Complex curved surface valve outer wall laser cleaning automatic production line

Abstract

The invention discloses a complex curved surface valve outer wall laser cleaning automatic production line which comprises a tray conveying device extending in the longitudinal direction, a material frame conveying device is transversely arranged at the tail end of the tray conveying device, the tray conveying device and the material frame conveying device are distributed in a T-shaped structure, and a laser cleaning device is arranged on the tray conveying device. And a discharging device is arranged at the tail part of the tray conveying device and right above the material frame conveying device. The automatic production line is composed of a tray conveying device, a laser cleaning device, a discharging device and a material frame conveying device, and automatic conveying of workpieces to be cleaned and trays can be achieved through the tray conveying device; automatic laser cleaning of the workpiece is realized through the laser cleaning device; the cleaned workpieces are transferred into a material frame of the material frame conveying device through the discharging device; and the cleaned workpieces are transferred to the next procedure through the material frame conveying device. By means of the automatic laser cleaning device, automatic laser cleaning of the outer walls of the complex curved-surface valves can be achieved, and the laser cleaning efficiency of the outer walls of the complex curved-surface valves is improved.

Description

Technical Field

[0001] This invention relates to an automated laser cleaning production line, and more particularly to an automated laser cleaning production line for the outer wall of complex curved valves. Background Technology

[0002] There are two main existing technologies for rust removal from the outer walls of complex curved valves: high-pressure water cleaning and shot blasting. However, both methods have reached their technological limits. High-pressure water cleaning cannot effectively remove paint from valve components. After secondary ultrasonic cleaning, the previously well-adhered paint may soften and peel off, causing secondary contamination of the valve's internal channels. Shot blasting can effectively clean surface paint and rust, but for valve components with high internal precision, there is a risk of steel shot entering the interior, causing malfunction.

[0003] Laser cleaning technology has been widely used in various fields, but for valve components with complex curved surfaces, manual laser cleaning is still the primary method, and there is currently no automated production line capable of achieving batch, high-efficiency cleaning. Therefore, how to develop and design a corresponding automated laser cleaning production line to improve the cleaning efficiency of complex curved valve exteriors has become an urgent technical problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide an automated production line for laser cleaning of the outer walls of valves with complex curved surfaces. This automated laser cleaning production line can realize automatic laser cleaning of the outer walls of valves with complex curved surfaces, thereby improving the laser cleaning efficiency of the outer walls of valves with complex curved surfaces.

[0005] The technical solution of the present invention: an automated production line for laser cleaning of the outer wall of complex curved valves, including a pallet conveying device extending longitudinally, a material frame conveying device arranged laterally at the tail end of the pallet conveying device, the two being distributed in a T-shaped structure, a laser cleaning device being arranged on the pallet conveying device, and a feeding device being arranged at the tail end of the pallet conveying device and directly above the material frame conveying device.

[0006] The pallet conveying device includes a pallet forward chain conveyor and a pallet reverse chain conveyor arranged side by side and of equal length. A pallet transverse conveyor is arranged at both ends of the pallet forward chain conveyor. The pallet transverse conveyor includes a pallet short-distance conveyor set at the top. The pallet short-distance conveyor is fixed on a movable pallet that can move laterally.

[0007] The laser cleaning device includes a multi-axis robot with a laser cleaning head and a valve body rotation and lifting device. The multi-axis robot is positioned next to the pallet forward chain conveyor, and the valve body rotation and lifting device is positioned directly below the conveyor chain of the pallet forward chain conveyor. The valve body rotation and lifting device includes a base plate and an upper mounting plate directly above it. A lead screw and multiple guide columns are connected between the base plate and the upper mounting plate. One end of the lead screw is connected to a lifting drive motor, and a movable plate is sleeved on the lead screw. The multiple guide columns pass through the movable plate, and a rotating top rod is vertically mounted on the movable plate. The rotating top rod passes through the upper mounting plate, and a rotation drive mechanism is connected to the rotating top rod. An electromagnet is fixed to the top of the rotating top rod.

[0008] In the aforementioned automated production line for laser cleaning of complex curved valve outer walls, a tray forward chain conveyor is provided on each side of the tray reverse chain conveyor; the tray transverse conveyors at the beginning and end each include two tray short-distance conveyors, and each of the two tray short-distance conveyors is fixed on a moving tray.

[0009] Two sets of laser cleaning devices are installed at intervals on each pallet forward chain conveyor;

[0010] A conical dust collection trough is located directly below the pallet conveying device. The main structure of the valve body rotating lifting device passes through the conical dust collection trough. The discharge port of the conical dust collection trough is connected to a discharge pipe, and a receiving trolley is located below the outlet of the discharge pipe.

[0011] A dust removal hood is installed above the pallet conveyor at the location of the valve body rotary lifting device, and the dust removal hood is connected to the dust purifier via a dust removal pipe.

[0012] A valve body lifting device is located directly below the transverse pallet conveyor at the tail end of the pallet forward chain conveyor. The structure of the valve body lifting device is similar to that of the valve body rotary lifting device. The short-distance pallet conveyor and the moving pallet are provided with through holes through which the top rod of the valve body lifting device passes.

[0013] In the aforementioned automated production line for laser cleaning of complex curved valve outer walls, the rotary drive mechanism includes a synchronous belt driven wheel fixedly sleeved on a rotary top rod. The synchronous belt driven wheel is connected to a synchronous belt drive wheel via a synchronous belt. The synchronous belt drive wheel is fixed on the output shaft of a rotary drive motor, and the rotary drive motor is fixed on a moving plate.

[0014] The pallet transverse conveyor has a transverse linear module and a transverse guide rod installed on the top of its frame. The slide of the transverse linear module is fixedly connected to the bottom of the moving pallet. A guide block is also fixed to the bottom of the moving pallet and slides on the transverse guide rod.

[0015] In the aforementioned automated production line for laser cleaning of the outer wall of complex curved valves, the material frame conveying device includes a lower chain conveyor, an upper chain conveyor of the same length above the lower chain conveyor, and a lifting conveyor adjacent to each of the left and right ends of the two chain conveyors. A transfer device is also adjacent to the right end of the right lifting conveyor.

[0016] The lifting conveyor includes a mounting base, on which a lifting cylinder is vertically mounted. The push rod of the lifting cylinder is connected to a mounting body, through which a horizontal rotating rod is inserted. A sprocket is mounted on the horizontal rotating rod and connected to a chain. One end of the chain is fixed to the mounting base, and the other end is fixedly connected to a vertical mounting plate. A slider is mounted on the vertical mounting plate and slides onto a guide rod. The guide rod is vertically fixed to the mounting base. A horizontally extending support frame is also mounted on the vertical mounting plate, and a short-distance chain conveyor is mounted on the support frame.

[0017] In the aforementioned automated production line for laser cleaning of the outer wall of complex curved valves, sprockets are provided at both ends of the horizontal rotating rod;

[0018] The vertical mounting plate has a connecting block on its back, and the other end of the chain is fixedly connected to the connecting block;

[0019] The vertical mounting plate has two sliders on the upper and lower left and right sides of its back;

[0020] The guide rod is provided in two parts, and the tops of the two guide rods are fixedly connected together by a connecting plate;

[0021] The upper chain conveyor is provided with at least one feeding station, and a protective plate is provided at the feeding station. The bottom of the protective plate is fixed to the push rod of the support cylinder, and the support cylinder is fixed to the frame of the upper chain conveyor.

[0022] The transfer device is a lifting car, and a short-distance chain conveyor is installed inside the lifting car.

[0023] In the aforementioned automated production line for laser cleaning of complex curved valve outer walls, the lower chain conveyor and the upper chain conveyor are equipped with stopping devices at intervals along their length direction. The upper chain conveyor is equipped with one or a group of stopping devices at intervals along its length direction. When the stopping devices are set as a group, they are set at the loading station of the upper chain conveyor. A group of stopping devices consists of multiple stopping devices arranged sequentially at intervals.

