Irregular metal surface material stripping method and tool

Abstract

The invention relates to the technical field of stainless steel containers, in particular to an irregular metal surface material stripping method and tool, and the method comprises the steps that contour image data of the outer surface of a cup body are acquired based on an industrial camera, and the contour image data at least comprise geometric feature data and surface defect data; laser beam energy parameters of a laser transmitter are obtained, and the rotating speed of the cup body is set according to the contour image data and the laser beam energy parameters; identifying the irregular shape of the cup body according to the contour image data, and establishing a planned stripping path according to the irregular shape of the cup body; according to the planned stripping path, the rotating speed of the cup body is adjusted in real time, and the lifting speed and the focal length of the laser transmitter are adjusted, so that a laser beam transmitted by the laser transmitter is focused on the outer surface of the cup body; according to the invention, a laser stripping mode is adopted, so that drug residues and danger do not exist; through cooperation of 3D scanning and laser lift-off, the irregular surface of the cup body is adapted in real time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stainless steel containers, in particular to an irregular metal surface material stripping method and tool. BACKGROUND

[0002] In the production process of the heat preservation container, the conventional metal surface is treated by oil paint spraying and plastic powder spraying process, and the product is not good due to the adsorption of impurities caused by environmental factors, so that the product needs to be reworked.

[0003] At present, the rework treatment of metal surface spraying mainly depends on the traditional chemical stripping method, which has many problems. On the one hand, the dangerous chemicals used in the chemical stripping method have high risk coefficient in the soaking process, which may cause safety hazards to the employees; on the other hand, due to the special structure of the irregular metal surface, the chemical soaking and manual wiping cannot completely remove the defects, and the residual chemicals will affect the adhesion of the metal surface, resulting in quality problems when the product is reworked and put on line again, increasing the rework times and cost. Therefore, it is necessary to improve. SUMMARY

[0004] Therefore, the present application provides an irregular metal surface material stripping method and tool, which can solve the problems of high risk coefficient in the soaking process, residual chemicals, incomplete stripping of irregular metal surface materials, and poor adaptability of irregular surfaces of the existing surface material stripping device.

[0005] The present application solves the technical problems mentioned in the background art by the following technical means:

[0006] In a first aspect, an irregular metal surface material stripping method comprises the following steps:

[0007] S1: obtaining contour image data of the outer surface of the cup based on an industrial camera, wherein the contour image data at least includes geometric feature data and surface defect data;

[0008] S2: obtaining laser beam energy parameters of a laser emitter, setting the rotation speed of the cup according to the contour image data and the laser beam energy parameters; wherein the laser beam energy parameters include laser power, pulse frequency and spot diameter;

[0009] S3: identifying the irregular shape of the cup according to the contour image data, and establishing a planned stripping path according to the irregular shape of the cup; wherein the stripping surface covered by the planned stripping path after being executed by the laser emitter covers all areas of the cup that need to be stripped;

[0010] S4: Following the planned peeling path, the rotation speed of the cup body, the lifting speed and focal length of the laser emitter are adjusted in real time, so that the laser beam emitted by the laser emitter is focused on the outer surface of the cup body, peeling off the surface material of the cup body in a spiral manner.

[0011] Depending on the required data type, the industrial camera can be a combination of an infrared camera, a high-speed area array camera, a line-scan structured light camera, a lidar, and a light source. It can obtain the cup's external dimensions (geometric features) and surface defect data. The industrial camera can detect irregular shapes and surface defects / flaws on the cup's surface. Since the scanning speed during laser peeling is closely related to the peeling quality, an excessively fast scanning speed will result in insufficient peak power pulse duration per unit area, leading to incomplete peeling of paint and powder coating layers and increased residue. However, within a reasonable optimization range, the laser energy can fully act on the material on the outer surface of the cup, achieving complete removal. Therefore, setting the cup's rotation speed based on the laser beam energy parameters and contour image data ensures sufficient material peeling while enabling continuous peeling, improving peeling quality and efficiency. A planned peeling path based on the cup's irregular shape allows the laser beam to remain focused on the outer surface during peeling, flexibly adapting to changes in the irregular shape and adjusting the zoom in real time. The surface material is peeled off in a spiral motion, with the laser beam's focus precisely locating the defective coating area for accurate peeling, ensuring thorough removal without residue.

[0012] Furthermore, the method for peeling off irregular metal surface materials also includes:

[0013] S5: Obtain contour image data of the outer surface of the cup after the laser beam has acted on it using an industrial camera, and divide the area to be peeled off and the area that has already been peeled off.

[0014] S6: Determine whether the surface material in the peeled area has been completely peeled off; if not, control the laser emitter to peel off again; if yes, control the laser emitter to continue working according to the planned peeling path.

[0015] As described above, the industrial camera automatically identifies the areas that have been peeled off and the areas to be peeled off, and accurately locates the positions of defective coatings and incomplete peeling, so as to accurately peel off the target areas and ensure that the peeling is thorough and leaves no residue.

[0016] Further specifying, step S6, controlling the laser emitter to perform another stripping specifically includes:

[0017] Based on the acquired contour image data, analyze the location coordinates of incompletely peeled areas and the remaining peeling thickness, and plan a peeling compensation path;

[0018] Insert the stripping compensation path into the corresponding position of the planned stripping path, and control the laser emitter to complete the stripping compensation path and then perform stripping again.

[0019] Through the direct collaboration of an industrial camera and a laser emitter, the cup is automatically scanned, the peeling path is planned and tracked for the area to be peeled, the peeling quality of the peeled area is detected, and path compensation can be performed in real time if incomplete peeling is found; thus ensuring the efficient and high-quality execution of the peeling work.

[0020] Further specifying, step S1 includes:

[0021] A basic three-dimensional model of the cup was created by capturing a 360° circular image of the cup using an industrial camera.

[0022] Edge detection and coordinate extraction are performed on the ring image to obtain the geometric feature data of the outer surface of the cup.

[0023] Surface defect data of the outer surface of the cup were obtained through image grayscale analysis and defect recognition algorithms;

[0024] Geometric feature data and surface defect data are mapped onto the basic 3D model of the cup to generate complete contour image data.

[0025] The industrial camera can be a combination of a high-speed area scan camera, a line scan structured light camera, and some or all of the light sources. The basic model of the cup is its appearance; the first wavelength laser is a long-wavelength laser, obtaining geometric features such as the cup's height, outer diameter, and irregular surfaces. The second wavelength laser is a short-wavelength laser, capable of penetrating the coating to scan for impurities adsorbed between the substrate and the film layer due to environmental factors, such as dust and particles.

