Sand blasting and grinding equipment and method for vehicle frame

Abstract

The invention discloses sand blasting and grinding equipment and method for a vehicle frame. The equipment comprises a trolley rack, a vehicle frame conveying device, a sand blasting system, a medium recycling and circulating system, a dust removal system, a defect detection system and a central control system. The sand blasting system comprises a sand blasting cabin body, a high-pressure air pump, a sand material tank and a plurality of sand blasting gun groups; the medium recovery and circulation system is used for collecting, sorting and conveying used abrasive media; the dust removal system is used for collecting dust in the sand blasting cabin body; the defect detection system comprises an industrial camera, a light source assembly and an image processing module; the central control system is electrically connected with the frame conveying device, the sand blasting system, the medium recovery and circulation system and the defect detection system and used for controlling all the systems to work cooperatively. The invention further provides a sand blasting method, high efficiency, precision, environmental protection and quality controllability of sand blasting and grinding of the vehicle frame are achieved, and the problems that traditional manual sand blasting is low in efficiency, uneven in quality, large in pollution and high in cost are comprehensively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of frame processing, and particularly relates to a sand blasting and polishing device and method for a frame. BACKGROUND

[0002] In the fields of automobile manufacturing, engineering machinery, etc., the frame as a core load-bearing component, the cleanliness, roughness and coating adhesion of its surface are crucial to product quality. Sand blasting and polishing is a key process for frame pretreatment, which is used to remove oxide skin, welding slag, old paint layer, and obtain a certain surface roughness.

[0003] In the prior art, the frame sand blasting and polishing is mostly carried out in an open sand blasting room or by a through-type sand blasting device. The open sand blasting room relies on manual operation, and has problems such as low efficiency, high labor intensity, serious dust hazards, unstable treatment quality, etc. Although the through-type sand blasting device has improved automation, it still has the following defects: relying on manual operation, insufficient clamping positioning accuracy (±2mm), leading to uneven polishing; manual adjustment of sand blasting pressure, easily causing excessive wear or residual oxide skin on the frame surface; separation of sand blasting and polishing processes, large equipment footprint, and low production efficiency (single frame processing time ≥30 minutes); unable to detect the sand blasting effect in real time, difficult to identify the defect position that is not sand blasted, leading to substandard sand blasting in some areas, affecting product quality stability, and increasing subsequent rework cost. SUMMARY

[0004] Therefore, based on the above problems existing in the prior art, the present application provides a sand blasting and polishing device and method for a frame, which can realize efficient, all-around and dead-angle-free automatic sand blasting and polishing of a frame with complex structure, and has good medium recycling capacity and process adaptability.

[0005] The technical scheme adopted by the present application is as follows: the first object of the present application is to provide a sand blasting and polishing device for a frame, which comprises a trolley rack, a frame conveying device arranged on the trolley rack, a sand blasting system, a medium recycling and circulating system, a dust removal system, a defect detection system and a central control system. The sand blasting system comprises a sand blasting cabin and a high-pressure air pump, a sand tank and a plurality of sand blasting gun groups arranged on the sand blasting cabin, the sand blasting gun groups are connected with the high-pressure air pump and the sand tank through air pipes and sand pipes respectively, and an electromagnetic proportional valve is arranged between the sand blasting gun groups and the sand tank. The rack is arranged on one side of the opening of the sand blasting cabin. The frame conveying device is fixedly installed on the rack and extends into the interior of the sand blasting cabin, and is used for carrying and fixing the frame. The medium recycling and circulating system is arranged at the bottom of the sand blasting cabin for collecting, sorting and conveying the used abrasive medium; The dust removal system is installed on the sand blasting system for collecting the dust in the sand blasting cabin; The defect detection system comprises an industrial camera, a light source assembly and an image processing module, the industrial camera is electrically connected with the image processing module, the industrial camera is used for collecting the surface image after the frame is blasted, and the image processing module is used for analyzing the surface image to identify the defect position which is not blasted in place; The central control system is electrically connected with the frame conveying device, the sand blasting system, the medium recycling and circulating system and the defect detection system respectively, and is used for controlling the cooperative work of the systems.

[0006] Further, the frame conveying device comprises: Two roller tracks are fixedly connected to the upper surface of the trolley frame horizontally and in parallel along the opening side of the sand blasting cabin; A driving mechanism comprises a square frame, a driving shaft wheel set and a driven shaft wheel set horizontally arranged on both sides of the square frame, a side rack connected to the upper surface of the square frame, a gear shaft arranged vertically and engaged with the side rack, and a speed reducer and a driving motor; the driving shaft wheel set comprises a driving shaft rotatably connected to the square frame through a bearing seat and driving rollers fixedly connected to both ends of the driving shaft, both ends of the driving shaft extending out of the square frame and fixedly connected with the driving rollers, so that one side of the square frame is supported on the two roller tracks through the two driving rollers; the driven shaft wheel set comprises a driven shaft rotatably connected to the square frame through a bearing seat and driven rollers fixedly connected to both ends of the driven shaft, both ends of the driven shaft extending out of the square frame and fixedly connected with the driven rollers, so that the other side of the square frame is supported on the two roller tracks through the two driven rollers; the side rack is arranged in the middle of the two roller tracks; one end of the gear shaft away from the side rack is fixedly connected with the output end of the speed reducer, the input end of the speed reducer is fixedly connected with the extension shaft of the driving motor, and the speed reducer and the driving motor are fixedly supported on the square frame; A frame jig is fixedly connected to the upper surface of the square frame for carrying and fixing the frame; A trolley door is vertically fixedly installed on the square frame and located between the frame jig and the driving motor.

[0007] Further, the sand blasting gun set further comprises a set of vertical columns vertically and parallel connected to one side inside the sand blasting cabin body, a Z-axis moving mechanism, a Y-axis moving mechanism and an X-axis moving mechanism, the Z-axis moving mechanism is installed on the vertical column, the Y-axis moving mechanism is installed on the Z-axis moving mechanism, the X-axis moving mechanism is installed on the Y-axis moving mechanism, and the sand blasting gun set is installed on the X-axis moving mechanism.

