Intelligent sand blasting device for large special-shaped structure and sand blasting method thereof

Abstract

This invention discloses an intelligent sandblasting device and method for large, irregularly shaped structures, comprising a track system; a hanger mounted on the track system, which sequentially passes through a first scanning chamber, a sandblasting chamber, and a second scanning chamber along the track system, the hanger being used to hang the workpiece; the first scanning chamber, the second scanning chamber, and the sandblasting chamber are all located below the track system, the sandblasting chamber being used to perform omnidirectional sandblasting on the workpiece after it has been scanned by the first scanning chamber; the first and second scanning chambers are used to perform omnidirectional dynamic scanning of the workpiece, and respectively transmit the generated 3D topographic data and the 3D topographic data after sandblasting to the control system in real time; the workpiece can rotate relative to the scanning chamber and / or the sandblasting chamber. This invention provides an intelligent sandblasting device and method for large, irregularly shaped structures, capable of 360-degree sandblasting without blind spots, and constructing a fully automated closed-loop process of surface scanning-sandblasting-inspection.

Description

Technical Field

[0001] This invention relates to the field of sandblasting equipment technology, and in particular to an intelligent sandblasting device and sandblasting method for large irregular structures. Background Technology

[0002] Sandblasting is a widely used metal surface treatment process. Its principle is to use compressed air or centrifugal force to accelerate and spray abrasive materials (such as quartz sand, steel shot, glass beads, etc.) onto the surface of the workpiece. Through the impact and cutting action of the abrasive particles, the purpose of rust removal, oxide scale removal, surface roughening or strengthening is achieved.

[0003] When performing sandblasting operations on large, irregularly shaped parts (such as complex curved surfaces, irregular large components, and irregular molds), existing automated sandblasting equipment generally suffers from insufficient adaptability. Traditional sandblasting devices typically use spray guns or brush heads with fixed angles, making it difficult to dynamically adjust the spray direction according to the three-dimensional shape of the workpiece. This results in insufficient coverage of grooves, cavities, and areas with abrupt changes in curvature, easily creating sandblasting dead zones and causing uneven surface treatment. On the other hand, current systems generally lack effective closed-loop quality inspection mechanisms. The sandblasting effect largely relies on manual visual sampling or post-processing judgment, making it impossible to acquire and evaluate the surface treatment status in real time during operation. This leads to a high rate of defective products, and substandard workpieces need to be re-processed, which not only reduces production efficiency but also increases energy consumption and abrasive consumption. Summary of the Invention

[0004] This invention provides an intelligent sandblasting device and method for large, irregularly shaped structures, addressing at least one of the aforementioned technical problems. The intelligent sandblasting device and method provided by this invention can achieve 360-degree sandblasting without blind spots and construct a fully automated closed-loop process of surface scanning, sandblasting, and detection.

[0005] This invention provides an intelligent sandblasting device for large, irregularly shaped structures, comprising: Track system; A hanger, which is mounted on the track system and can slide along the track system, is used to hang workpieces; The first scanning chamber, located below the track system, is used to perform omnidirectional dynamic scanning of the workpiece and transmit the generated three-dimensional morphological data to the control system in real time. A sandblasting chamber, located below the track system, is used to perform omnidirectional sandblasting on the workpiece after it has been scanned by the first scanning chamber; and The second scanning chamber, located below the track system, is used to perform a full-range dynamic scan of the workpiece after sandblasting and transmit the generated three-dimensional data of the sandblasted morphology to the control system in real time. The fixture passes sequentially through the first scanning chamber, the sandblasting chamber, and the second scanning chamber as it slides along the track system, and the workpiece can rotate relative to the scanning chamber or sandblasting chamber when passing through each scanning chamber and / or sandblasting chamber.

[0006] According to one aspect of the present invention, the sandblasting chamber includes multiple sets of transmission components and a plurality of sandblasting heads, the transmission components including: The drive motor is mounted on the house frame; The drive sprocket is located at the output end of the drive motor and rotates under the drive of the drive motor. At least one driven sprocket, rotatably mounted on the room frame; and A drive chain is wound between the driving sprocket and the driven sprocket to drive the driven sprocket to rotate synchronously under the drive of the driving sprocket; The sandblasting head is mounted on the driving sprocket and / or the driven sprocket, and its sandblasting angle is adjusted as the driving sprocket and / or the driven sprocket rotates.

[0007] According to one aspect of the invention, the sandblasting chamber further includes: A sand box, located outside the frame and connected to the blasting head, is used to supply sand to the blasting head. A sand hopper, located at the bottom inner part of the frame, is used to collect sandblasting waste. A negative pressure pump, located outside the frame and connected to the sand collection hopper and the sand box via a pipeline, is used to pump out the sandblasting waste. The recyclable sand obtained after separation and purification by the negative pressure pump is transported to the sand box through a return pipeline.

[0008] According to one aspect of the invention, the sandblasting chamber further includes: The electrically controlled doors are symmetrically arranged on both sides of the room frame, and are driven by servo motors to slide open or close along the slide rails. A brush strip, located at the top of the frame, is used to prevent sand from leaking out during sandblasting. The electric door is equipped with a position sensor on its side to provide real-time feedback on the opening and closing status of the electric door to the control system.

[0009] According to one aspect of the invention, the hanger includes: Hanging rack A hanger drive device, which is mounted on the hanger; A drive wheel is located at the output end of the hanger drive device and connected to the track system, used to drive the hanger to slide along the track system; The load-bearing wheels are mounted on the bracket and connected to the track system to support the hanger; Hooks, provided on the hanger, are used to hang workpieces; and A rotating gear, which is disposed on the hook, is configured to mesh with a rotating transmission rack disposed at the top of the scanning room or the sandblasting room when the hanger is located in the scanning room or the sandblasting room.

[0010] According to one aspect of the invention, the hanger further includes: A telescopic rod, which is mounted on the hook. A height adjustment mechanism is connected to the telescopic rod and is used to adjust the telescopic length of the telescopic rod.

[0011] According to one aspect of the present invention, the scanning chamber includes an outer frame, and a plurality of three-dimensional scanners are symmetrically arranged within the outer frame. The three-dimensional scanners are connected to the control system. The three-dimensional scanners are used to acquire three-dimensional morphological data of the workpiece or surface quality information after sandblasting, and transmit the acquired data to the control system.

[0012] According to one aspect of the present invention, the track system includes: a first inner track, a second inner track, and an outer track, wherein the first inner track extends along the arrangement path of the first scanning chamber, the sandblasting chamber, and the second scanning chamber, the second inner track is disposed on the opposite side of the first inner track, and the outer track is disposed on one side of the outer periphery of the second inner track; it further includes a track-changing device connected between the first inner track, the second inner track, and the outer track, wherein the track-changing device is configured as follows: In the first working state, the first inner track is connected to the second inner track to form a continuous circular inner passageway; In the second working state, the first inner track is connected to the outer track to form a continuous inner and outer passageway.

