Automatic, programmable, and non-programmable sandblasting system suitable for precise rust removal on complex workpiece surfaces.

Abstract

This invention provides an automated, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces, including a conveyor line and a sandblasting station. A tray is placed on the conveyor line. Both ends of the conveyor line pass through the sandblasting station, and a flipping mechanism is provided between the two ends of the conveyor line. Vision scanning modules are installed on the upper sides of the portions of the conveyor line passing through the sandblasting station, and lenses are mounted on the bottom of the vision scanning modules. A protective cavity with an open bottom is provided on the bottom surface of the vision scanning modules, and the lens is located inside the protective cavity. A cover is provided at the bottom opening of the protective cavity, and the cover is connected to an opening and closing mechanism. By placing the lens inside the protective cavity with an open bottom and providing a cover and opening and closing mechanism at the bottom opening, the bottom opening is opened when it is needed to photograph the workpiece, and closed when not needed, preventing the lens from being exposed to the outside environment for extended periods. A cleaning mechanism is also included to blow away dust from the bottom of the lens before it is photographed.

Description

Technical Field

[0001] This invention relates to the field of workpiece surface treatment, and in particular to an automatic, programming-free processing system suitable for precise sandblasting and rust removal of complex workpiece surfaces. Background Technology

[0002] Sandblasting is a key surface treatment process widely used in industrial manufacturing, especially in shipbuilding, marine engineering, energy equipment, and heavy machinery.

[0003] For complex workpieces (such as valves and pumps), sandblasting and rust removal often employs 3D binocular camera technology for workpiece scanning. This core technology uses laser 3D scanning to acquire millimeter-precision point cloud data of the workpiece surface, combined with intelligent algorithms to achieve fully automated planning of the grinding path and automatic adaptation to non-standard areas. This gives the robot complete capabilities of "perception-decision-execution." Unlike traditional teaching methods (which require technicians to manually guide the robot to record path points), this system fixes the 3D binocular camera in the work scene to collect 3D information of the workpiece in real time. The system automatically identifies welds, burrs, or grinding areas based on point cloud features, and extracts key feature points based on the Fast Point Feature Histogram (FPFH) descriptor, ultimately generating a high-precision sandblasting path without manual teaching or offline programming.

[0004] The implementation of the aforementioned automatic, programming-free surface treatment technology for workpieces relies heavily on the imaging results of a 3D binocular camera, with the camera's image clarity directly determining the workpiece processing quality. However, in existing technical solutions, the 3D binocular camera lens is constantly exposed to the external environment; and the air in the processing workshop has a high dust content, with dust easily adhering to the lens surface and forming obstructions, severely interfering with the imaging accuracy and consequently affecting the subsequent sandblasting and rust removal processing effect.

[0005] Therefore, an automated, programming-free processing system suitable for precise sandblasting and rust removal on complex workpiece surfaces is provided to address the aforementioned issues. Summary of the Invention

[0006] In order to solve the technical problem that lenses are always exposed to the external environment and are prone to dust accumulation, this invention provides an automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces.

[0007] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0008] This invention provides an automated, programming-free processing system suitable for precise sandblasting and rust removal of complex workpiece surfaces, including a conveyor line and a sandblasting station; a tray is placed on the conveyor line for carrying workpieces; both ends of the conveyor line pass through the sandblasting station, and a flipping mechanism is provided between the two ends of the conveyor line for flipping the workpiece 180°; vision scanning modules are provided on both sides above the portion of the conveyor line passing through the sandblasting station, and lenses are installed at the bottom of the vision scanning modules; a protective cavity with an open bottom is provided on the bottom surface of the vision scanning module, and the lens is located inside the protective cavity; a cover is provided at the bottom opening of the protective cavity, and the cover is connected to an opening and closing mechanism.

[0009] Preferably, a cylinder is fixed to the bottom surface of the visual scanning module, and a sealing ring is fixed to the bottom of the cylinder; the inner wall of the cylinder and the bottom surface of the visual scanning module form the protective cavity; the opening and closing mechanism includes telescopic push rods installed on both sides of the cylinder and a reset assembly; the telescopic push rods are connected to a hydraulic drive mechanism; lifting mechanisms are installed on both sides of the cover, and the lifting mechanisms are connected to the reset assembly; the telescopic push rods are used to push the lifting mechanisms and the cover to move horizontally.

[0010] Preferably, the telescopic push rod includes an outer cylinder fixed to the outer wall of the cylinder body; a second piston is fitted inside the outer cylinder, the second piston is fixed with a movable rod, the movable rod is slidably sleeved with a guide sleeve fixed to the end of the outer cylinder, one end of the movable rod is fixed with a pressure seat, the inner wall of the outer cylinder and the side wall of the second piston form a first rodless cavity, an interface is provided on one side of the outer cylinder, the interface is connected to the hydraulic drive mechanism; the reset assembly is located below the telescopic push rod.

