Intelligent sand blasting system

Abstract

The invention provides an intelligent sand blasting system, and belongs to the technical field of surface treatment. The problems that the quality stability is poor due to the fact that technological parameters depend on experience, the cost is high and environmental protection is not achieved due to the low sand recycling efficiency, the flexibility of a spray gun is insufficient, and dust pollution control is insufficient in an existing traditional sand blasting technology and an existing system can be at least partially solved. The device comprises a sand blasting cabin, a multi-mode sensing unit, an adjustable spray gun module, a sand dynamic circulating unit and a control module, and has the beneficial effects that the surface state of a workpiece and key parameters in the sand blasting process are obtained in real time through the multi-mode sensing unit; optimal sand blasting pressure, spray gun angle and moving speed instructions are dynamically generated and executed through the control module on the basis of real-time data flow, intelligent and accurate regulation and control of sand blasting process parameters are achieved, and the defect that parameter regulation depends on manual experience traditionally is overcome.

Description

Technical Field

[0001] This invention belongs to the field of surface treatment technology, and specifically relates to an intelligent sandblasting system. Background Technology

[0002] Sandblasting technology, as an important surface treatment process, is widely used in industries such as shipbuilding, aerospace, automobiles, and steel structure corrosion protection. It is mainly used to remove oxide scale, rust, and old coatings from the surface of workpieces, as well as to obtain a specific surface roughness to improve the adhesion of subsequent coatings.

[0003] However, traditional sandblasting processes and existing systems generally suffer from problems such as poor quality stability due to reliance on experience for process parameters, high costs and environmental unfriendliness due to low sand recovery efficiency, insufficient flexibility of the spray gun, and inadequate dust pollution control. To address these issues, we propose an intelligent sandblasting system. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art and to provide an intelligent sandblasting system.

[0005] This invention provides an intelligent sandblasting system, comprising: Sandblasting chamber; A multimodal sensing unit is installed on the sandblasting chamber and is able to collect and transmit data on the surface roughness of the workpiece, the thickness of the oxide layer on the workpiece surface, the abrasive impact intensity, and the airflow pressure fluctuation during operation. An adjustable spray gun module includes multiple adjustable spray guns disposed inside the sandblasting chamber; A dynamic sand circulation unit, connected to the sand outlet of the blasting chamber, is used to screen and transport the sand during the working process to the adjustable spray gun module; and The control module is electrically connected to the multimodal sensing unit and the adjustable spray gun module to receive detection data from the multimodal sensing unit during operation and generate control commands for the adjustable spray gun module based on the data.

[0006] Furthermore, the sandblasting chamber is a negative pressure closed sandblasting chamber.

[0007] Specifically, the multimodal sensing system includes a hyperspectral surface state scanning module disposed on the top of the sandblasting chamber for detecting the surface roughness and surface oxide layer thickness of the workpiece in the sandblasting chamber during operation; an acoustic emission abrasive impact monitoring module disposed on the inner sidewall of the sandblasting chamber for real-time monitoring of the abrasive impact intensity in the sandblasting chamber during operation; and an airflow pressure sensor disposed in the middle of the inner sidewall of the sandblasting chamber for real-time monitoring of airflow pressure fluctuations during operation.

[0008] Specifically, the adjustable spray gun includes an electric universal joint located at the rear end of the spray gun body, a quick-change nozzle interface located at the front end of the spray gun body, and a gear transmission assembly connected to the electric universal joint for adjusting the spatial position of the adjustable spray gun.

[0009] Preferably, the sand dynamic circulation unit includes a cyclone separator, a hydraulic washing device, a magnetic separator, and a vibrating screen arranged in sequence.

[0010] Specifically, the sand conveying channel is equipped with a metal detector for detecting metallic impurities in the sand during operation.

[0011] Furthermore, the sand conveying channel is equipped with an online particle size monitor for detecting the particle size of the sand during operation.

[0012] Furthermore, the hydraulic cleaning device is equipped with a pH meter for detecting the pH value of wastewater during operation.

[0013] Furthermore, the internal air pressure range inside the sandblasting chamber is -100Pa to -50Pa.

[0014] Specifically, the sandblasting chamber is equipped with an air compressor to maintain negative pressure inside the sandblasting chamber during operation.