[0024] In the aforementioned automated production line for laser cleaning of the outer wall of complex curved valves, the pallet forward chain conveyor is equipped with limit devices at intervals; the pallet reverse chain conveyor is equipped with a limit device at its tail end; and the inner and outer frames at the top of the pallet forward chain conveyor are also equipped with photoelectric switch mounting brackets, which are equipped with multiple sets of photoelectric switches.

[0025] In the aforementioned automated production line for laser cleaning of complex curved valve outer walls, the unloading device includes a mounting gantry. The mounting gantry is located directly above the pallet transverse conveyor and the material frame conveyor at the tail end of the pallet conveying device. A linear module and a guide rail are arranged on the top of the mounting gantry along its width direction. A mounting plate is fixed on the slider of the linear module. A guide block is also installed on the mounting plate. The guide block is slidably connected to the guide rail. A lifting cylinder is vertically installed on the mounting plate. The push rod of the lifting cylinder passes through the mounting plate and is fixedly connected to the lifting plate below it. A gripper is rotatably installed at the bottom of the lifting plate. A gripper cylinder is also rotatably installed on the lifting plate. The push rod of the gripper cylinder is connected to the gripper.

[0026] In the aforementioned automated production line for laser cleaning of the outer wall of complex curved valves, the gripper is composed of a left gripper and a right gripper arranged symmetrically. The top of the left gripper and the right gripper are rotatably connected to the bottom of the lifting plate. The bottom of the gripper is also provided with a notch. The outer side walls of the left gripper and the right gripper are each rotatably connected to the push rod of a gripper cylinder.

[0027] Each of the left and right edges of the lifting plate is provided with a bayonet, and a hinge support is provided on the top surface of the lifting plate at the bayonet. The tail end of the gripper cylinder is hinged to the hinge support, and its body passes through the bayonet and its head end is rotatably connected to the outer wall of the left or right gripper.

[0028] In the aforementioned automated production line for laser cleaning of complex curved valve outer walls, multiple guide columns are vertically installed on the lifting plate, with the guide columns extending upward and passing through guide sleeves provided on the mounting plate; a guide rail is provided on each side of the linear module, and two guide blocks are provided on each side of the bottom of the mounting plate;

[0029] The feeding device is provided in two sets, both installed on the left and right sides of the top of the same mounting gantry;

[0030] Contact sensors are installed on the mounting gantry directly in front of and behind the mounting plate.

[0031] The beneficial effects of this invention are as follows: Compared with the prior art, the automated production line of this invention consists of a pallet conveying device, a laser cleaning device, a unloading device, and a material frame conveying device. The pallet conveying device enables automatic transport of the workpiece to be cleaned and the pallet; the laser cleaning device enables automatic laser cleaning of the workpiece; the unloading device transfers the cleaned workpiece to the material frame of the material frame conveying device; and the material frame conveying device transfers the cleaned workpiece to the next process. This automated laser cleaning production line enables automatic laser cleaning of the outer walls of complex curved valves, achieving batch production capacity. The surface cleaning quality reaches an effect comparable to shot blasting, thus improving the efficiency of laser cleaning of the outer walls of complex curved valves. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention;

[0033] Figure 2 for Figure 1 A top-view structural diagram;

[0034] Figure 3 This is a schematic diagram of the conveying device.

[0035] Figure 4 for Figure 3 A top-view structural diagram;

[0036] Figure 5 This is a schematic diagram of the pallet conveyor system.

[0037] Figure 6 for Figure 5 A schematic diagram of the back structure;

[0038] Figure 7 This is a schematic diagram of the material frame conveying device.

[0039] Figure 8 for Figure 7 A top-view structural diagram;

[0040] Figure 9 for Figure 7 A schematic diagram of the structure without a transfer device;

[0041] Figure 10 for Figure 9 A schematic diagram of the side structure;

[0042] Figure 11 A schematic diagram of the conveyor structure is provided.

[0043] Figure 12 A structural diagram showing the lifting of the conveyor at another angle;

[0044] Figure 13 This is a schematic diagram of the laser cleaning device.

[0045] Figure 14 This is a schematic diagram of the feeding device.

[0046] Figure 15 for Figure 14 A schematic diagram of a partial structure;

[0047] Figure 16 This is a schematic diagram of the tray structure.

[0048] Figure label:

[0049] 1-Pallet conveying device, 101-Pallet forward chain conveyor, 102-Pallet reverse chain conveyor, 103-Pallet transverse conveyor, 104-Pallet short-distance conveyor, 105-Moving pallet, 106-Transverse linear module, 107-Transverse guide rod, 108-Guide block, 109-Limiting device, 110-Through-beam switch mounting bracket;

[0050] 2-Material frame conveying device, 201-Lower chain conveyor, 202-Upper chain conveyor, 203-Lifting conveyor, 204-Transfer device, 205-Mounting base, 206-Lifting cylinder, 207-Mounting body, 208-Horizontal rotating rod, 209-Sprocket, 210-Chain, 211-Vertical mounting plate, 212-Slider, 213-Guide rod, 214-Support frame, 215-Short distance chain conveyor, 216-Connecting block, 217-Connecting plate, 218-Stop device, 219-Protective plate;

[0051] 3-Laser cleaning device, 301-Laser cleaning head, 302-Multi-axis robot, 303-Valve body rotation and lifting device, 304-Base plate, 305-Upper mounting plate, 306-Screw, 307-Guide column, 308-Lifting drive motor, 309-Moving plate, 310-Rotating top rod, 311-Synchronous belt driven wheel, 312-Synchronous belt, 313-Synchronous belt drive wheel, 314-Rotation drive motor, 315-Electromagnet, 316-Stabilizing sleeve;

[0052] 4-Unloading device, 401-Mounting gantry, 402-Linear module, 403-Guide rail, 404-Mounting plate, 405-Guide block, 406-Lifting cylinder, 407-Lifting plate, 408-Gripper, 408-1-Left gripper, 408-2-Right gripper, 408-3-Notch, 409-Gripper cylinder, 410-Guide column, 411-Guide sleeve, 412-Contact sensor, 413-Bayonet, 414-Hinge support;

[0053] 5- Conical dust collection trough; 6- Discharge pipe; 7- Receiving trolley; 8- Dust hood; 9- Dust removal pipeline; 10- Smoke and dust purifier; 11- Pallet. Detailed Implementation

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0055] An embodiment of the present invention: An automated production line for laser cleaning of the outer wall of complex curved valves includes a pallet conveying device 1 extending longitudinally, a material frame conveying device 2 arranged laterally at the tail end of the pallet conveying device 1, the two being distributed in a T-shape to form the automatic conveying device of the present invention, a laser cleaning device 3 being arranged on the pallet conveying device 1, and a feeding device 4 being arranged at the tail end of the pallet conveying device 1 and directly above the material frame conveying device 2.

[0056] In the use of this invention, the tray 11 is placed at the head end of the tray conveying device 1. The structure of the tray 11 is shown in the figure. It has a groove that matches the size of the workpiece base. The workpiece base is inserted into this groove for positioning. Simultaneously, a through hole is provided in the groove of the tray 11. This through hole facilitates the lifting of the workpiece during laser cleaning via the valve body rotation lifting device 303, and during the unloading process via the valve body lifting device, thus facilitating laser cleaning and unloading. The specific process will be described in detail later. Since the base dimensions of various complex curved surface valve models are consistent, the tray 11 can be used to support and position workpieces of multiple models.