[0013] According to one aspect of the present invention, the track-changing device includes: Transmission mounting bracket, A track-changing drive device, which is mounted on the transmission mounting frame; A track-changing drive gear is connected to the output end of the track-changing drive device and rotates under the drive of the track-changing drive device. Two variable track driven racks are slidably connected to the transmission mounting frame and mesh with the variable track driving gear; Two track-changing frames, which are respectively engaged or snapped with the corresponding track-changing driven racks; Both the inner and outer variable rails are connected to the variable rail frame; In the first working state, the inner variable track bar is connected to the first inner track and the second inner track; In the second working state, the outer variable track is connected to the first inner track and the outer track.

[0014] According to one aspect of the present invention, both ends of the inner variable rail and the outer variable rail are provided with slot protrusions, and the first inner rail, the second inner rail and the outer rail are all provided with grooves that match the slot protrusions.

[0015] A sandblasting method for large, irregularly shaped structures includes the following steps: The workpiece is mounted on the hanger and transported to the first scanning chamber via a track system; The first scanning chamber performs a full-range dynamic three-dimensional scan of the workpiece, generates original three-dimensional morphological data, and transmits it to the control system. The control system preprocesses the original 3D topography scan to construct a 3D geometric model of the workpiece and extracts topography parameters that characterize the geometric features of the workpiece from it. Based on the preset mapping relationship between the sandblasting standard parameters and the morphology parameters, sandblasting parameters adapted to the workpiece are generated, and the sandblasting parameters are sent to the sandblasting room. The sandblasting room performs all-around sandblasting treatment on the workpiece according to the received sandblasting parameters; The sandblasted workpiece is transported to the second scanning room via the track system. The second scanning chamber performs a full-range dynamic three-dimensional scan of the sandblasted workpiece, generates three-dimensional data of the sandblasted morphology, and transmits it to the control system. The control system determines the spraying quality based on three-dimensional point cloud registration and point-by-point deviation analysis. If the judgment result is unsatisfactory, the track system is controlled to return the fixture to the first scanning room along the inner track, and the sandblasting and quality inspection steps are repeated until the sandblasting quality meets the standard. If the judgment result is satisfactory, the track system is controlled to transport the hanger to the unloading point via the outer track for unloading.

[0016] According to one aspect of the present invention, the original three-dimensional topography data includes one or more combinations of the surface curvature of the workpiece surface, the boundary dimensions of the area to be sandblasted, corner protrusion information, depression information, or surface roughness; the post-sandblasting three-dimensional topography data includes one or more combinations of the surface contour accuracy of the workpiece surface after sandblasting, the surface roughness of the area to be detected, the dimensional deviation after corner treatment, or the coordinates and area ratio of the untreated area.

[0017] According to one aspect of the present invention, the sandblasting quality is determined by judging the proportion of untreated areas and the maximum diameter of untreated areas based on three-dimensional point cloud data, surface gray value data and regional contour boundary data. If the proportion of untreated areas is lower than a preset value and the maximum diameter of untreated areas is less than or equal to a preset diameter, the sandblasting is judged to be up to standard.

[0018] According to one aspect of the invention, the sandblasting parameters include one or more combinations of the following: the number of sandblasting heads opened, the sandblasting angle, the sandblasting pressure, the sandblasting particle size, or the sandblasting time.

[0019] Compared with existing technologies, this invention has the following advantages: After being mounted by a hanger, the workpiece passes sequentially through the first scanning chamber, the sandblasting chamber, and the second scanning chamber along the track system. The hanger can rotate relative to each scanning chamber or sandblasting chamber, allowing for omnidirectional, blind-angle scanning of the workpiece within the scanning chamber and omnidirectional, blind-angle sandblasting within the sandblasting chamber. This achieves efficient sandblasting of large, irregularly shaped structures, solving the problems of traditional equipment's incomplete sandblasting of complex shapes, excessive manual intervention, reliance on manual sampling inspection, and susceptibility to rework. It also possesses strong adaptability and is economical and environmentally friendly. Furthermore, the sandblasting equipment of this invention constructs a fully automated closed-loop process of "scanning-sandblasting-detection-cycle," achieving automatic sandblasting and significantly improving sandblasting efficiency. The sandblasting chamber is equipped with a transmission assembly, on which the sandblasting head is mounted. It rotates synchronously with the transmission assembly to adjust the spray angle. Combined with the rotation of the mounting fixture, this forms a dual-rotation linkage sandblasting mode, eliminating blind spots in the sandblasting process and ensuring 360° coverage of complex areas such as curved surfaces, corners, and recesses of large, irregularly shaped structures. The automated sandblasting equipment for large, irregularly shaped workpieces provided by this invention features fully automated operation, significantly improving sandblasting efficiency compared to traditional manual operation. Its compact structure allows for multi-process closed-loop operation via a track-changing mechanism. Multiple adjustable rotating sandblasting heads and 3D scanning modules can be combined as needed, flexibly adjusting sandblasting parameters and scanning range according to workpiece size and shape to create customized processing solutions for different specifications of irregularly shaped workpieces. Simultaneously, the equipment ensures operational stability through a slot-type load-bearing structure and sealed protection design, meeting the industrial production needs of high-precision sandblasting for large workpieces, combining high efficiency and versatility. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1This is a three-dimensional structural diagram of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 2 This is a three-dimensional structural diagram of the hanger of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 3 This is an enlarged view of the connection between the hanger and the track system of the intelligent sandblasting device for large irregular structures according to the present invention; Figure 4 This is a three-dimensional structural diagram of the scanning chamber of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 5 yes Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 This is a three-dimensional structural diagram of a sandblasting chamber for an intelligent sandblasting device for large irregular structures according to the present invention. Figure 7 This is a schematic diagram of the internal structure of the sandblasting chamber of an intelligent sandblasting device for large irregular structures according to the present invention. Figure 8 This is a schematic diagram of the sandblasting head of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 9 This is a right view of the transmission component of an intelligent sandblasting device for large irregular structures according to the present invention. Figure 10 This is a front view of the transmission system of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 11 This is a top view of the track system of an intelligent sandblasting device for large irregular structures according to the present invention; Figure 12 This is a schematic diagram of the track in the second state of an intelligent sandblasting device for large irregular structures according to the present invention. Figure 13 This is a schematic diagram of the track in the first state of an intelligent sandblasting device for large irregular structures according to the present invention. Figure 14 This is a partial structural schematic diagram of the track-changing device of an intelligent sandblasting device for large irregular structures according to the present invention.

