on the similarity between the real-time geometric data and the preset process parameter database, and calculate the motion trajectory of the tool attitude control component, the abrasive conveying component and the sandblasting execution component, and send initial control commands to the tool attitude control component, the abrasive conveying component and the sandblasting execution component;

[0016] The tool posture control component is used to adjust the spatial posture and placement of the tool to be processed according to the initial control command, so that the tool cutting edge is facing the spray gun jet.

[0017] Abrasive conveying assembly is used to switch the abrasive bin passage to the abrasive bin corresponding to the sandblasting process parameters according to the initial control command, and to convey abrasive of the corresponding particle size to the sandblasting execution assembly;

[0018] A sandblasting execution component is used to adjust the position and spray angle of the spray gun according to the initial control command, and spray abrasive onto the surface of the tool.

[0019] During the sandblasting process, the visual recognition and measurement component continuously collects real-time geometric data of the tool to be processed and feeds the real-time geometric data back to the intelligent control system. The intelligent control system compares the feedback data with preset target parameters to determine if there is a deviation. If a deviation exists, it immediately calculates a correction scheme and sends correction commands to the tool posture control component, the abrasive conveying component, and the sandblasting execution component. The tool posture control component, the abrasive conveying component, and the sandblasting execution component adjust the position or angle of the spray gun, the tool posture, and the spraying parameters according to the correction commands to dynamically compensate for errors and surface contour fluctuations. The above sandblasting process is repeated until the tool cutting edge parameters stably reach the target parameters. The intelligent control system then sends a termination command to each component to complete the sandblasting process.

[0020] This application proposes a sandblasting device and method for surface treatment of cutting tools, which solves the problems of existing sandblasting processes, such as reliance on manual experience, low parameter control accuracy, poor adaptability, insufficient efficiency, and poor cutting edge quality. It improves the accuracy of cutting edge parameter control, processing consistency, and production efficiency. Compared with the prior art, the beneficial effects of the technical solution of this application are at least as follows:

[0021] First, by working in conjunction with the intelligent control system and the vision recognition measurement components, and combining the pre-stored tool matching process parameters, the relative position of the spray gun and the tool is dynamically adjusted to ensure that the cutting edge K value, R value and chamfering parameters accurately meet the process requirements, thereby improving the processing accuracy and consistency.

[0022] Secondly, it has the ability to adaptively switch between multiple machining modes. It can automatically call the corresponding program according to the tool model, geometry and processing requirements, without the need for frequent manual debugging. It can adapt to the machining needs of different complex tools and reduce human intervention and errors.

[0023] Third, through the coordinated control of the multi-degree-of-freedom drive mechanism and the angle adjustment mechanism, the complex motion trajectory of the spray gun and the cutting tool is realized. Combined with the split sand bin and sand path switching valve, the step-by-step processing of coarse sand shaping and fine sand finishing is automatically completed, optimizing the surface quality of the cutting edge and reducing micro-cracks.

[0024] Fourth, by using closed-loop control to compensate for clamping errors and surface contour fluctuations in real time, the optimal working distance and spraying angle are maintained, enhancing the adhesion between the coating and the substrate, and improving the wear resistance, chipping resistance and service life of the cutting tool. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic flowchart of a sandblasting method for surface treatment of cutting tools according to this application;

[0027] Figure 2 This is an assembly drawing of a sandblasting device for surface treatment of cutting tools according to this application;

[0028] Figure 3 This is an assembly drawing of the tool attitude control component in this application;

[0029] Figure 4 This is an assembly drawing of the sand conveying assembly in this application;

[0030] Figure 5 This is an assembly drawing of the sandblasting execution components in this application;

[0031] Figure 6 This is a line graph showing the measurement results of K values ​​for different cutting tools after sandblasting in this application.

[0032] Figure descriptions: 1. Visual recognition measurement component; 2. First rotation adjustment mechanism; 3. Second rotation adjustment mechanism; 4. Transmission mechanism; 5. Split-type sand storage tank; 6. Sand switching mechanism; 7. Longitudinal translation mechanism; 8. Rotation drive mechanism; 9. Lifting drive mechanism; 10. Static spray gun module; 11. Dynamic spray gun module. Detailed Implementation

[0033] This application provides a sandblasting apparatus and method for surface treatment of cutting tools. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of a sandblasting method for surface treatment of cutting tools in this application includes:

[0035] Step S101: Clamp and fix the tool to be processed, and use the vision recognition measurement component 1 to collect the shape, size, thickness and spatial position information of the tool to be processed, and generate real-time geometric data of the tool.

[0036] In one specific embodiment, step S101 may specifically include:

[0037] The visual recognition and measurement component 1 acquires the appearance image information of the tool to be processed, which includes the shape, size, thickness and spatial position information of the tool;

[0038] The system extracts features and parses data from the acquired appearance images to generate real-time geometric data of the cutting tool, which is then transmitted to the intelligent control system.

[0039] Specifically, please refer to Figure 2The visual recognition and measurement component 1 is deployed in the preset detection area of ​​the sandblasting device, with its lens facing the bearing surface of the tool tray. Through the collaborative work of a high-definition industrial camera and a laser ranging module, it acquires the appearance image information of the tool to be processed. The industrial camera captures the two-dimensional contour image of the tool at a frame rate of 120 frames per second, while the laser ranging module obtains the three-dimensional distance data of various points on the tool surface with a measurement accuracy of 0.01 mm. The two components simultaneously acquire data to form a raw data set containing information on the tool's shape, size, thickness, and spatial position. The shape information includes the number of cutting edges, contour curve features, and overall structural configuration; the size information covers key dimensional parameters such as the tool's length and width; the thickness information reflects the tool's dimensional distribution along the direction perpendicular to the bearing surface; and the spatial position information includes the tool's coordinates in the tray, its placement angle, and its initial relative distance to the spray gun. After acquisition, the raw data undergoes noise reduction and calibration by a data preprocessing module. For image information, a median filtering algorithm is used to process images captured by the industrial camera, with a filter window size of 3×3, to remove salt-and-pepper noise caused by changes in ambient light and equipment vibration. Simultaneously, a perspective transformation algorithm is used to correct lens distortion. The correction parameters are based on the calibration data set before the device leaves the factory, ensuring the consistency between the tool outline in the image and its actual size. For laser ranging data, a Kalman filtering algorithm is used to eliminate measurement errors, with the state equation set as follows: The observation equation is set as Where A is the state transition matrix, B is the control matrix, and H is the observation matrix. and The process noise and observation noise are respectively used to obtain smoothed three-dimensional distance data through iterative calculation.

[0040] Feature extraction is performed on the preprocessed 2D image data and 3D distance data. Tool contour feature points are extracted using an edge detection algorithm, with the Canny operator used for edge detection. The threshold range is set to [50, 150] to obtain the 2D coordinates of key feature points such as the inflection points, endpoints, and curve tangent points of the tool cutting edge. Combined with the 3D distance data, the corresponding 3D coordinates of each feature point are calculated to form a 3D point cloud model of the tool. Based on the 3D point cloud model, it is matched with a pre-stored standard tool model library in the intelligent control system using a point cloud registration algorithm. The standard model library contains 3D feature parameter templates for different tool models. The registration process uses an iterative nearest-point algorithm with 50 iterations and a convergence threshold of 0.001 mm. Accurate matching between the tool and the standard model is achieved by minimizing the Euclidean distance, determining the tool model and corresponding key parameter benchmarks. After feature extraction, real-time geometric data is generated through geometric calculation model analysis. Based on the matched standard model, the radius R of each cutting edge, the sharpness parameter K, and the initial angle and width of the chamfered area are calculated. The R value is calculated using the least squares method by fitting the cutting edge arc, with the fitting error controlled within ±0.1μm. The K value is calculated based on the angle and curvature changes of the cutting edge. Chamfering-related parameters are obtained by fitting a straight line to the point cloud data of a specific region of the cutting edge. Simultaneously, the precise coordinates of the tool in the feed tray are calculated based on the three-dimensional coordinate data. Placement angle and the real-time relative distance with the spray gun This forms a complete set of real-time geometric data. The real-time geometric data is transmitted to the intelligent control system through a communication interface. The transmission protocol is TCP / IP, and the data transmission rate is set to 100Mbps, realizing accurate data transmission and correlation, and providing data support for high-precision control of subsequent sandblasting processes.

[0041] Step S102: The intelligent control system automatically matches the sandblasting process parameters with the highest similarity based on the similarity between the real-time geometric data and the preset process parameter database, and calculates the motion trajectory of the tool attitude control component, the abrasive conveying component and the sandblasting execution component, and sends initial control commands to the tool attitude control component, the abrasive conveying component and the sandblasting execution component.

[0042] In one specific embodiment, step S102 may specifically include:

[0043] Receive real-time geometric data transmitted by the vision recognition measurement component 1, and retrieve a pre-stored database of preset process parameters containing sandblasting process parameters corresponding to different tool models.