[0057] First, the workpiece is placed on the pallet 11. The pallet 11 carrying the workpiece is moved to the laser cleaning station by the pallet conveyor 1 and then stops moving forward. The laser cleaning station is equipped with a laser cleaning device 3, which can perform laser cleaning on the workpiece. After cleaning, the workpiece is moved to its tail by the pallet conveyor 1. Then, the unloading device 4 is activated to clamp the cleaned workpiece and place it into the material frame of the material frame conveyor 2. At the same time, the pallet conveyor 1 returns the empty pallet 11 at its tail to its head for the next workpiece loading. The material frame conveyor 2 then transports the workpiece to the next process. After the next process removes the cleaned workpiece, the material frame conveyor 2 returns the empty material frame to its head for the next cleaned workpiece loading.

[0058] The pallet conveying device 1 includes a pallet forward chain conveyor 101 and a pallet reverse chain conveyor 102 arranged side by side and of equal length. A pallet transverse conveyor 103 is transversely arranged at both ends of the pallet forward chain conveyor 101. The length of the pallet transverse conveyor 103 is equal to the sum of the widths of the pallet forward chain conveyor 101 and the pallet reverse chain conveyor 102. The pallet transverse conveyor 103 includes a pallet short-distance conveyor 104 mounted on top, which is fixed to a laterally movable pallet 105. The conveying direction of the pallet short-distance conveyor 104 can be consistent with the conveying direction of the pallet forward chain conveyor 101 and the pallet reverse chain conveyor 102.

[0059] In use, the workpiece to be laser cleaned is placed on the pallet 11 of the short-pitch pallet conveyor 104 at the head end of the pallet forward chain conveyor 101. The short-pitch pallet conveyor 104 moves laterally to the front of the pallet forward chain conveyor 101 under the action of the moving pallet 105, so that the short-pitch pallet conveyor 104 is aligned with the pallet forward chain conveyor 101. Then, the short-pitch pallet conveyor 104 starts to maintain the same conveying direction as the pallet forward chain conveyor 101, thereby transferring the pallet 11 loaded with the workpiece from the short-pitch pallet conveyor 104 to the pallet forward chain conveyor 101.

[0060] Next, the pallet 105 is moved to drive the pallet short-distance conveyor 104 to move laterally in the opposite direction until it is aligned with the tail end of the pallet reverse chain conveyor 102. Since the conveying directions of the pallet reverse chain conveyor 102 and the pallet forward chain conveyor 101 are exactly opposite, the head end of the pallet forward chain conveyor 101 is exactly the tail end of the pallet reverse chain conveyor 102. At this time, the conveying direction of the pallet short-distance conveyor 104 at the tail end of the pallet reverse chain conveyor 102 is the same as the conveying direction of the pallet reverse chain conveyor 10, so that the empty pallet 11 on the pallet reverse chain conveyor 10 can be transferred to the pallet short-distance conveyor 104.

[0061] After the pallet 11 loaded with workpieces is transferred to the pallet forward chain conveyor 101, the workpieces to be cleaned will pass through the laser cleaning station during the process of being conveyed along the pallet forward chain conveyor 101. The laser cleaning device 4 will then perform laser cleaning on the workpieces to be cleaned. After cleaning, the workpieces will eventually move to the tail end of the pallet forward chain conveyor 101. At this time, the pallet short-distance conveyor 104 at the tail end of the pallet forward chain conveyor 101 will move laterally to the tail end of the pallet forward chain conveyor 101 under the action of the moving pallet 105, and maintain the same conveying direction as the pallet forward chain conveyor 101. Thus, the cleaned workpieces, together with the pallet 11, will be transferred to the pallet short-distance conveyor 104 at the tail end of the pallet forward chain conveyor 101. After the pallet 11 containing the cleaned workpieces has been completely transferred, the unloading device 4, located at the tail end of the pallet conveyor 1 and directly above the material frame conveyor 2, is activated to pick up the cleaned workpieces and place them into the material frame on the material frame conveyor 2. The material frame conveyor 2 will then transport the material frame along with the workpieces to the next process. The next process will remove the cleaned workpieces, and the empty material frame will return to its head end under the action of the material frame conveyor 2, ready for the next loading task.

[0062] After the cleaned workpieces on the short-distance pallet conveyor 104 at the tail end of the pallet forward chain conveyor 101 are transferred to the material frame conveyor 2, the short-distance pallet conveyor 104 will move laterally to the head end of the pallet reverse chain conveyor 102 under the action of the moving pallet 105. Then, it will start to maintain the same conveying direction as the pallet reverse chain conveyor 102, thereby transferring the empty pallet 11 on the short-distance pallet conveyor 104 to the pallet reverse chain conveyor 102. The empty pallet 11 is conveyed along the pallet reverse chain conveyor 102 to its tail end, and then transferred to the short-distance pallet conveyor 104 at the tail end of the pallet reverse chain conveyor 102. This process is repeated, so that the workpieces, together with the pallet 11, are conveyed from the head end to the tail end of the pallet conveyor 1, while the empty pallet 11 can be returned from the tail end to the head end of the pallet conveyor 1.

[0063] The pallet transverse conveyor 103 has a transverse linear module 106 and a transverse guide rod 107 horizontally mounted on the top of its frame. The slide of the transverse linear module 106 is fixedly connected to the bottom of the moving pallet 105. A guide block 108 is also fixed to the bottom of the moving pallet 105, and the guide block 108 is slidably sleeved on the transverse guide rod 107. When the pallet short-distance conveyor 104 needs to move, the transverse linear module 106 moves, causing the moving pallet 105 to move linearly following its slide.

[0064] The pallet reverse chain conveyor 102 has a pallet forward chain conveyor 101 on each side; the pallet transverse conveyors 103 at both ends each include two pallet short-distance conveyors 104, each fixed to a movable pallet 105. That is, the two pallet forward chain conveyors 101 transport the workpieces to be cleaned along with their pallets 11, thus improving the cleaning efficiency. The two pallet forward chain conveyors 101 share one pallet reverse chain conveyor 102, meaning that empty pallets 11 from both pallet forward chain conveyors 101 return to the head of the pallet conveying device 1 via the pallet reverse chain conveyor 102. Since one pallet short-distance conveyor 104 only serves one pallet forward chain conveyor 101, the number of pallet short-distance conveyors 104 needs to be increased accordingly when the number of pallet forward chain conveyors 101 increases. When an empty pallet returns to the tail of the pallet reverse chain conveyor 102, whether the empty pallet 11 should be transferred to the pallet short-distance conveyor 104 corresponding to the left or right pallet forward chain conveyor 101 is controlled by the controller based on the number of workpieces to be cleaned on each pallet forward chain conveyor 101, or by manual control by the worker.

[0065] The pallet forward chain conveyor 101 is equipped with limit devices 109 at intervals. These limit devices 109 ensure that the pallets 11 stop at a fixed position, facilitating the cleaning of workpieces by the laser cleaning device 3 and preventing subsequent pallets 11 from colliding with the preceding pallets 11. The pallet reverse chain conveyor 102 has two limit devices 109 at intervals at its tail end. The front limit device 109 can block multiple empty pallets 11, separating the rear empty pallets 11 from the front empty pallet 11. The rear limit device 109 blocks the frontmost empty pallet 11. When the pallet short-distance conveyor 104 moves to the front of the tail end of the pallet reverse chain conveyor 102, the limit devices 109 on the pallet reverse chain conveyor 102 will stop functioning, allowing an empty pallet 11 to be conveyed onto the pallet short-distance conveyor 104.

[0066] The pallet forward chain conveyor 101 is also equipped with a laser beam switch mounting bracket 110 on the inner and outer sides of the top head end frame. Multiple sets of laser beam switches are arranged along the length of the mounting bracket 110. Since the workpieces to be cleaned are not limited to a single model, different models require different laser cleaning and unloading programs. Furthermore, the main body length of different workpiece models varies. Therefore, by setting multiple sets of laser beam switches, the dimensions of the corresponding workpiece can be detected, thereby determining the specific model of the workpiece.

