A double-station parallel free-form surface laser marking and material removing automatic processing system

Abstract

The present application relates to the technical field of laser marking, in particular to a double-station parallel free-curved-surface laser marking and material-removing automatic processing system, comprising a protection cabinet, a first processing station, a second processing station, a feeding conveying system and a discharging conveying system are arranged in the protection cabinet, a 3D structured light camera, a laser and a scanning head are arranged in the processing station, so that the workpiece can obtain scanning data of the corresponding free curved surface before processing, and then laser marking or material-removing processing is carried out according to the curved surface data, compared with the fixed plane path processing mode, the laser processing area can be more fitted to the actual curved surface of the workpiece, the problems of uneven material-removing depth, local missing processing and local overburning caused by the change of the workpiece curvature are reduced, and the system is especially suitable for simple shoe soles, foamed plastic parts, leather parts and other workpieces with curved surfaces and certain flexibility.

Description

Technical Field

[0001] This invention relates to the field of laser marking technology, and in particular to an automated processing system for laser marking and material removal on a dual-station parallel freeform surface. Background Technology

[0002] Laser marking, laser cutting, and laser material removal equipment are widely used in the surface processing of non-metallic materials, soft materials, and irregularly shaped workpieces. For example, in the production of simple shoe soles, it is often necessary to cut, etch, remove material, or shape the surface or edges of the sole to form a curved structure that meets the requirements for wearing, assembly, or appearance. Because simple shoe soles usually have a certain thickness, elasticity, and irregular curved surfaces, and the shape, curvature, height, and material resilience of different batches of workpieces may vary, the processing not only requires the processing path to conform to the curved surface shape, but also requires that the clamping, positioning, and transportation processes minimize the extrusion deformation of the workpiece.

[0003] Existing laser processing equipment primarily focuses on planar or regular curved surface processing, typically relying on preset graphics, fixed focal lengths, and fixed processing paths to complete marking or material removal. When the workpiece is a simple shoe sole, foam material part, leather part, or other irregularly shaped free-form surface workpiece, the height difference between different areas of the workpiece and the laser focal point is significant. If a planar path is still used for processing, it can easily lead to problems such as insufficient local energy, excessive local energy, inconsistent material removal depth, edge ablation, or processing area misalignment. For workpieces requiring multi-curved surface processing, existing equipment often requires manual flipping, manual repositioning, and multiple re-clamping operations, which not only results in low processing efficiency but also introduces positional errors with each re-clamping, affecting processing consistency.

[0004] In addition, traditional laser equipment has a fixed optical path structure and galvanometer parameters, resulting in a large heat-affected zone. For soft, easily deformable, and easily ablated materials such as foamed plastics and leather, processing defects such as workpiece deformation, carbonization, and breakage may occur. Furthermore, the equipment has low integration and weak heat dissipation capacity of core laser and galvanometer components. Long-term operation is prone to power drift and accuracy decay, making it unable to support long-term unattended automated production.

[0005] Therefore, a dual-station parallel freeform surface laser marking and material removal automated processing system is proposed. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a dual-station parallel freeform surface laser marking and material removal automated processing system, comprising a protective cabinet, wherein a first processing station, a second processing station, a loading conveyor system, and an unloading conveyor system are arranged inside the protective cabinet. The loading conveyor system is located on one side of the first and second processing stations, and the unloading conveyor system is located on the other side of the first and second processing stations. The first processing station is provided with a worktable plate for supporting the workpiece. Both the first and second processing stations are equipped with a laser galvanometer processing module and a 3D structured light camera. The laser galvanometer processing module is used for laser marking and material removal on the freeform surface of the workpiece. For marking or material removal, a 3D structured light camera is used to acquire three-dimensional data of the workpiece's free-form surface. A gripping robot with a vacuum suction cup at its end is installed inside the protective cabinet. This robot is used to grip, transfer, or adjust the workpiece's posture between the first processing station, the second processing station, and the unloading conveyor system. The loading conveyor system is equipped with a transfer beam to transfer workpieces from the loading conveyor system to the worktable. A fume purification system and a water-cooled heat dissipation unit are installed outside the protective cabinet. The suction end of the fume purification system extends to the vicinity of the first and second processing stations, and the water-cooled heat dissipation unit is connected to the laser galvanometer processing module via cooling pipes.