[0026] Further specifying, step S2 includes:

[0027] The current laser power is read through the control module of the laser emitter;

[0028] The target peel thickness of the cup surface material is determined based on the geometric feature data in the contour image data.

[0029] A pre-established triplet reference table is invoked, which records the correspondence between different laser powers, peel thicknesses, and peel speeds. Based on the target peel thickness and the current laser power, the peel speed of the laser beam is determined by looking up the triplet reference table.

[0030] The rotation speed of the cup is set according to the peeling speed of the laser beam.

[0031] The above-mentioned method correlates the laser beam energy parameters with the peeling thickness of the cup body to determine the peeling speed. The corresponding laser beam energy parameters can be set according to different cup bodies, so as to achieve the peeling process in an energy-efficient and efficient manner, and ensure the high quality of the peeling process.

[0032] Further specifying, step S3 includes:

[0033] Based on the geometric feature data in the contour image data, the irregular shape of the cup is identified based on the diameter change curve and generatrix tilt angle in the geometric feature data.

[0034] A coordinate system is established with the central axis of the cup body as the Z-axis and the clamping surface of the fixture as the XY plane. Based on the irregular shape of the cup body, coordinate points on the outer surface of the cup body are extracted at specified intervals (e.g., 0.05mm-0.2mm) along the Z-axis to form a coordinate value array.

[0035] The stripping path is obtained by smoothly connecting the coordinate points in the coordinate numerical array using Bézier curves.

[0036] Based on the surface defect data in the contour image data, mark the surface defect nodes in the stripping path;

[0037] By setting zoom adjustment signals and energy adjustment signals at the surface defect nodes, the planned stripping path is obtained.

[0038] As mentioned above, this method is for reworking cups with surface defects; therefore, the outer surface of the cup has surface defects. Because of this, the coating or sizing layer on the surface is not uniform, especially at the locations of surface defects. Therefore, during laser peeling, the focus needs to be adjusted at the surface defects to ensure that the outer surface of the cup is relatively smooth after peeling, facilitating subsequent coating processing. Thus, by accurately acquiring the surface contour information of the cup using an industrial camera, dynamically setting the peeling processing parameters based on laser energy parameters, and planning a personalized peeling path, a spiral peeling method combined with a real-time detection and compensation mechanism is used to achieve precise and efficient peeling of irregular metal surface materials, while ensuring energy efficiency and stable peeling quality.

[0039] Further specifying, step S4 includes:

[0040] Following the planned stripping path, the laser emitter is controlled to emit a laser beam that acts on the outer surface of the cup.

[0041] The servo drive mechanism controls the cup body to rotate via the clamp;

[0042] Control the laser emitter to move up and down in the height direction of the cup, so that the laser emitter emits a laser beam that peels off the surface material of the cup in a spiral motion;

[0043] When the laser emitter moves to the corresponding location of the surface defect node, the focal length of the laser emitter is adjusted according to the zoom adjustment signal, and the laser power is adjusted according to the energy adjustment signal to ensure that the material at the defect is completely peeled off.

[0044] As described above, following the planned peeling path, the laser emitter is controlled to emit a laser beam that acts on the outer surface of the cup. At the same time, the lifting and lowering motion of the laser emitter and the rotational motion of the cup work together to achieve a spiral-like full-coverage peeling of the cup surface material by the laser beam. When passing through surface defect nodes, the laser emitter adjusts the focal length in real time according to the preset zoom adjustment signal to ensure the complete peeling of the defect area.

[0045] Further specifying that, prior to step S1, the method further includes: monitoring whether the cup body is clamped at the peeling station via a positioning switch;

[0046] If the cup is detected to be in position, the industrial camera and laser emitter are activated; if it is not in position, an alarm is issued and the system remains in standby mode. Before contour acquisition (or contour data acquisition), the position switch monitors whether the cup is accurately clamped at the stripping station. Based on the monitoring results, the industrial camera and laser emitter are automatically activated to ensure the accuracy of the processing start position and improve the level of automation control. Of course, the relative positions of the position switch, industrial camera, and laser emitter can be pre-calibrated to establish a relative coordinate system for stripping control.

[0047] Further specifying, the method also includes:

[0048] The system controls a fume extractor to draw in, filter, and expel the smoke generated after the laser beam strikes the outer surface of the cup. During the peeling process, the fume extractor is simultaneously controlled to draw in and expel the smoke generated by the laser, thus preventing the smoke from affecting image acquisition accuracy and the processing environment.

[0049] Secondly, an irregular metal surface material peeling fixture is provided for the aforementioned irregular metal surface material peeling method. The irregular metal surface material peeling fixture includes a worktable, a servo drive mechanism, an industrial camera, and a laser emitter. A clamp for holding a cup is mounted on the worktable. The servo drive mechanism is connected to the clamp for driving the clamp and the cup to rotate. The industrial camera is used to scan the outer surface of the cup and output contour image data. The laser emitter is vertically mounted on the worktable.

[0050] Further specifying, the workbench is equipped with a lifting drive mechanism, the laser emitter is mounted on the lifting drive mechanism, and the lifting drive mechanism is used to drive the laser emitter to move up and down.

[0051] The present application, employing the above-described scheme, has the following beneficial effects:

[0052] In this application, comprehensive contour image data is obtained by multi-wavelength laser scanning for the cup body, which can accurately identify the irregular geometric shape and surface defects of the cup body. Based on the contour image data, a dynamically adjusted peeling path is planned, replacing the chemical peeling method. This solves the problems of incomplete treatment and low precision of traditional methods for irregular surfaces, and is applicable to the processing of various metal cup bodies with complex outer surfaces.

[0053] By dynamically matching the laser beam energy parameters with the cup rotation speed, adjusting the zoom of surface defect nodes, and implementing a real-time laser detection compensation mechanism, precise control of laser energy in different peeling areas is achieved, effectively avoiding the problems of excessive or incomplete peeling, and improving the flatness and smoothness of the cup surface after peeling.

[0054] The spiral peeling method achieves full coverage processing of the cup surface. Combined with dynamically optimized rotation speed and laser beam energy parameters, the peeling efficiency is greatly improved. The spiral peeling method also makes it easier to adjust and adapt the focus to irregular surfaces. The use of non-contact laser processing eliminates the need for chemical reagents. When used in conjunction with the smoke extraction system, it avoids the environmental problems and safety hazards caused by chemical corrosion.