[0015] The beneficial effects of this invention are as follows: The multimodal sensing unit acquires the workpiece surface condition and key parameters of the sandblasting process in real time; the control module dynamically generates and executes the optimal sandblasting pressure, spray gun angle, and moving speed commands based on real-time data streams, realizing intelligent and precise control of sandblasting process parameters, overcoming the drawbacks of traditional manual parameter adjustment; the adjustable spray gun module contains multiple independently driveable spray gun units equipped with electric universal joints, enabling multi-angle, all-round uniform coverage sandblasting; rapid nozzle switching significantly improves production efficiency and system flexibility, meeting the needs of multi-variety, small-batch production. Attached Figure Description

[0016] Figure 1 This is a connection diagram of an intelligent sandblasting system according to a specific embodiment of the present invention.

[0017] The components include: 1. Sandblasting chamber; 11. Air compressor; 2. Multimodal sensing unit; 3. Control module; 4. Adjustable spray gun module; 41. Adjustable spray gun; 5. Sand dynamic circulation unit; 51. Cyclone separator; 52. Hydraulic cleaning device; 53. Magnetic separator; 54. Vibrating screen; 55. Metal detector; and 56. Online particle size monitor. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 As shown in the figure, a specific embodiment of the present invention provides an intelligent sandblasting system, comprising: The system comprises: a sandblasting chamber 1; a multimodal sensing unit, installed on the sandblasting chamber 1 and capable of collecting and transmitting data on the surface roughness of the workpiece, the thickness of the oxide layer on the workpiece surface, the abrasive impact intensity, and the airflow pressure fluctuations inside the sandblasting chamber 1 during operation; an adjustable spray gun module 4, including multiple adjustable spray guns 41 installed inside the sandblasting chamber 1; a sand dynamic circulation unit 5, connected to the sand outlet of the sandblasting chamber 1, for screening and conveying the sand during operation to the adjustable spray gun module 4; and a control module 3, electrically connected to the multimodal sensing unit 2 and the adjustable spray gun module 4, capable of receiving the detection data from the multimodal sensing unit 2 and generating corresponding control commands for the adjustable spray gun module 4 based on the data.

[0020] Specifically, the sandblasting chamber 1 is a negative pressure closed sandblasting chamber.

[0021] Furthermore, the sandblasting chamber 1 adopts a negative pressure closed sandblasting chamber, where the air pressure inside the chamber is lower than that outside, and the dust and abrasive are "locked" inside the chamber; at the same time, the operating area is under negative pressure, so the free dust generated during sandblasting will not escape, significantly reducing the risk of pneumoconiosis for operators.

[0022] Furthermore, the control module 3 dynamically generates and executes optimal sandblasting pressure, spray gun angle, and moving speed commands based on real-time data streams, realizing intelligent and precise control of sandblasting process parameters, overcoming the drawbacks of traditional manual parameter adjustment based on experience.

[0023] Based on the above basic implementation method, the multimodal sensing system includes a hyperspectral surface condition scanning module installed at the top of the sandblasting chamber 1, an acoustic emission abrasive impact monitoring module installed on the inner wall of the sandblasting chamber 1, and an airflow pressure sensor installed in the middle of the inner wall of the sandblasting chamber 1; wherein, the hyperspectral surface condition scanning module is used to detect the surface roughness and surface oxide layer thickness of the workpiece in the sandblasting chamber during operation; the acoustic emission abrasive impact monitoring module is used to monitor the abrasive impact intensity in the sandblasting chamber in real time during operation; and the airflow pressure sensor is used to monitor airflow pressure fluctuations in real time during operation.