[0022] Reference numerals: 1. Hanger; 11. Hanger drive device; 12. Drive wheel; 13. Hanger frame; 14. Load-bearing wheel; 15. Height adjustment mechanism; 16. Telescopic rod; 17. Rotary gear; 18. Hook; 2. First scanning chamber; 21. Outer frame; 22. Rotary transmission rack; 23. 3D scanner; 24. Scanner mounting plate; 3. Sandblasting chamber; 31. Chamber frame; 32. Sand box; 33. Electrically controlled door; 34. Brush strip; 35. Negative pressure pump; 36. Sandblasting head; 38. Transmission assembly; 381. Drive sprocket; 382. Transmission chain; 383. 1. Driven sprocket; 384. Drive motor; 37. Sand collection hopper; 4. Second scanning chamber; 5. Track changing device; 51. Track changing drive device; 52. Track changing drive gear; 53. Track changing driven rack; 54. Inner rail slider; 55. Outer rail slider; 56. Track changing support frame; 57. Transmission mounting frame; 58. Inner track changing bar; 59. Outer track changing bar; 50. Slot protrusion; 7. Track system; 71. First inner track; 72. Second inner track; 73. Outer track; 74. Guide part; 75. Groove; 76. Support part; 77. Unloading point; 78. Loading point. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., appearing in the description of this invention are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0027] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this invention does not imply that the components are required to be absolutely horizontal or suspended, but rather that they may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0028] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Example 1 like Figures 1 to 14As shown, an intelligent sandblasting device for large, irregularly shaped structures is mainly suitable for the automatic sandblasting of large, irregularly shaped structures (such as complex curved surface components, irregular large parts, irregular molds, etc.). It includes a track system 7, a hanger 1, a scanning chamber, and a sandblasting chamber 3. Two scanning chambers are provided: a first scanning chamber 2 and a second scanning chamber 4. The hanger 1, scanning chambers, and sandblasting chamber 3 are all connected to a control system, which can be a computer. The scanning chamber and sandblasting chamber 3 can be installed on the ground or on a frame. The track system 7 is located above the scanning chamber and sandblasting chamber, and extends according to the arrangement path of the first scanning chamber 2, sandblasting chamber 3, and second scanning chamber 4; the track system 7 can also be suspended above the scanning chamber and sandblasting chamber 3 via a frame. The hanger 1 is located on the track system 7 and can slide along the track system 7. The hanger 1 is used to hang the workpiece (large, irregularly shaped structural component). The workpiece, hung on the hanger 1, moves along the track system 7 sequentially through the first scanning chamber 2, sandblasting chamber 3, and second scanning chamber 4. The first scanning chamber 2 is used to perform omnidirectional dynamic scanning of the workpiece and transmit the 3D topographic data to the control system in real time. The sandblasting chamber 3 is used to perform omnidirectional sandblasting on the workpiece after scanning in the first scanning chamber 2. The second scanning chamber 4 is used to perform omnidirectional dynamic scanning on the sandblasted workpiece for sandblasting quality inspection and transmit the generated 3D topographic data after sandblasting to the control system in real time. Specifically, the first scanning chamber 2 performs omnidirectional scanning of large irregular structures from different directions, accurately capturing the original 3D topographic data such as the curvature of the workpiece surface, the boundary dimensions of the area to be sandblasted, the protrusions and depressions of the edges and corners, and the original surface roughness data. The original 3D topographic data is transmitted to the control system in real time. The control system performs noise reduction, registration, and feature extraction processing on the original 3D topographic data to construct an accurate 3D model of the workpiece. Then, combined with a preset sandblasting process standard library, an algorithm (which can be an existing algorithm and is not limited in this invention) is used to establish "workpiece topographic parameters - sandblasting parameters". The mapping relationship is established, and optimal sandblasting parameters are set based on the curvature of the surface, the area and thickness of the area to be treated, etc., and sent to the sandblasting chamber 3. The sandblasting chamber 3 adjusts the spray angle, sandblasting pressure, abrasive particle size, and number of sandblasting heads of the sandblasting head 36 according to the relevant sandblasting parameter combination to perform all-round sandblasting on the workpiece. After sandblasting, the second scanning chamber 4 performs all-round dynamic scanning of the workpiece, accurately collecting the three-dimensional morphology data after sandblasting. This data includes core data such as the surface contour accuracy after sandblasting, the roughness value of the area to be detected, the dimensional deviation after edge and corner treatment, and the coordinates and area ratio of the untreated area, and is transmitted to the control system in real time. The control system judges whether the data after sandblasting three-dimensional morphology meets the standards.

[0030] As the fixture 1 slides along the track system 7, it passes sequentially through the first scanning chamber 2, the sandblasting chamber 3, and the second scanning chamber 4, and the workpiece can rotate relative to the scanning chamber or sandblasting chamber 3 when passing through each scanning chamber and / or sandblasting chamber 3.

[0031] In this embodiment, as Figure 2 As shown, the hanger 1 includes a hanger frame 13, a hanger drive device 11, a drive wheel 12, a load-bearing wheel 14, a hook 18, and a rotating gear 17. The hanger drive device 11 is mounted on the top of the hanger frame 13 and is electrically connected to the control system. The drive wheel 12 is located at the output end of the hanger drive device 11 and is connected to the track system 7, used to drive the hanger 1 to slide along the track system 7. Specifically, the drive wheel 12 abuts against one side of the guide portion 74 of the track system 7. The load-bearing wheel 14 is mounted on the hanger frame 13 and connected to the track system 7, used to support the hanger 1. Specifically, the load-bearing wheel 14 is located on the hanger frame 13 on the other side of the drive wheel and abuts against the support portion 76 of the track system 7. The load-bearing wheel 14 bears the weight of the hanger and the workpiece. A hook 18 is located at the lower end of the hanger 13 and can be used to hang workpieces. A rotating gear 17 is located on the hook 18 and is configured to mesh with a rotating transmission rack 22 at the top of the scanning or sandblasting chamber when the hanger 1 is located in the scanning or sandblasting chamber. The meshing connection between the rotating gear 17 and the rotating transmission rack 22 allows the workpiece to rotate relative to the scanning or sandblasting chamber 3, facilitating omnidirectional scanning or sandblasting of the workpiece by the 3D scanner or sandblasting head 36.

[0032] In this embodiment, the hanger 1 further includes a telescopic rod 16 and a height adjustment mechanism 15. The telescopic rod 16 is located at the upper end of the hook 18; the height adjustment mechanism 15 is connected to the telescopic rod 16 and is used to adjust the telescopic length of the telescopic rod 16. By using the height adjustment mechanism 15 and the telescopic rod 16, the relative height of the hook 18 can be adjusted to accommodate large, irregularly shaped workpieces of different sizes, meeting diverse clamping requirements.