[0011] Preferably, the reset assembly includes a movable column and a fixed sleeve fixed to the outer wall of the cylinder; the fixed sleeve is slidably sleeved with the movable column, a second spring is sleeved on the movable rod, and the movable rod is elastically connected to the fixed sleeve through the second spring; the end of the movable rod is connected to the lifting mechanism.

[0012] Preferably, the lifting mechanism includes a connecting block and a sleeve; the connecting block is slidably mounted vertically onto the sleeve, the sleeve is fixed to the end of the movable rod, the sleeve and the connecting block are elastically connected by a fourth spring, and a roller is rotatably mounted on the top of the connecting block.

[0013] Preferably, the roller is located below one end of the movable rod, and the connecting block is located on one side of the pressure seat; a third wedge-shaped surface is provided at the bottom of one end of the movable rod.

[0014] Preferably, a magnetic block is provided inside one end of the fixing sleeve, and the magnetic block is used to magnetically attract the sleeve body.

[0015] Preferably, the hydraulic drive mechanism is located below the vision scanning module; the hydraulic drive mechanism includes a hydraulic cylinder fixed to the conveyor line; a first piston is installed inside the hydraulic cylinder, a top cover is fixed to the top of the hydraulic cylinder, a connecting rod is fixed to the top of the first piston, a movable block is fixed to the top of the connecting rod, the movable block and the top cover are elastically connected by a first spring, the bottom surface of the first piston and the inner wall of the hydraulic cylinder form a second rodless cavity, the bottom of the second rodless cavity is connected to an infusion pipe, the infusion pipe is connected to the interface of the telescopic push rod through a connecting pipe, the movable block extends from the top surface of the conveyor line, a second wedge-shaped surface is provided on one side of the movable block, and a first wedge-shaped surface for pressing the second wedge-shaped surface is provided on the bottom side of the tray.

[0016] Preferably, a pressure strip is fixed to the end of the movable column, and a cleaning mechanism is provided on one side of the pressure strip. The cleaning mechanism is used to blow air to clean the bottom of the lens.

[0017] Preferably, the cleaning mechanism includes an air cylinder fixed to the outer wall of the cylinder body. A third piston is connected inside the air cylinder. A pressure rod extending out of the air cylinder is fixed to one side of the third piston, with one end of the pressure rod facing the pressure bar. An air cavity is formed between one side of the third piston and the inner wall of the air cylinder. A third spring is provided inside the air cavity. The third piston is elastically connected to the side wall of the air cylinder through the third spring. A first one-way valve and a second one-way valve are connected to the air cavity. The first one-way valve is located outside the cylinder body, and the second one-way valve is connected to an air pipe. The air pipe is fixedly connected to a blower strip cover, which is located on one side of the bottom of the lens.

[0018] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0019] The positive and progressive effects of this invention are as follows:

[0020] The aforementioned automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces uses a lens placed inside a protective cavity with an open bottom. A cover and opening / closing mechanism are installed at the bottom opening. When it is necessary to photograph the workpiece, the bottom opening is opened, and when it is not necessary, it is closed, thus preventing the lens from being exposed to the outside environment for a long time and reducing the possibility of dust adhesion.

[0021] The cleaning mechanism allows for air cleaning of the bottom of the lens before shooting, removing dust and ensuring optimal shooting results.

[0022] Furthermore, a lifting mechanism is provided. When the cover moves to open and close through the opening and closing mechanism, the cover moves down and separates from the sealing ring to avoid friction between the cover and the sealing ring. When the cover moves to the bottom of the protective cavity to close the protective cavity, the cover moves up and fits against the sealing ring. This design reduces the wear of the sealing ring during the opening and closing process. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the distribution structure of the visual scanning module of the present invention;

[0025] Figure 3 This is a schematic diagram of the sandblasting station of the present invention;

[0026] Figure 4 This is a schematic diagram of the flipping mechanism of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure below the visual scanning module of the present invention;

[0028] Figure 6 This is a schematic diagram of the hydraulic drive mechanism and the tray of the present invention;

[0029] Figure 7 This is a schematic diagram of the installation structure of the hydraulic cylinder of the present invention;

[0030] Figure 8 This is a schematic diagram of the internal structure of the hydraulic cylinder of the present invention;

[0031] Figure 9 This is a schematic diagram of one side of the visual scanning module of the present invention;

[0032] Figure 10 This is a schematic diagram of the outer side of the cylinder of the present invention;

[0033] Figure 11 This is a schematic diagram of the telescopic push rod, reset assembly, and lifting mechanism of the present invention;

[0034] Figure 12 For the present invention Figure 11 Enlarged structural diagram of section A in the middle;

[0035] Figure 13 This is a schematic diagram of the structure of the pressure strip and connecting tube of the present invention;

[0036] Figure 14 This is a schematic diagram of the internal structure of the cylinder of the present invention;

[0037] Figure 15 This is a schematic diagram of the cleaning mechanism of the present invention.