[0024] Specifically, during the operation of the hyperspectral surface condition scanning module, white light or halogen light sources inside the module uniformly illuminate the workpiece surface through an optical window; the reflected light is collected by the objective lens, first passing through a slit to form a line field of view, and then being expanded according to wavelength by a prism-grating-prism (PGP) or Offner beam splitting system, ultimately forming a data cube of "one row of space × one column of spectrum" on a two-dimensional array detector (such as CMOS); the servo mechanism on the top of the chamber makes the line field of view sweep uniformly across the workpiece, stitching together the hyperspectral cube of the entire surface row by row; the rough surface causes multi-angle scattering of the incident light, resulting in a decrease in reflectivity in specific bands (e.g., visible-near infrared) and a characteristic slope that varies with wavelength; through A pre-calibrated bidirectional reflectance distribution function (BRDF) model inverts the reflectance-wavelength curve into root mean square roughness. The oxide layer and substrate have different refractive indices, resulting in thin-film interference. Periodic interference peaks (oscillations) appear in the visible-short-wave infrared region; the oxide layer thickness can be obtained by calculating the oscillation period using Fourier or extremum methods. During the operation of the acoustic emission abrasive impact monitoring module, when high-speed abrasive particles impact the workpiece surface, transient stress pulses are generated in the microscopic contact area. These pulses diffuse outwards in the form of Lamb waves, Rayleigh waves, etc. The piezoelectric ceramic sheet (PZT) on the sidewall is fixed to the chamber wall; the stress wave causes deformation of the piezoelectric sheet, generating a charge signal. The charge is converted into voltage by a preamplifier and then filtered by a bandpass filter (typically 100V). (kHz-1 MHz) Eliminates mechanical noise; Extracts ring count, RMS value, or impact event energy from the filtered transient waveform; Energy is positively correlated with abrasive particle kinetic energy, therefore the real-time RMS value can reflect the "abrasive particle impact intensity"; During the operation of the airflow pressure sensor, the static pressure orifice directly senses the local static pressure of the airflow in the chamber, while the dynamic pressure orifice (or Pitot tube) senses the total pressure, and the difference between the two is the dynamic pressure; Four piezoresistors diffused on the silicon diaphragm form a Wheatstone bridge; Diaphragm deformation under pressure → change in resistance → millivolt-level differential voltage output from the bridge circuit; On-chip temperature sensor detects ambient temperature, performs zero-point drift and sensitivity drift compensation through DSP or ASIC, and amplifies it into a standard 0-10 V or 4-20 mA signal; After A / D conversion, a digital quantity linearly related to airflow pressure fluctuation is obtained, which is used by the control system for closed-loop regulation or abnormal alarm.

[0025] In one specific embodiment, the adjustable spray gun 41 includes an electric universal joint disposed at the rear end of the gun body, a quick-change nozzle interface disposed at the front end of the gun body, and a gear transmission assembly connected to the electric universal joint; wherein, driven by the electric universal joint, the adjustable spray gun 41 rotates around its own gun body axis, and driven by the gear transmission assembly, the adjustable spray gun 41 revolves around the central axis of the gear transmission assembly, so as to realize the linkage adjustment of the spatial position and posture of the adjustable spray gun 41.

[0026] In this embodiment, the quick-change nozzle interface supports magnetic switching between different types of nozzles, with a switching time of ≤5s.

[0027] Furthermore, in the initial state, the spray gun axis maintains a fixed angle with the central axis of the gear transmission assembly, and the spray gun outlet points to the initial sandblasting point. The electric universal joint is locked, and the gear transmission assembly is stationary. When the revolution starts, the control system first sends a command to the servo motor of the gear transmission assembly, and the motor drives the large gear to rotate at a constant speed through the reducer. Since the rear end of the spray gun is fixed on the eccentric hole of the large gear through the electric universal joint, the entire gun body moves in a circular trajectory with radius R around the central axis of the gear transmission assembly. At this point, the spray gun outlet traces a conical surface in space, and the blasting point begins to form a circular trajectory on the workpiece surface. During the superimposed rotation, when it's necessary to change the spray angle or expand / retract the blasting area, the control system sends pulses to the miniature servo motor within the electric universal joint. The motor drives the outer (or inner) ring of the universal joint to rotate via a harmonic reducer. Because the inner ring of the universal joint is rigidly connected to the gun body, the gun body rotates relative to its own axis, and the rotational angular velocity is independently adjustable. The rotation results in an additional angular displacement of the jet direction at the nozzle outlet on the conical surface. The linkage adjustment is real-time; the revolution angular velocity and rotation angular velocity are calculated in real-time by the control algorithm. When focusing on a small area for fine blasting, the revolution angular velocity is decreased and the rotation angular velocity is increased, causing the spray gun to focus on a smaller circular area. The nozzle rapidly rotates within the cone angle, forming a dense dot matrix. When large-area uniform processing is required, the revolution angular velocity is increased, the rotation angular velocity is decreased, or even the rotation angular velocity and revolution angular velocity are made into a simple integer ratio to achieve uniform spiral sweeping. By changing the amplitude and direction of the two angular velocities in real time, as well as the initial angle of the fixed angle, the spray gun can obtain arbitrary direction in three-dimensional space and maintain the optimal spray distance and angle between the nozzle and the workpiece surface. After the operation is completed, the control system first reduces the rotation angular velocity to zero, stopping the gun's rotation; then it reduces the revolution angular velocity to zero, returning the gun to the revolution zero position; finally, the electric universal joint returns to the neutral position, the gun axis coincides with the central axis of the gear transmission assembly, and the entire spray gun returns to a compact storage posture, waiting for the next operation.