[0008] Further, the Z-axis moving mechanism comprises a first servo motor, a first connecting shaft, a first sprocket set, a first sliding rail and a first sliding block module slidingly installed on the first sliding rail, two ends of the first connecting shaft are rotatably installed at the top of the two vertical columns, and one end extends out and is drivingly connected with the first servo motor, the first sprocket set is vertically rotatably installed at the two ends inside the vertical column, the driving sprocket of the first sprocket set is sleevedly installed on the first connecting shaft, the driven sprocket of the first sprocket set is rotatably installed at the inner bottom of the vertical column, and the first chain is in tension engagement between the driving sprocket and the driven sprocket, and one side of the first sliding block module close to the first sprocket set is further fixedly connected with the first chain. The Y-axis moving mechanism comprises two second sliding rails horizontally and parallel connected to the outer sides of the two first sliding block modules, two second sliding block modules slidingly installed on the two second sliding rails, a motor mounting seat fixedly connected to the outer sides of the two second sliding block modules, a second servo motor, a first double-shaft output speed reducer and a second sprocket set arranged in the second sliding rail, the output shaft of the second servo motor is fixedly connected with the input end of the first double-shaft output speed reducer, the two output ends of the first double-shaft output speed reducer are drivingly connected with the second sprocket set in the corresponding side of the second sliding rail, and one side of the second sliding block module close to the second sprocket set is further fixedly connected with the first chain. The X-axis moving mechanism comprises a third servo motor and a servo motor telescopic rod installed on the motor mounting seat, and a plurality of V-shaped spray guns slidingly inserted at the end of the servo motor telescopic rod, the third servo motor is drivingly connected with the servo motor telescopic rod, one input pipe of each V-shaped spray gun is connected with the sand tank through a sand pipe, and the other input pipe of each V-shaped spray gun is connected with the high-pressure air pump through an air pipe.

[0009] Further, the medium recycling and circulating system comprises a sand return hopper closed connected to the bottom of the sand blasting cabin body, a sand return pipe communicated at the bottom of the sand return hopper, and a air supplement pipe connected at one end of the sand return pipe, the other end of the sand return pipe is connected to the inside of the sand tank, and the end of the air supplement pipe away from the sand return pipe is connected with the high-pressure air pump.

[0010] Further, the dust removal system comprises a dust removal separator, a dust return pipe and a filter core dust removal tank, one side of the dust removal separator is connected with the sand blasting cabin and the sand tank through pipelines respectively, and the other side of the dust removal separator returns dust separated by the dust removal separator to the filter core dust removal tank through the dust return pipe.

[0011] Further, the industrial camera is installed in a detection station and used to collect high-definition images of the surface of the frame after sand blasting, the image processing module identifies the defect position of the non-sand blasting in place through an image comparison algorithm, and transmits the position information to the central control system.

[0012] Further, the sand blasting gun group is an adjustable angle nozzle, the industrial camera is connected with the central control system and is further used to identify the contour and position of the frame to be processed, the central control system is configured to generate a sand blasting path based on a preset three-dimensional model of the frame, and can receive feedback information from the industrial camera to dynamically correct the sand blasting path in real time.

[0013] The second object of the present application is to provide a sand blasting and grinding method applied to the frame sand blasting and grinding equipment, comprising the following steps: S1: the central control system controls the frame conveying device to convey the frame to be sand blasted to a sand blasting station in the sand blasting cabin; S2: the sand blasting system performs comprehensive sand blasting on the frame; S3: the frame conveying device conveys the frame after sand blasting to a detection station, the defect detection system collects the surface image of the frame and identifies the defect position of the non-sand blasting in place; S4: the central control system controls the frame conveying device to return the frame to the corresponding position of the sand blasting station according to the defect position information, and the sand blasting system performs secondary sand blasting on the defect position; S5: after the secondary sand blasting, the defect detection system detects again, and after confirming that there is no defect, the frame conveying device sends the frame out of the sand blasting cabin.

[0014] Compared with the prior art, the present application has the following advantages: The sand blasting and grinding equipment for the vehicle frame in the application comprises a trolley frame, a vehicle frame conveying device, a sand blasting system, a medium recycling and circulating system, a dust removal system, a defect detection system and a central control system, wherein the central control system centrally dispatches all subsystems such as the vehicle frame conveying device, the sand blasting system and the medium recycling and circulating system, to form a continuous process of loading and conveying, sand blasting treatment, medium circulation, dust purification and defect detection; the vehicle frame conveying device is fixedly installed on the trolley frame and extends into the inside of the sand blasting cabin, to realize automatic feeding, positioning and feeding out of the vehicle frame, without manual transfer and reducing the interruption time of operation; the sand blasting system is configured with multiple groups of sand blasting guns, which can simultaneously perform sand blasting and grinding on different parts of the vehicle frame, avoiding reciprocating waiting of a single sand blasting gun and greatly improving the processing efficiency per unit time. Each system is linked and responds (such as the sand blasting system and the dust removal system are started simultaneously after the vehicle frame is positioned), without redundant waiting links, and is suitable for batch production scenes; an electromagnetic proportional valve is arranged between the sand blasting gun group and the sand tank, which can accurately adjust the sand delivery amount as needed, avoid surface damage of the vehicle frame caused by too much sand or insufficient grinding caused by too little sand, and ensure uniform grinding force of each part by stable power provided by a high-pressure air pump and accurate sand supply, to improve the consistency of the surface roughness of the vehicle frame; the defect detection system collects high-definition surface images through an industrial camera, analyzes and identifies the defect positions that are not blasted to the right position through an image processing module, to provide accurate basis for reblasting or reinspection, and the detection data is fed back to the central control system in real time, to form a quality closed loop of grinding, detection and correction, avoid unqualified products from flowing out, and improve the qualified rate of finished products; the medium recycling and circulating system is arranged at the bottom of the sand blasting cabin, which can collect and sort used abrasive media, and deliver qualified abrasive media to the sand tank for recycling. The recycling design reduces the frequency of supplementing new abrasive media, reduces the cost of abrasive media consumption, reduces waste emissions, and meets the requirements of green production; the dust removal system adopts a negative pressure dust suction pipeline, the port is accurately aligned with the sand blasting and grinding area, and the dust generated during operation is adsorbed in real time, to avoid dust diffusion, and a multi-stage filtering device is used for deep purification of the dust, to effectively control dust pollution, protect the operation environment, and avoid the harm of dust inhalation to the health of the operators. Each system (sand blasting, recycling, dust removal and detection) is modularly integrated on the trolley frame and the sand blasting cabin, with compact structure and reasonable layout, to save installation space; the vehicle frame conveying device can carry and fix the vehicle frame, and the trolley frame is arranged on one side of the opening of the sand blasting cabin, to facilitate equipment installation, debugging and vehicle frame feeding and discharging; the automatic collaborative operation completely replaces the traditional manual grinding mode, avoids direct contact of the operators with the sand blasting environment and dust, and reduces the labor intensity and the occupational health risk. Without relying on the technical experience of the operators, stable and consistent grinding effect can be realized, to improve the stability of the production process. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic view of the sand blasting and grinding equipment for the vehicle frame in the embodiment of the application in one direction. Figure 2Another direction structural schematic view of the sand blasting and polishing equipment for the vehicle frame in the embodiment of the present application; Figure 3 Assembly structural schematic view of the vehicle frame conveying device and the trolley frame in the embodiment of the present application; Figure 4 Exploded structural schematic view of the vehicle frame conveying device and the trolley frame in the embodiment of the present application; Figure 5 Structural schematic view of the driving mechanism in the vehicle frame conveying device in the embodiment of the present application; Figure 6 One direction structural schematic view of the sand blasting gun set in the embodiment of the present application; Figure 7 Another direction structural schematic view of the sand blasting gun set in the embodiment of the present application; Figure 8 One direction assembly structural schematic view of the medium recycling and circulating system, the dust removal system and the sand blasting cabin in the embodiment of the present application; Figure 9 Another direction assembly structural schematic view of the medium recycling and circulating system, the dust removal system and the sand blasting cabin in the embodiment of the present application; Figure 10 Structural framework schematic view of the defect detection system in the embodiment of the present application; Figure 11 Flow schematic view of the sand blasting and polishing method of the sand blasting and polishing equipment for the vehicle frame in the embodiment of the present application.