[0038] Explanation of reference numerals in the attached figures

[0039] 1. Conveyor line; 101. First conveyor; 102. Second conveyor; 2. Sandblasting station; 201. Cover; 202. Opening; 203. Sandblasting robot; 3. Tilting mechanism; 301. Base; 302. Frame; 303. Connecting seat; 304. Rotating shaft; 305. Motor; 306. First carrier; 307. Third conveyor; 308. Lifting rod; 309. Second carrier; 310. Fourth conveyor; 4. Crane; 5. Pallet; 501. First wedge surface; 6. Mounting frame; 7. Vision scanning module; 701. Lens; 8. Cylinder; 801. Sealing ring; 9. Hydraulic drive mechanism; 901. Moving block; 9011. Second wedge surface; 902. Connecting rod; 903. Hydraulic cylinder; 904. First piston; 905. Top cover; 906. First spring; 907. Infusion tube; 908. Safety device. Mounting base; 909, connecting pipe; 10, cap; 11, telescopic push rod; 1101, outer cylinder; 1102, second piston; 1103, movable rod; 1104, pressure seat; 1105, third wedge surface; 1106, guide sleeve; 12, reset assembly; 1201, fixed sleeve; 1202, movable column; 1203, second spring; 1204, magnetic block; 13, cleaning mechanism; 1301, air cylinder; 1 302. Pressure rod; 1303. Air pipe; 1304. Blower shroud; 1305. Third piston; 1306. Third spring; 1307. Retaining ring; 1308. First one-way valve; 1309. Second one-way valve; 14. Pressure bar; 15. Lifting mechanism; 1501. Sleeve; 1502. Connecting block; 1503. Roller; 1504. Slider; 1505. Slide rail; 1506. Fourth spring. Detailed Implementation

[0040] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0041] like Figures 1-15 As shown, an automatic, programming-free processing system suitable for precise sandblasting and rust removal of complex workpiece surfaces includes a conveyor line 1 and a sandblasting station 2.

[0042] A tray 5 is placed on the conveyor line 1, and the tray 5 is used to hold workpieces.

[0043] Both ends of the conveyor line 1 pass through the sandblasting station 2, and a flipping mechanism 3 is provided between the two ends of the conveyor line 1. The flipping mechanism 3 is used to flip the workpiece 180°.

[0044] The conveyor line 1 is equipped with visual scanning modules 7 on both sides above the portion of the conveyor line 1 that passes through the sandblasting station 2, and a lens 701 is installed at the bottom of the visual scanning module 7.

[0045] The bottom surface of the visual scanning module 7 is provided with a protective cavity with an open bottom, and the lens 701 is located inside the protective cavity.

[0046] The bottom opening of the protective cavity is provided with a cover 10, and the cover 10 is connected to an opening and closing mechanism.

[0047] like Figure 1 As shown, the conveyor line 1 is U-shaped and consists of two first conveyors 101 and one second conveyor 102. The second conveyor 102 is located between one end of the two first conveyors 101.

[0048] like Figure 1 As shown, a crane 4 is installed on one side of the conveyor line 1. The crane 4 is used to lift workpieces and place them on the tray 5 on the conveyor line 1. Alternatively, it can be used to lift rust-removed workpieces off the conveyor line 1.

[0049] The sandblasting station 2 includes a housing 201, with two openings 202 on each side of the housing 201 for the ends of the two first conveyor lines 1 to pass through. Two sandblasting robots 203 are installed inside the housing 201.

[0050] Conveyor line 1 moves pallet 5 and the workpiece on it together. The workpiece moves to one end of conveyor line 1 and enters sandblasting station 2. The sandblasting robot 203 in sandblasting station 2 sandblasts the top surface of the workpiece to remove rust. After the top surface is rusted, the workpiece leaves sandblasting station 2 and enters flipping mechanism 3. The flipping mechanism 3 rotates the workpiece 180° so that its top and bottom surfaces are reversed, with the rusted side facing down and the unrusted side facing up. After flipping, the workpiece is fed to the other end of conveyor line 1 through flipping mechanism 3 and enters sandblasting station 2 again. The sandblasting robot 203 sandblasts the unrusted surface to remove rust. The rusted workpiece returns to crane 4 and is lifted off conveyor line 1 by crane 4.

[0051] The U-shaped conveyor line 1, combined with the flipping mechanism 3, forms a closed "U"-shaped structure. After the top and bottom surfaces of the workpiece are derusted, it can return to the crane 4, allowing the crane 4 to load and unload the workpiece both before and after processing.

[0052] In practice, the workpiece is scanned by the vision scanning module 7 when it enters and leaves the sandblasting station 2.

[0053] When the workpiece enters the sandblasting station 2, the visual scanning module 7 takes a picture of the workpiece, extracts the outline and position of the upper part of the workpiece, and automatically generates the sandblasting processing motion trajectory by combining intelligent algorithms. When the workpiece enters the sandblasting station 2, the sandblasting robot 203 performs sandblasting and rust removal on the top surface of the workpiece according to the processing motion trajectory.