[0028] In another specific embodiment, the sand dynamic circulation unit 5 includes a cyclone separator 51, a hydraulic cleaning device 52, a magnetic separator 53, and a vibrating screen 54 arranged in sequence; wherein, the cyclone separator 51 is connected to the sand outlet of the sandblasting chamber 1 to receive and preliminarily screen the waste sand generated during the operation of the sandblasting chamber 1, and the vibrating screen 54 is connected to the adjustable spray gun module 4 through the sand conveying channel.

[0029] Specifically, the sand conveying channel is equipped with an online particle size monitor 56 for detecting the particle size of the sand during operation and a metal detector 55 for detecting metallic impurities in the sand during operation.

[0030] In one specific embodiment, the hydraulic cleaning device 52 is equipped with a pH meter for detecting the pH value of wastewater during operation.

[0031] In this embodiment, the pH tester of the hydraulic cleaning device 52 detects that the sewage pH is 9 (alkaline), automatically injects an acidic regulator to bring the pH to 7, and adjusts the water pressure to perform deep cleaning.

[0032] Specifically, the hydraulic cleaning device 52 is equipped with an acidic regulator injection device to adjust the pH value of the wastewater.

[0033] In another specific embodiment, the sandblasting chamber 1 is provided with an air compressor 11 for maintaining the negative pressure inside the sandblasting chamber during operation; the internal air pressure range inside the sandblasting chamber 1 is -100Pa to -50Pa.

[0034] Furthermore, the air compressor 11 is a variable frequency screw air compressor.

[0035] Furthermore, the variable frequency screw air compressor continuously adjusts the discharge volume by changing the motor speed, ensuring real-time matching between the air extraction volume and the leakage within the chamber, guaranteeing stable yet not excessive negative pressure. Compared to a fixed frequency piston compressor, it achieves a three-in-one effect of "fine-tuning, pressure stabilization, and energy saving" within a narrow range of -100 Pa to -50 Pa: the frequency converter adjusts the speed based on pressure sensor feedback, correcting pressure difference fluctuations of 1-2 Pa per second; the screw rotor provides continuous compression and stable output flow, avoiding the pulsating impact of a piston compressor, preventing sudden fluctuations in negative pressure; the motor automatically reduces speed under low load, and the overall power consumption decreases linearly with air extraction demand, saving more than 20% of electricity over long-term operation; the chamber pressure remains consistently 50-100 Pa lower than the external atmospheric pressure. The negative pressure creates an "inward airflow barrier," forcing the micron-sized dust generated by sandblasting to remain within the filtration system inside the chamber, preventing leakage from door gaps, glove openings, etc., thus ensuring a clean work area and the health of personnel. The stable negative pressure ensures that the dust removal fan continuously and efficiently removes suspended particles, rapidly reducing the dust concentration inside the chamber. Operators can always clearly see the workpiece and the position of the spray gun through the observation window, improving processing accuracy. The negative pressure environment causes abrasive particles and dust to naturally concentrate at the exhaust vent, reducing their secondary deposition on the chamber walls, lamps, and sensor surfaces, extending equipment life and reducing maintenance frequency.

[0036] To aid in a better understanding of the invention, a more comprehensive and specific embodiment is described, in which the invention provides an intelligent sandblasting system, comprising: The system comprises: a sandblasting chamber 1; a multimodal sensing unit 2, which is installed on the sandblasting chamber 1 and can collect and transmit data on the surface roughness of the workpiece, the thickness of the oxide layer on the workpiece surface, the abrasive impact intensity, and the airflow pressure fluctuation during operation; an adjustable spray gun module 4, which includes multiple adjustable spray guns 41 installed inside the sandblasting chamber; a sand dynamic circulation unit 5, which is connected to the sand outlet of the sandblasting chamber 1 to screen and transport the sand during operation to the adjustable spray gun module 41; and a control module 3, which is electrically connected to the multimodal sensing unit 2 and the adjustable spray gun module 4 to receive the detection data of the multimodal sensing unit 2 and generate control commands for the adjustable spray gun module 4 based on the data.