[0016] Explanation of reference signs: 1-trolley frame; 2-vehicle frame conveying device; 21-roller way; 22-driving mechanism; 221-square frame; 222-main shaft wheel set; 2221-main shaft; 2222-main driven roller; 223-driven shaft wheel set; 2231-driven shaft; 2232-driven roller; 224-side rack; 225-gear shaft; 226-reducer; 227-driving motor; 24-trolley door; 3-sand blasting system; 31-sand blasting cabin; 32-high pressure air pump; 33-sand tank; 34-sand blasting gun set; 341-vertical column; 342-Z-axis moving mechanism; 3421-first servo motor; 3422-first connecting shaft; 3423-first sprocket set; 3424-first slide rail; 3425-first sliding block module; 343-Y-axis moving mechanism; 3431-second slide rail; 3432-second sliding block module; 3433-motor mounting seat; 3434-second servo motor; 3435-first double-shaft output reducer; 3436-second sprocket set; 344-X axis moving mechanism; 3441-third servo motor; 3442-servo electric telescopic rod; 3443-V-shaped spray gun; 4-medium recycling and circulating system; 41-sand return hopper; 42-sand return pipe; 43-air supplement pipe; 5-dust removal system; 51-dust removal separator; 52-dust return pipe; 53-filter core dust removal box; 6-defect detection system; 61-industrial camera; 62-light source assembly; 63-image processing module; 7-central control system. DETAILED DESCRIPTION

[0017] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0018] Please refer to Figures 1-10 The embodiment of the present application provides a sand blasting and grinding equipment for a vehicle frame, which comprises a trolley frame 1, a vehicle frame conveying device 2, a sand blasting system 3, a medium recycling and circulating system 4, a dust removal system 5, a defect detection system 6 and a central control system 7, wherein: The vehicle frame conveying device 2 is arranged on the trolley frame 1; the sand blasting system 3 comprises a sand blasting cabin 31, a high-pressure air pump 32, a sand tank 33 and a plurality of sand blasting gun groups 34, the high-pressure air pump 32, the sand tank 33 and the plurality of sand blasting gun groups 34 are arranged on the sand blasting cabin 31, the sand blasting gun groups 34 are connected with the high-pressure air pump 32 and the sand tank 33 through air pipes and sand pipes respectively, and an electromagnetic proportional valve is arranged between the sand blasting gun groups 34 and the sand tank 33; The trolley frame 1 is arranged on one side of the opening of the sand blasting cabin 31; The vehicle frame conveying device 2 is fixedly installed on the trolley frame 1 and extends into the interior of the sand blasting cabin 31, and the vehicle frame conveying device 2 is used for carrying and fixing a vehicle frame; The medium recycling and circulating system 4 is arranged at the bottom of the sand blasting cabin 31, and is used for collecting, sorting and conveying used abrasive medium; The dust removal system 5 is installed on the sand blasting system 3, and is used for collecting dust in the sand blasting cabin 31; The defect detection system 6 comprises an industrial camera 61, a light source assembly 62 and an image processing module 63, the industrial camera 61 is electrically connected with the image processing module 63, the industrial camera 61 is used for collecting a surface image of the vehicle frame after sand blasting, and the image processing module 63 is used for analyzing the surface image to identify a defect position which is not blasted in place; The central control system 7 is electrically connected with the vehicle frame conveying device 2, the sand blasting system 3, the medium recycling and circulating system 4 and the defect detection system 6 respectively, and is used for controlling the systems to work cooperatively.

[0019] Specific to the present embodiment, the central control system as the core, unified scheduling of each subsystem, forming the loading and conveying, sand blasting treatment, medium circulation, dust purification, defect detection of continuous operation process. Each system through the electrical or structural connection to achieve linkage, such as the frame conveying device 2 will frame into sand blasting cabin 31, the central control system 7 synchronous start sand blasting system 3, dust removal system 5, to ensure the operation synchronization. The high pressure pump 32 of sand blasting system 3 is used to provide power, sand tank 33 is used to supply abrasive, through the electromagnetic proportional valve precise control of sand delivery, multiple sand blasting gun group 34 synergy on the frame surface for all-round polishing; medium recycling and circulating system 4 at the same time of sand blasting operation, collection of sand blasting cabin 31 bottom of the waste abrasive, after sorting will qualified abrasive retransported to sand tank 33, realize the recycling of resources; dust removal system 5 is used to real-time adsorption of dust produced by sand blasting, through multi-stage filtration device purification, avoid dust diffusion pollution; the industrial camera 61 of defect detection system 6 collects the frame surface image after polishing, image processing module 63 analysis and identification of the area of sand blasting to provide the basis for subsequent re-spray or reinspection.