[0054] The above design automatically generates machining motion trajectories without the need for manual instruction or offline programming.

[0055] When the workpiece leaves the sandblasting station 2, the vision scanning module 7 scans the surface of the workpiece after rust removal to check the sandblasting effect and detect unqualified workpieces.

[0056] Specifically, the visual scanning module 7 employs a 3D camera. The visual scanning module 7 scans the workpiece, and the generated point cloud data undergoes feature enhancement using the FPFH algorithm to accurately identify burrs, welds, or uneven areas, making it suitable for processing complex workpieces.

[0057] like Figure 4 As shown, the flipping mechanism 3 includes a base 301; frames 302 are fixed to both sides of the top of the base 301, and connecting seats 303 are rotatably connected to the frames 302 via rotating shafts 304; a motor 305 is fixedly installed on one side of the base 301, and the output shaft of the motor 305 is connected to the rotating shafts 304; a first carrier 306 is fixed to the connecting seat 303, and a second carrier 309 is connected to the first carrier 306 via a lifting rod 308; a third conveyor 307 and a fourth conveyor 310 are respectively installed on the first carrier 306 and the second carrier 309, and clamping assemblies are installed on both the third conveyor 307 and the fourth conveyor 310. The clamping assemblies can be two symmetrically arranged cylinders or hydraulic cylinders, which clamp the tray 5 by extending; retracting cancels the clamping of the tray 5. The lifting rod 308 can be a cylinder, a hydraulic cylinder, or an electric push rod.

[0058] The pallet 5 and the workpiece on it leave one end of the conveyor line 1 and enter the flipping mechanism 3. The workpiece enters the third conveyor 307, where the pallet 5 is clamped by the clamping components on the third conveyor 307. The lifting rod 308 drives the second carrier 309 to move downward (the clamping components on the second carrier 309 pre-clamp a pallet 5), so that the pallet 5 on the second carrier 309 presses on the workpiece. Then, the motor 305 drives the rotating shaft 304, connecting seat 303, first carrier 306, second carrier 309, lifting rod 308, third conveyor 307 and fourth conveyor 310 to rotate 180° together, so that the workpiece is reversed from top to bottom. Then, the lifting rod 308 returns to its original position, so that the fourth conveyor 310 is level with the conveyor line 1. Then, the clamping components on the second carrier 309 release the pallet 5, and the fourth conveyor 310 transports the pallet 5 and the flipped workpiece away together.

[0059] The above describes the workpiece flipping process when the first carrier 306 is in the lower position. When the second carrier 309 is in the lower position, the workpiece enters the fourth conveyor 310 and is held in place by the clamping assembly on the workpiece tray 5. Then, the lifting rod 308 moves the second carrier 309 upward, pressing the workpiece onto the tray 5 on the first carrier 306. Then, the motor 305 drives the rotating shaft 304, connecting seat 303, first carrier 306, second carrier 309, lifting rod 308, third conveyor 307, and fourth conveyor 310 to rotate 180° together, so that the workpiece is reversed from top to bottom. Then, the lifting rod 308 returns to its original position, and the workpiece is transported away by the third conveyor 307.

[0060] By flipping the workpiece and swapping its top and bottom surfaces, it becomes easier to perform sandblasting and rust removal on both sides.

[0061] like Figure 5 As shown, it also includes a mounting bracket 6, to which the vision scanning module 7 is fixed. The mounting bracket 6 supports the height of the vision scanning module 7, positioning it at the top of the conveyor line 1.

[0062] like Figures 8-10 As shown, a cylindrical body 8 is fixed to the bottom surface of the visual scanning module 7, and a sealing ring 801 is fixed to the bottom of the cylindrical body 8; the inner wall of the cylindrical body 8 and the bottom surface of the visual scanning module 7 form the protective cavity; the opening and closing mechanism includes telescopic push rods 11 installed on both sides of the cylindrical body 8 and a reset assembly 12; the telescopic push rods 11 are connected to a hydraulic drive mechanism 9; lifting mechanisms 15 are installed on both sides of the cover 10, and the lifting mechanisms 15 are connected to the reset assembly 12; the telescopic push rods 11 are used to push the lifting mechanisms 15 and the cover 10 to move horizontally.

[0063] The vision scanning module 7 is used to scan the workpiece, and the scanned data is used to generate the processing motion trajectory. The clarity of the lens 701 directly affects the processing. In traditional technology, the lens 701 of the vision scanning module 7 is always exposed to the outside world, and dust easily accumulates on it, which can obstruct the image captured by the lens 701 and affect the clarity of the image.

[0064] By incorporating an opening and closing mechanism and a cover 10, after the workpiece moves below the vision scanning module 7, the opening and closing mechanism causes the cover 10 to leave the opening at the bottom of the protective cavity, allowing the lens 701 to be unobstructed and photograph the workpiece. After photographing, once the workpiece is below the vision scanning module 7, the opening and closing mechanism causes the cover 10 to close the opening at the bottom of the protective cavity, sealing and protecting the lens 701. This design reduces the time the lens 701 is directly exposed to the outside environment, thus preventing dust accumulation.