[0037] In this embodiment, the sandblasting chamber 1 is a negative pressure closed sandblasting chamber; the multimodal sensing system 2 includes a hyperspectral surface state scanning module installed on the top of the sandblasting chamber 1, an acoustic emission abrasive impact monitoring module installed on the inner wall of the sandblasting chamber 1, and an airflow pressure sensor installed in the middle of the inner wall of the sandblasting chamber 1; wherein, the hyperspectral surface state scanning module is used to detect the surface roughness and surface oxide layer thickness of the workpiece in the sandblasting chamber during operation; the acoustic emission abrasive impact monitoring module is used to monitor the abrasive impact intensity in the sandblasting chamber in real time during operation; the airflow pressure sensor is used to monitor airflow pressure fluctuations in real time during operation; the adjustable spray gun 41 includes an electric universal joint installed at the rear end of the gun body of the adjustable spray gun 41, a quick-change nozzle interface installed at the front end of the gun body of the adjustable spray gun 41, and a gear transmission assembly connected to the electric universal joint; wherein, driven by the electric universal joint, the adjustable spray gun 41 generates a rotation around its own gun body axis, and driven by the gear transmission assembly Under the influence of the gear transmission assembly, the adjustable spray gun 41 revolves around the central axis of the gear transmission assembly, thereby enabling the linkage adjustment of the spatial position of the adjustable spray gun 41. The sand dynamic circulation unit 5 includes a cyclone separator 51, a hydraulic cleaning device 52, a magnetic separator 53, and a vibrating screen 54 arranged in sequence. The cyclone separator 51 is connected to the sand outlet of the sandblasting chamber 1 to receive and preliminarily screen the waste sand generated during the operation of the sandblasting chamber 1. The vibrating screen 54 is connected to the adjustable spray gun module through the sand conveying channel. A metal detector 55 is installed on the sand conveying channel to detect metal impurities in the sand during operation. An online particle size monitor 56 is installed on the sand conveying channel to detect the particle size of the sand during operation. A pH tester is installed on the hydraulic cleaning device 52 to detect the pH value of the wastewater during operation. The internal air pressure range of the sandblasting chamber 1 is -100Pa to -50Pa. An air compressor 11 is installed on the sandblasting chamber to maintain the negative pressure inside the sandblasting chamber 1 during operation.

[0038] Furthermore, the system operates as follows: Step 1: System Initialization The negative pressure sealed chamber is started, and the air compressor 11 is started to stabilize the air pressure in the sandblasting chamber 1 at -75Pa. The chamber door is sealed airtight to ensure zero dust leakage; the sand dynamic circulation unit 5 is pre-checked, the cyclone separator 51 is pre-started to separate large particles of impurities; the metal detector 55 scans for metal impurities, and the online particle size monitor 56 detects the particle size of the circulating sand. Step 2: Workpiece scanning and parameter generation: The multimodal sensing unit operates by using a hyperspectral surface condition scanning module to perform a full-area scan of the workpiece surface and identify the distribution of rust levels (severe rust in area A / moderate rust in area B); an acoustic emission abrasive impact monitoring module pre-emits test abrasive particles to calibrate the impact feedback sensitivity; an airflow pressure sensor monitors the initial airflow pressure value (0.5 MPa) in real time; and the control module generates differentiated parameter instructions based on the rust level as follows: Area A parameters: pressure 0.8 MPa, spray gun angle 75°, moving speed 0.3 m / s; Area B parameters: pressure 0.6 MPa, spray gun angle 60°, moving speed 0.5 m / s.

[0039] Step 3: Dynamic sandblasting operation: The adjustable spray gun 41 adjusts its spatial position and posture through an electric universal joint. Taking three adjustable spray guns as an example, the first and second spray guns cover area A and adopt a rotation + revolution linkage (driven by a gear transmission mechanism); the third spray gun covers area B and sprays at a fixed angle. Step 4: Sand recycling and regeneration: Rust-containing waste sand is initially screened by cyclone separator 51 to remove particles >1mm; the pH value tester of the hydraulic cleaning device 52 detects that the wastewater pH=9 (alkaline), and automatically injects an acidic regulator to bring the pH to 7, adjusting the water pressure for deep cleaning; magnetic separator 53 removes iron filings, and vibrating screen 54 classifies the sand (40 mesh / 80 mesh); metal detector 55 and online particle size monitor 56 verify that the qualified sand is returned to the spray gun; Step 5: Air compressor 11 stops, and the air pressure inside the chamber returns to normal.