[0020] Thus, by automatic collaborative work instead of manual polishing, frame conveying, sand blasting, recycling and other links are carried out continuously without interruption; multiple sand blasting gun group 34 cooperate with the precise control of electromagnetic proportional valve, which can polish multiple parts of the frame at the same time, and the abrasive supply amount is adjusted as needed to avoid invalid operation; the electromagnetic proportional valve realizes the precise adjustment of the sand delivery amount, ensuring uniform polishing force and reducing the problem of surface damage or insufficient polishing; the defect detection system 6 identifies the defect position of the sand blasting by image analysis in real time, avoiding unqualified products from flowing out and improving the qualified rate of finished products; the dust removal system 5 effectively controls dust pollution through negative pressure adsorption and multi-stage filtration, protecting the working environment and the health of operators; the medium recycling and circulating system 4 realizes the reuse of abrasive, reducing the cost of abrasive consumption and reducing waste emissions; the central control system 7 controls each system, reducing manual operation steps and the risk of human error, and the automatic recording and detection data of the whole process are traceable, facilitating quality control and problem troubleshooting in the production process.

[0021] Specifically, please refer to Figure 3 、 4 , 5, in an embodiment of the present application, the frame conveying device 2 includes two roller 21, drive mechanism 22, frame jig 23 and trolley door 24, wherein: Two roller 21 along the opening side of sand blasting cabin 31 is horizontally parallel fixedly connected to the upper surface of trolley frame 1; Drive mechanism 22 includes square frame 221, driving shaft wheel set 222, driven shaft wheel set 223, side rack 224, gear shaft 225, speed reducer 226 and drive motor 227, wherein: The driving shaft wheel set 222 and the driven shaft wheel set 223 are horizontally arranged on both sides of the square frame 221, the side rack 224 is connected to the upper surface of the square frame 221, the gear shaft 225 is vertically arranged and is in meshing transmission with the side rack 224, the driving shaft wheel set 222 comprises a driving shaft 2221 and driving rollers 2222, the driving shaft 2221 is rotatably connected to the square frame 221 through a bearing seat, the driving rollers 2222 are fixedly connected to both ends of the driving shaft 2221, both ends of the driving shaft 2221 extend out of the square frame 221 and are fixedly connected with the driving rollers 2222, so that one side of the square frame 221 is supported on the two roller tracks 21 through the two driving rollers 2222. The driven shaft wheel set 223 comprises a driven shaft 2231 and driven rollers 2232, the driven shaft 2231 is rotatably connected to the square frame 221 through a bearing seat, the driven rollers 2232 are fixedly connected to both ends of the driven shaft 2231, both ends of the driven shaft 2231 extend out of the square frame 221 and are fixedly connected with the driven rollers 2232, so that the other side of the square frame 221 is supported on the two roller tracks 21 through the two driven rollers 2232.

[0022] The side rack 224 is arranged in the middle of the two roller tracks 21 in parallel; one end of the gear shaft 225 away from the side rack 224 is fixedly connected with the output end of a speed reducer 226, the input end of the speed reducer 226 is fixedly connected with the extending shaft of a driving motor 227, and the speed reducer 226 and the driving motor 227 are fixedly supported on the square frame 221; a vehicle frame jig 23 is fixedly connected to the upper surface of the square frame 221 and is used for bearing and fixing a vehicle frame; a trolley door 24 is vertically fixedly installed on the square frame 221 and is located between the vehicle frame jig 23 and the driving motor 227.

[0023] Specifically, the driving motor 227 outputs power, which is transmitted to the gear shaft 225 after being reduced and torque-increased by the speed reducer 226, the gear shaft 225 is in meshing transmission with the side rack 224 on the square frame 221, and the rotating power is converted into the linear motion of the square frame 221; the square frame 221 is supported on the two parallel roller tracks 21 through the driving shaft wheel set 222 and the driven shaft wheel set 223 on both sides, the meshing transmission of the gear and the rack drives the whole square frame 221 to move horizontally along the roller track 21, so that the vehicle frame enters or exits the sand blasting cabin 31; the vehicle frame jig 23 is fixed on the square frame 221 and moves synchronously with the square frame 221, and bears and fixes the vehicle frame in the whole process, so that the position of the vehicle frame is not deviated in the conveying process; the trolley door 24 moves synchronously with the square frame 221, and when the square frame 221 drives the vehicle frame to enter the sand blasting cabin 31, the trolley door 24 just closes the opening of the sand blasting cabin 31, so that a closed working space is formed.

[0024] The double roller 21 in the embodiment provides stable support rails for the square frame 221, avoids skewing during conveying by limiting the movement direction, and the driving shaft wheel set 222 is matched with the driven shaft wheel set 223, so that the four rollers (two at each end) evenly share the weight of the square frame 221 and the vehicle frame, reduces the movement friction, and ensures smooth movement. The side rack 224 is centrally arranged at the middle of the two roller tracks 21 and is in engagement with the gear shaft 225, so that the force is balanced, and the jamming or deviation caused by the unilateral force of the square frame 221 is avoided. The fixing mode is customized according to the vehicle frame structure, so that the vehicle frame is not loose and does not shake during high-speed sand blasting and conveying movement. The various structural components of the conveying device are arranged around the three core requirements of accurate conveying, stable fixing and sealed operation. The power transmission is realized by driving the gear and rack movement through the motor and then the speed reducer, which realizes accurate driving, solves the positioning accuracy problem in the vehicle frame conveying process, and creates necessary conditions for the efficient work of the subsequent sand blasting and dust removal system, and is an important basis for the realization of automation and high-quality work of the entire sand blasting and polishing equipment.

[0025] Specifically, as shown in Figure 6 、 7 In one embodiment of the present application, the sand blasting gun set 34 further comprises a set of vertical columns 341, a Z-axis moving mechanism 342, a Y-axis moving mechanism 343 and an X-axis moving mechanism 344, wherein: The set of vertical columns 341 is vertically and parallelly connected to one side of the inside of the sand blasting cabin 31, the Z-axis moving mechanism 342 is installed on the vertical column 341, the Y-axis moving mechanism 343 is installed on the Z-axis moving mechanism 342, the X-axis moving mechanism 344 is installed on the Y-axis moving mechanism 343, and the sand blasting gun set 34 is installed on the X-axis moving mechanism 344.