[0055] From monitoring the cup's position, acquiring contour data, planning the peeling path, setting parameters (such as laser energy parameters and cup rotation speed), to peeling processing, post-peeling scanning (i.e., quality inspection), to compensating peeling, and the entire smoking process; the whole process is fully automated, requiring no manual intervention, reducing the intensity of manual operation, minimizing human error, and eliminating the safety hazards associated with chemical peeling.

[0056] Laser ablation removes surface materials from the cup without the need for chemical corrosives, thus preventing the generation of harmful waste liquids at the source. The equipped fume extractor can promptly remove the smoke and dust generated during ablation, which is then treated before being discharged, effectively improving the processing environment and meeting environmental protection requirements. Attached Figure Description

[0057] The present invention can be further illustrated by the non-limiting embodiments given in the accompanying drawings;

[0058] Figure 1 This is a schematic flowchart of a method for peeling off irregular metal surface materials according to an embodiment of the present invention;

[0059] Figure 2 This is another schematic diagram of a method for peeling off irregular metal surface materials according to an embodiment of the present invention;

[0060] Figure 3 This is one of the structural schematic diagrams of an irregular metal surface material peeling tool in an embodiment of the present invention;

[0061] Figure 4 This is the second schematic diagram of the structure of an irregular metal surface material peeling tool in an embodiment of the present invention;

[0062] Figure 5 This is a partial front view of the irregular metal surface material stripping tool after removing the laser emitter and door panel in an embodiment of the present invention;

[0063] Figure 6 This is a cross-sectional schematic diagram of the mounting base, transmission sleeve, and clamp in an embodiment of the present invention;

[0064] Figure 7 This is a schematic diagram of the fixture in an embodiment of the present invention;

[0065] Figure 8 This is the third schematic diagram of the structure of an irregular metal surface material peeling tool in an embodiment of the present invention.

[0066] Key reference numerals:

[0067] 1. Workbench; 11. Mounting base; 111. Bearing cavity; 112. Sealing cover; 12. Support frame; 13. Door panel; 14. Transmission sleeve; 141. Positioning hole; 142. Hollow cavity;

[0068] 2. Industrial camera; 3. Laser emitter; 4. Sensor mounting bracket; 41. Mounting holes;

[0069] 5. Clamp; 51. Tie rod; 52. Inner support sleeve; 53. Conical block; 531. Inner support clamping surface; 54. Nut;

[0070] 6. Servo drive mechanism; 61. Servo motor; 62. Electromagnet mounting block; 63. Electromagnet; 64. Magnetic disk; 65. Connecting sleeve; 66. Passive pulley;

[0071] 7. Lifting drive mechanism; 71. Guide rail; 72. Moving slider; 8. Smoke extractor;

[0072] 100. Cup body. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0074] like Figure 1As shown in the figure, this application discloses a method for peeling off irregular metal surface materials, using an irregular metal surface material peeling fixture; the irregular metal surface material peeling fixture can be referred to Figures 3 to 7 .

[0075] The method for peeling off materials from irregular metal surfaces includes steps S1 to S4;

[0076] S1: Based on an industrial camera, acquire contour image data of the outer surface of the cup, wherein the contour image data includes geometric feature data and surface defect data;

[0077] Step S1 in this embodiment specifically includes:

[0078] A basic three-dimensional model of the cup was created by capturing a 360° circular image of the cup using an industrial camera.

[0079] Edge detection and coordinate extraction are performed on the ring image to obtain geometric feature data of the outer surface of the cup; the geometric features include the diameter change curve of the cup, the inclination angle of the generatrix, and the coordinates of the concave and convex protrusions;

[0080] Surface defect data of the outer surface of the cup were obtained through image grayscale analysis and defect recognition algorithms; surface defects include scratch location, oxide layer thickness, and impurity adhesion area;

[0081] Geometric feature data and surface defect data are mapped onto a basic 3D model to generate complete contour image data. This data mapping can be achieved using conventional simulation software, which is existing technology and will not be detailed here.

[0082] The industrial camera can be a combination of some or all of the following: a camera, a high-speed area scan camera, a line scan structured light camera, and a light source. Preferably, the industrial camera includes a camera and a dual-wavelength laser scanning module, wherein the first wavelength of 635nm is used for geometric feature scanning, and the second wavelength of 980nm is used for surface defect detection.

[0083] In fact, the basic 3D model of the cup is its appearance; generally, the outer diameter of the cup is between 6.5cm and 8.0cm, and some cups have a gradually changing outer diameter along the height. Cup heights include 515mm and 250mm, with most standard-capacity insulated cups having a capacity of 300-500 ml. For the contour scanning equipment, i.e., the industrial camera, the first wavelength laser is a long-wavelength laser, obtaining geometric features such as the cup's height, outer diameter, and irregular surfaces. The second wavelength laser is a short-wavelength laser, capable of penetrating the coating to scan for impurities adsorbed between the substrate and the coating layer due to environmental factors, such as dust and particles.

[0084] In practice, the cup is inverted and held on the worktable by an internal support clamp. The clamp is connected to a servo power system within the worktable; the servo power system drives the clamp and the cup to rotate, and the rotation speed can be flexibly adjusted as needed. An industrial camera and a laser emitter are mounted on the side of the cup on the worktable next to the clamp. The laser emitter can be raised and lowered on the worktable; this raising and lowering motion, combined with the rotation of the cup, allows the laser emitter to perform laser stripping of the outer surface material of the cup in a spiral motion.

[0085] Contour image data acquisition based on industrial cameras:

[0086] The industrial camera's focal length is adjusted to clearly image the outer surface of the cup. Simultaneously, the dual-wavelength laser scanning module is activated. The first wavelength (635nm) laser scans the outer surface of the cup at a scanning rate of 500 points / second. During the scanning process, the laser beam is reflected from the cup surface and received by the camera. The system calculates the three-dimensional coordinates of each scanning point using triangulation, thereby generating geometric feature data of the outer surface of the cup. Subsequently, the system switches to the second wavelength (980nm) laser for a secondary scan. This wavelength laser is highly sensitive to coating defects. By analyzing the grayscale changes of the laser reflected light, the system identifies the damaged areas of the coating (which may be 2mm×3mm, 1.5mm×2mm, or 3mm×2.5mm) and areas with uneven coating thickness (which may have a thickness deviation of ±0.1mm), thus forming surface defect data.