[0044] Calculate the similarity between real-time geometric data and each parameter in the preset process parameter database, and select the parameter with the highest similarity as the sandblasting process parameter for the current tool to be processed;

[0045] Based on the selected sandblasting process parameters, the target positions and motion trajectory sequences of the tool attitude control component, the abrasive conveying component, and the sandblasting execution component are calculated.

[0046] Initial control commands are sent to the tool attitude control component, abrasive conveying component, and sandblasting execution component based on the target position and motion trajectory sequence to initialize the working state of each component.

[0047] Specifically, please refer to Figure 2 The first rotary adjustment mechanism 2, the second rotary adjustment mechanism 3 and the transmission mechanism 4 together form the tool posture control component; the split sand storage tank 5 and the sand switching mechanism 6 together form the sand conveying component; the longitudinal translation mechanism 7, the rotary drive mechanism 8, the lifting drive mechanism 9, the static spray gun module 10 and the dynamic spray gun module 11 together form the sandblasting execution component. The intelligent control system, as the core control unit of the sandblasting device, is installed in the program computer. It has a built-in database of preset process parameters and multiple processing mode programs. The database stores a complete set of parameters, including abrasive type, particle size, blasting pressure, blasting height, blasting angle, spray gun moving speed, rotation speed, tool clamping angle, and tool moving speed, categorized by tool model. Each set of parameters has been calibrated through more than 100 process experiments to form a unique mapping with the tool model. The processing mode programs include the operating logic and parameter thresholds for R-value control, K-value control, chamfering control, and surface finishing mode. The system establishes bidirectional communication with the vision recognition and measurement component 1, sandblasting execution component, tool posture control component, and abrasive conveying component via industrial Ethernet. The communication delay is controlled within 10ms to ensure the real-time performance of data transmission and command response.

[0048] After the real-time geometric data collected and transmitted by the visual recognition and measurement component 1 enters the intelligent control system, the core parameters are first extracted, including tool type, shape contour features, length / width / thickness dimension data, and spatial coordinates. Placement angle Initial K value, R value and initial chamfer angle of the cutting edge With width After extracting the core parameters, the parameter matching model is launched. This model uses the tool model as the primary search index, combines shape features and dimensional data for secondary verification, and employs an improved cosine similarity algorithm to calculate the matching degree between real-time data and standard data in the database. The algorithm formula is as follows: ,in These are feature parameters in real-time geometric data. For the corresponding standard parameters in the database, a matching threshold of 0.96 is set. When the calculated result is greater than or equal to the threshold, a successful match is determined, and the complete set of sandblasting process parameters and suitable machining mode programs for the corresponding tool model are automatically retrieved. Addressing the issues of low accuracy and poor consistency caused by traditional sandblasting relying on manual experience to select parameters, this automatic matching mechanism requires no manual intervention. It determines parameters through precise data comparison, resolving errors introduced by manual operation and ensuring the compatibility of parameter selection with tool requirements.

[0049] After the parameters are retrieved, the intelligent control system starts the motion trajectory calculation model. This model includes a calculation sub-model of the sandblasting execution component, a calculation sub-model of the tool posture control component, and a calculation sub-model of the sand conveying component. The calculation is based on the optimal working distance (60mm±0.5mm) between the spray gun and the surface to be treated by the tool and the angle between the jet flow axis and the surface normal as constraints. A spatial rectangular coordinate system is established, and the real-time spatial coordinates of the tool are used as the reference point. For the sandblasting execution components, the calculation sub-model adopts the inverse kinematics algorithm (Jacobi matrix pseudo-inverse method, with the damping coefficient set to 0.02). Based on the spray gun moving speed, spray height, and rotation angle in the process parameters, the target moving speed of the longitudinal translation mechanism 7, the target height of the lifting drive mechanism 9, and the target angular velocity of the rotation drive mechanism 8 are calculated. The target angle of the angle adjustment mechanism is determined by the processing mode. In the R-value control mode, the static spray gun module 10 is enabled to maintain a fixed angle of 45°. In the K-value control mode, the dynamic spray gun module 11 is adjusted to 10° to 70°. In the chamfering control mode, the dynamic spray gun module 11 is adjusted to 80°. In the surface finishing mode, the static spray gun module 10 is kept at a 45° angle. The calculation sub-model of the tool attitude control component is based on the tool movement speed and rotation speed in the process parameters. The stepping speed of the transmission mechanism 4 is calculated by the pulse subdivision algorithm (1600 subdivision steps / revolution) to ensure that the movement accuracy is controlled within ±0.01mm. The first rotation adjustment mechanism 2 of the rotation adjustment mechanism calculates the rotational angular velocity according to the rotational speed (2rpm or 3rpm) in the process parameters. The swing angle of the second rotation adjustment mechanism 3 is adjusted according to the machining mode. In the R value and K value control mode, it maintains a 0° horizontal posture. In the chamfer control mode, it swings to a 5° tilted state. In the surface finish mode, it maintains a 0° horizontal posture. The calculation sub-model of the sand conveying component outputs the target switching signal of the sand path switching valve based on the sand particle size in the process parameters. When coarse sand (#80) is processed, the corresponding compartment is connected, and when fine sand (#300) is processed, it is switched to another compartment. At the same time, the injection pressure is controlled to be stable at the set value (0.4MPa or 0.5MPa) through the PID regulation algorithm (proportional coefficient Kp=0.7, integral coefficient Ki=0.3, derivative coefficient Kd=0.1).

[0050] After calculation, the system generates an initial control command set containing the target position coordinates, movement speed, movement direction, action sequence, and start / stop signals of each component, and distributes it to each component according to a preset communication protocol. Upon receiving the command, the sandblasting execution component drives the spray gun to the target height and horizontal position, and the angle adjustment mechanism adjusts the spray gun to the set angle. The tool posture control component drives the tool tray to the processing area, and the rotation adjustment mechanism adjusts the tool to the target posture. The sand conveying component starts the sand supply pump, and the sand path switching valve switches to the designated compartment, completing the initialization. During initialization, the visual recognition measurement component 1 provides real-time feedback on the position deviation data of each component. The system fine-tunes the control commands through a closed-loop correction model (feedback period 20ms) to compensate for clamping errors and mechanical transmission errors, ensuring that the relative posture of the spray gun and the tool meets the processing requirements. This calculation and control process enables multi-component and multi-parameter collaborative linkage, solving the technical problems of existing devices lacking collaborative control capabilities and being unable to adapt to changes in tool type and geometry. At the same time, through automated command sending and mode switching, it avoids the complexity and errors caused by frequent manual operation, improves production efficiency, and ensures that the cutting edge K value, R value, and chamfering parameters accurately meet the standards.

[0051] Step S103: Based on the initial control command, the tool attitude control component adjusts the spatial pose and placement of the tool to be processed so that the tool cutting edge is facing the spray gun jet.

[0052] In one specific embodiment, step S103 may specifically include:

[0053] The tool attitude control component receives initial control commands, which include target spatial pose parameters, target placement parameters, and cutting edge alignment requirements that are compatible with the current tool to be processed.

[0054] Based on the target placement parameters, the rotary adjustment mechanism is driven by the transmission mechanism 4 to move in a stepping motion along the first horizontal direction, thereby adjusting the horizontal placement position of the tool tray and the tool to be processed.

[0055] Based on the target spatial pose parameters, the tool tray is driven to rotate around the vertical axis and swing around the horizontal axis by the rotary adjustment mechanism, so as to coordinate the spatial pose of the tool to be processed.

[0056] By combining placement adjustment and spatial posture adjustment, the cutting edge of the tool to be treated is precisely aligned with the jet stream of the spray gun in the sandblasting execution component.

[0057] Specifically, please refer to Figure 3The tool attitude control component consists of a transmission mechanism 4 and a rotation adjustment mechanism, wherein the rotation adjustment mechanism consists of a first rotation adjustment mechanism 2 and a second rotation adjustment mechanism 3. The transmission mechanism 4 is arranged along the first horizontal direction, and the rotation adjustment mechanism is installed at the moving end of the transmission mechanism 4 and carries the tool tray. The component receives the initial control command sent by the intelligent control system through industrial Ethernet. The command includes the target spatial pose parameters (rotation angle around the vertical axis, swing angle around the horizontal axis), target placement position parameters (first horizontal direction coordinate Y), and cutting edge alignment requirements (deviation between the cutting edge centerline and the jet axis ≤ 0.5mm), and specifies the control standards for movement accuracy (±0.02mm) and angle accuracy (±0.1°).

[0058] After receiving the command, the component's built-in parameter parsing unit processes the data, converting the first horizontal coordinate Y into a displacement control signal for the transmission mechanism 4. The conversion formula is as follows: The stepper motor's pulse count per revolution is set to 2000, and the transmission pitch is set to 5mm. The rotation angle and swing angle are converted into pulse signals for the corresponding drive unit of the rotation adjustment mechanism, using the following conversion formula: , The servo motor pulse count per revolution is set to 10,000. During the conversion process, the data verification module removes abnormal parameters that exceed the equipment's range, such as when the Y coordinate exceeds 0~800mm, the rotation angle exceeds 0~360°, or the swing angle exceeds... to When the fault is within the specified range, a fault signal is fed back to the intelligent control system.