[0007] As a preferred embodiment of the present invention, the protective cabinet includes an outer frame, an inner frame, and an electrical cabinet. The inner frame is located inside the outer frame, and the electrical cabinet is located below the inner frame. The first processing station, the second processing station, the loading conveying system, and the unloading conveying system are all located inside the outer frame. The electrical cabinet is equipped with a control host for controlling three-dimensional data processing, laser processing, and mechanism movements.

[0008] As a preferred embodiment of the present invention, the first processing station includes a worktable support, a worktable plate connected to the worktable support, an air knife fixing block base connected to one side of the worktable plate, an air knife fixing block connected to the air knife fixing block base, an air blowing pipe and an air knife pipe installed on the air knife fixing block, and both the air blowing pipe and the air knife pipe connected to the air circuit system inside the protective cabinet; the laser galvanometer processing module includes an optical plate connected to an internal frame, a laser fixing block connected to the optical plate, a laser installed on the laser fixing block, a scanning head connected to the front side of the optical plate, a 3D structured light camera installed on the front side of the bottom of the scanning head, and the laser output end of the scanning head and the shooting direction of the 3D structured light camera both facing the worktable plate; the gripping robot is installed on a steel structure fixing base, the steel structure fixing base is connected to the inner bottom wall of the protective cabinet, a suction cup protective cover is provided at the end of the gripping robot, vacuum suction cups are arranged at the bottom of the suction cup protective cover, and the end of the gripping robot is connected to a suction cup fixing plate for connecting vacuum suction cups through a suction cup adapter flange.

[0009] As a preferred embodiment of the present invention, the feeding and conveying system includes a conveyor support column, with conveyor profile supports connected to both sides of the conveyor support column. A synchronous belt support plate is connected to the inner side of the conveyor profile support. A conveyor idler roller and a conveyor drive roller are rotatably mounted at the front and rear ends of the conveyor profile support, respectively. A motor for driving the conveyor drive roller is provided on one side of the conveyor profile support. The feeding and conveying system also includes a guide bar worktable base plate. Guide shaft supports and lead screw supports are connected to both sides of the guide bar worktable base plate. Guide rods are connected between the guide shaft supports, and lead screw supports are connected between the lead screw supports. The system includes a lead screw with guide rail fixing plates threaded to both ends. The guide rail fixing plates are slidably connected to the guide rod, and the guide rails are connected to the guide rail fixing plates via guide rail fixing brackets. The two guide rails are located on both sides of the synchronous belt conveying path. The feeding conveying system also includes a transfer transverse cylinder fixing plate, on which a linear module is mounted. A cylinder seat is connected to the slide of the linear module, and a lifting cylinder is mounted on the cylinder seat. A transfer beam seat is connected to the drive shaft of the lifting cylinder, and a transfer beam is connected to the transfer beam seat. A notch is provided on the worktable plate for the transfer beam to descend and pass through.

[0010] As a preferred embodiment of the present invention, the material conveying system includes a conveyor support column, both ends of which are connected to conveyor profile supports. Belt support plates are connected to opposite sides of the two conveyor profile supports. Conveyor idler rollers are rotatably mounted on the outer front end of the conveyor profile supports. Conveyor drive rollers are rotatably mounted on the outer rear end of the two conveyor profile supports. A motor for driving the conveyor drive rollers is mounted on the conveyor profile supports. A material receiving frame is provided below the rear side of the conveyor drive rollers. An NG tray is connected inside the outer frame below the belt support plate, and a turnover box is slidably connected to the NG tray.

[0011] As a preferred embodiment of the present invention, the dust purification system includes a dust removal fan, which is connected to a dust removal adapter box via a dust removal pipeline. The dust removal adapter box is connected to two side-mounted dust removal hoods via two dust removal branch pipes. The two side-mounted dust removal hoods are respectively located near the first processing station and the second processing station and are equipped with dust removal perforated plates.

[0012] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. This invention sets up a first processing station and a second processing station in a protective cabinet, and equips the processing station with a 3D structured light camera, laser and scanning head, so that the workpiece can obtain the scanning data of the corresponding free surface before processing, and then perform laser marking or material removal processing according to the surface data. Compared with the method of processing with a fixed planar path, the laser processing area can fit the actual surface of the workpiece more closely, and reduce the problems of uneven material removal depth, local missed processing and local overheating caused by changes in the curvature of the workpiece. It is especially suitable for processing workpieces with curved surfaces and a certain degree of flexibility, such as simple shoe soles, foamed plastic parts, leather parts.