[0026] In the embodiment, the vertical column 341 is vertically and parallelly fixed to one side of the inside of the sand blasting cabin 31 as a basic support to provide a stable installation reference for the subsequent moving mechanism. The moving mechanisms are installed in sequence in the order of Z-axis, Y-axis and X-axis to form a hierarchical transmission structure; the sand blasting gun set 34 is finally installed on the outermost X-axis moving mechanism 344 to receive the power transmission of the three-level moving mechanisms. Specifically, the Z-axis moving mechanism 342 moves up and down along the vertical column 341 to drive the subsequent Y-axis and X-axis mechanisms and the sand blasting gun set 34 to realize height (i.e. Z-axis direction) position adjustment; the Y-axis moving mechanism 343 moves along the horizontal guide rail of the Z-axis moving mechanism 342 to drive the X-axis moving mechanism 344 and the sand blasting gun set 34 to realize lateral (i.e. Y-axis direction) position adjustment; the X-axis moving mechanism 344 moves along the guide rail of the Y-axis moving mechanism 343 to directly drive the sand blasting gun set 34 to realize forward and backward (i.e. X-axis direction) position adjustment; the three-axis mechanisms move independently and can be combined to make the movement trajectory of the sand blasting gun set 34 cover the three-dimensional space in the sand blasting cabin 31.

[0027] Therefore, by the superimposed arrangement of the three-axis moving mechanism, the restriction of single direction movement is avoided, the sand blasting gun group 34 can reach any three-dimensional coordinate point in the cabin body; the independently controlled three-axis movement supports multiple movement modes such as uniform speed movement, fixed point stay, trajectory planning, and adapts to workpieces of different shapes and sizes; the three-dimensional space full coverage movement does not need manual adjustment of the workpiece or the sand blasting gun position, reduces the auxiliary operation time, and improves the sand blasting efficiency; the flexible movement mode can adapt to workpieces of different complexity (such as irregular shape, multi-faceted structure), and expand the application scenarios of the equipment; the mechanism mounting structure is simple, integrated on one side of the cabin body, does not occupy too much cabin body space, and guarantees the rationality of the workpiece placement area.

[0028] Specifically, as shown in Figure 6 , 7 In one embodiment of the present application, the Z-axis moving mechanism 342 includes a first servo motor 3421, a first connecting shaft 3422, a first sprocket set 3423, a first sliding rail 3424, and a first sliding block module 3425, wherein: The first sliding block module 3425 is slidingly installed on the first sliding rail 3424, both ends of the first connecting shaft 3422 are rotatably installed at the top of the two vertical columns 341, and one end extends out and is drivingly connected with the first servo motor 3421, the first sprocket set 3423 is rotatably installed at the inner ends of the vertical columns 341, the driving sprocket of the first sprocket set 3423 is sleeved and installed on the first connecting shaft 3422, the driven sprocket of the first sprocket set 3423 is rotatably installed at the inner bottom of the vertical columns 341, and the first chain is tightly engaged between the driving sprocket and the driven sprocket, and the side of the first sliding block module 3425 close to the first sprocket set 3423 is further fixedly connected with the first chain.

[0029] Specifically, in this embodiment, the Z-axis moving mechanism 342 is used for the height direction adjustment process, and the power input comes from the first servo motor 3421. When the first servo motor 3421 is started, the driving force is transmitted to the first sprocket set 3423 in the vertical columns 341 at both ends through the first connecting shaft 3422, the first connecting shaft 3422 drives the driving sprocket on the first sprocket set 3423 to rotate, and the driven sprocket is driven to rotate synchronously through the engaged first chain, forming a vertical chain transmission. Since the first sliding block module 3425 is fixed on the first chain, it moves up and down with the chain, and simultaneously slides along the first sliding rail 3424, thereby driving the subsequent Y-axis moving mechanism 343 to realize the height direction position adjustment.

[0030] The Y-axis moving mechanism 343 includes two second sliding rails 3431, a second sliding block module 3432, a motor mounting seat 3433, a second servo motor 3434, a first double-shaft output speed reducer 3435, and a second sprocket set 3436, wherein: Two second sliding rails 3431 are horizontally and parallelly connected outside the two first sliding block modules 3425, two second sliding block modules 3432 are correspondingly and slidingly installed on the two second sliding rails 3431, a motor mounting seat 3433 and a second servo motor 3434 are fixedly connected outside the two second sliding block modules 3432, a second sprocket set 3436 is arranged in the second sliding rail 3431, an output shaft of the second servo motor 3434 is fixedly connected with an input end of a first double-shaft output speed reducer 3435, two output ends of the first double-shaft output speed reducer 3435 are respectively and drivingly connected with the second sprocket set 3436 in the corresponding side second sliding rail 3431, and the second sliding block module 3432 on the side close to the second sprocket set 3436 of the second chain is also fixedly connected with the second chain.

[0031] Specifically in this embodiment, the Y-axis moving mechanism 343 is used for horizontal Y-axis direction adjustment, the two second sliding rails 3431 are horizontally and fixedly connected on the two first sliding block modules 3425, and are vertically moved synchronously with the Z-axis moving mechanism 342; when the second servo motor 3434 is started, power is branched through the first double-shaft output speed reducer 3435, the second sprocket set 3436 in the two second sliding rails 3431 is synchronously driven to move, the second sliding block module 3432 slides transversely along with the second chain, is guided along the second sliding rail 3431, drives the motor mounting seat 3433 and the subsequent X-axis moving mechanism 344 to realize transverse position adjustment.

[0032] The X-axis moving mechanism 344 comprises a third servo motor 3441, a servo electric telescopic rod 3442 and a plurality of V-shaped spray guns 3443. The third servo motor 3441 and the servo electric telescopic rod 3442 are mounted on the motor mounting seat 3433, the plurality of V-shaped spray guns 3443 are slidingly inserted at the end of the servo electric telescopic rod 3442, the third servo motor 3441 is drivingly connected with the servo electric telescopic rod 3442, one branch input pipe of each V-shaped spray gun 3443 is connected with the sand tank 33 through a sand pipe, and the other branch input pipe of each V-shaped spray gun 3443 is connected with the high-pressure air pump 32 through an air pipe.