[0033] In this embodiment, as Figures 6 to 10As shown, the sandblasting chamber 3 includes a chamber frame 31, multiple sets of transmission components 38, and several sandblasting heads 36. The multiple sets of transmission components 38 are respectively arranged on both sides of the chamber frame 31. The transmission components include a drive motor 384, a drive sprocket 381, several driven sprockets 383, and a transmission chain 382. The drive motor 384 is mounted on the outer wall of the chamber frame 31 and is electrically connected to the control system. The drive sprocket 381 is located at the output end of the drive motor 384 and is located on the inner wall of the chamber frame 31. The several driven sprockets 383 are rotatably mounted on the chamber frame 31. The transmission chain 382 is wound between the drive sprocket 381 and the driven sprockets 383. The drive motor 384 drives the drive sprocket 381 to rotate, thereby driving the transmission chain 382 wound on it to rotate, and in turn driving the driven sprockets 383 to rotate synchronously. The sandblasting head 36 is mounted on the drive sprocket 381 and / or the driven sprocket 383, and its sandblasting angle is adjusted as the drive sprocket 381 and / or the driven sprocket 383 rotates. Specifically, as... Figure 8 The sandblasting head 36 is configured in a bent shape, allowing its spray angle to be adjusted based on the rotation of the driving sprocket 381 and / or the driven sprocket 383. Each sandblasting head 36 is designed to adapt to the curved surface of a large, irregularly shaped structure, with a preset differentiated spray angle to form a full-dimensional spray matrix. In this embodiment, six rows of array-type transmission components 38 are symmetrically arranged on the inner wall of the sandblasting chamber 3, with sandblasting heads 36 arranged at different angles mounted on each driven sprocket 383. In other embodiments, the position and angle of the transmission components 38 are not limited and can be set according to the shape and needs of the workpiece. The bending angle of the sandblasting head 36 is also not limited and can be set according to specific needs. In other embodiments, the transmission components 38 can also be arranged around the inner perimeter of the chamber frame 31 to achieve all-around sandblasting treatment of the workpiece. Preferably, a switch is provided on the sandblasting head 36 to control the opening and closing of the sandblasting head, facilitating the activation of different numbers of sandblasting heads for different workpieces.

[0034] During operation, the drive motor 384 starts rotating after receiving instructions from the control system, driving the drive sprocket 381 to rotate. The drive sprocket 381 transmits power to the driven sprocket 383 via the transmission chain 382, ​​driving the driven sprocket 383 to rotate synchronously, thereby driving each sandblasting head 36 on the driven sprocket 383 and / or the drive sprocket 381 to operate synchronously, thus realizing the adjustment of the spray angle of the sandblasting head 36.

[0035] Through the coordinated setup of multiple transmission components 38 and multi-angle sandblasting heads 36, the sandblasting heads 36 can perform sandblasting operations on the workpiece from multiple angles. At the same time, the angle of the sandblasting heads 36 can be dynamically adjusted with the help of the transmission components 38 to adapt to the curved surface requirements of large irregular structures, forming differentiated spraying angles, and ensuring 360° sandblasting coverage of complex areas such as curved surfaces, corners, and recesses of large irregular structures.

[0036] The sandblasting chamber is equipped with a transmission component, and the sandblasting head is mounted on the transmission component. It can rotate synchronously with the transmission component to adjust the spray angle of the sandblasting head. The adjustment of the spray angle is combined with the rotation of the hanger relative to the sandblasting chamber to form a double rotation linkage sandblasting, which eliminates sandblasting blind spots from a spatial perspective and ensures 360° sandblasting coverage of complex areas such as curved surfaces, corners, and recesses of large irregular structures.

[0037] In this embodiment, the sandblasting chamber 3 further includes a sand tank 32, a sand collection hopper 37, and a negative pressure pump 35. The sand tank 32 is located outside the chamber frame 31 and connected to the sandblasting head 36 for supplying sand to the sandblasting head 36. The sand collection hopper 37 is located at the inner bottom of the chamber frame 31 for collecting sandblasting waste generated during the sandblasting operation. The negative pressure pump 35 is located outside the chamber frame 31 and connected to the sand collection hopper 37 and the sand tank 32 via pipes. The negative pressure pump 35 can suck up the sandblasting waste in the sand collection hopper 37. The negative pressure pump is electrically connected to the control system. After the negative pressure pump 35 sucks up the sandblasting waste, it filters and separates it, and the purified recyclable sand is transported back to the sand tank 32 through a return pipeline. Preferably, the negative pressure pump 35 is equipped with a cyclone separator and a dust removal device (such as a filter cartridge or bag filter). The cyclone separator uses centrifugal force to separate heavier sand particles from lighter dust / debris, and the dust removal device filters and purifies fine dust to prevent environmental pollution. By installing the negative pressure pump 35, the sandblasting waste in the sand collection hopper 37 can be cleaned in a timely manner, and impurities in the sandblasting waste can be filtered and purified before being recycled to the sand bin 32 for reuse, thereby improving sand utilization and reducing production costs.

[0038] In this embodiment, the sandblasting chamber 3 further includes an electrically controlled door 33, a brush strip 34, and a rotary transmission rack 22. The electrically controlled door 33 is symmetrically arranged on both sides of the chamber frame 31, driven by a servo motor (not shown in the figure) and sliding along a slide rail to open or close, facilitating the entry of the hanger 1 into the chamber frame 31 after scanning in the first scanning chamber, and its exit from the sandblasting chamber 3 after sandblasting is completed. Preferably, the electrically controlled door 33 is equipped with an electrically controlled door controller, which is connected to the control system and used to receive control signals from the control system. When the hanger enters the sandblasting chamber 3, the control system sends an instruction containing the workpiece's identification code and a sandblasting continuation signal to the electrically controlled door controller. After receiving the instruction, the electrically controlled door controller drives the servo motor of the electrically controlled door 33 to start, causing the electrically controlled door 33 to open smoothly to both sides along the slide rail. After the hanger enters the sandblasting chamber 3, the control system controls the electrically controlled door 33 to close. After sandblasting is completed, the control system controls the electrically controlled door 33 on the other side to open, allowing the hanger 1 to slide out of the sandblasting chamber 3.

[0039] A brush strip 34 is located at the top of the chamber frame 31, specifically in the gap for the sliding of the hanger 1, to prevent sand leakage during sandblasting. A sealing strip is provided on the edge of the electrically controlled door 33, which fits tightly against the chamber frame. A position sensor is located on the side of the electrically controlled door 33 to provide real-time feedback on its opening and closing status to the control system. The sealing strip on the door edge and the brush strip 34 at the top form a double-sealing structure, creating a fully sealed sandblasting environment with no sand leakage, ensuring operational safety and environmental friendliness. A rotary transmission rack 22 is located inside the top of the chamber frame 31, and it can mesh with the rotary gear 17 on the hanger 1. This meshing connection allows the workpiece mounted on the hanger 1 to rotate relative to the sandblasting chamber, facilitating all-around sandblasting treatment of the workpiece.