[0067] The material frame conveying device 2 includes a lower chain conveyor 201, an upper chain conveyor 202 of the same length above the lower chain conveyor 201, a feeding device 4 above the upper chain conveyor 202, and a lifting conveyor 203 adjacent to each of the left and right ends of the two chain conveyors. A transfer device 204 is also adjacent to the right end of the right lifting conveyor 203.

[0068] The lower chain conveyor 201 and the upper chain conveyor 202 have the same conveying direction, while the two lifting conveyors 203 can switch to different conveying directions depending on their respective positions. After the lower feeding device clamps the cleaned workpiece, it places the cleaned workpiece into the empty material frame on the upper chain conveyor 202. The upper chain conveyor 202 then conveys the material frame loaded with the workpiece to its tail end. At this time, the height of the right-side lifting conveyor 203 is flush with that of the upper chain conveyor 202, and its conveying direction is the same as that of the upper chain conveyor 202. This transfers the workpiece along with the material frame to the right-side lifting conveyor 203, which then transfers it to the transfer device 204. The transfer device 204 then transfers the material frame and workpiece together... The empty material frame is transferred to the next process, where the workpiece is removed. The empty material frame is then transported back to its starting point via the transfer device 204. At this point, the right-side lifting conveyor 203 is still flush with the upper chain conveyor 202. When the conveying direction is reversed, the empty material frame is transferred to the right-side lifting conveyor 203. The right-side lifting conveyor 203 descends to be flush with the lower chain conveyor 201, and then the material frame is transferred to the lower chain conveyor 201. Then, the right-side lifting conveyor 203 ascends to continue transferring the next material frame loaded with a workpiece. The empty material frame is conveyed to its left side by the lower chain conveyor 201. At this time, the left-side lifting conveyor 203 is aligned with the lower chain conveyor 201 and maintains the same conveying direction, thus transferring the empty material frame onto the left-side lifting conveyor 203. Then, the left-side lifting conveyor 203 rises until it is aligned with the upper chain conveyor 202, and then the left-side lifting conveyor 203 starts again, this time with the same conveying direction as the upper chain conveyor 202, thus transferring the empty material frame onto the upper chain conveyor 202. This process is repeated, thereby achieving the transfer of workpieces to the next process while realizing the cyclical reuse of empty material frames.

[0069] The lifting conveyor 203 includes a mounting base 205, on which a lifting cylinder 206 is vertically mounted. The push rod end of the lifting cylinder 206 is connected to a mounting body 207. A horizontal rotating rod 208 is inserted into the mounting body 207. A sprocket 209 is provided on the horizontal rotating rod 208. The sprocket 209 is connected to a chain 210. One end of the chain 210 is fixed to the mounting base 205, and the other end is fixedly connected to a vertical mounting plate 211. A slider 212 is provided on the vertical mounting plate 211. The slider 212 is slidably sleeved on a guide rod 213. The guide rod 213 is vertically fixed to the mounting base 205. A horizontally forward-extending support frame 214 is also provided on the vertical mounting plate 211. A short-distance chain conveyor 215 is provided on the support frame 214.

[0070] In use, the empty material frame is placed on the upper chain conveyor 202 and conveyed from the left end to the right end. When the empty material frame reaches the unloading device, it stops moving forward, and the unloading device places the laser-cleaned workpiece into the empty material frame. Then, the material frame loaded with workpieces continues to move forward. At the same time, the right-side lifting conveyor 203 moves, causing its short-distance chain conveyor 215 to rise to the same height as the upper chain conveyor 202. Specifically, the lifting process is achieved by the lifting cylinder 206. The push rod is pushed upward, causing the horizontal rotating rod 208 to move upward. Since the length of the chain 210 is fixed, when the distance from the end of the chain 210 connected to the mounting base 205 to the sprocket 209 increases, and conversely, the distance from the end connected to the vertical mounting plate 211 decreases, the lifting action of the chain 210 will cause the vertical mounting plate 210 to move upward along the guide rod 213. The vertical mounting plate 210 will then drive the support frame 214 and the short-distance chain conveyor 215 to move upward together. Conversely, when the push rod of the lifting cylinder 206 retracts downward, the vertical mounting plate 210 will drive the support frame 214 and the short-distance chain conveyor 215 to move downward together. When the short-distance chain conveyor 215 rises to the high position, its top is flush with the top of the upper chain conveyor 202; when it descends to the low position, it is flush with the top of the lower chain conveyor 201.

[0071] When the workpiece-loaded frame moves to the rightmost end of the upper chain conveyor 202, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 starts, and its conveying direction is consistent with that of the upper chain conveyor 202, so that the workpiece-loaded frame is transferred from the upper chain conveyor 202 to the short-distance chain conveyor 215 of the right-side lifting conveyor 203. The short-distance chain conveyor 215 continues to run, and then transfers the workpiece-loaded frame to the transfer device 204, which then conveys the frame to the next process.

[0072] After the worker or equipment in the next process removes the workpiece, the transfer device 204 moves in the opposite direction with the empty material frame. At this time, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 is still in a high position and has stopped running. When the transfer device 204 transports the empty material frame to the right-side lifting conveyor 203, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 rotates in the opposite direction, so that the conveying direction of the short-distance chain conveyor 215 is opposite to the conveying direction of the upper chain conveyor 202. The empty material frame is transferred to the short-distance chain conveyor 215 of the right-side lifting conveyor 203 by the transfer device 204.

[0073] Then, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 descends to a low position under the action of the lifting cylinder 206, and then rotates again in the opposite direction to the upper chain conveyor 202, so that the empty material frame is transferred from the short-distance chain conveyor 215 of the right-side lifting conveyor 203 to the right side of the lower chain conveyor 1. The conveying direction of the lower chain conveyor 201 is exactly opposite to the conveying direction of the upper chain conveyor 202. The empty material frame is conveyed from its right side to its left side through the lower chain conveyor 201. During the conveying process, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 moves up to be level with the upper chain conveyor 202, and conveys the next material frame loaded with workpieces.

[0074] When the empty material frame is conveyed from the right end of the lower chain conveyor 201 to the left end, the short-distance chain conveyor 215 of the left-side lifting conveyor 203 should be in the lower position and maintain the same conveying direction as the lower chain conveyor 201, so that the empty material frame is transferred from the lower chain conveyor 201 to the short-distance chain conveyor 215 of the left-side lifting conveyor 203. Then, the short-distance chain conveyor 215 of the left-side lifting conveyor 203 stops operating and rises to be flush with the upper chain conveyor 202 under the action of the lifting cylinder 206.

[0075] Then, the short-distance chain conveyor 215 of the left-side lifting conveyor 203 starts again, and its conveying direction is consistent with that of the upper chain conveyor 202, thereby transferring the empty material frame to the upper chain conveyor 202. In this way, a closed-loop conveying system is formed to realize the cyclic conveying of the material frame.

[0076] During the material frame conveying process, when there is a material frame in the transfer device 204, or when the short-distance chain conveyor 215 at the right end is in an ascending or descending state, even if the material frame loaded with workpieces on the upper chain conveyor 202 has moved to the right end, the material frame loaded with workpieces should not continue to be conveyed forward until the empty material frame is transferred by the transfer device 204 to the lower chain conveyor 201 by the short-distance chain conveyor 215 of the right end lifting conveyor 203, and when the short-distance chain conveyor 215 of the right end lifting conveyor 203 rises to a high position, the material frame loaded with workpieces at the rightmost end of the upper chain conveyor 202 will be transferred to the short-distance chain conveyor 215 of the right end lifting conveyor 203.