[0033] Specifically in this embodiment, the X-axis moving mechanism 344 is used for front-back (depth) adjustment and sand blasting execution, power driving comes from the third servo motor 3441, the third servo motor 3441 controls the servo electric telescopic rod 3442 to stretch and retract, drives the plurality of V-shaped spray guns 3443 at the end to realize front-back direction depth position adjustment; the sand tank 33 delivers sand materials to the V-shaped spray gun 3443 through the sand pipe, the high-pressure air pump 32 provides high-pressure gas through the air pipe, and the two are mixed in the spray gun to form high-speed sand flow; the V-shaped spray gun 3443 reaches the target position under the linkage of the three-axis mechanism, the high-speed sand flow is sprayed to the surface of the vehicle frame, and the sand blasting work is completed.

[0034] A plurality of V-shaped spray guns 3443 are arranged at the end of the X-axis, a single movement can cover a larger frame area, reduce the number of reciprocations, and improve processing efficiency; the V-shaped structure of the V-shaped spray gun can expand the sandblasting angle, adapt to irregular frame surfaces, reduce the missed spraying area, and improve the sandblasting uniformity; the Z-axis (height), Y-axis (lateral), and X-axis (depth) are independently controllable and can be synchronously linked, complex motion trajectories can be planned, and different sizes and shapes of workpieces can be adapted without frequent adjustment of the frame position.

[0035] Specifically, as shown in Figure 8 、 9 In one embodiment of the present application, the medium recycling and circulating system 4 includes a sand return hopper 41, a sand return pipe 42, and an air supplement pipe 43, wherein: The sand return hopper 41 is closed and connected to the bottom of the sandblasting cabin 31, the sand return pipe 42 is communicated to the bottom of the sand return hopper 41, the air supplement pipe 43 is connected to one end of the sand return pipe 42, the other end of the sand return pipe 42 is connected to the inside of the sand tank 33, and the end of the air supplement pipe 43 away from the sand return pipe 42 is connected to the high-pressure gas pump 32.

[0036] In this embodiment, after sandblasting, the used sand (medium) falls from the inside of the sandblasting cabin 31 to the bottom closed sand return hopper 41 under the action of gravity, completing centralized collection. The closed design of the sand return hopper 41 avoids sand scattering and forms a relatively concentrated feeding channel, guiding the sand into the bottom-communicated sand return pipe 42. When the high-pressure gas pump 32 is started, high-pressure gas is injected into the sand return pipe 42 through the air supplement pipe 43, forming a directional gas flow inside the sand return pipe 42. The sand in the sand return hopper 41 moves along the sand return pipe 42 to the sand tank 33 under the dual action of gravity and high-pressure gas flow. The sand finally enters the inside of the sand tank 33 through the other end of the sand return pipe 42, completing the recycling and circulating of the medium, and waiting to be transported to the spray gun for use again.

[0037] Thus, the recycled sand returns to the sand tank 33 to participate in sandblasting, without frequent replenishment of new sand, reducing the consumption and loss of sandblasting medium. This closed-loop recycling mode avoids waste of sand and reduces the procurement cost of consumables for long-term operation. In addition, there is no need to stop for cleaning of waste sand or manual addition of new sand. The medium recycling and circulation is synchronized with the sandblasting operation, reducing the interruption time of the operation; the sand tank 33 can maintain a stable sand stock through recycling, ensuring continuous sand supply for the spray gun and improving the overall sandblasting operation efficiency.

[0038] Specifically, as shown in Figure 8 、 9As shown, in an embodiment of the present application, the dust removal system 5 includes a dust removal separator 51, a dust return pipe 52, and a filter dust removal box 53. One side of the dust removal separator 51 is connected with the sand blasting cabin 31 and the sand tank 33 through pipelines respectively, and the other side of the dust removal separator 51 sends the dust separated by the dust removal separator 51 back to the filter dust removal box 53 through the dust return pipe 52.

[0039] During the sand blasting operation, a large amount of sand dust mixture (sand particles, workpiece debris, dust, etc.) is generated in the sand blasting cabin 31, and dust may also be generated during sand replenishment or transportation of the sand tank 33. The dust removal separator 51 is connected with the sand blasting cabin 31 and the sand tank 33 through pipelines to form a negative pressure adsorption channel, and the dust from the two key dust generation points is simultaneously sucked into the dust removal separator 51. The dust removal separator 51 separates the sucked gas-dust mixture into recyclable coarse particles (such as non-failed sand, large-particle debris) and fine dust through centrifugal force and filter medium. The separated fine dust is transported to the filter dust removal box 53 through the dust return pipe 52, and is deeply filtered by the filter to realize centralized interception and storage of the dust. The separated coarse particles can remain in the dust removal separator 51 or be returned through subsequent structures to avoid being filtered together with the dust.

[0040] Specifically, please refer to Figure 10 As shown, in an embodiment of the present application, the industrial camera 61 is installed at a detection station for collecting high-definition images of the surface of the frame after sand blasting; the image processing module 63 identifies the defect positions of the non-sand-blasted positions through image comparison algorithm, and transmits the position information to the central control system 7.

[0041] In this embodiment, after the frame completes the sand blasting operation, it enters the preset detection station, the industrial camera 61 starts and collects high-definition images of the surface of the frame, and the high-definition images need to completely cover the sand blasting area of the frame to capture key features such as surface roughness and sand particle coverage, and provide clear data sources for subsequent identification. The image processing module 63 receives the high-definition images transmitted by the industrial camera 61, calls the preset image comparison algorithm, the algorithm compares the actual sand blasting image collected with the pre-stored sand blasting qualified standard image at the pixel level, screens out the difference areas such as non-standard surface roughness, non-covered sand particles, and local missed spraying, and determines these difference areas as “defect positions of non-sand-blasted positions” through coordinate positioning technology. The image processing module 63 arranges the identified defect position information (such as three-dimensional coordinates and area range) and transmits it to the central control system 7 in real time to complete the closed-loop feedback of the detection data.