[0065] The specific operation of the opening and closing mechanism is as follows: the telescopic push rod 11 is driven by the hydraulic drive mechanism 9 to extend and retract; when the telescopic push rod 11 extends, it pushes the lifting mechanism 15 and the cover 10 to move horizontally together, so that the cover 10 leaves the bottom of the protective cavity and opens. At the same time, the tension reset assembly 12 is stretched during the above process; when the telescopic push rod 11 retracts, the lifting mechanism 15 and the cover 10 lose the pushing force, and the reset assembly 12 causes the cover 10 and the lifting mechanism 15 to move horizontally and reset, thus closing the bottom of the protective cavity.

[0066] The function of the lifting mechanism 15 is to adjust the height of the cover 10. Before the cover 10 is opened, the lifting mechanism 15 lowers the cover 10, separating the cover 10 from the sealing ring 801. The subsequent translational movement of the cover 10 (the process of leaving the bottom of the protective cavity and returning to the bottom of the protective cavity) will not rub against the sealing ring 801, reducing the wear of the sealing ring 801.

[0067] like Figures 11-12 As shown, the telescopic push rod 11 includes an outer cylinder 1101 fixed to the outer wall of the cylinder 8; a second piston 1102 is fitted inside the outer cylinder 1101, and a movable rod 1103 is fixed to the second piston 1102. The movable rod 1103 is slidably sleeved with a guide sleeve 1106 fixed to the end of the outer cylinder 1101. A pressure seat 1104 is fixed to one end of the movable rod 1103 away from the second piston 1102. The inner wall of the outer cylinder 1101 and the side wall of the second piston 1102 form a first rodless cavity. An interface is provided on one side of the outer cylinder 1101, and the interface communicates with the first rodless cavity. The interface is connected to the hydraulic drive mechanism 9. The reset assembly 12 is located below the telescopic push rod 11.

[0068] Hydraulic oil is injected into or extracted from the first rodless chamber by the hydraulic drive mechanism 9, thereby enabling the hydraulically driven second piston 1102 and movable rod 1103 to move together in translation.

[0069] like Figures 10-11 As shown, the reset assembly 12 includes a movable column 1202 and a fixed sleeve 1201 fixed to the outer wall of the cylinder 8; the fixed sleeve 1201 is slidably sleeved with the movable column 1202, and a second spring 1203 is sleeved on the movable rod 1103, and the movable rod 1103 is elastically connected to the fixed sleeve 1201 through the second spring 1203; the end of the movable rod 1103 is connected to the lifting mechanism 15.

[0070] The two ends of the second spring 1203 are respectively fixed to one end of the movable column 1202 and the fixed sleeve 1201, so as to realize the elastic connection between the movable column 1202 and the fixed sleeve 1201.

[0071] like Figures 10-12As shown, the lifting mechanism 15 includes a connecting block 1502 and a sleeve 1501 fitted onto the connecting block 1502; the connecting block 1502 is slidably mounted vertically onto the sleeve 1501, the sleeve 1501 is fixed to the end of the movable rod 1103, the sleeve 1501 and the connecting block 1502 are elastically connected by a fourth spring 1506, and a roller 1503 is rotatably mounted on the top of the connecting block 1502.

[0072] A slider 1504 is fixed on the connecting block 1502, and a slide rail 1505 is provided inside the sleeve 1501. The slider 1504 is slidably connected to the slide rail 1505. The connecting block 1502 can slide vertically about the sleeve 1501 through the slider 1504 and the slide rail 1505. The fourth spring 1506 is provided inside the bottom of the slide rail 1505. The two ends of the fourth spring 1506 abut against the bottom surface of the slide rail 1505 and the top surface of the slider 1504, respectively. The elastic connection between the sleeve 1501 and the connecting block 1502 is achieved through the fourth spring 1506.

[0073] The roller 1503 is located below one end of the movable rod 1103, and the connecting block 1502 is located on one side of the pressure seat 1104; a third wedge-shaped surface 1105 is provided at the bottom of one end of the movable rod 1103.

[0074] like Figures 11-12 As shown, the telescopic push rod 11 is in the retracted state at this time. When the telescopic push rod 11 extends, the third wedge-shaped surface 1105 on the movable rod 1103 approaches the roller 1503 until the two are in contact. The telescopic push rod 11 continues to extend, pressing the roller 1503 through the third wedge-shaped surface 1105. The roller 1503 rolls and rubs against the third wedge-shaped surface 1105, and the roller 1503 is pressed down, causing the roller 1503, connecting block 1502, and cover 10 to move downward together. The cover 10 separates from the sealing ring 801. At the same time, the fourth spring 1506 is compressed during the above process. After the pressure seat 1104 is attached to the connecting block 1502, the telescopic push rod 11 continues to extend, and pushes the lifting mechanism 15 and the cover 10 to move horizontally together through the pressure seat 1104, so that the cover 10 leaves the bottom of the protective cavity and opens the protective cavity (at the same time, when the cover 10 is pushed, the third wedge surface 1105 maintains the state of the downward pressing roller 1503, and the cover 10 does not contact the sealing ring 801 to avoid wear). When the lifting mechanism 15 is pushed, the lifting mechanism 15 drives the movable column 1202 of the reset assembly 12 to move together, and the movable column 1202 compresses the second spring 1203.