[0087] S2: Obtain the laser beam energy parameters of the laser emitter, and set the rotation speed of the cup body according to the contour image data and the laser beam energy parameters; wherein the laser beam energy parameters include laser power, pulse frequency and spot diameter;

[0088] During structured light scanning, the thickness distribution of the coating to be peeled off can be acquired using a short-wavelength laser; alternatively, the coating thickness data can be obtained by calling the coating process specifications or coating inspection reports from the factory database in advance; and the coating thickness can be matched according to the cup model.

[0089] Step S2 in this embodiment includes:

[0090] The current laser power is read through the control module of the laser emitter;

[0091] The target peel thickness of the cup surface material is determined based on the geometric feature data in the contour image data; this step can be obtained by reverse calculation after consulting the factory's cup coating production process table.

[0092] A pre-established triplet reference table is invoked, which records the correspondence between different laser powers, peel thicknesses, and peel speeds. Based on the target peel thickness and the current laser power, the peel speed of the laser beam is determined by looking up the triplet reference table.

[0093] The rotation speed of the cup is set according to the peeling speed of the laser beam.

[0094] In one embodiment, a reference table of laser beam energy parameters and the peel thickness of the coating (i.e., surface material) on the cup surface can be established through preliminary experiments. Some key data are shown in Table 1 below.

[0095] Table 1 is a reference table for triplet pairs.

[0096]

[0097] The triplet reference table is established as follows: Under the same environmental conditions, multiple peeling tests are conducted using different laser powers and peeling thicknesses. The stable peeling speed of each test is recorded. Based on the test data, the data gaps are filled by interpolation to form a complete triplet reference table, which is then stored in the configured storage module.

[0098] For example, the cup model can be matched with geometric features from the contour image data to extract the thickness distribution of the coating to be peeled off (range 0.1-0.2mm). Based on a reference table, the laser beam energy parameter is matched to 110W. Using this energy parameter, a corresponding recommended rotation speed range is selected. Considering the presence of local protrusions on the cup, to ensure peeling accuracy in the protruding areas, the cup rotation speed is set to 25 r / min, and a control signal is sent to the servo power system of the worktable to complete the speed adjustment. Alternatively, the rotation speed can be reduced in the protruding areas.

[0099] In fact, based on the maximum diameter of the cup in the contour image data and the stripping speed of the laser beam, the rotation speed of the cup is dynamically set using the formula v=v0 / D (where v is the rotation speed of the cup, v0 is the laser stripping linear speed, and D is the current cross-sectional diameter of the cup); v0 has been preset.

[0100] The above embodiments correlate the laser beam energy parameters with the peeling thickness of the cup body to determine the peeling speed. The corresponding laser beam energy parameters can be set according to different cup bodies, or the different rotation speeds of the cup body can be set according to the implemented laser beam energy parameters. In this way, the peeling process can be realized in an energy-efficient and efficient manner, while ensuring the high quality of the peeling process.

[0101] In practice, the lifting speed of the laser emitter and the rotation speed of the cup satisfy v_z = v×π×D×k (where v_z is the lifting speed and k is the trajectory overlap coefficient, ranging from 0.1 to 0.3), ensuring the overlap rate of the spiral trajectory and avoiding missed peeling. Furthermore, as the laser emitter moves along the axial direction of the cup, the axial movement speed is adjusted in real time according to the cup's rotation angle, causing the laser beam to form a spiral processing trajectory with a pitch of 0.5mm on the cup surface, achieving full-coverage peeling of the cup surface.

[0102] When the laser emitter moves axially to a surface defect node (such as a coating breakage node or a node with uneven coating thickness), a preset zoom adjustment signal is triggered in real time. The zoom lens of the laser emitter automatically adjusts the focal length according to the signal to avoid under-peeling or over-peeling.

[0103] S3: Identify the irregular shape of the cup body based on the contour image data. The irregular shape includes conical segments, stepped segments, arc protrusions, etc.; and establish a planned peeling path based on the irregular shape of the cup body; wherein the planned peeling path is covered by the peeling surface after being executed by the laser emitter, covering all areas of the cup body that need to be peeled.

[0104] This step S3 specifically includes:

[0105] Based on the geometric feature data in the contour image data, and using the diameter variation curve and generatrix tilt angle in the geometric feature data, the irregular shape of the cup is identified;

[0106] A coordinate system is established with the central axis of the cup body as the Z-axis and the clamping surface of the fixture as the XY plane. Based on the irregular shape of the cup body, coordinate points on the outer surface of the cup body are extracted at intervals of 0.05mm-0.2mm along the Z-axis to form a coordinate value array.

[0107] The stripping path is obtained by smoothly connecting the coordinate points in the coordinate numerical array using Bézier curves; that is, the dynamic coordinates of the laser emitter relative to the cup are determined by the coordinate numerical array processing, and the coordinates are connected to form the basic stripping path.

[0108] Based on the surface defect data in the contour image data, mark the surface defect nodes in the stripping path;

[0109] By setting zoom and energy adjustment signals at the surface defect nodes, the planned peeling path is obtained. The focal length adjustment range is ±0.1mm to ±0.5mm.

[0110] Among them, the arraying of coordinate values ​​and the connection of coordinate points are conventional technical methods, which will not be described in detail here.

[0111] S4: Following the planned peeling path, the rotation speed of the cup body, the lifting speed and focal length of the laser emitter are adjusted in real time, so that the laser beam emitted by the laser emitter is focused on the outer surface of the cup body, peeling off the surface material of the cup body in a spiral manner.

[0112] Step S4 specifically includes: following the planned peeling path, controlling the laser emitter to emit a laser beam that acts on the outer surface of the cup; controlling the servo drive mechanism to drive the cup to rotate through the clamp; controlling the laser emitter to rise and fall at a speed of 0.1mm / s-2mm / s in the height direction of the cup, so that the laser emitter emits a laser beam to peel off the surface material of the cup in a spiral manner; when the laser emitter moves to the corresponding position of the surface defect node, adjusting the focal length of the laser emitter according to the zoom adjustment signal, and adjusting the laser power according to the energy adjustment signal to ensure that the material at the defect is completely peeled off.