[0077] Similarly, when the short-distance chain conveyor 215 on the left end moves up or down, even if the empty material frame on the lower chain conveyor 201 has moved to its leftmost end, the empty material frame should not continue to be conveyed forward until the short-distance chain conveyor 215 on the left end moves down to a low position. Only then will the empty material frame located at the leftmost end of the lower chain conveyor 201 be transferred to the short-distance chain conveyor 215 of the left-side lifting conveyor 203.

[0078] Both ends of the horizontal rotating rod 208 are provided with sprockets 209, and each sprocket 209 is connected to a chain 210. Under the synchronous action of the two chains 210, the short-distance chain conveyor 215 can move stably up and down in a straight line.

[0079] The vertical mounting plate 211 has a connecting block 216 on its back, and the other end of the chain 210 is fixedly connected to the connecting block 216.

[0080] The vertical mounting plate 211 has two sliders 212 on the upper and lower left side of the back, and two sliders 212 on the upper and lower right side. All sliders 212 are slidably sleeved with the guide rod 213. This structure ensures the stability of the short-distance chain conveyor 215 in vertical linear movement.

[0081] Two guide rods 213 are provided, and the tops of the two guide rods 213 are fixedly connected together by a connecting plate 217 to form a relatively stable overall structure, thereby ensuring the stability of the short-distance chain conveyor 215 of the lifting conveyor 203 in vertical linear movement.

[0082] Both the lower chain conveyor 201 and the upper chain conveyor 202 are equipped with stop devices 218 at intervals along their length. The stop devices 218 on the upper chain conveyor 202 stop the material frame when it reaches the receiving station, facilitating material receiving. Simultaneously, material frames at other stations on the upper chain conveyor 202 also stop moving forward under the action of the stop devices 218 to prevent collisions. Furthermore, when there are material frames on the transfer device 204 or when the short-distance chain conveyor 215 on the right side is rising or falling, the stop devices 218 can prevent the material frames carrying workpieces from being transferred to the lifting conveyor 203 on the right side or falling outside the upper chain conveyor 202. A stop device 218 is installed on the lower chain conveyor 201, mainly to prevent the empty material frame located at the leftmost end of the lower chain conveyor 201 from continuing to move forward and falling outside the lower chain conveyor 201 during the ascent or descent of the short-distance chain conveyor 215 on the left side. When the empty material frame at the leftmost end of the lower chain conveyor 201 stops conveying, other stop devices 218 can be used to keep the empty material frames behind it in a stopped state, preventing them from continuing to be conveyed forward and accumulating together.

[0083] The stopping device 218 here and the limiting device 109 in the pallet conveying device 1 are the same device. The stopping device 218 (limiting device 109) is a commonly used component on the conveying device and can be any form of mature product, so its specific structure will not be described in detail here.

[0084] The upper chain conveyor 202 is equipped with one or more stop devices 218 at intervals along its length. When the stop devices 218 are set as a group, they are located at the loading station of the upper chain conveyor 202. A group of stop devices 218 consists of multiple stop devices 218 arranged sequentially at intervals. As shown in the attached drawings, the upper chain conveyor 202 has four stations, two of which are loading stations. Each non-loading station has one stop device 218, while the loading station has a group of stop devices 218. This allows the upper chain conveyor 202 to simultaneously transport four material frames. During the material frame receiving process, the stop devices 218 at all four stations activate simultaneously, blocking all four material frames to prevent them from colliding while moving forward. The reason for setting a group of stop devices 218 at the loading station is that the cleaned workpieces vary in size. For larger workpieces, after being placed into an empty material frame by the unloading device, the frame moves forward directly. For smaller workpieces, after being placed into the empty material frame by the unloading device, the foremost stop device 218 at the loading station moves downwards to improve the conveying efficiency of the material frame. This causes the material frame carrying the workpiece to move forward a certain distance to the second stop device 218 at the loading station, where it is blocked and stops moving forward. Then, the unloading device will place another cleaned workpiece into the material frame, thereby improving the conveying efficiency of the material frame. When loading multiple workpieces, the reason for moving the material frame forward a certain distance is to prevent subsequently placed workpieces from falling directly onto the previously placed workpieces, which could cause damage or cause the workpieces to fall out of the material frame. When the material frame at the receiving station is loaded with multiple workpieces, the material frames at other stations remain stationary.

[0085] When the material frame is full of workpieces at the first loading station, it will not stop moving to the second loading station.

[0086] The upper chain conveyor 202 is provided with at least one feeding station. A protective plate 219 is provided at the feeding station. The protective plate 219 is located between the conveyor chains on both sides of the upper chain conveyor 202 and in front of the stop device 218 at the feeding station. The bottom of the protective plate 219 is fixed to the push rod of the support cylinder, and the support cylinder is fixed to the frame of the upper chain conveyor 202. Since the laser-cleaned workpieces are gripped by the unloading device and then placed in the empty material frame of the upper chain conveyor 202, there is a certain height difference between the unloading device and the empty material frame during the placement process. This allows the grippers of the unloading device to open and allow the laser-cleaned workpieces to fall into the empty material frame. During the fall of the workpieces, there will be a certain impact force on the empty material frame. The empty material frame is supported on the conveyor chain of the upper chain conveyor 202. Under the impact force of the workpieces, the conveyor chain can easily be damaged. Therefore, a protective plate 219 is installed. When the empty material frame is conveyed to the loading station, the empty material frame stops moving forward under the action of the stop device 218. At this time, the empty material frame is directly above the protective plate 219. The support cylinder at the bottom of the protective plate 219 lifts the protective plate 219 and the empty material frame upwards to a certain height, so that the empty material frame is separated from the conveyor chain, thereby preventing the conveyor chain from being damaged under the impact force of the workpieces. After the workpiece falls into the empty material frame, the support cylinder drives the protective plate 219 and the material frame to move downwards, so that the material frame is supported on the conveyor chain.

[0087] The transfer device 204 is a lifting car, commonly known as an elevator car. A short-distance chain conveyor 215 is fixedly installed inside the lifting car. When the short-distance chain conveyor 215 of the transfer device 204 is at its lowest position, it is exactly at the same height as the upper chain conveyor 202. During the simultaneous transport of workpieces and material frames, the short-distance chain conveyor 215 on the lifting conveyor 203 at the right end of the upper chain conveyor 202 is at its highest position, at the same height as the upper chain conveyor 202 and the short-distance chain conveyor 215 of the transfer device 204. The upper chain conveyor 202, the short-distance chain conveyor 215 of the lifting conveyor 203, and the short-distance chain conveyor 215 of the transfer device 204 sequentially form a complete conveyor belt, so that the material frame loaded with workpieces can be transported from the upper chain conveyor 202 to the short-distance chain conveyor 215 of the lifting conveyor 203. During the conveying of the workpiece-loaded frame, the conveying directions of the upper chain conveyor 202, the short-distance chain conveyor 215 of the lifting conveyor 203, and the short-distance chain conveyor 215 of the transfer device 204 remain in the same direction. After the workpiece-loaded frame is transferred to the short-distance chain conveyor 215 of the transfer device 204, the lifting car moves upward, lifting the workpiece-loaded frame to the next process level. After the workers in the next process remove the workpiece, the lifting car moves downward with the empty frame. At this time, the short-distance chain conveyor 215 of the right-side lifting conveyor 203 is still at a high position and its operation stops. When the lifting car moves to a low position, the right-side lifting conveyor 203 and the short-distance chain conveyor 215 of the transfer device 204 both reverse direction. The empty material frame is transferred from the short-distance chain conveyor 215 of the transfer device 204 to the short-distance chain conveyor 215 of the right-side lifting conveyor 203. After the empty material frame is completely on the short-distance chain conveyor 215 of the right-side lifting conveyor 203, the right-side lifting conveyor 203 and the short-distance chain conveyor 215 of the transfer device 204 stop rotating. Then, the right-side lifting conveyor 203 drives its short-distance chain conveyor 215 down to a lower position, so that its short-distance chain conveyor 215 is flush with the lower chain conveyor 201.