[0013] 2. This invention, through the cooperation of the loading and conveying system, the first processing station, the second processing station, and the unloading and conveying system, enables the workpiece to sequentially complete loading guidance, beam transfer, station placement, adsorption and gripping, posture adjustment, and unloading and collection. The transfer beam can cooperate with the notch of the worktable to complete the workpiece transport, and the gripping robot can cooperate with the vacuum suction cup to move or flip the workpiece, thereby reducing the positional errors caused by manual handling, manual flipping, and repeated clamping, and improving the efficiency of continuous processing at two stations.

[0014] 3. This invention, through the cooperation of a fume purification system and a water-cooled heat dissipation unit, enables the timely extraction of fumes generated during laser marking or material removal, and provides continuous heat dissipation for heat-generating components such as the laser and scanning head. At the same time, the protective cabinet can form a relatively enclosed processing space, and the monitoring camera and sensors can assist in observing the processing status and judging the position of the mechanism, thereby reducing the impact of fume adhesion, heat accumulation and abnormal operation on processing accuracy, and improving the stability and safety of the equipment for long-term continuous processing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the front structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is a schematic diagram of the structure of the first and second processing stations of the present invention; Figure 4 This is a schematic diagram of the material feeding and conveying system of the present invention; Figure 5 This is a schematic diagram of the material feeding and conveying system of the present invention; Figure 6 This is a schematic diagram of the structure of the dust purification system and water-cooled heat dissipation unit of the present invention.

[0016] The components include: 1. Protective cabinet; 101. Outer frame; 102. Internal frame; 103. Electrical cabinet; 2. First processing station; 201. Workbench support; 202. Workbench plate; 203. Air knife fixing block base; 204. Air knife fixing block; 205. Air duct; 206. Air knife tube; 207. Optical plate; 208. Laser fixing block; 209. Laser; 210. Scanning head; 211. 3D structured light camera; 212. Steel structure fixing base; 213. Gripping robot; 2 14. Suction cup protective cover; 215. Vacuum suction cup; 216. Suction cup adapter flange; 3. Second processing station; 4. Feeding and conveying system; 401. Conveyor support column; 402. Conveyor profile support; 403. Synchronous belt support plate; 404. Conveyor idler wheel seat; 405. Conveyor idler wheel roller; 406. Synchronous belt protective cover; 407. Conveyor drive wheel fixing seat; 408. Conveyor drive roller; 409. Guide bar worktable base plate; 410. Guide shaft support; 411. Screw support; 412. Guide rod; 413. Lead screw; 414. Guide strip fixing plate; 415. Guide strip fixing bracket; 416. Guide strip; 417. Damping block; 418. Loading encoder; 419. U-shaped photoelectric sensor; 420. Transfer transverse cylinder fixing plate; 421. Linear module; 422. Cylinder seat; 423. Lifting cylinder; 424. Transfer crossbeam seat; 425. Transfer crossbeam; 5. Unloading conveyor system; 501. Conveyor support column; 502. Conveyor profile support; 503. Leather 504. Conveyor idler wheel seat; 505. Conveyor idler wheel roller; 506. Belt guard; 507. Conveyor drive wheel fixing seat; 508. Conveyor drive roller; 509. NG pallet; 510. Turnover box; 6. Material storage box; 7. Dust purification system; 701. Dust removal fan; 702. Dust removal pipeline; 703. Dust removal adapter box; 704. Dust removal branch pipe; 705. Side-mounted dust removal hood; 706. Dust removal perforated plate; 707. Dust removal hood fixing plate; 8. Water-cooled heat dissipation unit. Detailed Implementation

[0017] To make the technical means, creative features, objectives, and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention.

[0018] Example: Figure 1 and Figure 2As shown, a dual-station parallel freeform surface laser marking and material removal automated processing system includes a protective cabinet 1. The protective cabinet 1 adopts a closed cabinet structure and includes an outer frame 101, an inner frame 102, and an electrical cabinet 103. The inner frame 102 is located inside the rear side of the outer frame 101, and the electrical cabinet 103 is located below the inner frame 102. Electrical components and a control host are installed in the electrical cabinet 103. The control host is used to install processing control software and perform equipment control, three-dimensional data processing, and processing parameter calling.