[0113] For example, when passing through a coating damage node, the focal length is reduced from the initial 10mm to 9.9mm to enhance the laser energy density and ensure the complete removal of the residual coating in the damaged area; when passing through a node with uneven coating thickness, the focal length is dynamically adjusted from 9.9mm to 10.1mm according to the coating thickness to ensure uniform removal of coatings of different thicknesses.

[0114] In step S4 of this embodiment, the laser emitter is controlled to rise and fall in coordination with the rotation of the cup, causing the laser emitter to peel off the surface material of the cup in a spiral motion. Following the planned peeling path, the laser emitter emits a laser beam that acts on the outer surface of the cup. Simultaneously, the rising and falling motion of the laser emitter and the rotational motion of the cup work together to achieve a spiral-like, full-coverage peeling of the surface material of the cup by the laser beam. When passing through surface defect nodes, the laser emitter adjusts its focal length in real time according to a preset zoom adjustment signal to ensure complete peeling of the defective area.

[0115] Depending on the required data type, the industrial camera in this embodiment can be a combination of a high-speed area scan camera, a line scan structured light camera, and a light source. It can obtain the cup's external dimensions (geometric feature data) and surface defect data. It can detect irregular shapes and surface defects and flaws on the cup's surface. Since the scanning speed during laser peeling is closely related to the peeling quality, an excessively fast scanning speed (e.g., >600 mm / min) will result in insufficient peak power pulse duration per unit area, leading to incomplete peeling of paint and powder coating layers and increased residue. However, within a reasonable optimization range (e.g., 200-600 mm / min), the laser energy can fully act on the material on the outer surface of the cup, achieving thorough removal. Therefore, setting the cup's rotation speed based on the laser beam energy parameters and contour image data can ensure sufficient material peeling while enabling continuous peeling, improving peeling quality and efficiency. Peeling quality requirements: peeling thickness deviation ≤ ±0.01 mm, surface roughness Ra ≤ 0.8 μm. The planned peeling path, based on the irregular shape of the cup, ensures that the laser beam is always focused on the outer surface of the cup during peeling. It flexibly adapts to changes in the irregular shape, adjusts the focus in real time, and peels off the surface material of the cup in a spiral motion. The laser beam's focus precisely locates the defective coating, accurately striking the corresponding area to ensure thorough peeling without any residue.

[0116] like Figure 2 As shown, in this embodiment, the method for peeling off irregular metal surface materials further includes:

[0117] S5: Obtain contour image data of the outer surface of the cup after the laser beam has acted on it using an industrial camera, and divide the area to be peeled and the area already peeled off using an image segmentation algorithm;

[0118] This step automatically identifies the peeled area and the area to be peeled, accurately locates the location of the defective coating and the area where peeling is incomplete, and precisely targets the target area to ensure complete peeling without any residue.

[0119] S6: Determine whether the surface material in the peeled area has been completely peeled off; if not, control the laser emitter to peel off again; if yes, control the laser emitter to continue working according to the planned peeling path.

[0120] Specifically, controlling the laser emitter to perform a second stripping includes:

[0121] Based on the acquired contour image data, plan the stripping compensation path;

[0122] Insert the stripping compensation path into the planned stripping path, so that the laser emitter performs stripping again after completing the stripping compensation path.

[0123] Through the direct collaboration of an industrial camera and a laser emitter, the cup is automatically scanned, the peeling path is planned and tracked for the area to be peeled, the peeling quality of the peeled area is detected, and path compensation can be performed in real time after the peeling is found to be complete; ensuring the efficient and high-quality execution of the peeling work.

[0124] During laser ablation, the focus is adjusted at surface defects to ensure a relatively smooth outer surface after ablation, facilitating subsequent coating processes. In fact, the quantification of surface smoothness can be achieved by measuring surface roughness. Therefore, by precisely acquiring the surface contour information of the cup using an industrial camera, dynamically setting processing parameters based on laser energy parameters, and planning a personalized ablation path, a spiral ablation method combined with a real-time detection and compensation mechanism is employed to achieve precise and efficient ablation of irregular metal surfaces, while ensuring energy efficiency and stable ablation quality.

[0125] In fact, the real-time detection and compensation during laser ablation are as follows:

[0126] After each spiral peeling cycle, an industrial camera automatically captures a contour image of the outer surface of the cup. An image segmentation algorithm is then used to process the image, dividing it into areas to be peeled (higher grayscale values, corresponding to the unpeeled coating) and peeled areas (lower grayscale values, corresponding to the stainless steel substrate). A threshold comparison method is used to detect the peeling effect in the peeled areas. The standard grayscale value range for the stainless steel substrate is set to 80-100. If the grayscale value of the peeled area exceeds this range, it is determined that the peeling is incomplete.

[0127] In this embodiment, a grayscale value of 120 was detected in the peeled area of ​​the recessed region in the middle of the cup body, indicating that the peeling was incomplete. Immediately, a peeling compensation path was planned based on the contour image data of this area: a circular compensation path with a radius of 5mm was planned, with the center of the recessed area as the origin. The laser energy was increased to 120W (corresponding to a residual coating thickness of approximately 0.2mm in the recessed area), and the rotation speed was maintained at 25r / min. This compensation path was inserted into the original planned peeling path, and the laser emitter was controlled to move along the compensation path. After completing two circular peeling cycles, the grayscale value of the area was detected again by an industrial camera. The grayscale value of the area dropped to 90, meeting the standard, and the system controlled the laser emitter to continue executing the original planned peeling path.

[0128] In this embodiment, before step S1, the method further includes: monitoring whether the cup is clamped at the peeling station via a position switch; if the cup is detected to be in position, the industrial camera and laser emitter are activated; if it is not in position, an alarm is issued and the system remains in standby mode. Before contour acquisition (or contour data acquisition), the position switch monitors whether the cup is accurately clamped at the peeling station, and automatically activates the industrial camera and laser emitter based on the monitoring results to ensure the accuracy of the processing start position. Of course, the relative positions of the position switch, industrial camera, and laser emitter can be pre-calibrated to establish a relative coordinate system for peeling control. In fact, the position switch is a photoelectric position sensor.

[0129] Furthermore, once the laser emitter completes all spiral peeling motions of the cup along the planned peeling path, and the industrial camera detects that all areas on the outer surface of the cup have been peeled and meet the peeling quality standards, the laser emitter stops emitting laser light, the industrial camera goes into standby mode, the cup stops rotating, and the fume extractor continues to run for 30 seconds to remove residual smoke before stopping. A release signal is then sent to the cup, and the peeled cup is removed, ending the entire peeling process.