[0075] When the telescopic push rod 11 retracts, the pressure seat 1104 and the movable rod 1103 move back to their original positions together. Through the elastic force of the second spring 1203, the lifting mechanism 15 and the cover 10 move back to their original positions together. During the resetting process, the connecting block 1502 and the pressure seat 1104 remain in contact until the cover 10 moves to the bottom of the protective cavity. Then, the sleeve 1501 and the fixed sleeve 1201 come into contact and stop the cover 10 from moving further. The pressure seat 1104 and the movable rod 1103 continue to move back to their original positions, causing the pressure seat 1104 to separate from the sleeve 1501. The third wedge surface 1105 separates from the roller 1503, causing the roller 1503 to lose its downward pressure. Through the elastic force of the fourth spring 1506, the connecting block 1502, the roller 1503, and the cover 10 move upward together. The cover 10 comes into contact with the sealing ring 801, closing the bottom of the protective cavity and forming a seal.

[0076] With the above design, the lifting mechanism 15 is raised and lowered by the third wedge-shaped surface 1105 pressing the roller 1503, causing the connecting block 1502 to descend. The connecting block 1502 rises and resets by the elastic force of the fourth spring 1506. In other words, the lifting mechanism 15 can move the cover 10 up and down without the need for additional power components. The extension and retraction of the telescopic push rod 11 can not only move the cover 10 horizontally but also raise and lower it.

[0077] like Figure 12 As shown, a magnetic block 1204 is provided inside one end of the fixing sleeve 1201, and the magnetic block 1204 is used to magnetically attract the sleeve body 1501. The magnetic block 1204 is a permanent magnet, and the sleeve body 1501 is made of metal iron. After the cover 10 closes the bottom of the protective cavity, as... Figure 11 and Figure 12 As shown, the sleeve 1501 fits into the fixed sleeve 1201, and the sleeve 1501 is magnetically attracted to the magnetic block 1204, providing a limiting position.

[0078] like Figures 5-9As shown, the hydraulic drive mechanism 9 is located below the vision scanning module 7; the hydraulic drive mechanism 9 includes a hydraulic cylinder 903 fixed to the conveyor line 1; a first piston 904 is fitted inside the hydraulic cylinder 903, a top cover 905 is fixed to the top of the hydraulic cylinder 903, a connecting rod 902 is fixed to the top of the first piston 904, the connecting rod 902 is slidably sleeved with a hole opened in the top cover 905, and a movable block 901 is fixed to the top of the connecting rod 902, the movable block 901 and the top cover 905 are connected. The first piston 904 and the inner wall of the hydraulic cylinder 903 are elastically connected by the first spring 906. The bottom surface of the first piston 904 and the inner wall of the hydraulic cylinder 903 form a second rodless cavity. The bottom of the second rodless cavity is connected to the infusion tube 907. The infusion tube 907 is connected to the interface of the telescopic push rod 11 through the connecting tube 909. The movable block 901 extends from the top surface of the conveyor line 1. A second wedge surface 9011 is provided on one side of the movable block 901. A first wedge surface 501 for squeezing the second wedge surface 9011 is provided on the bottom side of the tray 5.

[0079] The hydraulic cylinder 903 is specifically fixed to the mounting base 908, which is fixed to the bottom of the conveyor line 1. The hydraulic cylinder 903 and its supporting components are multiple.

[0080] Both the first conveyor 101 and the second conveyor 102 of conveyor line 1 are roller conveyors, such as Figure 5 As shown, the movable block 901 extends from the gap between the rollers, thereby extending the movable block 901 to the top of the conveyor line 1.

[0081] like Figure 5 As shown, the movable block 901 is located below the vision scanning module 7. When the pallet 5 carrying the workpiece has not moved below the vision scanning module 7, the movable block 901 extends from the top surface of the conveyor line 1. When the pallet 5 moves downwards towards the vision scanning module 7, the first wedge surface 501 presses against the second wedge surface 9011, causing the movable block 901, connecting rod 902, and first piston 904 to move downwards together and compress the first spring 906. The first piston 904 pushes the hydraulic oil in the first rodless chamber, allowing the hydraulic oil to enter the first rodless chamber of the telescopic push rod 11 through the infusion pipe 907, connecting pipe 909, and interface. The hydraulic pressure pushes the second piston 1102, causing the second piston 1102 and movable rod 1103 to move. The telescopic push rod 11 extends to drive the cover 10 to open, allowing the vision scanning module 7 to perform scanning.