[0040] In this embodiment, as Figure 4 and Figure 5 As shown, the first scanning chamber 2 and the second scanning chamber 4 adopt the same structural configuration. Each scanning chamber includes an outer frame 21, within which multiple sets of 3D scanners 23 are installed. The placement and type of the multiple sets of 3D scanners 23 are not limited, and are configured according to the structure of the workpiece to be scanned. Laser 3D scanners, optical tracking 3D scanners, structured light 3D scanners, etc., can be used. Preferably, the 3D scanners 23 are symmetrically arranged on both sides of the outer frame 21 to enable omnidirectional scanning of the workpiece. The 3D scanners 23 are mounted on the inner wall of the outer frame 21 via scanner mounting plates 24. The 3D scanners 23 are connected to the control system and transmit the scanned data to the control system. A rotary transmission rack 22 is provided inside the top of the outer frame 21. This rotary transmission rack 22 engages with a rotary gear 17 when the hanger moves. There can be one rotary transmission rack 22, or two symmetrically arranged racks 22, for a more stable connection. It should be noted that the rotary transmission rack 22 on the top of the sandblasting chamber 3 can be configured identically to that of the scanning chamber, which will not be elaborated further.

[0041] The 3D scanner 23, located in the first scanning chamber 2, is used to scan the original 3D topographic data of the workpiece. This original 3D topographic data includes one or more of the following: surface curvature of the workpiece surface, boundary dimensions of the area to be sandblasted, corner protrusions, depressions, and surface roughness. The 3D scanner 23, located in the second scanning chamber 4, is used to scan the post-sandblasting 3D topographic data for inspecting the sandblasting quality. The post-sandblasting 3D topographic data includes one or more of the following: surface contour accuracy after sandblasting, roughness values ​​of the area to be inspected, dimensional deviations after corner treatment, and coordinates and area percentage of the untreated area.

[0042] In this embodiment, as Figures 11 to 14As shown, the track system 7 includes: a first inner track 71, a second inner track 72, and an outer track 73. The first inner track 71 extends along the arrangement path of the first scanning chamber 2, the sandblasting chamber 3, and the second scanning chamber 4. The second inner track 72 is located on the opposite side of the first inner track 71. The outer track 73 is located on one side of the outer circumference of the second inner track 72, which can be either the inner or outer side of the second inner track 72. It also includes a track-changing device 5, which connects the first inner track 71, the second inner track 72, and the outer track 73. The track-changing device 5 is connected to the control system. The track-changing device 5 is configured as follows: In the first working state, the first inner track 71 and the second inner track 72 are connected to form a continuous ring-shaped inner passageway; In the second working state, the first inner track 71 is connected to the outer track 73 to form a continuous inner and outer passageway.

[0043] By setting up the track changing device 5, the track system 7 forms two closed-loop branches, and the workpiece flow path can be switched by using different tracks; when the workpiece needs secondary sandblasting or unloading, the system can automatically adjust the closed-loop branches, thereby realizing fully automatic sandblasting.

[0044] In this embodiment, the track-changing device 5 includes a transmission mounting frame 57, a track-changing drive device 51, a track-changing drive gear 52, two track-changing driven racks 53, and two track-changing frames. The track-changing drive device 51 is mounted on the top of the transmission mounting frame 57 and is connected to the control system. The structure of the track-changing drive device 51 is not limited; for example, a motor can be used to drive the track-changing drive gear 52 to rotate in both directions. The track-changing drive gear 52 is connected to the output end of the track-changing drive device 51 and rotates under its drive. The two track-changing driven racks 53 are slidably connected to the transmission mounting frame 57 and mesh with the track-changing drive gear 52. The two track-changing driven racks 53 are symmetrically arranged on both sides of the transmission mounting frame 57 with the track-changing drive gear 52 as the center. The two track-changing frames mesh with the corresponding track-changing driven racks 53 respectively. The inner track-changing bar 58 and the outer track-changing bar 59 are mounted on both sides of the top of the track-changing frame. In the first working state, the inner variable rail 58 is connected to the first inner rail 71 and the second inner rail 72; in the second working state, the outer variable rail 59 is connected to the first inner rail 71 and the outer rail 73. Specifically, the control system determines whether the quality of the workpiece after sandblasting meets the standard based on the scanning data of the second scanning chamber 4. When the standard is not met (in the first working state), and the workpiece needs secondary sandblasting, the control system controls the variable rail drive device 51 to start, driving the variable rail drive gear 52 to rotate forward, driving the two variable rail driven racks 53 to move outward along the transmission mounting frame 57. When the two variable rail frames move to the preset end point of the stroke, the control system shuts off the variable rail drive device 51. At this time, the first inner rail 71 and the second inner rail 72 are connected to form a complete inner rail closed-loop circulation branch. At the same time, the outer rail 73 is completely offset from the inner rail to avoid rail interference with the workpiece. When the sandblasting is detected to be up to standard (in the second working state), the control system activates the track-changing drive device 51, driving the track-changing drive gear 52 to reverse, which in turn drives the two track-changing driven racks 53 to move inward along the transmission mounting frame 57. When the two track-changing frames reach the preset end point of their travel, the control system shuts off the track-changing drive device 51. At this time, the first inner track 71 and the outer track 73 are connected, forming a complete closed-loop circulation branch of inner and outer tracks. At the same time, the first inner track 71 and the second inner track 72 are completely offset to avoid track interference with the workpiece. Through the setting of the track-changing device 5, different track circulation branches of the track system 7 are realized, and the workpiece flow path can be switched through different tracks.

[0045] In this embodiment, the track-changing frame includes a track-changing support frame 56, an inner rail slider 54, and an outer rail slider 55. One end of the track-changing support frame 56 is connected to the inner rail slider 54 and the outer rail slider 55, and the other end is connected to the inner track-changing bar 58 and the outer track-changing bar 59. Both the inner rail slider 54 and the outer rail slider 55 are engaged or snapped with the track-changing driven rack 53, and the inner rail slider 54 and the outer rail slider 55 are slidably connected to the transmission mounting frame 57. Preferably, a travel control switch is provided at one end and in the middle of the transmission mounting frame 57, and the travel control switch is connected to the control system. When the inner rail slider 54 and the outer rail slider 55 slide outward to the end of the travel control switch, the travel control switch is triggered, and the control system controls the track changing drive device 51 to close. At this time, the first inner rail 71 and the second inner rail 72 are connected. When the inner rail slider 54 and the outer rail slider 55 slide inward to the middle of the travel control switch, the travel control switch is triggered, and the control system controls the track changing drive device 51 to close. At this time, the first inner rail 71 and the outer rail 73 are connected.

[0046] In this embodiment, both ends of the inner variable rail 58 and the outer variable rail 59 are provided with slotted protrusions 50, and both ends of the first inner rail 71, the second inner rail 72, and the outer rail 73 are provided with grooves 75 that match the slotted protrusions 50. Precise positioning is achieved through the engagement of the slotted protrusions 50 and the grooves 75, forming a complete track circulation branch. The cooperation of the slotted protrusions 50 and the grooves 75 bears the weight of the hanger and large irregularly shaped workpieces, distributing the load-bearing pressure, preventing local deformation of the track, and avoiding the risk of derailment under heavy load. Simultaneously, it restricts the lateral displacement of the hanger, ensuring that the hanger does not deviate when moving linearly along the track.