[0130] In this embodiment, the method further includes controlling a smoke extractor to draw in, filter, and expel the smoke generated after the laser beam acts on the outer surface of the cup. During the peeling process, the smoke extractor is simultaneously controlled to draw in and expel the smoke generated by the laser at an airflow rate of 10 m³ / min to 30 m³ / min, to avoid the smoke affecting the image acquisition accuracy and processing environment.

[0131] In fact, the fume extractor is a standard industrial fume extractor. During the stripping process, the fume extractor is started simultaneously, with its air intake positioned 5cm above the laser's point of action. An airflow of 1500m³ / h draws the combustion smoke and metal dust from the laser stripping process into the fume extractor and filter, where it is purified before being discharged. This ensures that the industrial camera's image acquisition is not interfered with by the smoke and also avoids interference with the laser stripping process.

[0132] In this embodiment, as Figures 3-7 As shown, an irregular metal surface material peeling fixture includes:

[0133] Workbench 1, on which a clamp 5 for holding cup body 100 is installed;

[0134] Servo drive mechanism 6 is connected to clamp 5 for transmission. Servo drive mechanism 6 is used to drive clamp 5 and the cup 100 held on clamp 5 to rotate.

[0135] The industrial camera 2 and the laser stripping mechanism are also present. The industrial camera 2 is mounted on the worktable 1 outside the fixture 5. The laser stripping mechanism is mounted on the worktable 1 outside the fixture 5 in a height-adjustable manner. The laser stripping mechanism includes a laser emitter 3.

[0136] The industrial camera 2 is used to scan the area to be peeled on the outer surface of the cup body 100 and feed back the peeling path signal. The laser emitter 3 is used to emit a laser beam to the outer surface of the cup body 100 to perform spiral ablation on the area to be peeled. The focal length and power of the laser beam are adjusted according to the peeling path signal fed back by the industrial camera 2 to adapt to the irregular surface of the cup body 100.

[0137] A support frame 12 is installed on the workbench 1. An industrial camera 2 is fixed to the support frame 12 via a bracket. The scanning lens of the industrial camera 2 is directly facing the outer surface of the cup 100 held by the fixture 5, and the scanning range covers the entire height direction of the cup 100. The industrial camera 2 is electrically connected to a controller, which can convert the three-dimensional model data of the outer surface of the cup 100 acquired by scanning into a peeling path signal and transmit it to the controller in real time; the controller then controls the operation of the laser peeling mechanism. The cup body 100 is internally clamped by the fixture 5, which does not affect the material peeling from the outer surface of the cup body 100. Furthermore, the fixture 5 is connected to the servo drive mechanism 6, which can rotate and drive according to the actual peeling needs, and flexibly adjust the rotation speed. The industrial camera 2 scans the irregular outer surface of the cup body 100 in real time to obtain the three-dimensional shape information of the area to be peeled and feeds back the peeling path signal. The laser peeling mechanism adjusts the focal length and power of the laser beam in real time according to the signal to ensure that the laser always acts on the outer surface of the cup body 100 with the best parameters. This effectively solves the problem of incomplete peeling of irregular surfaces or damage to the substrate, and significantly improves the peeling accuracy. There are also no risks associated with chemical peeling methods.

[0138] In the irregular metal surface material peeling fixture, a lifting drive mechanism 7 is installed on the worktable, and a laser emitter 3 is mounted on the lifting drive mechanism 7. The lifting drive mechanism 7 is used to drive the laser emitter 3 to move up and down. The lifting drive mechanism 7 can be a servo moving mechanism 6 composed of a guide rail 71 and a moving slider 72. The guide rail 71 is vertically fixed to the left side of the top of the worktable 1 by bolts. The moving slider 72 (on which a motor is mounted, the output shaft of which is connected to a friction wheel, and the friction wheel is in frictional engagement with the guide rail 71) is in sliding engagement with the guide rail 71. The laser emitter 3 is fixed to the moving slider 72 by a mounting plate, and the emitting head of the laser emitter 3 faces the outer surface of the cup body 100. In practice, the moving slider 72 can also be driven by a lead screw, a slider, or a telescopic cylinder. The tooling for stripping irregular metal surface materials includes a control system. The control system is based on a PLC controller (model: Siemens S7-1200) and connects to components such as an industrial camera, laser emitter, and servo drive mechanism. It can be equipped with a touch screen (model: Weintek TK6071IP) for parameter setting and status display, and also stores triplet reference tables and contour image data.

[0139] like Figures 3-7 As shown, in this embodiment, a mounting base 11 is fixedly installed on the workbench 1, and a mounting position is provided in the middle of the mounting base 11; a transmission sleeve 14 is rotatably installed on the mounting position, and the clamp 5 is inserted into the transmission sleeve 14 through the top end of the transmission sleeve 14; the bottom end of the transmission sleeve 14 is connected to the servo drive mechanism 6 for transmission. The mounting position includes a bearing cavity 111 provided in the middle of the mounting base 11 and a sealing cover 112 connected to the top of the mounting base 11 by bolts; a bearing is installed in the bearing cavity 111, so that the clamp 5 and the transmission sleeve 14 are limited and can rotate. The specifications of the bearing cavity 111 can be flexibly set according to actual needs. The power transmission between the servo drive mechanism and the clamp 5 is realized through the transmission sleeve 14.

[0140] In this embodiment, the servo drive mechanism 6 includes a servo motor 61 and a transmission component. The servo motor 61 is installed inside the worktable 1, and the transmission component connects the power output end of the servo motor 61 to the transmission sleeve 14. The transmission component includes a driving pulley, a transmission belt, and a driven pulley 66. The driving pulley is installed on the output shaft of the servo motor 61, the driven pulley 66 is installed at the bottom end of the transmission sleeve 14, and the transmission belt is sleeved on the driving pulley and the driven pulley 66. The power transmission of the servo motor 61 is achieved through the transmission component.

[0141] In this embodiment, the servo drive mechanism 6 further includes an electromagnet 63 and a magnetic disk 64. The electromagnet 63 is installed inside the worktable 1, and the magnetic disk 64 is installed at the bottom of the clamp 5, with the electromagnet 63 and the magnetic disk 64 positioned opposite each other. There is a gap between the electromagnet 63 and the magnetic disk 64. The electromagnet 63 is fixedly mounted on the mounting strip via an electromagnet mounting block 62, and the mounting strip is fixed inside the worktable 1. The servo motor 61 is also fixed on the mounting strip. When the electromagnet 63 is energized, it magnetically attracts the magnetic disk 64, causing the clamp 5 to hold the cup 100.