[0082] After the visual scanning module 7 scans the workpiece, the workpiece and the tray 5 move away from below the visual scanning module 7, the movable block 901 loses its downward pressure, and the movable block 901, the connecting rod 902 and the first piston 904 are reset by the elastic force of the first spring 906. The second rodless chamber is sucked in, so that the hydraulic oil in the first rodless chamber flows back to the second rodless chamber. The telescopic push rod 11 is retracted by hydraulic pressure.

[0083] With the above design, when the pallet 5 moves the workpiece to the bottom of the vision scanning module 7, the cover 10 will open automatically. After it leaves, the cover 10 will close automatically. The power source of the hydraulic drive mechanism 9 is provided by the gravity of the pallet 5 and the workpiece, without the need for additional power components.

[0084] like Figure 10 and Figure 13 As shown, a pressure strip 14 is fixed to the end of the movable column 1202, and a cleaning mechanism 13 is provided on one side of the pressure strip 14. The cleaning mechanism 13 is used to blow air to clean the bottom of the lens 701.

[0085] like Figure 14 and Figure 15 As shown, the cleaning mechanism 13 includes an air cylinder 1301 fixed to the outer wall of the cylinder 8. A third piston 1305 is connected inside the air cylinder 1301. A pressure rod 1302 extending out of the air cylinder 1301 is fixed to one side of the third piston 1305, with one end of the pressure rod 1302 facing the pressure strip 14. An air cavity is formed between one side of the third piston 1305 and the inner wall of the air cylinder 1301. A third spring 1306 is provided inside the air cavity. The third piston 1305 is elastically connected to the side wall of the air cylinder 1301 through the third spring 1306. A first one-way valve 1308 and a second one-way valve 1309 are connected to the air cavity. The first one-way valve 1308 is located outside the cylinder 8. The second one-way valve 1309 is connected to an air pipe 1303. The air pipe 1303 is fixedly connected to a blower strip cover 1304, which is located on one side of the bottom of the lens 701. A retaining ring 1307 is fixed inside the air cavity.

[0086] After the cover 10 is opened, before the lens 701 takes a picture, the bottom of the lens 701 is cleaned by the cleaning mechanism 13. The dust attached to it is blown away by the air blower, which further ensures the shooting effect of the visual scanning module 7.

[0087] When the cover 10 is opened, the pressure strip 14 fits against the end of the pressure rod 1302. After that, the telescopic push rod 11 will continue to extend a certain distance, causing the cover 10, the lifting mechanism 15, the movable column 1202 and the pressure strip 14 to continue to move a certain distance. The pressure strip 14 pushes the pressure rod 1302, causing the third piston 1305 to push the gas in the air chamber and compress the third spring 1306 until the third piston 1305 fits against the retaining ring 1307. The compressed gas is input into the blower cover 1304 through the second one-way valve 1309 and the air pipe 1303, and blown out from one side of the bottom of the lens 701 through the blower cover 1304 to clean the lens 701.

[0088] When the cap 10 is closed, the pressure bar 14 resets and separates from the pressure rod 1302. The pressure rod 1302 and the third piston 1305 are reset by the elastic force of the third spring 1306. The air chamber draws in outside air through the first one-way valve 1308 to replenish the gas.

[0089] The first one-way valve 1308 is equipped with a filter cotton core or other filter element, which can filter the incoming air and ensure the cleanliness of the outgoing airflow.

[0090] Through the above design, the lens 701 can be cleaned by blowing air, and the cleaning mechanism 13 is powered by the pressure bar 14, so the cleaning mechanism 13 does not require an additional power component to drive it.

[0091] In summary, the opening and closing of the cover 10, the separation of the cover 10 from the sealing ring 801 before opening and closing, and the lifting movement of the cover 10 in contact with the sealing ring 801 when closing, as well as the power for the blowing of the cleaning mechanism 13, are all provided by the gravity of the tray 5 and the workpiece on it moving to the area below the vision scanning module 7, achieving overall operation without electricity or additional power source.

[0092] In practice, pallets 5 are placed at intervals on conveyor line 1, with gaps between adjacent pallets 5.