[0088] The laser cleaning device 3 includes a multi-axis robot 302 with a laser cleaning head 301 and a valve body rotation lifting device 303. The multi-axis robot 302 is positioned next to the pallet forward chain conveyor 101, and the valve body rotation lifting device 303 is positioned directly below the conveyor chain of the pallet forward chain conveyor 101. The valve body rotation lifting device 303 includes a base plate 304 and an upper mounting plate 305 directly above it. A lead screw 306 and multiple guide columns 307 are connected between the base plate 304 and the upper mounting plate 305. One end of the lead screw 306 is connected to a lifting drive motor 308. A movable plate 309 is sleeved on the lead screw 306. The multiple guide columns 307 pass through the movable plate 309. A rotating top rod 310 is also vertically mounted on the movable plate 309. The rotating top rod 310 passes through the upper mounting plate 305 and is connected to a rotation drive mechanism. An electromagnet 15 is fixed to the top of the rotating top rod 310.

[0089] When using the laser cleaning device 3, it can be used in conjunction with the pallet conveyor device 1. The pallet conveyor device 1 uses a double-chain conveyor line, which is positioned above the valve body rotary lifting device 303. The valve body rotary lifting device 303 is located between the two conveyor chains. When the pallet 11 carrying the workpiece moves to the valve body rotary lifting device 303, the limiting device 109 stops the pallet 11 from moving forward, and the valve body rotary lifting device 3 begins to operate.

[0090] The specific workflow is as follows:

[0091] Each laser cleaning station is driven by a multi-axis robot 302, which in turn drives the laser cleaning head 301. The multi-axis robot 302 can clean various workpieces with the same base size according to a pre-set program.

[0092] a) When the workpiece arrives at the laser cleaning station, the lifting drive motor 308 drives the lead screw 306 to rotate, thereby driving the moving plate 309 to move upward in a straight line along the guide post 307. The moving plate 309 will drive the rotating top rod 310 to rise synchronously. When the top of the rotating top rod 310 passes through the insertion hole on the tray 11 carrying the workpiece, it will abut against the bottom of the workpiece. At this time, the electromagnet 315 is energized. Since the workpiece is made of cast iron, the electromagnet 15 can firmly attract the workpiece. The rotating top rod 310 continues to rise, lifting the workpiece to a height of 100mm.

[0093] b) Then the rotary drive mechanism drives the rotary top rod 310 to rotate, thereby causing the workpiece to rotate together. At the same time, the multi-axis robot 302 calls the corresponding workpiece cleaning program to clean the top of the workpiece.

[0094] c) After the top cleaning is completed, the valve body rotation and lifting device 303 lifts the workpiece by a height of 300 mm, and the multi-axis robot 302 mechanically cleans the circumferential direction of the workpiece;

[0095] d) After the circumferential cleaning is completed, the valve body rotation and lifting device 303 lifts the workpiece by a height of 500 mm, and the multi-axis robot 302 mechanically cleans the bottom direction of the workpiece.

[0096] e) After all the cleaning is completed, the valve body rotation and lifting device 303 retracts, places the workpiece back on the tray 11, and at the same time, the electromagnet 315 is powered off. Then, the workpiece enters the next process along with the tray 11 on the tray positive chain conveyor 101.

[0097] The rotation drive mechanism includes a synchronous belt driven wheel 311 fixedly sleeved on the rotation ejector rod 310. The synchronous belt driven wheel 311 is connected to a synchronous belt drive wheel 313 via a synchronous belt 312, and the synchronous belt drive wheel 313 is fixed on the output shaft of the rotation drive motor 314. The rotation drive motor 314 is fixed on the moving plate 309. When the rotation ejector rod 310 rotates, the rotation drive motor 314 operates to drive the synchronous belt drive wheel 313 to rotate. The synchronous belt drive wheel 313 drives the synchronous belt driven wheel 311 to rotate via the synchronous belt 312, thereby driving the rotation ejector rod 310 to rotate.

[0098] The rotation ejector rod 310 is of a circular tube structure, facilitating the power cord of the electromagnet 315 to pass through the inside of the rotation ejector rod 310.

[0099] A stabilizing sleeve 316 is also sleeved on the outer periphery of the rotation ejector rod 310. The stabilizing sleeve 316 is fixed on the upper mounting plate 305. By means of the stabilizing sleeve 316, the rotation ejector rod 310 is protected to prevent it from shaking when moving up and down, improving the stability of the movement.

[0100] The multi-axis robot 302 of the laser cleaning device 3 can adopt a six-axis robot. Specifically, a Kawasaki robot RS007L can be selected. Its working radius can reach 930 mm when the load is 7 KG. Its high-rigidity arm realizes high-speed and high-precision robot movement performance, improving the production efficiency of the robot. The load and arm span meet the requirements of laser cleaning. The laser cleaning head supporting the six-axis robot can adopt a market-available mature product.

[0101] The rotation ejector rod 310 is a steel pipe with a diameter of Φ60x8 mm, meeting the strength requirements for lifting the workpiece. An electromagnet 315 is installed at the top of the rotation ejector rod 310, with a suction force of 80 kg, ensuring that the workpiece is stably adsorbed on the rotation ejector rod 310.

[0102] Both the multi-axis robot 302 and the valve body rotation and lifting device 303 of the laser cleaning device 3 are fixed on the ground. Through the adsorption, lifting and rotation of the valve body rotation and lifting device 303, the multi-axis robot 302 can quickly clean the workpiece even if it is fixed on the ground.

[0103] Each pallet forward chain conveyor 101 is equipped with two laser cleaning stations spaced at intervals. Each station is equipped with a laser cleaning device 3. The two laser cleaning devices 3 are a continuous laser cleaning device and a pulsed laser cleaning device, respectively. Each pallet forward chain conveyor 101 can improve the laser cleaning quality of the workpiece through the two laser cleaning devices 3.

[0104] The unloading device 4 includes a mounting gantry 401, which is located directly above the pallet transverse conveyor 103 at the tail end of the pallet conveying device 1 and the upper chain conveyor 202 of the material frame conveying device 2. A linear module 402 and a guide rail 403 are arranged on the top of the mounting gantry 401 along its width direction. A mounting plate 404 is fixed on the slider of the linear module 402. A guide block 405 is also installed on the mounting plate 404. The guide block 405 is slidably sleeved with the guide rail 403. A lifting cylinder 406 is vertically installed on the mounting plate 404. The push rod of the lifting cylinder 406 passes through the mounting plate 404 and is fixedly connected to the lifting plate 407 below it. A gripper 408 is rotatably installed at the bottom of the lifting plate 407. A gripper cylinder 409 is also rotatably installed on the lifting plate 407. The push rod of the gripper cylinder 409 is connected to the gripper 408.

[0105] A material frame conveyor 2 is laterally arranged at the end of the pallet conveyor 1. The pallet conveyor 1 and the material frame conveyor 2 are arranged in a T-shape. The mounting gantry 401 of the unloading device 4 is preferably located at the end of the pallet conveyor 1 and directly above the material frame conveyor 2. When the laser-cleaned pallet 11 is conveyed to its end position (on the short-distance pallet conveyor 104 at the tail of the pallet forward chain conveyor 101) by the pallet conveyor 1, the push rod of the lifting cylinder 406 pushes out to drive the lifting plate 407 downward. At this time, the gripper 408 rotates outward and opens under the drive of the gripper cylinder 409. After the laser-cleaned workpiece enters the gripper 408, the lifting cylinder 406 stops descending. At the same time, the gripper 408 rotates inward and closes under the drive of the gripper cylinder 409 to clamp the workpiece. Then the lifting cylinder 406 drives the lifting plate 407 upward. Then the linear module 402 moves, driving the mounting plate 404 and the lifting plate 407 together from the mounting plate. The front side of the gantry 401 moves backward in a straight line along the guide rail 403 until it is positioned directly above the upper chain conveyor 202 of the material frame conveying device 2. Then, the linear module 402 stops moving, the lifting cylinder 406 drives the lifting plate 407 to descend, and the gripper 408 rotates outward and opens under the drive of the gripper cylinder 409, causing the workpiece gripped by the gripper 408 to fall into the material frame on the upper chain conveyor 202. The material frame is then conveyed to the next process by the material frame conveying device 2. The entire unloading process is completed, and the unloading device 4 returns to its original position (i.e., directly above the pallet transverse conveyor 103 behind the pallet forward chain conveyor 101), ready for the next gripping operation.