[0019] The outer side of the housing frame 101 can be connected to a sealing plate, door panel or observation window to form a relatively enclosed processing space. Inside the housing frame 101, lighting, monitoring camera, stroke sensor, position sensor and pneumatic system can be installed. The pneumatic system includes air pipe, solenoid valve, vacuum generator or vacuum pump. The above structures can all adopt existing equipment structures, which will not be described in detail here.

[0020] The housing frame 101 is equipped with a first processing station 2 and a second processing station 3. The first processing station 2 is used to scan and laser remove material from the free-form surface of the workpiece. The second processing station 3 is used to scan the workpiece again, adjust its posture, and perform subsequent surface processing. The first processing station 2 and the second processing station 3 can process different workpieces simultaneously to form parallel processing at two stations. It should be noted that this embodiment can be used for flexible or semi-flexible workpieces with surface processing requirements, such as simple shoe soles, and can also be used for other workpieces with free-form surface marking, etching, or material removal requirements.

[0021] Inside the housing frame 101, a feeding conveying system 4 is provided on one side of the first processing station 2 and the second processing station 3, and a discharging conveying system 5 is provided on the other side. A material receiving frame 6 is provided at the discharging end of the discharging conveying system 5. A dust purification system 7 and a water-cooled heat dissipation unit 8 are provided on the outside of the housing frame 101. The suction end of the dust purification system 7 extends into the housing frame 101, and the water-cooled heat dissipation unit 8 is connected to the laser component or optical component that needs heat dissipation through cooling pipes.

[0022] like Figure 1 and Figure 3 As shown, the first processing station 2 includes a worktable support 201, which is connected to the inner bottom wall of the outer casing 101. The worktable support 201 is located on the front side of the inner frame 102. A worktable plate 202 is connected to the worktable support 201, which is used to support the workpiece to be processed.

[0023] A base 203 for fixing an air knife is connected to one side of the worktable plate 202. An air knife fixing block 204 is connected to the base 203. The air knife fixing block 204 extends upward and is located on one side of the worktable plate 202. An air blowing pipe 205 and an air knife pipe 206 are installed on the air knife fixing block 204. Both the air blowing pipe 205 and the air knife pipe 206 are connected to the air circuit system. The air blowing pipe 205 is used to provide auxiliary air blowing to the processing area. The air knife pipe 206 is used to form a strip-shaped airflow near the surface of the workpiece, thereby reducing the retention of material debris or dust on the surface of the workpiece.

[0024] An optical plate 207 is connected to the internal frame 102. The optical plate 207 is used to provide an installation reference for the laser optical path components. A laser fixing block 208 is connected to the optical plate 207. A laser 209 is installed on the laser fixing block 208. A scanning head 210 is connected to the front side of the optical plate 207. The laser 209 and the scanning head 210 form a laser galvanometer processing module. The laser output end of the scanning head 210 faces downward toward the worktable plate 202. The scanning head 210 can be a three-dimensional galvanometer scanning head with dynamic focusing function, or it can be a regular galvanometer scanning head with an adjustable focus optical path structure, so that the laser focus can match the height change of the workpiece's free-form surface.

[0025] A 3D structured light camera 211 is mounted on the front side of the bottom of the scanning head 210. The 3D structured light camera 211 is pointing downwards toward the worktable 202. The 3D structured light camera 211 can be an existing industrial structured light camera. The 3D structured light camera 211 includes a structured light projection unit and an image acquisition unit. The structured light projection unit is used to project stripes, grids or other structured light patterns onto the surface of the workpiece. The image acquisition unit is used to acquire the deformed image of the pattern on the curved surface of the workpiece, thereby generating depth data and point cloud data of the workpiece surface.

[0026] The inner bottom wall of the outer frame 101 is connected to a steel structure mounting base 212. A gripping robot 213 is mounted on the steel structure mounting base 212. The gripping robot 213 can be an existing dual-arm industrial robot or a dual-arm collaborative robot. The end of the gripping robot 213 is provided with a suction cup protective cover 214. Vacuum suction cups 215 are arranged at the bottom of the suction cup protective cover 214. Several vacuum suction cups 215 are connected by a suction cup fixing plate. The end of the gripping robot 213 is connected to the suction cup fixing plate through a suction cup adapter flange 216.