[0042] Therefore, through the high-definition collection capability of the industrial camera 61, defects such as fine spray leakage and uneven sand blasting that cannot be recognized by human eyes can be captured, and the detection accuracy is far higher than manual visual inspection; the image comparison algorithm is automatically run without human intervention, which greatly improves the detection efficiency and is suitable for batch production scenes; through standardized image comparison, a unified quality judgment standard is established to avoid subjective errors in manual detection, ensure that the sand blasting quality of all frames meets the standards, identify defects of incomplete sand blasting in time and feedback, prevent unqualified products from flowing into the next process, and improve the overall product qualification rate.

[0043] Specifically, as shown in Figure 6 、 7 In one embodiment of the present application, the sand blasting gun group 34 is an angle-adjustable nozzle, the industrial camera 61 is connected with the central control system 7 and is also used to identify the outline and position of the frame to be processed; the central control system 7 is configured to generate a sand blasting path based on a preset three-dimensional model of the frame, and can receive feedback information from the industrial camera to dynamically correct the sand blasting path in real time.

[0044] In this embodiment, when the frame enters the sand blasting area or at the initial stage, the industrial camera 61 is started to collect image information of the frame to be processed. The industrial camera 61 extracts the contour features (such as corners, curved surfaces, hole positions, etc.) of the frame through image recognition algorithm, and locates the actual position of the frame in the sand blasting cabin. These information are transmitted to the central control system 7 in real time. The central control system 7 calls the preset three-dimensional model of the frame, combines the actual position information fed back by the industrial camera 61, and performs coordinate matching and path planning. The system generates an initial sand blasting path suitable for the whole frame according to the contour features (such as curved surface radian and corner angle) of the frame and the preset sand blasting parameters (such as sand blasting intensity and coverage requirement), and determines the three-dimensional movement trajectory of the sand blasting gun group 34.

[0045] As shown in Figure 11 Another embodiment of the present application also provides a sand blasting and grinding method applied to the frame sand blasting and grinding equipment as described above, which comprises the following steps: S1: The central control system 7 controls the frame conveying device 2 to convey the frame to be sand blasted to the sand blasting station in the sand blasting cabin 31.

[0046] In this step, the central control system 7 as the core scheduling unit sends instructions to control the frame conveying device 2 to accurately convey the frame to be sand blasted to the preset sand blasting station in the sand blasting cabin 31 for positioning preparation before work.

[0047] S2: The sand blasting system 3 performs comprehensive sand blasting work on the frame.

[0048] In this step, after the sand blasting station is ready, the sand blasting system 3 starts according to the preset parameters (such as path, pressure, nozzle angle), and performs comprehensive covering sand blasting on the frame to complete the initial surface treatment.

[0049] S3: The frame conveying device 2 conveys the sand blasted frame to the detection station, and the defect detection system 6 collects the frame surface image and identifies the defect position that is not sand blasted in place.

[0050] In this step, after the initial sand blasting is completed, the frame conveying device 2 receives the instruction of the central control system 7 and transfers the frame to the detection station. The industrial camera 61 of the defect detection system 6 collects the high-definition image of the frame surface, and the algorithm of the image processing module 63 identifies the defect position that is not sand blasted in place. The position information is fed back to the central control system 7 synchronously.

[0051] S4: According to the defect position information, the central control system 7 controls the frame conveying device 2 to return the frame to the corresponding position of the sand blasting station, and the sand blasting system 3 performs secondary sand blasting on the defect position.

[0052] In this step, according to the defect position information, the central control system 7 calculates the frame return path, controls the frame conveying device 2 to accurately return the frame to the corresponding defect area position of the sand blasting station, and the sand blasting system 3 performs targeted secondary sand blasting (supplementary sand blasting) on the non-compliant area based on the defect position data, without the need for overall rework.

[0053] S5: After the secondary sand blasting, the defect detection system 6 detects again, and after confirming that there is no defect, the frame conveying device 2 sends the frame out of the sand blasting cabin 31.

[0054] In this step, after the secondary sand blasting, the frame is sent to the detection station again by the frame conveying device 2, the defect detection system 6 performs re-inspection, and after confirming that there is no defect, the central control system 7 instructs the frame conveying device 2 to send the qualified frame out of the sand blasting cabin 31, and completes the whole process operation.

[0055] Therefore, the sand blasting and grinding method realizes the whole process control of the frame sand blasting quality through the closed loop quality process control of conveying, comprehensive sand blasting, detection, targeted supplementary sand blasting, re-inspection and discharging, and realizes the whole process control of the frame sand blasting quality through the cooperation of various systems, which not only guarantees the comprehensive coverage of sand blasting without defects, but also improves the operation efficiency and resource utilization rate.

[0056] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

Claims

1. A sandblasting and grinding apparatus for vehicle frames, characterized by, The trolley frame, the frame conveying device arranged on the trolley frame, the sand blasting system, the medium recycling and circulating system, the dust removal system, the defect detection system and the central control system are comprised; The sand blasting system comprises a sand blasting cabin and a high-pressure air pump, a sand tank and a plurality of sand blasting gun groups arranged on the sand blasting cabin, the sand blasting gun groups are connected with the high-pressure air pump and the sand tank through air pipes and sand pipes respectively, and an electromagnetic proportional valve is arranged between the sand blasting gun groups and the sand tank; The frame is arranged on one side of the opening of the sand blasting cabin; The frame conveying device is fixedly installed on the frame and extends into the sand blasting cabin, and is used for carrying and fixing the frame; The medium recycling and circulating system is arranged at the bottom of the sand blasting cabin to collect, sort and transport the used abrasive medium; The dust removal system is installed on the sand blasting system to collect dust in the sand blasting cabin; The defect detection system comprises an industrial camera, a light source assembly and an image processing module, the industrial camera is electrically connected with the image processing module, the industrial camera is used for collecting the surface image after the frame is sand blasted, and the image processing module is used for analyzing the surface image to identify the defect position which is not sand blasted in place; The central control system is electrically connected with the frame conveying device, the sand blasting system, the medium recycling and circulating system and the defect detection system respectively, and is used for controlling the systems to work cooperatively.