[0059] After the parameter conversion is completed, the transmission mechanism 4 responds to the control signal to start the horizontal position adjustment, and the stepper motor receives the pulse signal. The drive component moves in a stepping motion along the first horizontal direction, employing an S-shaped acceleration / deceleration algorithm. The acceleration time is set to 0.3s, and the maximum operating speed is set to 60mm / s. Actual displacement data Y is collected in real-time using a linear grating ruler (resolution 0.001mm), and the deviation is calculated. The movement stops when |ΔY|≤0.02mm. Addressing the issue of fixed cutter placement in traditional sandblasting devices, which cannot accommodate cutters of different sizes, this stepping movement mechanism dynamically adjusts its position based on the cutter tray layout. This solves the problem of misalignment caused by cutter positioning deviations during batch processing, ensuring that each cutter is within the effective blasting area.

[0060] After the transmission mechanism 4 completes the position adjustment, the slewing adjustment mechanism starts the spatial attitude adjustment, and the corresponding drive unit receives pulse signals respectively. The drive tool tray rotates around the vertical axis and oscillates around the horizontal axis. The adjustment process uses a PID closed-loop control algorithm (proportional coefficient Kp=0.6, integral coefficient Ki=0.1, derivative coefficient Kd=0.05), and the actual angle data is collected by an absolute encoder (resolution 0.001°). Calculate the deviation The adjustment stops when |Δω|≤0.1° and |Δδ|≤0.1°. This dual-axis attitude adjustment mechanism solves the problem of traditional devices having a single tool attitude and being unable to adapt to complex cutting edge orientations, enabling the tool cutting edge to be adjusted to the optimal receiving angle according to the spray gun position.

[0061] During position and attitude adjustment, the component uses visual recognition measurement component 1 to acquire real-time images of the tool cutting edge and compares them with the axis of the spray gun's jet stream. When the deviation exceeds 0.3mm, a dynamic compensation command is triggered. The transmission mechanism 4 fine-tunes the horizontal position, and the rotation adjustment mechanism corrects the angle until the deviation meets the cutting edge alignment requirement of ≤0.5mm. For example, when processing multi-blade end mills, each cutting edge is aligned with the jet stream sequentially through step-by-step rotation. When processing lathe tools, the material tray angle is adjusted so that the bevel of the cutting edge is perpendicular to the jet stream. This collaborative adjustment mechanism avoids the low efficiency and large error problems caused by traditional manual attitude adjustment, improves the consistency of cutting edge processing, and provides a uniform surface foundation for subsequent coating processes.

[0062] In one specific embodiment, the slewing adjustment mechanism includes a first slewing adjustment mechanism 2 and a second slewing adjustment mechanism 3, wherein:

[0063] The first rotation adjustment mechanism 2 is installed on the transmission mechanism 4 and is used to drive the tool material disc to rotate 360° continuously around the vertical axis to adjust the horizontal axial position of the tool to be processed.

[0064] The second rotation adjustment mechanism 3 is connected between the first rotation adjustment mechanism 2 and the tool tray, and is used to drive the tool tray to swing around the horizontal axis within a range of ±90° to adjust the pitch attitude of the tool to be processed.

[0065] The first rotation adjustment mechanism 2 and the second rotation adjustment mechanism 3 work together, in conjunction with the movement of the transmission mechanism 4, to achieve precise control of the spatial orientation of the tool to be processed.

[0066] Specifically, please refer to Figure 3The rotary adjustment mechanism consists of a first rotary adjustment mechanism 2 and a second rotary adjustment mechanism 3. The first rotary adjustment mechanism 2 is installed on the moving end of the transmission mechanism 4 through a flange structure. One end of the second rotary adjustment mechanism 3 is rigidly connected to the output end of the first rotary adjustment mechanism 2, and the other end carries the tool tray. Both receive the target pose command sent by the intelligent control system through the CAN bus. The command includes the target rotation angle (0°~360°) of the first rotary adjustment mechanism 2, the target swing angle (-90° to 90°) of the second rotary adjustment mechanism 3, and the angle adjustment accuracy requirement (±0.1°), which is suitable for the cutting edge alignment requirements of different tools such as multi-blade milling cutters, turning tools, and drills.

[0067] The first slewing adjustment mechanism 2 has a built-in servo motor and planetary reducer, and receives the target slewing angle. Then, its drive control module first converts the angle signal into motor drive pulses, and the conversion formula is as follows: The servo motor has 12,000 pulses per revolution, and the planetary reducer has a reduction ratio of 1:40 to ensure that the output torque meets the load requirements of the tool tray and the tool. After receiving the pulse signal, the motor drives the output shaft to rotate through the reducer, which in turn drives the second rotation adjustment mechanism 3 and the tool tray to rotate around the vertical axis. During the rotation, the actual rotation angle is collected in real time by an absolute encoder (resolution 0.001°). The data is fed back to the drive control module, which adjusts the motor speed using a PID closed-loop control algorithm. The algorithm parameters are set to proportional coefficient Kp=0.7, integral coefficient Ki=0.2, and derivative coefficient Kd=0.06, and the angular deviation is calculated. ,when When the angle is ≤0.1°, the motor stops operating. Addressing the issue that traditional devices cannot achieve continuous 360° horizontal axis adjustment of the cutter, this mechanism's continuous rotation function allows each cutting edge of the multi-blade cutter to sequentially face the spray gun's jet stream, solving the problems of low efficiency and inaccurate positioning caused by manual cutter rotation, and ensuring consistent processing of each cutting edge during batch processing.

[0068] The second slewing adjustment mechanism 3 uses a combination of a servo motor and a harmonic reducer to receive the target swing angle. Then, its built-in signal conversion unit converts the angle parameters into motor pulse signals, and the conversion formula is as follows: The servo motor parameters are consistent with those of the first rotation adjustment mechanism 2, and the harmonic reducer reduction ratio is set to 1:50 to ensure the smoothness of the oscillation process. The motor drives the harmonic reducer to rotate, causing the tool disc to oscillate around the horizontal axis. During the oscillation, the actual oscillation angle is collected by an angle sensor (resolution 0.001°). The feedback is sent to the control unit for comparison with the target angle F, and the deviation is calculated. The motor output is dynamically adjusted using the same PID control algorithm as the first slewing adjustment mechanism 2. When the swing stops, the mechanism addresses the issue that traditional devices have a fixed blade pitch posture and cannot adapt to complex beveled cutting edges. This mechanism's wide-range swing function allows the beveled cutting edge to maintain the optimal angle with the spray gun's jet axis, solving the technical problem of precise angle control during chamfering and improving the accuracy of the chamfer width and angle.

[0069] When the two rotary adjustment mechanisms work together, the intelligent control system dynamically adjusts the target angle parameters based on the real-time position data of the cutting edge fed back by the visual recognition measurement component 1. For example, when processing a multi-flute end mill, the first rotary adjustment mechanism 2 rotates in steps according to a preset step size (e.g., 30° / step). After each rotation and positioning, the second rotary adjustment mechanism 3 finely adjusts the swing angle to ensure that the deviation between the current cutting edge centerline and the jet axis is ≤0.5mm. When processing a drill bit, the first rotary adjustment mechanism 2 maintains a fixed angle, while the second rotary adjustment mechanism 3 swings to an angle where the cutting edge faces the jet, cooperating with the horizontal movement of the transmission mechanism 4 to achieve uniform processing of the cutting edge throughout the entire process. During the collaborative process, the angle data of the two mechanisms are exchanged in real time via a bus. When the first rotary adjustment mechanism 2 adjusts the angle by more than 5°, the second rotary adjustment mechanism 3 automatically starts pre-compensation to avoid cutting edge deviation caused by angle superposition and ensure the continuity of position adjustment.

[0070] Furthermore, both the first slewing adjustment mechanism 2 and the second slewing adjustment mechanism 3 are equipped with overload protection modules. When the motor output torque exceeds 120% of the rated value, a stop signal is immediately sent to the intelligent control system, and the motor power is simultaneously cut off to prevent damage to the mechanical structure due to excessive load. During angle adjustment, temperature sensors on the surface of the mechanisms (measuring range -20℃ to 100℃) monitor the temperature of the motor and reducer in real time. When the temperature exceeds 60℃, the cooling fan is activated to ensure that the equipment operates under stable conditions. This protection mechanism solves the problem of high equipment failure rate caused by the lack of overload protection in traditional devices, extends the service life of the mechanisms, and ensures the continuity of mass production.

[0071] Step S104: Based on the initial control command, the abrasive conveying component switches to the abrasive bin corresponding to the sandblasting process parameters and conveys abrasive of the corresponding particle size to the sandblasting execution component.