[0047] In this embodiment, a loading point 78 and a unloading point 77 are provided on the outer track 73. The loading point 78 is used to hang the workpiece on the hook 18, and the unloading point 77 is used to unload the workpiece that has passed the sandblasting test. After unloading, the empty hanger 1 continues to slide forward along the outer track 73 to the loading point 78 to wait for loading, so as to realize the uninterrupted reuse of the hanger 1 without manual intervention, which effectively improves the automation level and flow efficiency of the entire processing system.

[0048] Example 2 The method for sandblasting large, irregularly shaped workpieces using the sandblasting equipment described in Example 1 includes the following steps: S1: The workpiece is mounted on the hanger 1 and transported to the first scanning chamber 2 via the track system 7; Large, irregularly shaped workpieces are mounted on the hanger 1. The control system controls the hanger drive device 11 to start. The hanger drive device 11 provides power to drive the drive wheel 12 to rotate, so that the hanger 1 slides smoothly along the track system 7 to the first scanning chamber 2.

[0049] S2: The first scanning chamber 2 performs a full-range dynamic three-dimensional scan of the workpiece, generates original three-dimensional morphological data, and transmits it to the control system; When the hanger 1 is conveyed to the first scanning chamber 2, the rotating gear 17 engages with the rotating transmission rack 22 located inside the top of the outer frame 21. Driven by the hanger drive device 11, the hanger 1 maintains a stable and uniform rotation within the first scanning chamber 2. Simultaneously, multiple 3D scanners 23 located within the first scanning chamber 2 are activated synchronously, performing omnidirectional dynamic 3D scanning of the workpiece during rotation from different angles. Each time the workpiece rotates by an angle, the scanner collects the surface morphology data of the workpiece, achieving 360° full-angle, no-dead-angle 3D information acquisition of the workpiece. It accurately captures one or more combinations of key information such as the curvature of the workpiece surface, the boundary dimensions of the area to be sandblasted, edge protrusion information, concave feature information, and original surface roughness data, generating original 3D morphology data containing complete morphological details, and transmitting it to the control system in real time.

[0050] S3: The control system preprocesses the original morphology three-dimensional scan, constructs the three-dimensional geometric model of the workpiece, and extracts morphology parameters characterizing the geometric features of the workpiece from it; After receiving the original 3D topographic data, the control system first preprocesses the data, including noise reduction, registration, and feature extraction. Following preprocessing, a 3D geometric model of the workpiece is constructed, and topographic parameters characterizing the workpiece's geometric features are extracted from it.

[0051] S4: Based on the preset sandblasting standard parameters and the mapping relationship between the morphology parameters, generate sandblasting parameters adapted to the workpiece, and send the sandblasting parameters to the sandblasting room 3; The control system generates sandblasting parameters adapted to the workpiece based on the preset mapping relationship between sandblasting standard parameters and the morphological parameters. These parameters include one or more combinations of the following: the number of sandblasting heads 36 that are open, the sandblasting angle, the sandblasting pressure, the sandblasting particle size, or the sandblasting time. These parameters are then sent to the sandblasting chamber 3. The mapping relationship involves adjusting the sandblasting head's spray angle according to the curvature of the surface, matching the sandblasting pressure and abrasive particle size according to the area and thickness of the area to be treated, adapting the number of sandblasting heads to the complexity of the edges and corners, and setting the spraying time according to the overall processing requirements. Finally, a customized optimal combination of sandblasting parameters is output, providing precise parameter support for subsequent sandblasting processes.

[0052] S5: Sandblasting room 3 performs all-around sandblasting treatment on the workpiece according to the received sandblasting parameters; After generating the sandblasting parameters, the control system sends an instruction containing the workpiece identification code and sandblasting ready signal to the electric door controller. Upon receiving the instruction, the electric door controller starts the servo motor of the electric door 33, causing the electric door 33 to open smoothly to both sides along the slide rail. At the same time, the position sensor on the side of the door provides real-time feedback on the switch status to the system, ensuring that a "permission granted" signal is issued after the door is fully opened. The control system then starts the hanger drive device 11, and the hanger 1 carries the workpiece and slides into the sandblasting chamber 3 along the track system 7. The control system immediately controls the electric door controller to perform the closing action, driving the electric door 33 to close. The sealing strips on the edge of the door fit tightly against the door frame, forming a double sealing structure with the brush strip 34 at the top transmission gap, preventing sand leakage during the sandblasting process and creating a fully sealed sandblasting environment without sand leakage, ensuring operational safety and environmental protection.

[0053] Next, the control system transmits the appropriate sandblasting parameters, such as the number of sandblasting heads 36 that are open, the sandblasting angle, the sandblasting pressure, the abrasive particle size, and the sandblasting time, to the sandblasting chamber 3. The control system controls the drive motor 384 to turn on, which drives the drive sprocket 381 to rotate. This, in turn, drives each driven sprocket 383 to rotate synchronously and uniformly through the transmission chain 382. This causes the sandblasting heads 36 installed on the drive sprocket 381 and / or the driven sprocket 383 to rotate synchronously, forming a differentiated spraying angle. The number of sandblasting heads 36 that are open is controlled by a switch to form a full-dimensional spraying matrix.

[0054] The rotary transmission rack 22 at the top of the sandblasting chamber 3 meshes with the rotary gear 17, and under the drive of the hanger drive device 11, the hanger 1 and the workpiece mounted on the hanger 1 rotate synchronously in the sandblasting chamber. In the combined operation mode of dynamic rotation of the sandblasting head 36 and dynamic rotation of the workpiece, the dual rotation linkage of the workpiece and the sandblasting head 36 is realized, eliminating sandblasting blind spots in space and ensuring 360° coverage sandblasting of complex areas such as curved surfaces, corners, and recesses of large irregular structures.

[0055] During the sandblasting process, the generated sandblasting waste is collected through the sand collection hopper 37 at the bottom of the sandblasting chamber 3 and sucked in by the negative pressure pump 35. After the negative pressure pump 35 separates and filters the sandblasting waste, the recyclable sand is circulated through the pipeline to the sand box 32 for reuse. When the sandblasting time reaches the preset value, the control system issues a stop command, the sandblasting head 36 stops spraying, and the electric control door 33 on the other side of the sandblasting chamber 3 opens automatically.

[0056] S6: The sandblasted workpiece is transported to the second scanning chamber 4 via the track system 7; The hanger drive device 11 drives the hanger 1, so that the workpiece mounted on the hanger 1 and treated by sandblasting is slid to the second scanning chamber 4 through the track system 7.