[0027] The vacuum suction cup 215 is connected to the air circuit system through an air tube. The vacuum suction cup 215 is used to adsorb workpieces. The vacuum suction cup 215 and the suction cup fixing plate can be connected by an elastic element or a compression spring, so that the vacuum suction cup 215 has a certain floating margin when contacting curved workpieces, thereby adapting to the local height difference of curved or soft workpieces such as simple shoe soles, foamed plastic parts, and leather parts, and reducing the risk of indentation and displacement during gripping.

[0028] The second processing station 3 includes a laser galvanometer processing module, a 3D structured light camera, and a gripping and positioning structure that are the same as or similar to the first processing station 2. The laser galvanometer processing module of the second processing station 3 is located on one side of the laser galvanometer processing module of the first processing station 2. The second processing station 3 can use a gripping robot 213 in conjunction with a vacuum suction cup 215 to flip, move, and maintain the posture of the workpiece.

[0029] like Figure 1 and Figure 4 As shown, the feeding and conveying system 4 is located to the left of the first processing station 2 and the second processing station 3. The feeding and conveying system 4 includes a conveyor support column 401, which is connected to the inside of the outer frame 101. The conveyor support column 401 is U-shaped, and both sides of the conveyor support column 401 are connected to conveyor profile brackets 402. The opposite sides of the two conveyor profile brackets 402 are connected to synchronous belt support plates 403, which are used to support the upper section of the synchronous belt.

[0030] A conveyor idler wheel seat 404 is connected to the outer front end of the conveyor profile bracket 402. A conveyor idler wheel roller 405 is rotatably mounted on the inner side of the conveyor idler wheel seat 404. A conveyor drive wheel fixing seat 407 is connected to the outer rear end of the conveyor profile bracket 402. A conveyor drive roller 408 is rotatably mounted between the two conveyor drive wheel fixing seats 407. A synchronous belt protective cover 406 is connected to the outer rear end of the left side of the conveyor profile bracket 402. A motor and transmission components (not shown in the figure) are installed inside the synchronous belt protective cover 406. The motor is connected to the conveyor drive roller 408 through a synchronous pulley and a synchronous transmission belt. This is a known technology. In use, the conveyor drive roller 408 rotates and drives the synchronous belt sleeved on the conveyor idler wheel roller 405 and the conveyor drive roller 408 to rotate, thereby conveying the workpiece.

[0031] The outer frame 101 is internally connected to a guide bar worktable base plate 409. Guide shaft supports 410 and lead screw supports 411 are connected to the left and right sides of the top surface of the guide bar worktable base plate 409. A guide rod 412 is connected between the two corresponding guide shaft supports 410 on the left and right sides, and a lead screw 413 is connected between the two corresponding lead screw supports 411 on the left and right sides. The lead screw 413 is a double lead screw. Guide bar fixing plates 414 are threaded to the left and right ends of the lead screw 413 respectively. The guide bar fixing plates 414 are slidably connected to the guide rods 412. A guide bar fixing bracket 415 is connected to the side of the guide bar fixing plate 414, and a guide bar 416 is connected to the free end of the guide bar fixing bracket 415.

[0032] Two guide bars 416 are located on both sides of the synchronous belt conveying path. By rotating the lead screw 413, the two guide bar fixing plates 414 can be moved closer or further apart, thereby adjusting the distance between the two guide bars 416 to accommodate workpieces of different widths. For workpieces with long outer contours and curved edges, such as simple shoe soles, the guide bars 416 can limit the lateral displacement of the workpiece during the conveying process, so that the workpiece maintains a more stable posture when it reaches the transfer position.

[0033] A damping block 417 is connected between the two conveyor profile supports 402. The damping block 417 is used to buffer or limit the workpieces that are conveyed to the position. A feeding code disk 418 is connected to the right end of the conveyor drive roller 408. A U-shaped photoelectric sensor 419 is installed on the right side of the conveyor drive wheel fixing seat 407. The feeding code disk 418 is located within the detection range of the U-shaped photoelectric sensor 419. A notch is opened on the feeding code disk 418. When the conveyor drive roller 408 drives the feeding code disk 418 to rotate, the notch periodically passes through the detection area of ​​the U-shaped photoelectric sensor 419, thereby detecting the rotation status or conveying distance of the conveyor drive roller 408.