[0072] In one specific embodiment, step S104 may specifically include:

[0073] The abrasive conveying assembly receives the initial control command sent by the intelligent control system. The initial control command also includes the target abrasive particle size information that matches the current sandblasting process parameters.

[0074] Based on the target abrasive particle size information, the sand switching mechanism 6 identifies the independent compartments in the split sand storage tank 5 that store abrasive particles of the corresponding particle size.

[0075] The sand switching mechanism 6 switches the connection state, disconnects the passage to other independent compartments, and establishes a connection between the independent compartment storing abrasive of the corresponding particle size and the main sand supply pipeline.

[0076] Start the sand conveying power unit to introduce the abrasive of the corresponding particle size from the independent compartment into the main sand supply pipeline;

[0077] The abrasive is stably delivered to the spray gun of the sandblasting execution component through the main abrasive supply pipeline, providing suitable abrasive for the sandblasting process of the spray gun.

[0078] Specifically, please refer to Figure 4 The sand conveying assembly consists of a split-type sand storage tank 5 and a sand switching mechanism 6. The split-type sand storage tank 5 contains at least three independent compartments, which store abrasives of different particle sizes (such as #80 coarse sand, #150 medium sand, and #300 fine sand). Each independent compartment is marked with a particle size label on its outer side and has a built-in material level sensor (measuring range 0~500L, accuracy ±1L). The sand switching mechanism 6 is installed below the storage tank and is connected to the outlet of each independent compartment and the main sand supply pipeline through a multi-channel valve. The assembly receives the initial control command sent by the intelligent control system through an RS485 bus. The command includes the target abrasive particle size information (such as "#80" and "#300"), sand conveying flow rate (10~50L / min), and conveying pressure (0.4~0.6MPa) parameters, which are adapted to different sandblasting process requirements such as coarse sand shaping and fine sand finishing.

[0079] After receiving the command, the sand switching mechanism 6's control unit first parses the target abrasive particle size information, converting the text-based particle size identifier into the corresponding compartment number signal. For example, "#80" is mapped to compartment 1, "#150" to compartment 2, and "#300" to compartment 3. The mapping relationship is determined based on a pre-stored particle size-compartment correspondence table. After parsing, the control unit drives the position sensor (0.1mm resolution) to detect the current compartment position connected by the multi-channel valve and compares it with the target compartment number. If the current position deviates from the target position by more than 1mm, the valve drive motor is started, driving the valve core to rotate through gear transmission (transmission ratio 1:20) until the position sensor detects that the valve is aligned with the target compartment outlet. At this point, the passage to other independent compartments is disconnected, and only the target compartment is connected to the multi-channel valve inlet. Addressing the low efficiency issue caused by the need for manual replacement of sand containers in traditional sand conveying devices, this automatic identification and switching mechanism eliminates the need for manual intervention, solving the technical problems of time-consuming sand switching and easy mixing of materials, and ensuring precise matching of abrasive particle size with process requirements.

[0080] After the channel switching is completed, the control unit sends a start signal to the abrasive conveying power unit (screw pump). Simultaneously, based on the abrasive conveying flow rate parameters in the command, it adjusts the pump speed using a PWM (Pulse Width Modulation) algorithm. The algorithm outputs pulse frequencies ranging from 50 to 200 Hz, corresponding to pump speeds of 500 to 2000 r / min, achieving precise flow control. After the screw pump starts, it draws the abrasive from the target independent compartment into the pump chamber, pressurizes it, and delivers it to the main abrasive supply pipeline. A pressure sensor installed in the pipeline (range 0~1 MPa, accuracy ±0.01 MPa) collects the conveying pressure data in real time and feeds it back to the control unit for comparison with the set pressure in the command, calculating the pressure deviation. ,when When MPa, the control unit reduces the pump speed; when At MPa, the pump speed is increased, and the conveying pressure is maintained within the set value ±0.02MPa range through closed-loop regulation. Addressing the problem of uneven sandblasting intensity caused by large pressure fluctuations in traditional conveying devices, this pressure closed-loop control mechanism ensures stable abrasive conveying pressure, solves the problem of inconsistent cutting edge depth, and improves the consistency of sandblasting results.

[0081] During the abrasive delivery process, the main abrasive supply pipeline uses a built-in flow sensor (range 0~100L / min, accuracy ±0.5L / min) to collect flow data in real time and calculate the deviation from the set flow rate in the command. ,when At a flow rate of L / min, the control unit coordinates the screw pump speed and the opening degree of the multi-channel valve (adjustment range 0~90°). Utilizing the linear relationship between valve opening degree and flow rate (flow rate increases by 5 L / min for every 10° increase in opening degree), the flow rate is corrected to ensure it remains stable within the set value ±0.5 L / min. Simultaneously, the level sensor in the split-type sand storage tank 5 monitors the remaining material in the target compartment in real time. When the material level falls below 50 L, a low-level warning signal is sent to the intelligent control system, reminding the user to replenish the abrasive and preventing processing interruptions due to material shortages. Addressing the production risks caused by the lack of material monitoring in traditional equipment, this warning mechanism solves the problem of untimely detection of insufficient abrasive, ensuring continuous mass production.

[0082] When adapting to different sandblasting processes, the abrasive conveying component and the sandblasting execution component are linked by parameters. For example, when handling coarse sand shaping, the target particle size is set to "#80", the conveying pressure to 0.5MPa, and the flow rate to 30L / min. The abrasive switching mechanism 6 connects to chamber 1, and the screw pump operates at the corresponding speed, coordinating with the spray gun's injection pressure to achieve efficient coarse sand shaping. When handling fine sand finishing, the target particle size is set to "#300", the conveying pressure to 0.4MPa, and the flow rate to 15L / min. The switching mechanism connects to chamber 3, reducing the pump speed and pressure to ensure that the fine sand evenly covers the tool surface. This parameter linkage mechanism solves the problem of the disconnect between abrasive conveying and sandblasting parameters in traditional devices, enabling the abrasive conveying state and the spray gun's working state to be optimized in synergy, further improving the cutting edge treatment accuracy and meeting the diverse needs of different tool surface treatments.

[0083] Step S105: Based on the initial control command, the sandblasting execution component adjusts the position and spray angle of the spray gun to spray abrasive onto the tool surface.

[0084] In one specific embodiment, step S105 may specifically include:

[0085] The sandblasting execution component receives initial control commands, which also include target position parameters adapted to the current tool to be treated, target spray angle parameters, optimal working distance between the spray gun outlet and the surface to be treated of the tool, and optimal angle between the spray gun jet axis and the normal of the surface to be treated of the tool.

[0086] Based on the target position parameters, the driving mechanism drives the angle adjustment mechanism to move along the second horizontal and vertical directions, and coordinates the spatial position of the spray gun to approach the optimal working distance.

[0087] Based on the target spray angle parameters, the pitch angle of the spray gun held by the angle adjustment mechanism is adjusted to bring the spray angle of the spray gun closer to the optimal angle.

[0088] After completing the above position and angle adjustments, the abrasive material is received from the abrasive material conveying assembly and sprayed onto the surface to be treated by the tool to begin the sandblasting process.

[0089] Specifically, please refer to Figure 5The sandblasting execution component consists of a drive mechanism and an angle adjustment mechanism. The drive mechanism comprises a longitudinal translation mechanism 7, a rotary drive mechanism 8, and a lifting drive mechanism 9, enabling movement along the second horizontal and vertical directions. The angle adjustment mechanism comprises a static spray gun module 10 and a dynamic spray gun module 11, used to adjust the spray gun pitch angle. The component receives initial control commands from the intelligent control system via a communication interface. The commands include target position parameters adapted to the current tool to be processed, target spray angle parameters, optimal working distance (60mm±0.5mm), and optimal included angle (adapted to the processing mode, range 10°~20°), while specifying the requirements for position adjustment accuracy (±0.03mm) and angle adjustment accuracy (±0.2°).

[0090] Upon receiving the command, the internal signal processing module parses and converts the command data. It converts the second horizontal coordinate in the target position parameters into a displacement control signal for the drive mechanism, and the vertical height parameter into a corresponding lifting control signal. This conversion process is based on preset transmission ratio parameters and achieves precise control through pulse signal mapping. The correspondence between the pulse signal and the actual displacement is calibrated by the mechanical parameters of the drive mechanism, ensuring a linear correlation between the control signal and the actual motion. The target injection angle parameter is converted into a drive signal for the angle adjustment mechanism. An angle-pulse conversion algorithm determines the action amount of the drive mechanism. This algorithm is based on the rated parameters of the servo motor, ensuring the accuracy of the angle adjustment. During the conversion process, a data verification mechanism eliminates abnormal parameters that exceed the preset range. When the position parameter exceeds the equipment's travel or the angle parameter exceeds the adjustment range, a signal is promptly fed back to the control system.