[0057] S7: The second scanning chamber 4 performs a full-range dynamic three-dimensional scan of the sandblasted workpiece, generates three-dimensional data of the sandblasted morphology, and transmits it to the control system. When the fixture moves to the second scanning chamber 4, the control system controls multiple sets of 3D scanners 23 within the second scanning chamber 4 to start synchronously. The rotary transmission rack 22 at the top of the second scanning chamber 4 meshes with the rotary gear and, driven by the fixture drive device, maintains a stable rotation at the same speed as the one in the first scanning chamber 2. The 3D scanners 23 perform omnidirectional dynamic scanning along the workpiece axis, accurately acquiring 3D data of the post-sandblasting morphology. The 3D data of the post-sandblasting morphology includes core data types such as the surface contour accuracy of the workpiece after sandblasting, the roughness value of the area to be inspected, the dimensional deviation after corner treatment, and the coordinates and area ratio of the untreated area, and is transmitted to the control system in real time.

[0058] S7: The control system determines the spraying quality based on three-dimensional point cloud registration and point-by-point deviation analysis; After receiving the 3D topographic data after sandblasting, the control system uses algorithms for 3D point cloud registration and point-by-point deviation analysis to determine the sandblasting quality. First, the ICP (Iterative Closest Point) algorithm is used to register and align the post-blasting 3D point cloud data with the original point cloud data from the first scan, eliminating spatial positional deviations. Specifically, the control system compares the 3D modeling position of the second scan's "post-blasting 3D topographic data" with the "original 3D topographic data" from the first scan to eliminate spatial positional deviations. Then, the Euclidean distance algorithm is used to calculate the 3D coordinate deviation at each corresponding position, combined with a grayscale comparison algorithm to analyze surface roughness uniformity. Simultaneously, a region growing algorithm is used to identify defective areas that do not meet the preset sandblasting standards and calculate their area proportion.

[0059] Furthermore, the sandblasting quality is determined by assessing the proportion of unprocessed areas and the maximum diameter of unprocessed areas based on three-dimensional point cloud data, surface grayscale data, and regional contour boundary data.

[0060] The sandblasting quality assessment employs a combination of precise hardware acquisition and algorithmic quantitative analysis. The percentage of untreated areas is derived from multiple high-precision laser 3D scanners 23 within the second scanning chamber 4. The control system synchronously collects three core pieces of information: 3D point cloud data, surface grayscale data, and region contour boundary data after sandblasting. The 3D point cloud data is used to locate the spatial coordinates and 3D shape of the untreated areas; the surface grayscale data distinguishes between sandblasted and untreated areas; and the region contour boundary data precisely delineates the extent of the untreated areas. The percentage of untreated areas is calculated using the following formula: Percentage of untreated areas (%) = (∑Area of ​​a single untreated area ÷ Total sandblasted area of ​​the workpiece) × 100%. The area of ​​a single untreated area is calculated using a polygon approximation algorithm based on the area boundary delineated by the 3D point cloud data. The total sandblasted area of ​​the workpiece is determined by a region extraction algorithm based on the original 3D data acquired in the first scanning chamber, and the area of ​​non-sandblasted surfaces (such as mounting reference surfaces and sealing surfaces) is automatically removed during the calculation. When the algorithm calculates that the percentage of untreated areas is lower than a preset value, and the maximum diameter of the untreated areas is less than or equal to the preset diameter, the sandblasting is deemed satisfactory. In practical use, for example, when the algorithm calculates that the percentage of untreated areas is less than 0.5%, and simultaneously verifies that the maximum diameter of each untreated area is ≤2mm, the sandblasting is deemed satisfactory; if the percentage of untreated areas is higher than 0.5%, or if there is a single untreated area with a diameter >2mm, the sandblasting is deemed unsatisfactory. Of course, 0.5% and 2mm here are just examples; different values ​​can be set according to the quality requirements of the workpiece.

[0061] If the judgment result is substandard, the workpiece needs to be processed again. At this time, the control system controls the track-changing drive device 51 to start rotating forward, driving the track-changing drive gear 52 to rotate forward, causing the track-changing driven rack 53 to slide outward, thereby causing the inner track slider 54 and the outer track slider 55 to move outward along the transmission mounting frame 57. When the inner track slider 54 and the outer track slider 55 move to the preset stroke end point, the stroke control switch at the end of the transmission mounting frame 57 is triggered, and the signal is fed back to the control system. The control system controls the track-changing drive device 51 to shut down. At this time, the docking ends of the first inner track 71 and the second inner track 72 are precisely fitted, forming a complete inner track closed-loop circulation branch. The hanger 1 carries the substandard workpiece directly back to the entrance of the first scanning chamber 2 along the inner track, repeating the three-dimensional scanning, sandblasting and quality inspection steps until the sandblasting quality meets the standard. The secondary processing of the workpiece does not need to pass through the loading area, realizing the efficient connection of "first scan - sandblasting - second scan", which greatly shortens the process time of secondary processing.

[0062] If the judgment result is satisfactory, the control system controls the track-changing drive device 51 to start reversing. The drive gear 52 rotates in the opposite direction, causing the track-changing driven rack 53 to slide inward, thereby causing the inner rail slider 54 and the outer rail slider 55 to move inward along the transmission mounting frame 57. When the inner rail slider 54 and the outer rail slider 55 move to the preset end point of the stroke, the stroke control switch in the middle of the transmission mounting frame is triggered, and the signal is fed back to the control system. The control system controls the track-changing drive device 51 to shut down. At this time, the docking ends of the first inner rail 71 and the outer rail 73 are precisely fitted, forming a complete inner and outer rail closed-loop circulation branch. The hanger 1 carries the workpiece along the outer rail 73 to the unloading point 77 for unloading. After unloading, the hanger 1 moves to the loading point 78 to wait for the next loading, ensuring the cyclical use of the empty hanger 1. The inner and outer rail closed-loop circulation branch finally forms a complete sandblasting path of "loading point - first scanning room - sandblasting room - second scanning room - unloading point".

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent sandblasting device for large, irregularly shaped structures, characterized in that, include: Track system (7); Hanger (1), which is provided on the track system (7) and can slide along the track system (7), the hanger (1) is used to hang workpiece; The first scanning chamber (2) is located below the track system (7) and is used to perform all-round dynamic scanning of the workpiece and transmit the generated original three-dimensional morphological data to the control system in real time. The sandblasting room (3) is located below the track system (7) and is used to perform all-round sandblasting on the workpiece after it has been scanned by the first scanning room (2). as well as The second scanning chamber (4) is located below the track system (7) and is used to perform a full-range dynamic scan of the workpiece after sandblasting and transmit the generated three-dimensional data of the sandblasted morphology to the control system in real time. The fixture (1) passes through the first scanning chamber (2), the sandblasting chamber (3) and the second scanning chamber (4) in sequence during the sliding process along the track system (7), and the workpiece can rotate relative to the scanning chamber or the sandblasting chamber (3) when passing through the scanning chamber and / or the sandblasting chamber (3).