[0040] In summary, the embodiments disclosed herein have at least the following technical effects: Improve quality stability and consistency: The multimodal sensing unit 2 acquires key parameters such as workpiece surface roughness, oxide layer thickness, abrasive impact strength, and airflow pressure in real time; the control module 3 adjusts the spray gun posture, spray angle, and pressure in real time based on the data, eliminating fluctuations caused by human experience, realizing controllable and traceable process parameters throughout the entire process, and ensuring a high degree of consistency in the surface quality of batch workpieces. The recovery and utilization rates of sand have been significantly improved, reducing operating costs. The four-stage closed-loop recycling system, consisting of cyclone separation, hydraulic cleaning, magnetic separation, and vibrating screening, can recycle and reuse over 90% of qualified sand online. A metal detector (55) and an online particle size analyzer (56) remove impurities and broken particles in real time, preventing secondary damage. The recycled sand has a stable particle size distribution, reducing the amount of new sand needed and significantly lowering consumable costs. Green and environmentally friendly: The negative pressure enclosed chamber, combined with the air compressor for continuous extraction, achieves "zero external dust escape"; the hydraulic cleaning device integrates online pH testing and can automatically add chemicals for neutralization, ensuring that the wastewater meets the discharge standards or is recycled and reused, and meets the latest environmental protection regulations. Automated spray gun movement adapts to complex workpieces: The electric universal joint and gear transmission assembly enable a single spray gun to have both rotation and revolution degrees of freedom, allowing for coordinated adjustment of the spray angle and distance in three-dimensional space. Combined with the path planning algorithm of the control module, it can achieve full-coverage uniform sandblasting of complex geometries such as curved surfaces, cavities, and grooves without the need to change fixtures, reducing changeover time by more than 70%. Data-driven intelligent operation and maintenance and remote diagnostics: Key parameters throughout the entire process are uploaded to the cloud in real time, supporting historical data comparison, quality prediction, and equipment health diagnosis, reducing downtime for maintenance. The system can interface with the factory's MES / ERP to achieve digital management of production batches, process parameters, and consumable consumption, providing a data foundation for subsequent process optimization and production line upgrades.

[0041] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An intelligent sandblasting system, characterized in that, include: Sandblasting chamber; A multimodal sensing unit is installed on the sandblasting chamber and is able to collect and transmit data on the surface roughness of the workpiece, the thickness of the oxide layer on the workpiece surface, the abrasive impact intensity, and the airflow pressure fluctuation during operation. An adjustable spray gun module includes multiple adjustable spray guns disposed inside the sandblasting chamber; A dynamic sand circulation unit is connected to the sand outlet of the sandblasting chamber to screen and transport the sand during the working process to the adjustable spray gun module. as well as The control module is electrically connected to the multimodal sensing unit and the adjustable spray gun module to receive detection data from the multimodal sensing unit during operation and generate control commands for the adjustable spray gun module based on the data.

2. The intelligent sandblasting system according to claim 1, characterized in that, The sandblasting chamber is a negative pressure closed sandblasting chamber.

3. The intelligent sandblasting system according to claim 1, characterized in that, The multimodal sensing system includes a hyperspectral surface state scanning module installed on the top of the sandblasting chamber for detecting the surface roughness and oxide layer thickness of the workpiece inside the sandblasting chamber during operation; an acoustic emission abrasive impact monitoring module installed on the inner wall of the sandblasting chamber for real-time monitoring of the abrasive impact intensity inside the sandblasting chamber during operation; and an airflow pressure sensor installed in the middle of the inner wall of the sandblasting chamber for real-time monitoring of airflow pressure fluctuations during operation.

4. The intelligent sandblasting system according to claim 1, characterized in that, The adjustable spray gun includes an electric universal joint located at the rear end of the spray gun body, a quick-change nozzle interface located at the front end of the spray gun body, and a gear transmission assembly connected to the electric universal joint for adjusting the spatial position of the adjustable spray gun.

5. The intelligent sandblasting system according to claim 1, characterized in that, The sand dynamic circulation unit includes a cyclone separator, a hydraulic cleaning device, a magnetic separator, and a vibrating screen, which are sequentially arranged on the sand conveying channel.

6. The intelligent sandblasting system according to claim 5, characterized in that, The sand conveying channel is equipped with a metal detector for detecting metallic impurities in the sand during operation.

7. The intelligent sandblasting system according to claim 5, characterized in that, The sand conveying channel is equipped with an online particle size monitor for detecting the particle size of the sand during operation.

8. The intelligent sandblasting system according to claim 5, characterized in that, The hydraulic cleaning device is equipped with a pH meter for detecting the pH value of wastewater during operation.

9. The intelligent sandblasting system according to claim 1, characterized in that, The internal air pressure range of the sandblasting chamber is -100Pa to -50Pa.

10. The intelligent sandblasting system according to any one of claims 1 to 9, characterized in that, The sandblasting chamber is equipped with an air compressor to maintain negative pressure inside the chamber during operation.

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