[0091] After signal conversion, the drive mechanism responds to the control signal and initiates spatial position adjustment, moving the angle adjustment mechanism along the second horizontal direction. An acceleration / deceleration control algorithm is used to regulate the movement speed, avoiding impacts during start-up and shutdown. Simultaneously, a position detection element collects real-time displacement data, compares it with the target position parameters to calculate the deviation, and feeds the deviation value back to the drive mechanism via a closed-loop control algorithm. The motion parameters are dynamically adjusted until the deviation between the actual and target positions meets the accuracy requirements. Vertical adjustment is simultaneously initiated, employing the same control logic as the horizontal direction to ensure the distance between the spray gun outlet and the surface to be treated by the tool approaches the optimal working distance. Addressing the low accuracy and poor consistency issues caused by traditional sandblasting relying on manual spray gun position adjustment, this automated position adjustment mechanism uses data closed-loop control to resolve errors introduced by manual operation, ensuring the stability of the working distance when processing different tools.

[0092] After the position is adjusted, the angle adjustment mechanism responds to the drive signal to adjust the spray gun's pitch angle. The actual pitch angle data is collected in real time by the angle detection element, and the deviation is calculated against the target spray angle parameters. The deviation signal is then used by an adjustment algorithm to control the angle drive component until the deviation between the actual spray angle and the optimal angle meets the accuracy requirements. During angle adjustment, the pitch angle is dynamically calibrated based on the angle between the spray gun's jet axis and the normal to the surface to be treated by the tool, ensuring the adaptability of the spray direction to the tool surface. Addressing the shortcomings of existing devices in terms of insufficient angle adjustment flexibility and inability to adapt to different tool geometries, this adaptive angle adjustment mechanism can precisely adjust the spray angle according to the tool processing requirements, solving the technical problem of difficulty in matching the spray angle when processing complex-shaped tool edges.

[0093] After the position and angle adjustments meet the requirements, the sandblasting execution component confirms that the abrasive delivery channel is unobstructed and receives the abrasive delivered by the abrasive delivery component. The abrasive is accelerated by the spray gun and then sprayed onto the surface to be treated by the tool. During the blasting process, the drive mechanism and angle adjustment mechanism continuously receive position and angle feedback data, and fine-tune the parameters through a dynamic compensation algorithm to maintain the optimal working distance and angle, ensuring the stability of the sandblasting process. The collaborative control logic of this component avoids the drawbacks of traditional sandblasting that requires frequent manual adjustments, reduces operational complexity and human error, improves processing efficiency, and at the same time ensures the control accuracy of the tool's cutting edge K value, R value, and chamfering parameters, meeting the machining requirements of high-precision tools.

[0094] In one specific embodiment, the driving mechanism includes a longitudinal translation mechanism 7, a rotation driving mechanism 8, and a lifting driving mechanism 9. The angle adjustment mechanism includes at least one dynamic spray gun module 11 and one static spray gun module 10, wherein:

[0095] The longitudinal translation mechanism 7 is fixed to the device frame and is used to drive the angle adjustment mechanism to reciprocate along the second horizontal direction;

[0096] The rotary drive mechanism 8 is installed at the lower part of the longitudinal translation mechanism 7 and is used to drive the angle adjustment mechanism to rotate around the vertical axis.

[0097] The lifting drive mechanism 9 is installed at the lower part of the rotary drive mechanism 8 and is used to drive the angle adjustment mechanism and the spray gun held therein to move up and down in the vertical direction.

[0098] The dynamic spray gun module 11 is used to hold the spray gun and can drive the held spray gun to continuously adjust the pitch angle within ±45° around the horizontal axis.

[0099] The static spray gun module 10 is used to hold the spray gun and fix the held spray gun in a configuration that sprays downwards at a 45° angle to the horizontal axis.

[0100] Both the dynamic spray gun module 11 and the static spray gun module 10 can be independently turned on and off by the intelligent control system. The dynamic spray gun module 11, the static spray gun module 10, or a combination of the two can be selectively activated according to the initial control command.

[0101] Specifically, please refer to Figure 5 The drive mechanism serves as the core power unit of the sandblasting execution component. The longitudinal translation mechanism 7 is fixed to the device frame by bolts, and the rotary drive mechanism 8 is installed at the lower output end of the longitudinal translation mechanism 7 via a flange. The lifting drive mechanism 9 is rigidly connected to the lower output end of the rotary drive mechanism 8, and the angle adjustment mechanism is fixed at the bottom of the lifting drive mechanism 9. The three components form a top-to-bottom assembly structure, which together bear the displacement and rotation of the angle adjustment mechanism and the spray gun. It receives the target position parameters and motion commands sent by the intelligent control system through the industrial bus. The commands include the second horizontal reciprocating stroke, vertical lifting height, rotation angle around the vertical axis, and motion speed parameters, which are suitable for sandblasting processing requirements of tools with different complex shapes such as lathe tools, milling cutters, and drill bits.

[0102] The longitudinal translation mechanism 7 incorporates a stepper motor and a ball screw drive pair. Upon receiving a command, it first converts the target stroke parameters in the second horizontal direction into motor pulse signals via a signal conversion module. The conversion formula is P1 = S × (N1 / L1), where S is the target stroke, N1 is the number of pulses per motor revolution (set to 2000), and L1 is the ball screw lead (set to 5mm). After signal conversion, the motor drives the ball screw to rotate according to the pulse signals, causing the slider and the subsequently connected rotary drive mechanism 8 and lifting drive mechanism 9 to reciprocate along the second horizontal direction. During the movement, a trapezoidal acceleration and deceleration algorithm is used to control the speed, with an acceleration time set to 0.3s. The maximum operating speed is set to 30mm / s or 50mm / s according to the process parameters. Actual displacement data is collected in real time using a linear grating ruler (resolution 0.001mm). The deviation from the target stroke S is calculated using the following formula: When | When the thickness is ≤0.02mm, the motor stops operating, completing the displacement adjustment in that direction. Addressing the issue of limited spray gun movement range and inability to cover the entire material tray area in traditional sandblasting devices, this reciprocating movement mechanism adjusts the stroke according to the tool tray size, ensuring the jet stream covers all tool edges and resolving the technical problem of inadequate localized treatment.

[0103] The rotary drive mechanism 8 uses a combination of a servo motor and a harmonic reducer. After receiving the rotation angle parameter in the command, it converts the target rotation angle α into a motor drive pulse signal through an angle-pulse conversion algorithm. The conversion formula is P2 = α × (N2 / 360°), where N2 is the number of pulses per revolution of the servo motor (set to 10000). After receiving the pulse signal, the motor is reduced in speed and increased in torque by the harmonic reducer (reduction ratio set to 1:50), driving the lifting drive mechanism 9 and the angle adjustment mechanism to rotate around the vertical axis. During the rotation, the actual rotation angle is collected in real time by an absolute encoder (resolution 0.001°). The deviation formula is A PID closed-loop control algorithm is used to adjust the motor speed, with a proportional coefficient Kp=0.5, an integral coefficient Ki=0.1, and a derivative coefficient Kd=0.05. Rotation stops when |Δα|≤0.1°. This rotation function allows the spray gun to adjust its spray position around the blade circumference, solving the problem of uneven treatment of complex curved blade surfaces caused by the fixed spray gun angle in traditional devices, and ensuring consistent sandblasting intensity across all parts of the cutting edge.

[0104] The lifting drive mechanism 9 and the longitudinal translation mechanism 7 use the same model of stepper motor and ball screw transmission pair. After receiving the command for the target lifting height H in the vertical direction, the height parameter is converted into a motor pulse signal through a signal conversion module. The conversion formula is P3=H×(N1 / L1), and the parameter configuration is consistent with that of the longitudinal translation mechanism 7. The motor drives the ball screw to rotate, which in turn drives the angle adjustment mechanism and the spray gun to lift and lower in the vertical direction. The lifting speed is controlled by an acceleration and deceleration algorithm, with the acceleration time set to 0.2s and the maximum running speed set to 20mm / s. The actual height data is collected by a grating ruler. The deviation formula is When |ΔH|≤0.02mm, the lifting action is completed, maintaining the working distance between the spray gun outlet and the surface to be treated by the tool at the optimal value of 60mm±0.5mm. Addressing the low precision issue caused by traditional sandblasting relying on manual adjustment of the spray gun height, this automated lifting mechanism uses closed-loop data control to dynamically compensate for tool clamping errors and surface contour fluctuations, resolving errors introduced by manual operation, ensuring working distance stability, and improving the control accuracy of the cutting edge R and K values.

[0105] When the longitudinal translation mechanism 7, the rotary drive mechanism 8, and the lifting drive mechanism 9 work together, the intelligent control system dynamically adjusts the motion parameters of each mechanism based on the real-time geometric data of the tool fed back by the visual recognition measurement component 1. For example, when processing tools requiring chamfering, the longitudinal translation mechanism 7 reciprocates according to a set stroke, the rotary drive mechanism 8 rotates stepwise at a certain angle, and the lifting drive mechanism 9 maintains a set height. The three mechanisms work together to ensure that the spray gun jet is precisely aimed at the area to be processed on each cutting edge of the tool. When processing surface finishing, the longitudinal translation mechanism 7 increases its reciprocating speed, and the rotary drive mechanism 8 rotates at a constant speed to ensure that the fine sand evenly covers the tool surface. This multi-directional collaborative motion mechanism solves the problems of insufficient degrees of freedom and inability to adapt to complex motion trajectories in traditional sandblasting devices, reduces manual intervention, improves processing efficiency and consistency, and meets the needs of large-scale production of high-precision tools. During the motion, each mechanism feeds back its operating status data to the intelligent control system in real time via a bus. When an abnormality such as overload or overtravel occurs, the system immediately sends a stop command to ensure the safe operation of the equipment.