2. The sandblasting and grinding apparatus for a vehicle frame according to claim 1, characterized by The frame conveying device comprises: Two roller beds which are fixedly connected in parallel horizontally on the upper surface of the trolley frame along the opening side of the sand blasting cabin; A driving mechanism comprising a square frame, a driving shaft wheel set and a driven shaft wheel set horizontally arranged on both sides of the square frame, a side rack connected to the upper surface of the square frame, a gear shaft arranged vertically and engaged with the side rack, and a speed reducer and a driving motor, the driving shaft wheel set and the driven shaft wheel set are in rolling engagement with the roller beds, the output end of the driving motor is in transmission connection with the gear shaft through the speed reducer, and the driving motor is in signal connection with the central control system; A frame jig fixedly connected to the upper surface of the square frame and used for carrying and fixing the frame; A trolley door fixedly installed vertically on the square frame and located between the frame jig and the driving motor, the size of the trolley door is matched with the size of the opening of the sand blasting cabin, and the trolley door is used for sealing the sand blasting cabin during sand blasting.

3. The sandblasting and grinding apparatus for a vehicle frame according to claim 2, characterized by The driving shaft wheel group comprises a driving shaft rotatably connected to the square frame through a bearing seat and driving rollers fixedly connected to two ends of the driving shaft, the two ends of the driving shaft extending outside the square frame and fixedly connected to the driving rollers, so that one side of the square frame is supported on the two roller tracks through the two driving rollers; the driven shaft wheel group comprises a driven shaft rotatably connected to the square frame through a bearing seat and driven rollers fixedly connected to two ends of the driven shaft, the two ends of the driven shaft extending outside the square frame and fixedly connected to the driven rollers, so that the other side of the square frame is supported on the two roller tracks through the two driven rollers; the side rack is arranged in the middle of the two roller tracks; the gear shaft is fixedly connected to the output end of the speed reducer at the end away from the side rack, the input end of the speed reducer is fixedly connected to the extending shaft of the driving motor, and the speed reducer and the driving motor are fixedly supported on the square frame.

4. The sandblasting and grinding apparatus for a vehicle frame according to claim 3, characterized by The sand blasting gun group further comprises a group of vertical columns vertically and parallelly connected to one side inside the sand blasting cabin body, a Z-axis moving mechanism, a Y-axis moving mechanism and an X-axis moving mechanism, the Z-axis moving mechanism is installed on the vertical column, the Y-axis moving mechanism is installed on the Z-axis moving mechanism, the X-axis moving mechanism is installed on the Y-axis moving mechanism, and the sand blasting gun group is installed on the X-axis moving mechanism.

5. The sandblasting and grinding apparatus for vehicle frames according to claim 4, characterized in that, The Z-axis moving mechanism comprises a first servo motor, a first connecting shaft, a first sprocket set, a first sliding rail and a first sliding block module slidingly installed on the first sliding rail, the two ends of the first connecting shaft are rotatably installed at the top of the two vertical columns respectively, and one end extends out and is drivingly connected to the first servo motor, the first sprocket set is vertically rotatably installed at the inner ends of the vertical columns, the driving sprocket of the first sprocket set is sleevedly installed on the first connecting shaft, and the driven sprocket of the first sprocket set is rotatably installed at the inner bottom of the vertical column, a first chain is in tension engagement between the driving sprocket and the driven sprocket, and the first sliding block module is further fixedly connected to the first chain on the side close to the first sprocket set; The Y-axis moving mechanism comprises two second sliding rails horizontally and parallelly connected to the outer sides of the two first sliding block modules, two second sliding block modules slidingly installed on the two second sliding rails respectively, a motor mounting seat fixedly connected to the outer sides of the two second sliding block modules, a second servo motor, a first double-shaft output speed reducer and a second sprocket set arranged in the second sliding rail, the extending shaft of the second servo motor is fixedly connected to the input end of the first double-shaft output speed reducer, the two output ends of the first double-shaft output speed reducer are drivingly connected to the second sprocket sets in the corresponding second sliding rails respectively, and the second sliding block module is further fixedly connected to the first chain on the side close to the second chain of the second sprocket set; The X-axis moving mechanism comprises a third servo motor, a servo electric telescopic rod and a plurality of V-shaped spray guns mounted on the motor mounting seat, the third servo motor is drivingly connected with the servo electric telescopic rod, one input pipe of each V-shaped spray gun is connected with the sand tank through a sand pipe, and the other input pipe of each V-shaped spray gun is connected with the high-pressure air pump through an air pipe.

6. The sandblasting and grinding apparatus for a vehicle frame according to claim 1, characterized by The medium recycling and circulating system comprises a sand return hopper connected to the bottom of the sand blasting cabin, a sand return pipe connected to the bottom of the sand return hopper, and a make-up air pipe connected to one end of the sand return pipe, the other end of the sand return pipe is connected to the inside of the sand tank, and the end of the make-up air pipe away from the sand return pipe is connected with the high-pressure air pump.

7. The sandblasting and grinding apparatus for a vehicle frame according to claim 1, characterized by The dust removal system comprises a dust removal separator, a dust return pipe and a filter core dust removal box, one side of the dust removal separator is connected with the sand blasting cabin and the sand tank through pipelines respectively, and the other side of the dust removal separator is connected with the filter core dust removal box through the dust return pipe.

8. The sanding device for a vehicle frame of claim 1, wherein: The industrial camera is installed on a detection station and used for collecting high-definition images of the surface of the frame after sand blasting; the image processing module identifies the defect position of the frame which is not blasted in place through image comparison algorithm and transmits the position information to the central control system.

9. The sandblasting and grinding apparatus for vehicle frames according to claim 8, characterized in that, The sand blasting gun group is an adjustable angle nozzle, the industrial camera is connected with the central control system and is further used for identifying the contour and position of the frame to be processed; the central control system is configured to generate a sand blasting path based on a preset three-dimensional model of the frame and can receive feedback information from the industrial camera to dynamically correct the sand blasting path in real time.

10. A sandblasting method using the sandblasting apparatus for a vehicle body frame according to any one of claims 1 to 9, characterized by, The method comprises the following steps: S1: the central control system controls the frame conveying device to convey the frame to be blasted to a sand blasting station in the sand blasting cabin; S2: the sand blasting system performs comprehensive sand blasting on the frame; S3: the frame conveying device conveys the frame after sand blasting to a detection station, the defect detection system collects images of the surface of the frame and identifies the defect position of the frame which is not blasted in place; S4: the central control system controls the frame conveying device to convey the frame to the corresponding position of the sand blasting station according to the defect position information, and the sand blasting system performs secondary sand blasting on the defect position; S5: after the secondary sand blasting, the defect detection system detects again, and when no defect is found, the frame conveying device conveys the frame out of the sand blasting cabin.

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