2. The intelligent sandblasting device for large, irregularly shaped structures according to claim 1, characterized in that, The sandblasting chamber (3) includes multiple sets of transmission components (38) and several sandblasting heads (36), wherein the transmission components (38) include: A drive motor (384) is mounted on the house frame (31); The drive sprocket (381) is located at the output end of the drive motor (384) and rotates under the drive of the drive motor (384). At least one driven sprocket (383) is rotatably mounted on the room frame (31); and A transmission chain (382) is wound between the driving sprocket (381) and the driven sprocket (383) to drive the driven sprocket (383) to rotate synchronously under the drive of the driving sprocket (381); The sandblasting head (36) is mounted on the drive sprocket (381) and / or the driven sprocket (383), and its sandblasting angle is adjusted as the drive sprocket (381) and / or the driven sprocket (383) rotate.

3. The intelligent sandblasting device for large, irregularly shaped structures according to claim 2, characterized in that, The sandblasting room (3) also includes: A sand box (32) is located outside the frame (31) and connected to the blasting head (36) for supplying sand to the blasting head (36); A sand hopper (37) is located at the bottom of the inner side of the frame (31) and is used to collect sandblasting waste. A negative pressure pump (35) is located outside the frame (31) and is connected to the sand collection hopper (37) and the sand box (32) through a pipeline for pumping out the sandblasting waste. The recyclable sand obtained after separation and purification by the negative pressure pump (35) is transported to the sand box (32) through the return pipeline.

4. The intelligent sandblasting device for large, irregularly shaped structures according to claim 1, characterized in that, The hanging fixture (1) includes: Hanging rack (13) Hanging device (11), which is mounted on the hanging frame (13); A drive wheel (12) is located at the output end of the hanger drive device (11) and connected to the track system (7) for driving the hanger (1) to slide along the track system (7); The load-bearing wheel (14) is mounted on the bracket (13) and connected to the track system (7) to support the hanger (1). A hook (18), which is provided on the hanger (13), is used to hang the workpiece; and A rotating gear (17) is disposed on the hook (18) and configured to mesh with a rotating transmission rack (22) disposed at the top of the scanning room or the sandblasting room when the hanger (1) is located in the scanning room or the sandblasting room.

5. The intelligent sandblasting device for large, irregularly shaped structures according to claim 1, characterized in that, The scanning chamber includes an outer frame (21), and multiple three-dimensional scanners (23) are symmetrically arranged inside the outer frame (21). The three-dimensional scanners (23) are connected to the control system. The three-dimensional scanners (23) are used to acquire three-dimensional morphological data of the workpiece or surface quality information after sandblasting, and transmit the acquired data to the control system.

6. The intelligent sandblasting device for large irregular structures according to any one of claims 1 to 5, characterized in that, The track system (7) includes: a first inner track (71), a second inner track (72), and an outer track (73). The first inner track (71) extends along the arrangement path of the first scanning room (2), the sandblasting room (3), and the second scanning room (4). The second inner track (72) is located on the opposite side of the first inner track (71), and the outer track (73) is located on one side of the outer perimeter of the second inner track (72). It also includes a track-changing device (5) connected between the first inner track (71), the second inner track (72), and the outer track (73). The track-changing device (5) is configured as follows: In the first working state, the first inner track (71) and the second inner track (72) are connected to form a continuous ring-shaped inner passageway; In the second working state, the first inner track (71) is connected to the outer track (73) to form a continuous inner and outer passageway.

7. The intelligent sandblasting device for large irregular structures according to claim 6, characterized in that, The track-changing device (5) includes: Transmission mounting bracket (57). A track-changing drive device (51) is mounted on the transmission mounting frame (57); The track-changing drive gear (52) is connected to the output end of the track-changing drive device (51) and rotates under the drive of the track-changing drive device (51); Two variable track driven racks (53) are slidably connected to the transmission mounting bracket (57) and mesh with the variable track driving gear (52); Two track-changing frames are respectively engaged or snapped with the corresponding track-changing driven rack (53); The inner variable rail (58) and the outer variable rail (59) are both connected to the variable rail frame; In the first working state, the inner variable rail (58) is connected to the first inner rail (71) and the second inner rail (72); In the second working state, the outer variable track (59) is connected to the first inner track (71) and the outer track (73).

8. A sandblasting method for large, irregularly shaped structures, characterized in that, Includes the following steps: The workpiece is hung on the hanger (1) and transported to the first scanning room (2) via the track system (7); The first scanning chamber (2) performs a full-range dynamic three-dimensional scan of the workpiece, generates original three-dimensional morphological data, and transmits it to the control system. The control system preprocesses the original 3D topography scan to construct a 3D geometric model of the workpiece and extracts topography parameters that characterize the geometric features of the workpiece from it. Based on the preset sandblasting standard parameters and the mapping relationship between the morphology parameters, sandblasting parameters adapted to the workpiece are generated, and the sandblasting parameters are sent to the sandblasting room (3). The sandblasting room (3) performs all-around sandblasting on the workpiece according to the received sandblasting parameters; The sandblasted workpiece is transported to the second scanning room (4) via the track system (7); The second scanning chamber (4) performs a full-range dynamic three-dimensional scan of the workpiece after sandblasting, generates three-dimensional data of the morphology after sandblasting, and transmits it to the control system. The control system determines the spraying quality based on three-dimensional point cloud registration and point-by-point deviation analysis. If the judgment result is unsatisfactory, the track system (7) is controlled to return the fixture (1) along the inner track to the first scanning room (2) and repeat the sandblasting and quality inspection steps until the sandblasting quality meets the standard. If the judgment result is satisfactory, the track system (7) is controlled to transport the hanger (1) to the unloading point via the outer track for unloading.

9. The sandblasting method for large, irregularly shaped structures according to claim 8, characterized in that, The original morphological 3D data includes one or more combinations of the following: the curvature of the workpiece surface, the boundary dimensions of the area to be sandblasted, edge protrusion information, depression information, or surface roughness; the post-sandblasting morphological 3D data includes one or more combinations of the following: the surface contour accuracy of the workpiece surface after sandblasting, the surface roughness of the area to be inspected, the dimensional deviation after edge treatment, or the coordinates and area ratio of the untreated area.

10. The sandblasting method for large, irregularly shaped structures according to claim 8, characterized in that, The sandblasting quality is determined by analyzing the proportion of untreated areas and the maximum diameter of untreated areas based on three-dimensional point cloud data, surface grayscale data, and regional contour boundary data. If the proportion of untreated areas is lower than a preset value and the maximum diameter of untreated areas is less than or equal to a preset diameter, the sandblasting is deemed to meet the standard.

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