[0106] Please see Figure 5 The angle adjustment mechanism integrates the dynamic spray gun module 11 and the static spray gun module 10, which are mounted side by side on the mounting base at the bottom of the drive mechanism. Both are equipped with independent spray gun clamping structures and opening and closing control units. They communicate with the intelligent control system through the CANopen bus and receive control commands including module opening and closing signals, target pitch angle parameters of the dynamic spray gun module 11 and processing mode identifiers. It is compatible with different sandblasting requirements such as R-value control, K-value control, and chamfering control, and meets the cutting edge treatment requirements of tools with complex geometries such as lathe tools, milling cutters, and drill bits.

[0107] The spray gun of the static spray gun module 10 is fixed to the mounting base by a positioning pin. During assembly, the tooling is calibrated to ensure that the spray gun axis is fixed at a 45° angle downwards to the horizontal axis. Its opening and closing state is controlled by a switch signal sent by the intelligent control system. When a high-level signal is received, the solenoid valve built into the module opens, and the spray gun connects to the abrasive conveying channel; when a low-level signal is received, the solenoid valve closes, and sandblasting stops. The fixed angle configuration of the static spray gun module 10 is determined based on a large number of process experiments. This angle can create a uniform impact effect on the cutting edge of the tool during abrasive spraying, which is suitable for processing scenarios with high requirements for consistent spray angle. Addressing the problem of the fixed single angle in traditional sandblasting devices, its combination with the dynamic spray gun module 11 solves the technical problem that a single angle cannot adapt to multiple processing needs.

[0108] The dynamic spray gun module 11 incorporates a servo motor, a harmonic reducer, and an angle detection encoder. The spray gun is connected to the output of the harmonic reducer via a clamping base. The servo motor receives the target pitch angle parameters sent by the intelligent control system. μ After that, the angle signal is converted into motor drive pulses by the built-in drive module of the module. The conversion formula is as follows: The servo motor has 12,000 pulses per revolution, and the harmonic reducer has a reduction ratio of 1:60 to ensure angle adjustment accuracy. The motor drives the harmonic reducer, causing the spray gun to rotate around a horizontal axis. The adjustment range covers -45° to 45°. During rotation, an angle detection encoder (resolution 0.001°) collects the actual pitch angle in real time. The data is then fed back to the drive module, which adjusts the motor speed using a PID closed-loop control algorithm. The algorithm parameters are set as proportional coefficient Kp = 0.7, integral coefficient Ki = 0.2, and derivative coefficient Kd = 0.08. The deviation calculation formula is as follows: ,when At this time, the motor stops running, completing the angle positioning. The continuous angle adjustment function of the dynamic spray gun module 11 solves the defect of traditional devices that cannot dynamically adjust the spray angle according to the shape of the cutting edge, ensuring that each part to be processed by the complex curved surface tool can obtain a suitable spray angle.

[0109] The intelligent control system selectively controls the opening, closing, and coordinated operation of the two modules based on the machining mode identifier and real-time tool geometry data. In R-value control mode, the system only sends an opening signal to the static spray gun module 10, while the dynamic spray gun module 11 remains closed. Utilizing its fixed 45° spray angle, combined with the reciprocating movement and rotation of the drive mechanism, the abrasive evenly impacts the tool edge, achieving precise control of the arc radius. In K-value control mode, the system simultaneously sends opening signals to both modules. The dynamic spray gun module 11 adjusts to a suitable pitch angle according to the target K-value parameter (e.g., 70° if a K-value requirement is 1.5~1.8), working in conjunction with the static spray gun module 10. Multi-angle coordinated spraying is formed, and the sharpness parameter of the cutting edge is quickly modified through the composite impact of abrasive. Then, the static spray gun module 10 is switched to work alone for fine processing, which solves the problems of low processing efficiency and insufficient precision of a single module. In the chamfering control mode, the system only activates the dynamic spray gun module 11, and adjusts the spray gun pitch angle to 80° according to the target chamfering angle (such as 5°), so that the spray flow is accurately aligned with the chamfering area of ​​the cutting edge, ensuring that the chamfering width and angle meet the process requirements and avoiding the deviation caused by traditional manual angle adjustment.

[0110] The independent start / stop and coordinated control mechanism of the two modules enables flexible switching through the logic instructions of the intelligent control system. A one-to-one correspondence is established between the working state, processing mode, and tool parameters of different modules. The static spray gun module 10 provides stable and consistent basic spraying, while the dynamic spray gun module 11 dynamically adapts the angle according to requirements. Together, they enable the angle adjustment mechanism to cover the diverse processing needs of different tools. During spraying, the angle detection encoder of the dynamic spray gun module 11 continuously feeds back actual angle data. When the angle deviation exceeds the threshold, the intelligent control system, in conjunction with the drive mechanism, performs fine-tuning to ensure coordinated optimization of the spray angle and the spatial position of the spray gun. This further improves processing accuracy, reduces the generation of micro-cracks on the cutting edge surface, and provides good surface conditions for subsequent coating processes.

[0111] Step S106: During the sandblasting process, the real-time geometric data of the tool to be processed is continuously collected and fed back to the intelligent control system. If there is a deviation between the feedback data and the preset target parameters, a correction command is generated to synchronously adjust the spray gun position angle, tool pose and spray parameters, dynamically compensate for errors and contour fluctuations, stably reach the preset target parameters, and complete the sandblasting process.

[0112] In one specific embodiment, step S106 may specifically include:

[0113] The visual recognition and measurement component 1 continuously collects information on the shape, size, thickness, and spatial position of the tool to be processed and feeds it back to the intelligent control system in real time.

[0114] The intelligent control system compares the feedback data with the preset target parameters to determine if there is a deviation. If there is a deviation, it immediately calculates the correction plan and sends correction instructions to the tool attitude control component, sand conveying component and sandblasting execution component.

[0115] The tool attitude control component, sand conveying component and sandblasting execution component respond to correction commands, synchronously adjust the position and spray angle of the spray gun and the spatial posture of the tool, and adapt and adjust the spraying parameters to dynamically compensate for errors and tool surface contour fluctuations during the sandblasting process.

[0116] The system repeats the cycle of data acquisition, deviation comparison, and correction until the feedback data stably meets the preset target parameters. Then, the intelligent control system sends a termination command to complete the sandblasting process.

[0117] Specifically, during the sandblasting process, the visual recognition and measurement component 1 captures two-dimensional contour images of the tool at a frame rate of 120 frames per second, and simultaneously acquires three-dimensional distance data of the tool surface with a measurement accuracy of 0.01mm. It continuously collects information on the shape, size, thickness, and spatial position of the tool to be processed. The acquired raw data is first denoised by a median filtering algorithm with a 3×3 window, and lens distortion is corrected by a perspective transformation algorithm. Then, a Kalman filtering algorithm is used to process the laser ranging data to eliminate measurement errors. Subsequently, the tool contour feature points are extracted by the Canny operator edge detection algorithm with a threshold range of [50,150]. Combined with the three-dimensional distance data, a three-dimensional point cloud model of the tool is formed. The tool model is determined by matching the point cloud registration algorithm with a pre-stored standard model library. Real-time geometric data containing the cutting edge radius, sharpness parameters, chamfer angle and width, and spatial coordinates are generated and fed back to the intelligent control system in real time at a rate of 100Mbps via the TCP / IP protocol. After receiving feedback data, the intelligent control system extracts core parameters and compares them with preset target parameters. An improved cosine similarity algorithm is used to calculate the matching degree. When the matching degree is below 0.96, a deviation is determined, and a correction scheme is immediately initiated. For spray gun position deviation, the longitudinal translation mechanism 7 target movement and the lifting drive mechanism 9 target height adjustment value are calculated using an inverse kinematics algorithm (damping coefficient 0.03) based on a spatial rectangular coordinate system. For spray angle deviation, a drive pulse signal is generated based on the difference between the current pitch angle of the dynamic spray gun module 11 and the target angle. For tool posture deviation, the transmission mechanism 4 step speed and the rotation adjustment mechanism angle correction are calculated using a pulse subdivision algorithm (1600 steps / revolution). For spray parameter deviation, the sand conveying pressure and flow rate are adjusted using a PID control algorithm (proportional coefficient 0.6, integral coefficient 0.2, derivative coefficient 0.1). Correction commands are distributed to each component via industrial Ethernet. The tool attitude control component adjusts the rotary mechanism's movement according to the angle correction amount; the abrasive conveying component adjusts the screw pump speed and valve opening according to pressure and flow adjustment values; and the sandblasting execution component adjusts the spray gun position and pitch angle according to the movement amount and pulse signal, simultaneously compensating for clamping errors and surface contour fluctuations during the sandblasting process. The above-mentioned data acquisition, deviation comparison, and correction adjustment cycle is continuously executed with a 20ms feedback cycle until the cutting edge parameters in the feedback data stably meet the preset target parameters. At this point, the intelligent control system sends a termination command, completing the sandblasting process. This process, through real-time data closed-loop control, solves the problems of poor processing consistency and low parameter control accuracy caused by reliance on manual experience in existing technologies. Simultaneously, through multi-component collaborative correction, it avoids inadequate or over-processing of complex curved surfaces, improving the stability of tool cutting edge parameters and surface treatment quality.