[0034] Inside the outer frame 101, below the idler roller 405 of the conveyor, a transfer transverse cylinder fixing plate 420 is installed. A linear module 421 is installed on the transfer transverse cylinder fixing plate 420. The linear module 421 is equipped with a slide, and a cylinder seat 422 is connected to the slide. A lifting cylinder 423 is installed on the cylinder seat 422. A transfer crossbeam seat 424 is connected upward and axially to the drive shaft of the lifting cylinder 423. Several transfer crossbeams 42 are connected to the transfer crossbeam seat 424. 5. The transfer beam 425 extends backward, and the worktable plate 202 has a notch for the transfer beam 425 to extend into or avoid, so that the workpiece can be transferred from the feeding conveyor system 4 to the worktable plate 202. In use, the lifting cylinder 423 drives the transfer beam 425 to rise and fall, and the linear module 421 drives the transfer beam 425 to move laterally, thereby lifting the workpiece on the feeding conveyor system 4 and transferring it to the worktable plate 202 or the corresponding workstation receiving position.

[0035] like Figure 1 and Figure 5As shown, the unloading conveying system 5 is located to the right of the first processing station 2 and the second processing station 3. The unloading conveying system 5 includes a conveyor support column 501, which is connected inside the outer casing 101. The conveyor support column 501 is U-shaped, and both ends of the conveyor support column 501 are connected to conveyor profile brackets 502. Belt support plates 503 are connected to the opposite sides of the two conveyor profile brackets 502. A conveyor idler wheel seat 504 is connected to the outer front end of the conveyor profile bracket 502. The idler roller 505 of the conveyor is rotatably mounted on the inner side of the idler roller seat 504. The outer rear ends of the two conveyor profile brackets 502 are connected to the drive roller fixing seats 507 of the conveyor. The drive roller 508 of the conveyor is rotatably mounted between the two drive roller fixing seats 507. The drive roller fixing seat 507 on the left side is connected to the belt guard 506. The belt guard 506 is equipped with a motor and transmission components (not shown in the figure). The motor is connected to the drive roller 508 of the conveyor through a synchronous pulley and a synchronous transmission belt.

[0036] A belt can be fitted onto the idler roller 505 and the drive roller 508 of the conveyor. After the motor drives the drive roller 508 to rotate, it drives the belt to run, thereby conveying the processed workpiece to the material receiving box 6. The material receiving box 6 is set outside the outer frame 101 and located below the rear side of the drive roller 508. Inside the outer frame 101, below the belt support plate 503, there is an NG tray 509. A turnover box 510 is slidably connected on the NG tray 509. The turnover box 510 is used to receive workpieces that have abnormal inspection, abnormal processing, or need to be re-inspected.

[0037] like Figure 1 and Figure 6 As shown, the dust purification system 7 includes a dust removal fan 701, which is located on the front side of the outer casing 101. The inlet of the dust removal fan 701 is connected to a dust removal pipe 702, which extends into the outer casing 101. The free end of the dust removal pipe 702 is connected to and communicates with a dust removal adapter box 703. The dust removal adapter box 703 has two branch interfaces, which are respectively connected to dust removal branch pipes 704. The free end of the dust removal branch pipes 704 extends downward and is connected to a side-mounted dust removal hood 705. The two side-mounted dust removal hoods 705 are respectively located near the first processing station 2 and the second processing station 3.

[0038] The side-mounted dust hood 705 has an opening facing the processing area, and a dust removal perforation plate 706 is connected to the opening. The dust removal perforation plate 706 has multiple dust suction holes. A dust hood fixing plate 707 is connected to the top surface of the side-mounted dust hood 705. The free end of the dust removal hood fixing plate 707 is connected to the internal frame 102. The dust generated by laser marking or material removal enters the side-mounted dust hood 705 through the dust removal perforation plate 706, and then enters the dust removal fan 701 through the dust removal branch pipe 704, the dust removal adapter box 703 and the dust removal pipeline 702. This reduces the spread of dust in the processing area and also reduces the risk of dust adhering to the scanning head 210, the 3D structured light camera 211 and other precision components.