[0142] The clamp 5 in this embodiment adopts an internal support clamping structure. The clamp 5 includes a pull rod 51, an internal support sleeve 52, a conical block 53, and a nut 54. The internal support sleeve 52 is made of shape memory alloy, and its top outer side is provided with an internal support clamping surface 531, which fits against the inner wall of the cup body 100. The conical block 53 is fixed to the top of the pull rod 51, and the internal support sleeve 52 is sleeved on the outside of the conical block 53 and locked by the nut 54. The bottom end of the pull rod 51 passes through the hollow cavity 142 of the internal support sleeve 52 and the transmission sleeve 14 and extends into the interior of the worktable 1. The bottom end of the pull rod 51 is provided with an internal thread; it is threaded with the magnetic disk 64 by bolt thread. In fact, the bottom of the pull rod 51 is threadedly connected to a connecting sleeve 65, and the magnetic disk 64 is fixedly installed at the bottom of the sleeve 65 by bolts. In addition, two parallel guide rods are installed at the bottom end of the driven pulley 66, and a guide plate is fixedly installed on the guide rod. A guide hole is provided in the middle of the guide plate, and the lower section of the connecting sleeve 65 passes through the guide hole. The guide plate plays a guiding role. The magnetic disk 64 can be made from an iron plate that can be magnetically attracted.

[0143] Electromagnet 63 magnetically attracts magnetic disk 64, which can drive pull rod 51 to move downward. Conical block 53 moves downward accordingly, and the inner support sleeve 52 expands radially by the wedge action of the conical surface, thus achieving reliable clamping of the inner wall of cup 100. When electromagnet 63 is de-energized, inner support sleeve 52 closes based on its own elastic force, and conical block 53 moves upward and no longer squeezes inner support sleeve 52, thus releasing the clamp and facilitating the removal and placement of cup 100.

[0144] In fact, the inner support sleeve 52 has a partially penetrating slit along its length, allowing it to be opened by the conical block 53. The transmission sleeve 14 has an opening at its top and a hollow cavity 142 inside. The inner wall of the hollow cavity 142 has a positioning groove for precise insertion and engagement with the bottom of the clamp 5. The transmission sleeve 14 also has a positioning hole 141 in its middle section. A positioning pin passes through the positioning hole 141 and is inserted into the pin hole of the inner support sleeve 52 to achieve relative fixation between the clamp 5 and the transmission sleeve 14, preventing the inner support sleeve 52 from shifting relative to each other.

[0145] In practice, the electromagnet 63 in this embodiment can also be replaced by a telescopic cylinder (not shown in the figure). A connecting rod (or universal joint) is fixedly connected to the telescopic end of the telescopic cylinder. A T-shaped hole is opened at the bottom end of the connecting sleeve 65. The connecting rod is T-shaped. The connecting rod extends into the bottom end of the connecting sleeve 65 and is rotatably connected to the connecting sleeve 65. The rotatable connection can be achieved by a bearing or a ball joint. The retraction of the connecting rod driven by the telescopic cylinder can pull the connecting sleeve 65 downward, thereby causing the inner support sleeve 52 to clamp the cup body 100; however, it does not affect the rotation of the connecting sleeve 65. The extension of the connecting rod causes the conical block 53 to disengage from the inner support sleeve 52, and the inner support sleeve 52 returns to its original position.

[0146] In this embodiment, the irregular metal surface material peeling fixture also includes a sensor bracket 4 and a positioning switch. The positioning switch is mounted on the worktable 1 via the sensor bracket 4. The positioning switch is used to detect whether the cup 100 is clamped on the fixture 5. After the positioning switch detects the cup 100, it sends a signal to the controller, and the controller allows the subsequent scanning and peeling process to start. If the cup 100 is not detected or the cup 100 is not clamped properly, the fixture cannot start, which improves the degree of automation and also plays a safety protection role.

[0147] In this embodiment, as Figure 8 As shown, it also includes a smoke extractor 8, which is mounted on the worktable 1 outside the fixture 5, with the smoke extraction port of the smoke extractor 8 close to the ablation position on the cup body 100 where the laser beam acts. The smoke exhaust port of the smoke extractor 8 is connected to an exhaust pipe. In fact, the smoke extractor 8 includes a housing and a fan. The housing is L-shaped, and a negative pressure air duct is set inside the housing. The fan is installed inside the housing, and the fan generates negative pressure to draw in the smoke generated when the laser emitter acts on the outer surface of the cup body; and discharges it to a suitable location through the exhaust pipe.

[0148] The working principle of a material peeling fixture for irregular metal surfaces in this embodiment is as follows:

[0149] The cup body 100 to be processed is placed on the inner support sleeve 52 of the clamp 5. The electromagnet 63 is energized, and the electromagnet 63 magnetically attracts the magnetic disk 64. The magnetic disk 64 drives the pull rod 51 to pull the conical block 53 through the connecting sleeve 65, so that the inner support sleeve 52 reliably clamps the cup body 100 in an inward support manner. At this time, the position switch detects the cup body 100 and sends a position signal to the controller.

[0150] The servo drive mechanism is activated to rotate the cup body 100. The servo motor 61 drives the transmission sleeve 14 to rotate via belt drive, which in turn drives the clamp 5 and the cup body 100 to rotate at a set speed. The controller controls the 3D scanning camera 2 to start, which performs a full scan of the outer surface of the cup body 100, obtains the three-dimensional shape data of the area to be peeled, and converts it into peeling path signals, including information such as surface curvature and distance at different positions, and transmits them to the controller.

[0151] The controller generates control commands based on the stripping path signal and simultaneously activates the laser stripping mechanism. The lifting drive mechanism 7 drives the laser emitter 3 to move up and down along the guide rail 71 at a set speed, so that the laser beam forms a spiral ablation trajectory on the outer surface of the cup body 100. At the same time, the laser emitter 3 adjusts the focal length and power in real time according to the stripping path signal to ensure that the best stripping effect can be achieved at each position on the irregular surface.

[0152] During this process, the fume extractor 8 is activated simultaneously to remove the smoke and dust generated by the ablation. The 3D scanning camera 2 also scans and detects the peeled area to determine whether the peeling has reached the set standard, so as to compensate for the incomplete peeling by peeling again.