[0118] The following describes a sandblasting device for surface treatment of cutting tools according to an embodiment of this application. The sandblasting device includes a vision recognition and measurement component 1, an intelligent control system, a tool posture control component, a sandblasting execution component, and a sand conveying component, wherein:

[0119] The visual recognition and measurement component 1 is used to collect the shape, size, thickness and spatial position information of the tool to be processed, and generate real-time geometric data of the tool;

[0120] The intelligent control system is used to automatically match the sandblasting process parameters with the highest similarity based on the similarity between real-time geometric data and the preset process parameter database, and calculate the motion trajectory of the tool attitude control component, sand conveying component and sandblasting execution component, and send initial control commands to the tool attitude control component, sand conveying component and sandblasting execution component;

[0121] The tool attitude control component is used to adjust the spatial posture and placement of the tool to be processed according to the initial control command, so that the tool cutting edge is facing the spray gun jet.

[0122] The abrasive conveying assembly is used to switch the abrasive bin passage to the abrasive bin corresponding to the sandblasting process parameters according to the initial control command, and to convey abrasive of the corresponding particle size to the sandblasting execution assembly;

[0123] The sandblasting actuator is used to adjust the position and spray angle of the spray gun according to the initial control command, and spray abrasive onto the tool surface.

[0124] During the sandblasting process, the visual recognition and measurement component 1 continuously collects real-time geometric data of the tool to be processed and feeds the real-time geometric data back to the intelligent control system. The intelligent control system compares the feedback data with the preset target parameters to determine if there is a deviation. If there is a deviation, it immediately calculates a correction scheme and sends correction commands to the tool posture control component, the abrasive conveying component, and the sandblasting execution component. The tool posture control component, the abrasive conveying component, and the sandblasting execution component adjust the position or angle of the spray gun, the tool posture, and the spraying parameters according to the correction commands to dynamically compensate for errors and surface contour fluctuations. The above sandblasting process is repeated until the tool cutting edge parameters stably reach the target parameters. The intelligent control system then sends a termination command to each component to complete the sandblasting process.

[0125] Example 1: For a set of cutting tools of model CNMG190612-KC4, the required K value is 1.5~1.8. The following is the processing procedure:

[0126] Visual recognition measurement component 1: After the CNMG190612-KC4 tool is clamped into the tool tray, the high-definition industrial camera is activated to capture the appearance image of the tool. Simultaneously, the laser ranging module is activated to collect three-dimensional distance data. Through image denoising and feature extraction processing, the shape and size information of the tool, such as the diamond-shaped cutting edge, 19mm side length, and 6.35mm thickness, as well as the coordinate position data of the tool in the tray, are extracted. Then, the initial K value of 1.2 is calculated by matching with the pre-stored standard model. Finally, the complete real-time geometric data is transmitted to the intelligent control system through the industrial bus.

[0127] Intelligent control system: After receiving the data transmitted by the vision recognition measurement component 1, it uses the "CNMG190612-KC4" tool model as the core index, and performs secondary verification in combination with shape and size data. After confirming that the matching is successful, it retrieves the matching parameters from the preset process parameter database: the abrasive is #80 alumina coarse sand, the sand conveying pressure is 0.5MPa, the flow rate is 30L / min, the optimal working distance between the spray gun and the tool cutting edge is 60mm, the spray angle is 20°, the pitch angle of the dynamic spray gun module 11 is 70°, the static spray gun module 10 is a fixed angle of 45°, and the tool material tray rotation speed is 2rpm. Based on these parameters, the initial control commands of each component are generated.

[0128] Tool posture control component: According to the command, the transmission mechanism 4 first drives the tool tray to move along the first horizontal direction to the spraying area of ​​the sandblasting execution component; the first rotation adjustment mechanism 2 drives the tray to rotate around the vertical axis at a speed of 2 rpm, so that each cutting edge of the tool can face the spray gun spray flow in turn; the second rotation adjustment mechanism 3 keeps the tray at a 0° horizontal posture to avoid spray angle deviation due to posture tilt.

[0129] Abrasive conveying assembly: After receiving the control command, the abrasive switching mechanism 6 first analyzes the "#80 abrasive" information, drives the multi-channel valve to rotate to align with the No. 1 compartment storing #80 abrasive, and simultaneously disconnects the passage to other compartments to avoid mixing; then the screw pump is started, and the pump speed is adjusted in real time to maintain the abrasive conveying pressure at 0.5MPa±0.02MPa and the flow rate at 30L / min±0.5L / min, ensuring that the abrasive is conveyed to the sandblasting execution assembly through the main abrasive supply pipeline with uniform pressure and flow rate;

[0130] Sandblasting execution components: Upon receiving the command, the longitudinal translation mechanism 7 in the drive mechanism moves horizontally at a speed of 30mm / s, driving the angle adjustment mechanism and the spray gun closer to the tool; the lifting mechanism moves synchronously, lowering the spray gun from the initial height to the target height of 110mm; the angle adjustment mechanism drives the dynamic spray gun module 11 to rotate around the horizontal axis to 70°, and at the same time opens the solenoid valve of the static spray gun module 10, so that both sets of spray guns are connected to the abrasive channel, completing the preparation work before spraying.

[0131] Dynamic monitoring and termination: Throughout the process, the visual recognition and measurement component 1 collects the K-value data of the cutting edge of the tool every 20ms and feeds it back to the intelligent control system in real time. If the detected K-value is <1.5, the abrasive conveying component is instructed to increase the pressure by 0.02MPa and the sandblasting execution component to reduce the longitudinal translation speed by 5mm / s. If the K-value is >1.8, the parameters are adjusted in the opposite direction. At the same time, the material level sensor of the abrasive storage tank monitors the material quantity of bin 1 in real time. When the material quantity is lower than 50L, a low material level warning signal is sent to remind the user to replenish the abrasive. Once the K-value of the cutting edge stabilizes within the required range of 1.5~1.8, the intelligent control system sends a termination command, and all components stop working, completing this sandblasting process.

[0132] The K values ​​for different cutting edges of different cutting tools are shown in Table 1 below:

[0133] Table 1. K values ​​for different cutting edges of different cutting tools

[0134]

[0135] Please refer to Table 1 and Figure 6 The results show the measurement results of four cutting edges of each of the three CNMG190612-KC4 cutting tools. The K values ​​of all cutting edges are within the required range, indicating that the sandblasting process is effective. The maximum difference in the cutting edge of a single tool is only 0.13, especially the difference of tool 3 is 0.04. The average difference in K values ​​between multiple tools is 0.04, indicating that the actions of the tool posture control component and the sandblasting execution component ensure the uniformity of sandblasting, and the standardized process achieves stable batch processing. There are no cases where the data are close to the boundary of the range, and most of them are concentrated in 1.63~1.69, indicating that the initial parameter matching is accurate, and the dynamic monitoring and adjustment mechanism of the visual recognition measurement component 1 corrects the deviation in a timely manner, verifying the practicality and reliability of the entire processing process.

[0136] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A grit blasting method for surface treatment of a cutting tool, characterized in that, The method comprises: Step S101, clamping and fixing the tool to be processed, collecting the shape, size, thickness and spatial position information of the tool to be processed by the visual recognition measurement assembly (1), and generating real-time geometric data of the tool; Step S102, the intelligent control system calculates the similarity of the real-time geometric data and the preset process parameter database, automatically matches the sand blasting process parameter with the highest similarity and calculates the motion trajectory of the tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly, and sends the initial control instruction to the tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly; Step S103, based on the initial control instruction, the tool posture control assembly adjusts the spatial pose and placement position of the tool to be processed, so that the tool edge is directly opposite the jet flow of the spray gun; Step S104, based on the initial control instruction, the sand material conveying assembly switches to the abrasive material bin corresponding to the sand blasting process parameter, and conveys the abrasive material with the corresponding particle size to the sand blasting execution assembly; Step S105, based on the initial control instruction, the sand blasting execution assembly adjusts the position and spraying angle of the spray gun, and sprays the abrasive material to the surface of the tool; Step S106, during the sand blasting process, the real-time geometric data of the tool to be processed is continuously collected and fed back to the intelligent control system, if the feedback data deviates from the preset target parameter, a correction instruction is generated to synchronously adjust the position angle of the spray gun, the tool pose and the spraying parameter, dynamically compensate the error and the contour fluctuation, and stably reach the preset target parameter, and the sand blasting process is completed; Wherein, the step S106 comprises: The visual recognition measurement assembly (1) continuously collects the shape, size, thickness and spatial position information of the tool to be processed, and feeds back to the intelligent control system in real time; The intelligent control system compares the feedback data with the preset target parameter, judges whether there is deviation, if there is deviation, immediately calculates the correction scheme and sends the correction instruction to the tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly; The tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly respond to the correction instruction, synchronously adjust the position and spraying angle of the spray gun, the spatial pose of the tool, and adaptively adjust the spraying parameter, dynamically compensate the error and the contour fluctuation of the tool surface in the sand blasting process; Repeat the cycle of data collection, deviation comparison and correction adjustment until the feedback data stably meets the preset target parameter, the intelligent control system sends the termination instruction, and the sand blasting process is completed.