[0039] The water-cooled heat dissipation unit 8 is located outside the outer casing 101. The water-cooled heat dissipation unit 8 includes a water tank, a water pump, a cooling component, a heat exchange component, and a temperature control component. This is a known technology. The water-cooled heat dissipation unit 8 is connected to the laser 209, the scanning head 210, or other components that require constant temperature control through cooling pipes. When the water-cooled heat dissipation unit 8 is running, the coolant circulates between the water-cooled heat dissipation unit 8 and the heat-generating components, carrying the heat generated by the heat-generating components back to the water-cooled heat dissipation unit 8 for heat exchange, thereby reducing the risk of unstable laser output or changes in optical path accuracy caused by long-term processing.

[0040] Working principle: When in use, the operator places the workpiece to be processed on the feeding and conveying system 4. The workpiece can be a simple shoe sole or other workpieces with free-form surface processing requirements. The feeding and conveying system 4 transports the workpiece to the designated position through a synchronous belt. The guide bar 416 guides the workpiece on both sides, the damping block 417 buffers or limits the workpiece in place, and the U-shaped photoelectric sensor 419 works with the feeding encoder 418 to detect the conveying status.

[0041] After the workpiece reaches the transfer position, the lifting cylinder 423 first drives the transfer beam seat 424 and the transfer beam 425 to rise, so that the transfer beam 425 lifts the workpiece from below. After the workpiece is lifted by the transfer beam 425, a workpiece positioning sensor or transfer detection sensor installed in the housing frame 101 by conventional technical means sends a material presence signal. The control host controls the linear module 421 to move according to the material presence signal. The linear module 421 drives the cylinder seat 422, the lifting cylinder 423, the transfer beam seat 424, and the transfer beam 425 that received the workpiece to move laterally along the linear guide rail through the slide. The movement causes the workpiece to move above the worktable plate 202. After reaching the worktable plate 202, the lifting cylinder 423 drives the transfer beam seat 424 and the transfer beam 425 to descend, allowing the workpiece to fall onto the worktable plate 202. After the workpiece is placed, the transfer beam 425 continues to descend and passes through the notch on the worktable plate 202, causing the transfer beam 425 to descend below the worktable plate 202. Then, the linear module 421 drives the transfer beam 425 back to below the initial position, and the lifting cylinder 423 drives the transfer beam 425 to rise and reset, waiting for the next material receiving.

[0042] After the workpiece is placed on the worktable 202, the 3D structured light camera 211 scans the free-form surface of the workpiece facing the camera. The host computer generates a workpiece surface model or surface data required for processing based on the point cloud data obtained from the scan. It also calls the corresponding laser processing parameters according to the workpiece material, material removal depth and processing area. For simple shoe soles, the laser processing parameters can be set around foam material, rubber material or other shoe sole materials, so that the laser can mark, etch or remove material on the surface of the shoe sole, thereby forming the required surface contour or surface structure.

[0043] After the first processing station 2 completes the processing of one side of the workpiece's curved surface, the gripping robot 213 picks up the workpiece through the vacuum suction cup 215 and transfers the workpiece to the second processing station 3. The second processing station 3 scans the workpiece again, and the gripping robot 213 adjusts the workpiece's posture according to the processing requirements, so that the side, back, or other curved surfaces to be processed of the workpiece face the laser processing area of ​​the second processing station 3. The laser galvanometer processing module of the second processing station 3 performs subsequent processing on the workpiece according to the updated curved surface data, thereby completing the multi-curved surface processing.

[0044] The first processing station 2 and the second processing station 3 can process different workpieces alternately according to the cycle. For example, when the first processing station 2 scans and processes the next workpiece on one side, the second processing station 3 adjusts the posture and processes the multi-curved surface of the previous workpiece, thereby reducing waiting time and improving continuous production efficiency. During the processing, the blower duct 205 and the air knife duct 206 provide auxiliary airflow to the processing area, the dust purification system 7 sucks up the processing dust, the water-cooled heat dissipation unit 8 dissipates heat from components such as the laser 209 and the scanning head 210, and the monitoring camera observes the processing status inside the outer frame 101. After processing is completed, the gripping robot 213 places the qualified workpiece on the unloading conveying system 5, and the unloading conveying system 5 transports the workpiece to the material storage box 6. Abnormal workpieces or workpieces to be re-inspected can be placed in the turnover box 510, thereby completing one automated processing cycle.