[0106] The gripper 408 consists of a symmetrically arranged left gripper 408-1 and a right gripper 408-2. The left gripper 408-1 and the right gripper 408-2 have a structure similar to a bucket. The tops of the left gripper 408-1 and the right gripper 408-2 are rotatably connected to the bottom of the lifting plate 407. The bottom of the gripper 408 is also provided with a notch 408-3. The outer side walls of the left gripper 408-1 and the right gripper 408-2 are each rotatably connected to the push rod of a gripper cylinder 409. When the push rod of the gripper cylinder 409 retracts, because the tops of the left gripper 408-1 and the right gripper 408-2 are rotatably connected to the bottom of the lifting plate 407, and the push rod is rotatably connected to the outer walls of the left gripper 408-1 and the right gripper 408-2, it cannot drive the left gripper 408-1 and the right gripper 408-2 to move upward in a straight line. At this time, the gripper cylinder 409 will drive the left gripper 408-1 or the right gripper 408-2 to rotate around the connection point with the lifting plate 407, thereby causing the left gripper 408-1 and the right gripper 408-2 to open outward, causing the workpiece held by the gripper 408 to fall down. When a workpiece needs to be clamped, the control gripper cylinder 409 pushes out, at which time the gripper cylinder 409 drives the left gripper 408-1 or the right gripper 408-2 to rotate around the connection point with the lifting plate 407, thereby causing the left gripper 408-1 and the right gripper 408-2 to close inward, thus clamping the workpiece. Since the workpiece is placed on the pallet 11 of the pallet conveyor 1, in order to avoid the gripper 408 directly clamping the side of the workpiece during the clamping process and causing damage to the workpiece, a valve body lifting device is provided directly below the pallet transverse conveyor 103 directly in front of the tail end of the pallet forward chain conveyor 101. The structure of the valve body lifting device is similar to that of the valve body rotary lifting device 303. The difference between the two is that the valve body rotary lifting device 303 has a rotation function while the valve body lifting device does not have a rotation function. The pallet short-distance conveyor 104 and the moving pallet 105 are provided with through holes for the push rod of the valve body lifting device to pass through. When the cleaned workpiece needs to be unloaded, the push rod of the valve body lifting device passes through the through holes on the pallet short-distance conveyor 104 and the moving pallet 105 to lift the workpiece to a certain height, making it convenient for the gripper 408 to clamp the workpiece. Similarly, to avoid the gripper 408 directly contacting the push rod of the valve body lifting device when clamping the workpiece, a semi-circular notch 408-3 is provided at the bottom of the left gripper 408-1 and the right gripper 408-2. During the workpiece clamping process, the push rod of the valve body lifting device just fits into the notch 408-3, thus avoiding contact between the gripper 408 and the push rod.

[0107] The lifting plate 407 has a latch 413 on each of its left and right edges. A hinge support 414 is located on the top surface of the lifting plate 407 at each latch 413. The tail end of the gripper cylinder 409 is hinged to the hinge support 414, and its body passes through the latch 413 before its head end is rotatably connected to the outer wall of the left gripper 408-1 or the right gripper 408-2. When the gripper cylinder 409 extends or retracts, it rotates around the connection point of the hinge support 414, causing the left gripper 408-1 or the right gripper 408-2 to rotate around its connection point with the lifting plate 407, thereby opening or closing the left gripper 408-1 and the right gripper 408-2.

[0108] Four guide columns 410 are vertically installed at the four corners of the upper edge of the lifting plate 407. The guide columns 410 extend upward and pass through the guide sleeves 411 provided on the mounting plate 404. This structure ensures the stability of the lifting plate 407 when it moves up and down in a straight line.

[0109] The linear module 402 is provided with a guide rail 403 on each side, and the mounting plate 404 is provided with two guide blocks 405 on each side of the bottom. This structure ensures the stability of the mounting plate 404 when running in a straight line.

[0110] Two sets of the unloading device are provided, both installed on the left and right sides of the top of the same mounting gantry 401. The two sets of unloading devices correspond exactly to the two pallet forward chain conveyors 101, and each pallet forward chain conveyor 101 is equipped with a corresponding laser cleaning device 3, which can improve the laser cleaning efficiency.

[0111] Contact sensors 412 are provided on the mounting gantry 401 directly in front of and behind the mounting plate 404. When the mounting plate 404 moves forward or backward under the drive of the linear module 402 and comes into contact with the contact sensor 412, it indicates that the mounting plate 404 has moved forward or backward to the corresponding position. The contact sensor 412 will send a signal to the controller of the automated production line. After receiving the signal, the controller will control the linear module 402 to stop running.

[0112] A conical dust collection trough 5 is located directly below the two forward chain conveyors 101 and the reverse chain conveyor 102 of the pallet conveying device 1. Since each forward chain conveyor 101 has two laser cleaning stations, there are a total of four laser cleaning stations on the two forward chain conveyors 101. Correspondingly, four valve body rotating lifting devices 303 are installed. The main structure of the four valve body rotating lifting devices 303 passes through the conical dust collection trough 5. A discharge pipe 6 is connected to the bottom outlet of the conical dust collection trough 5. The discharge pipe 6 extends obliquely forward, and a movable receiving trolley 7 is located below the outlet of the discharge pipe 6. The dust collection trough 5 below the cleaning station can collect the rust and dust that fall off during laser cleaning and eventually fall into the receiving trolley 7 below the dust collection trough 5. After a period of time, the dust in the receiving trolley 7 is removed manually. This dust collection device keeps the floor below the workstation clean, making it easier to maintain the equipment.

[0113] Each valve body rotary lifting device 303 is equipped with a semi-enclosed dust hood 8 above the tray conveyor 1. The dust hood 8 is connected to the fume purifier 10 via a dust collection pipe 9. The dust hood 8 effectively absorbs the fumes generated during laser cleaning into the fume purifier 10, achieving a good dust extraction effect. This ensures that the working environment is free of fumes and harmful gases, and that the air at the cleaning station does not harm human health, thus meeting environmental protection requirements.

Claims

1. An automated production line for laser cleaning of the outer wall of complex curved valves, characterized in that: It includes a pallet conveyor (1) extending longitudinally, a material frame conveyor (2) being arranged laterally at the tail end of the pallet conveyor (1), the two being distributed in a T-shaped structure, a laser cleaning device (3) being installed on the pallet conveyor (1), and a feeding device (4) being installed at the tail end of the pallet conveyor (1) and directly above the material frame conveyor (2). The pallet conveying device (1) includes a pallet forward chain conveyor (101) and a pallet reverse chain conveyor (102) arranged side by side and of equal length. The pallet forward chain conveyor (101) has a pallet transverse conveyor (103) arranged at both ends. The pallet transverse conveyor (103) includes a pallet short-distance conveyor (104) arranged at the top. The pallet short-distance conveyor (104) is fixed on a transversely movable pallet (105). The laser cleaning device (3) includes a multi-axis robot (302) with a laser cleaning head (301) and a valve body rotation lifting device (303). The multi-axis robot (302) is located next to the pallet forward chain conveyor (101), and the valve body rotation lifting device (303) is located directly below the conveyor chain of the pallet forward chain conveyor (101). The valve body rotation lifting device (303) includes a base plate (304) and an upper mounting plate (305) directly above it. Between the base plate (304) and the upper mounting plate (305) A lead screw (306) and multiple guide posts (307) are connected. One end of the lead screw (306) is connected to a lifting drive motor (308). A movable plate (309) is sleeved on the lead screw (306). Multiple guide posts (307) pass through the movable plate (309). A rotating top rod (310) is also vertically installed on the movable plate (309). The rotating top rod (310) passes through the upper mounting plate (305). A rotating drive mechanism is also connected to the rotating top rod (310). An electromagnet (315) is fixed at the top of the rotating top rod (310).

2. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 1, characterized in that: The pallet reverse chain conveyor (102) is provided with a pallet forward chain conveyor (101) on each side; the pallet transverse conveyors (103) at the beginning and end each include two pallet short-distance conveyors (104), and each of the two pallet short-distance conveyors (104) is fixed on a mobile pallet (105). Two sets of laser cleaning devices (3) are installed at intervals on each pallet forward chain conveyor (101); A conical dust collection trough (5) is provided directly below the pallet conveying device (1). The main structure of the valve body rotating lifting device (303) passes through the conical dust collection trough (5). The discharge port of the conical dust collection trough (5) is connected to a discharge pipe (6). A receiving trolley (7) is provided below the outlet of the discharge pipe (6). A dust removal hood (8) is provided above the pallet conveying device (1) at the location of the valve body rotating lifting device (303), and the dust removal hood (8) is connected to the dust purifier (10) via a dust removal pipe (9); A valve body lifting device is provided directly below the pallet transverse conveyor (103) at the tail end of the pallet forward chain conveyor (101). The structure of the valve body lifting device is similar to that of the valve body rotary lifting device (303). The pallet short-distance conveyor (104) and the moving pallet (105) are provided with through holes for the top rod of the valve body lifting device to pass through.

3. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 1, characterized in that: The rotary drive mechanism includes a synchronous belt driven pulley (311) fixedly sleeved on the rotary top rod (310). The synchronous belt driven pulley (311) is connected to the synchronous belt drive pulley (313) via the synchronous belt (312). The synchronous belt drive pulley (313) is fixed on the output shaft of the rotary drive motor (314). The rotary drive motor (314) is fixed on the movable plate (309). The pallet transverse conveyor (103) has a transverse linear module (106) and a transverse guide rod (107) mounted transversely on the top of its frame. The slide of the transverse linear module (106) is fixedly connected to the bottom of the moving pallet (105). A guide block (108) is also fixed to the bottom of the moving pallet (105). The guide block (108) is slidably sleeved on the transverse guide rod (107).

4. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 1, characterized in that: The material frame conveying device (2) includes a lower chain conveyor (201), an upper chain conveyor (202) of the same length is provided directly above the lower chain conveyor (201), and a lifting conveyor (203) is provided adjacent to each of the left and right ends of the two chain conveyors. A transfer device (204) is also provided adjacent to the right end of the right lifting conveyor (203). The lifting conveyor (203) includes a mounting base (205), on which a lifting cylinder (206) is vertically mounted. The push rod end of the lifting cylinder (206) is connected to a mounting body (207). A horizontal rotating rod (208) is inserted into the mounting body (207). A sprocket (209) is provided on the horizontal rotating rod (208). The sprocket (209) is connected to a chain (210). One end of the chain (210) is fixed to... The mounting base (205) is fixedly connected to the vertical mounting plate (211) at one end. The vertical mounting plate (211) is provided with a slider (212), which is slidably sleeved on the guide rod (213). The guide rod (213) is vertically fixed on the mounting base (205). The vertical mounting plate (211) is also provided with a horizontally forward-extending support frame (214), and a short-distance chain conveyor (215) is provided on the support frame (214).

5. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 4, characterized in that: Both ends of the horizontal rotating rod (208) are provided with sprockets (209). The vertical mounting plate (211) has a connecting block (216) on its back, and the other end of the chain (210) is fixedly connected to the connecting block (216); The vertical mounting plate (211) has two sliders (212) on the upper and lower left and right sides of its back. Two guide rods (213) are provided, and the tops of the two guide rods (213) are fixedly connected together by a connecting plate (217); The upper chain conveyor (202) is provided with at least one feeding station, and a protective plate (219) is provided at the feeding station. The bottom of the protective plate (219) is fixed on the push rod of the support cylinder, and the support cylinder is fixed on the frame of the upper chain conveyor (202). The transfer device (204) is a lifting car, and a short-distance chain conveyor (215) is installed inside the lifting car.

6. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 4, characterized in that: Stop devices (218) are provided at intervals along the length of the lower chain conveyor (201) and the upper chain conveyor (202). The upper chain conveyor (202) is provided with one or a group of stop devices (218) at intervals along the length of the upper chain conveyor (202). When the stop devices (18) are set as a group, they are set at the loading station of the upper chain conveyor (202). A group of stop devices (218) consists of multiple stop devices (218) arranged in sequence at intervals.

7. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 1, characterized in that: The pallet forward chain conveyor (101) is provided with limit devices (109) at intervals; the pallet reverse chain conveyor (102) is provided with limit devices (109) at its tail end; the pallet forward chain conveyor (101) is also provided with a photoelectric switch mounting bracket (110) on the inner and outer frames at the top head end, and multiple photoelectric switches are provided on the photoelectric switch mounting bracket (110).

8. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 1, characterized in that: The feeding device (4) includes a mounting gantry (401), which is located directly above the pallet transverse conveyor (103) at the tail end of the pallet conveyor (1) and the material frame conveyor (2). A linear module (402) and a guide rail (403) are provided on the top of the mounting gantry (401) along its width direction. A mounting plate (404) is fixed on the slider of the linear module (402), and a guide block (405) is also installed on the mounting plate (404). The guide block (405) is slidably sleeved with the guide rail (403). A lifting cylinder (406) is vertically installed on the mounting plate (404). The push rod of the lifting cylinder (406) passes through the mounting plate (404) and is fixedly connected to the lifting plate (407) below it. A gripper (408) is rotatably installed at the bottom of the lifting plate (407). A gripper cylinder (409) is also rotatably installed on the lifting plate (407). The push rod of the gripper cylinder (409) is connected to the gripper (408).

9. The automated production line for laser cleaning of complex curved surface valve outer walls according to claim 8, characterized in that: The gripper (408) is composed of a left gripper (408-1) and a right gripper (408-2) arranged symmetrically. The tops of the left gripper (408-1) and the right gripper (408-2) are rotatably connected to the bottom of the lifting plate (407). The bottom of the gripper (408) is also provided with a notch (408-3). The outer walls of the left gripper (408-1) and the right gripper (408-2) are each rotatably connected to the push rod of a gripper cylinder (409). The lifting plate (407) has a bayonet (413) on each of its left and right edges. A hinge support (414) is provided on the top surface of the lifting plate (407) at the bayonet (413). The tail end of the gripper cylinder (409) is hinged to the hinge support (414), and its body passes through the bayonet (413) and its head end is rotatably connected to the outer wall of the left gripper (408-1) or the right gripper (408-2).

10. An automated production line for laser cleaning of the outer wall of complex curved valves according to claim 8, characterized in that: The lifting plate (407) is also vertically mounted with multiple guide columns (410), which extend upward and pass through the guide sleeve (411) provided on the mounting plate (404); the linear module (402) is provided with a guide rail (403) on each side, and the bottom of the mounting plate (404) is provided with two guide blocks (405) on each side. Two sets of the feeding device are provided, both installed on the left and right sides of the top of the same mounting frame (1); Contact sensors (412) are provided on the mounting gantry (401) directly in front of the mounting plate (404) and directly behind it.

Images