2. The method of claim 1, wherein, The step S101 comprises: The visual recognition measurement assembly (1) collects the appearance image information of the tool to be processed, and the appearance image information includes the shape, size, thickness and spatial position information of the tool; The collected appearance image information is subjected to feature extraction and data analysis, real-time geometric data of the tool is generated, and the real-time geometric data is transmitted to the intelligent control system.

3. The method of claim 1, wherein, The step S102 comprises: Receiving the real-time geometric data transmitted by the visual recognition measurement assembly (1), and calling the preset process parameter database containing the sand blasting process parameters corresponding to different tool models; Calculate the similarity of the real-time geometric data with each parameter in the preset process parameter database, and select the parameter with the highest similarity as the sand blasting process parameter of the current tool to be processed; Based on the selected sand blasting process parameter, the target position and motion trajectory sequence of the tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly are calculated; According to the target position and the motion trajectory sequence, initial control instructions are sent to the tool posture control assembly, the sand material conveying assembly and the sand blasting execution assembly to initialize the working state of each component.

4. The method of claim 1, wherein, The step S103 comprises: The tool posture control assembly receives the initial control instructions, which include target spatial pose parameters, target placement position parameters and edge alignment requirements adapted to the current tool to be processed; Based on the target placement position parameters, the transmission mechanism (4) drives the rotary adjustment mechanism to move in the first horizontal direction in a step-by-step manner, driving the tool tray and the tool to be processed to adjust the horizontal placement position; Based on the target spatial pose parameters, the rotary adjustment mechanism drives the tool tray to rotate around the vertical axis and swing around the horizontal axis, cooperatively adjusting the spatial pose of the tool to be processed; Combining the placement position adjustment and the spatial pose adjustment, the edge of the tool to be processed is accurately aligned with the jet flow of the spray gun in the sand blasting execution assembly.

5. The method of claim 4, wherein, The rotary adjustment mechanism comprises a first rotary adjustment mechanism (2) and a second rotary adjustment mechanism (3), wherein: The first rotary adjustment mechanism (2) is installed on the transmission mechanism (4) and is used to drive the tool tray to continuously rotate around the vertical axis by 360° to adjust the horizontal axial position of the tool to be processed; The second rotary adjustment mechanism (3) is connected between the first rotary adjustment mechanism (2) and the tool tray, and is used to drive the tool tray to swing around the horizontal axis within a range of ±90° to adjust the pitch attitude of the tool to be processed; The first rotary adjustment mechanism (2) and the second rotary adjustment mechanism (3) act cooperatively to realize the accurate control of the spatial pose of the tool to be processed in cooperation with the movement of the transmission mechanism (4).

6. The method of claim 1, wherein, The step S104 comprises: The sand material conveying assembly receives the initial control instructions sent by the intelligent control system, which also include target abrasive particle size information matched with the current sand blasting process parameter; Based on the target abrasive particle size information, the sand material switching mechanism (6) identifies the independent compartment storing the abrasive of the corresponding particle size in the split sand material storage tank (5); The sand material switching mechanism (6) switches the communication state, disconnects the path with other independent compartments, and establishes communication between the independent compartment storing the abrasive of the corresponding particle size and the main sand supply pipeline; The sand material conveying power device is started to guide the abrasive of the corresponding particle size in the independent compartment into the main sand supply pipeline; The abrasive is stably conveyed to the spray gun of the sand blasting execution assembly through the main sand supply pipeline to provide the spray gun with suitable abrasive for sand blasting processing.

7. The method of claim 1, wherein, The step S105 comprises: The sand blasting execution assembly receives the initial control instruction, and the initial control instruction further includes a target position parameter, a target spraying angle parameter, an optimal working distance between a nozzle outlet and a tool surface to be processed, and an optimal included angle between a spraying flow axis of the nozzle and a normal line of the tool surface to be processed, which are adapted to a current tool to be processed; Based on the target position parameter, the driving mechanism drives the angle adjusting mechanism to move along the second horizontal direction and the vertical direction, so as to adjust the spatial position of the nozzle to approach the optimal working distance; Based on the target spraying angle parameter, the angle adjusting mechanism adjusts the pitch angle of the nozzle clamped thereby, so as to adjust the spraying angle of the nozzle to approach the optimal included angle; After the above position and angle adjustment is completed, abrasive delivered by the abrasive delivery assembly is received and sprayed to the tool surface to be processed, and the sand blasting process is started.

8. The method of claim 7, wherein, The driving mechanism includes a longitudinal translation mechanism (7), a rotary driving mechanism (8) and a lifting driving mechanism (9), and the angle adjusting mechanism includes at least one dynamic nozzle module (11) and one static nozzle module (10), wherein: The longitudinal translation mechanism (7) is fixed to the device frame and is used to drive the angle adjusting mechanism to reciprocate along the second horizontal direction; The rotary driving mechanism (8) is installed at the lower part of the longitudinal translation mechanism (7) and is used to drive the angle adjusting mechanism to rotate around the vertical axis; The lifting driving mechanism (9) is installed at the lower part of the rotary driving mechanism (8) and is used to drive the angle adjusting mechanism and the clamped nozzle to move up and down along the vertical direction; The dynamic nozzle module (11) is used to clamp the nozzle and can continuously adjust the pitch angle of the clamped nozzle around the horizontal axis within a range of ±45°; The static nozzle module (10) is used to clamp the nozzle and fixes the clamped nozzle in a configuration of spraying obliquely downward at an angle of 45° with respect to the horizontal axis; The dynamic nozzle module (11) and the static nozzle module (10) can be independently started and stopped by the intelligent control system, and the dynamic nozzle module (11), the static nozzle module (10) or a combination of the two can be selectively enabled according to the initial control instruction.

9. A blasting device for surface treatment of a cutting tool for carrying out a blasting method for surface treatment of a cutting tool according to any one of claims 1 to 8, characterized in that The sand blasting device includes a visual recognition and measurement assembly (1), an intelligent control system, a tool posture adjusting assembly, an abrasive delivery assembly and a sand blasting execution assembly, wherein: The visual recognition and measurement assembly (1) is used to collect shape, size, thickness and spatial position information of the tool to be processed, and generate real-time geometric data of the tool; The intelligent control system is used to automatically match sand blasting process parameters with the highest similarity according to the similarity between the real-time geometric data and a preset process parameter database, calculate motion trajectories of the tool posture adjusting assembly, the abrasive delivery assembly and the sand blasting execution assembly, and send initial control instructions to the tool posture adjusting assembly, the abrasive delivery assembly and the sand blasting execution assembly; The tool posture adjusting assembly is used to adjust the spatial pose and placement position of the tool to be processed according to the initial control instruction, so that the tool edge is directly opposite the nozzle spraying flow; The abrasive delivery assembly is used to switch the abrasive bin passage to the abrasive bin corresponding to the sand blasting process parameters according to the initial control instruction, and deliver abrasive with a corresponding particle size to the sand blasting execution assembly. A sandblasting execution assembly is configured to adjust the position and the spray angle of the spray gun according to the initial control instruction to spray the abrasive towards the tool surface; During the sandblasting process, the visual recognition measurement assembly (1) continuously collects real-time geometric data of the tool to be processed and feeds back the real-time geometric data to the intelligent control system in real time. The intelligent control system compares the feedback data with the preset target parameters to determine whether there is a deviation. If there is a deviation, the intelligent control system immediately calculates a correction scheme and sends a correction instruction to the tool posture control assembly, the sand material conveying assembly and the sandblasting execution assembly. The tool posture control assembly, the sand material conveying assembly and the sandblasting execution assembly adjust the position or angle of the spray gun, the tool posture and the spraying parameters according to the correction instruction to dynamically compensate for the error and the surface contour fluctuation. The above sandblasting process is repeated until the tool edge parameters reach the target parameters. The intelligent control system sends a termination instruction to each assembly to complete the sandblasting process.

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