[0153] Once the laser emitter 3 completes the set lifting motion and the surface material of the cup 100 is completely peeled off, the controller stops the laser emitter 3, the servo drive mechanism 6, and the smoke extractor 8, and the electromagnet 63 is de-energized; the clamp 5 releases its grip on the cup 100, and the operator removes the processed cup 100, completing one processing cycle.

[0154] The above provides a detailed description of a method and tooling for peeling off irregular metal surface materials provided by the present invention. The specific embodiments are described only to aid in understanding the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0155] The above examples are provided to better understand the present invention and are not limited to the preferred embodiments described. They do not constitute a limitation on the content and scope of protection of the present invention. Any product that is the same as or similar to the present invention, derived by anyone under the guidance of the present invention or by combining the features of the present invention with other prior art, falls within the scope of protection of the present invention.

Claims

1. A method for peeling off material from irregular metal surfaces, characterized in that, The method for peeling off irregular metal surface materials includes the following steps: S1: Based on an industrial camera, acquire contour image data of the outer surface of the cup, wherein the contour image data includes at least geometric feature data and surface defect data; S2: Obtain the laser beam energy parameters of the laser emitter, and set the rotation speed of the cup body according to the contour image data and the laser beam energy parameters; wherein the laser beam energy parameters include laser power, pulse frequency and spot diameter; S3: Identify the irregular shape of the cup body based on the contour image data, and establish a planned peeling path based on the irregular shape of the cup body; wherein the planned peeling path is covered by the peeling surface after being executed by the laser emitter, covering all areas of the cup body that need to be peeled; S4: Following the planned peeling path, the rotation speed of the cup body, the lifting speed and focal length of the laser emitter are adjusted in real time, so that the laser beam emitted by the laser emitter is focused on the outer surface of the cup body, peeling off the surface material of the cup body in a spiral manner.

2. The method for peeling off irregular metal surface materials according to claim 1, characterized in that, The method for removing irregular metal surface materials also includes: S5: Obtain contour image data of the outer surface of the cup after the laser beam has acted on it using an industrial camera, and divide the area to be peeled off and the area that has already been peeled off. S6: Determine whether the surface material in the peeled area has been completely peeled off; if not, control the laser emitter to peel off again; if yes, control the laser emitter to continue working according to the planned peeling path.

3. The method for peeling off irregular metal surface materials according to claim 2, characterized in that, In step S6, controlling the laser emitter to perform another stripping includes: Based on the acquired contour image data, analyze the location coordinates of incompletely peeled areas and the remaining peeling thickness, and plan a peeling compensation path; Insert the stripping compensation path into the corresponding position of the planned stripping path, and control the laser emitter to complete the stripping compensation path and then perform stripping again.

4. The method for peeling off irregular metal surface materials according to claim 1, characterized in that, Step S1 includes: A basic three-dimensional model of the cup was created by capturing a 360° circular image of the cup using an industrial camera. Edge detection and coordinate extraction are performed on the ring image to obtain the geometric feature data of the outer surface of the cup. Surface defect data of the outer surface of the cup were obtained through image grayscale analysis and defect recognition algorithms; Geometric feature data and surface defect data are mapped onto a basic 3D model to generate complete contour image data.

5. The method for peeling off irregular metal surface materials according to claim 1, characterized in that, Step S2 includes: The current laser power is read through the control module of the laser emitter; The target peel thickness of the cup surface material is determined based on the geometric feature data in the contour image data. A pre-established triplet reference table is invoked, which records the correspondence between different laser powers, peel thicknesses, and peel speeds. Based on the target peel thickness and the current laser power, the peel speed of the laser beam is determined by looking up the triplet reference table. The rotation speed of the cup is set according to the peeling speed of the laser beam.

6. The method for peeling off irregular metal surface materials according to claim 1, characterized in that, Step S3 includes: Based on the geometric feature data in the contour image data, the irregular shape of the cup is identified based on the diameter change curve and generatrix tilt angle in the geometric feature data. A coordinate system is established with the central axis of the cup body as the Z-axis and the clamping surface of the fixture as the XY plane. Based on the irregular shape of the cup body, coordinate points on the outer surface of the cup body are extracted at specified intervals along the Z-axis to form a coordinate value array. The stripping path is obtained by smoothly connecting the coordinate points in the coordinate numerical array using Bézier curves. Based on the surface defect data in the contour image data, mark the surface defect nodes in the stripping path; By setting zoom adjustment signals and energy adjustment signals at the surface defect nodes, the planned stripping path is obtained.

7. The method for peeling off irregular metal surface materials according to claim 6, characterized in that, Step S4 includes: Following the planned stripping path, the laser emitter is controlled to emit a laser beam that acts on the outer surface of the cup. The servo drive mechanism controls the cup body to rotate via the clamp; Control the laser emitter to move up and down in the height direction of the cup, so that the laser emitter emits a laser beam that peels off the surface material of the cup in a spiral motion; When the laser emitter moves to the corresponding location of the surface defect node, the focal length of the laser emitter is adjusted according to the zoom adjustment signal, and the laser power is adjusted according to the energy adjustment signal to ensure that the material at the defect is completely peeled off.

8. The method for peeling off irregular metal surface materials according to claim 1, characterized in that, Prior to step S1, the method further includes: The position switch monitors whether the cup is clamped at the stripping station; If the cup is detected to be in position, the industrial camera and laser emitter will be activated; if it is not in position, an alarm will be issued and the system will remain in standby mode. The smoke generated after the laser beam acts on the outer surface of the cup is sucked in, filtered, and discharged.

9. A tooling for peeling off irregular metal surface materials, characterized in that, The method for peeling off irregular metal surface materials as described in any one of claims 1-8; the irregular metal surface material peeling fixture includes a worktable, a servo drive mechanism, an industrial camera and a laser emitter, a clamp for holding a cup is mounted on the worktable, the servo drive mechanism is connected to the clamp for driving the clamp and the cup to rotate, the industrial camera is used to scan the outer surface of the cup and output contour image data; the laser emitter is flexibly mounted on the worktable.

10. The irregular metal surface material peeling fixture according to claim 9, characterized in that, A lifting drive mechanism is installed on the workbench, and the laser emitter is mounted on the lifting drive mechanism. The lifting drive mechanism is used to drive the laser emitter to move up and down.

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