[0093] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. An automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces, comprising a conveyor line (1) and a sandblasting station (2); characterized in that: A tray (5) is placed on the conveyor line (1), and the tray (5) is used to hold workpieces; Both ends of the conveyor line (1) pass through the sandblasting station (2), and a flipping mechanism (3) is provided between the two ends of the conveyor line (1). The flipping mechanism (3) is used to flip the workpiece 180°. The conveyor line (1) is equipped with visual scanning modules (7) on both sides above the part that passes through the sandblasting station (2), and a lens (701) is installed at the bottom of the visual scanning module (7). The bottom surface of the visual scanning module (7) is provided with a protective cavity with an open bottom, and the lens (701) is located inside the protective cavity; The bottom opening of the protective cavity is provided with a cover (10), and the cover (10) is connected to an opening and closing mechanism; The bottom surface of the visual scanning module (7) is fixed with a cylinder (8), and a sealing ring (801) is fixed at the bottom of the cylinder (8); the inner wall of the cylinder (8) and the bottom surface of the visual scanning module (7) form the protective cavity; the opening and closing mechanism includes telescopic push rods (11) installed on both sides of the cylinder (8) and a reset assembly (12); the telescopic push rods (11) are connected to a hydraulic drive mechanism (9); lifting mechanisms (15) are installed on both sides of the cover (10), and the lifting mechanisms (15) are connected to the reset assembly (12); the telescopic push rods (11) are used to push the lifting mechanisms (15) and the cover (10) to move horizontally; The telescopic push rod (11) includes an outer cylinder (1101) fixed to the outer wall of the cylinder body (8); a second piston (1102) is installed inside the outer cylinder (1101), and a movable rod (1103) is fixed to the second piston (1102). The movable rod (1103) is slidably sleeved with a guide sleeve (1106) fixed to the end of the outer cylinder (1101). A pressure seat (1104) is fixed to one end of the movable rod (1103). The inner wall of the outer cylinder (1101) and the side wall of the second piston (1102) form a first rodless cavity. An interface is provided on one side of the outer cylinder (1101), and the interface is connected to the hydraulic drive mechanism (9). The reset assembly (12) is located below the telescopic push rod (11). The reset assembly (12) includes a movable column (1202) and a fixed sleeve (1201) fixed to the outer wall of the cylinder (8); the fixed sleeve (1201) is slidably sleeved with the movable column (1202), and a second spring (1203) is sleeved on the movable rod (1103), and the movable rod (1103) is elastically connected to the fixed sleeve (1201) through the second spring (1203); the end of the movable rod (1103) is connected to the lifting mechanism (15); The lifting mechanism (15) includes a connecting block (1502) and a sleeve (1501); the connecting block (1502) is slidably mounted vertically onto the sleeve (1501), the sleeve (1501) is fixed to the end of the movable rod (1103), the sleeve (1501) and the connecting block (1502) are elastically connected by a fourth spring (1506), and a roller (1503) is rotatably mounted on the top of the connecting block (1502); the roller (1503) is located below one end of the movable rod (1103), and the connecting block (1502) is located on one side of the pressure seat (1104); a third wedge-shaped surface (1105) is provided at the bottom of one end of the movable rod (1103); a magnetic block (1204) is provided inside one end of the fixed sleeve (1201), and the magnetic block (1204) is used to magnetically attract the sleeve (1501).

2. The automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces as described in claim 1, characterized in that: The hydraulic drive mechanism (9) is located below the visual scanning module (7); the hydraulic drive mechanism (9) includes a hydraulic cylinder (903) fixed to the conveyor line (1); a first piston (904) is installed inside the hydraulic cylinder (903), a top cover (905) is fixed to the top of the hydraulic cylinder (903), a connecting rod (902) is fixed to the top of the first piston (904), a movable block (901) is fixed to the top of the connecting rod (902), and a first spring (901) connects the movable block (901) and the top cover (905). 6) Elastic connection, the bottom surface of the first piston (904) and the inner wall of the hydraulic cylinder (903) form a second rodless cavity, the bottom of the second rodless cavity is connected to an infusion tube (907), the infusion tube (907) is connected to the interface of the telescopic push rod (11) through a connecting pipe (909), the movable block (901) extends from the top surface of the conveyor line (1), a second wedge surface (9011) is provided on one side of the movable block (901), and a first wedge surface (501) for squeezing the second wedge surface (9011) is provided on the bottom side of the tray (5).

3. The automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces as described in claim 1, characterized in that: The end of the movable column (1202) is fixed with a pressure strip (14), and a cleaning mechanism (13) is provided on one side of the pressure strip (14). The cleaning mechanism (13) is used to blow air to clean the bottom of the lens (701).

4. The automatic, programming-free processing system for precise sandblasting and rust removal of complex workpiece surfaces as described in claim 3, characterized in that: The cleaning mechanism (13) includes an air cylinder (1301) fixed to the outer wall of the cylinder (8). A third piston (1305) is connected inside the air cylinder (1301). A pressure rod (1302) extending out of the air cylinder (1301) is fixed to one side of the third piston (1305), and one end of the pressure rod (1302) faces the pressure bar (14). An air cavity is formed between one side of the third piston (1305) and the inner wall of the air cylinder (1301). A third spring (1306) is provided in the air cavity. The third piston (1305) is elastically connected to the side wall of the air cylinder (1301) via a third spring (1306). The air chamber is connected to a first one-way valve (1308) and a second one-way valve (1309). The first one-way valve (1308) is located outside the cylinder (8). The second one-way valve (1309) is connected to an air pipe (1303). The air pipe (1303) is fixedly connected to a blower shroud (1304). The blower shroud (1304) is located on one side of the bottom of the lens (701).

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