[0045] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A dual-station parallel freeform surface laser marking and material removal automated processing system, comprising a protective cabinet (1), characterized in that, The protective cabinet (1) is equipped with a first processing station (2), a second processing station (3), a feeding conveyor system (4) and a discharging conveyor system (5). The feeding conveyor system (4) is located on one side of the first processing station (2) and the second processing station (3), and the discharging conveyor system (5) is located on the other side of the first processing station (2) and the second processing station (3). The first processing station (2) is equipped with a worktable plate (202) for supporting the workpiece. Both the first processing station (2) and the second processing station (3) are equipped with a laser galvanometer processing module and a 3D structured light camera (211). The laser galvanometer processing module is used to perform laser marking or material removal processing on the free-form surface of the workpiece, and the 3D structured light camera (211) is used to acquire the three-dimensional data of the free-form surface of the workpiece. The protective cabinet (1) is also equipped with a gripping robot (213). The end of the gripping robot (213) is equipped with a vacuum suction cup (215). The gripping robot (213) is used to grip, transfer or adjust the posture of the workpiece between the first processing station (2), the second processing station (3) and the unloading and conveying system (5). The feeding and conveying system (4) is equipped with a transfer beam (425), which is used to transfer the workpiece on the feeding and conveying system (4) to the worktable plate (202). The protective cabinet (1) is equipped with a dust purification system (7) and a water-cooled heat dissipation unit (8). The suction end of the dust purification system (7) extends to the vicinity of the first processing station (2) and the second processing station (3). The water-cooled heat dissipation unit (8) is connected to the laser galvanometer processing module through a cooling pipe.

2. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 1, characterized in that, The protective cabinet (1) includes an outer frame (101), an inner frame (102), and an electrical cabinet (103). The inner frame (102) is located inside the outer frame (101), and the electrical cabinet (103) is located below the inner frame (102). The first processing station (2), the second processing station (3), the feeding conveying system (4), and the unloading conveying system (5) are all located inside the outer frame (101). The electrical cabinet (103) is equipped with a control host for controlling three-dimensional data processing, laser processing, and mechanism movements.

3. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 2, characterized in that, The first processing station (2) includes a workbench support (201), a workbench plate (202) connected to the workbench support (201), a wind knife fixing block base (203) connected to one side of the workbench plate (202), a wind knife fixing block (204) connected to the wind knife fixing block base (203), and a blower pipe (205) and a wind knife pipe (206) installed on the wind knife fixing block (204). The blower pipe (205) and the wind knife pipe (206) are both connected to the air circuit system inside the protective cabinet (1).

4. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 3, characterized in that, The laser galvanometer processing module includes an optical plate (207), which is connected to an internal frame (102). A laser fixing block (208) is connected to the optical plate (207), and a laser (209) is installed on the laser fixing block (208). A scanning head (210) is connected to the front side of the optical plate (207), and a 3D structured light camera (211) is installed on the front side of the bottom of the scanning head (210). The laser output end of the scanning head (210) and the shooting direction of the 3D structured light camera (211) are both facing the worktable plate (202).

5. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 4, characterized in that, The gripping robot (213) is mounted on a steel structure mounting base (212), which is connected to the inner bottom wall of the protective cabinet (1). The end of the gripping robot (213) is provided with a suction cup protective cover (214), and vacuum suction cups (215) are arranged at the bottom of the suction cup protective cover (214). The end of the gripping robot (213) is connected to the suction cup fixing plate for connecting the vacuum suction cups (215) through the suction cup adapter flange (216).

6. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 5, characterized in that, The feeding and conveying system (4) includes a conveyor support column (401), and a conveyor profile support (402) is connected to both sides of the conveyor support column (401). A synchronous belt support plate (403) is connected to the inner side of the conveyor profile support (402). A conveyor idler roller (405) and a conveyor drive roller (408) are rotatably installed at the front and rear ends of the conveyor profile support (402). A motor for driving the conveyor drive roller (408) is provided on one side of the conveyor profile support (402).

7. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 6, characterized in that, The feeding and conveying system (4) also includes a guide bar worktable base plate (409). The guide bar worktable base plate (409) is connected to guide shaft supports (410) and screw supports (411) on both sides. A guide rod (412) is connected between the guide shaft supports (410). A screw rod (413) is connected between the screw supports (411). The left and right ends of the screw rod (413) are threaded with guide bar fixing plates (414). The guide bar fixing plates (414) are slidably connected to the guide rods (412). The guide bar fixing plates (414) are connected to guide bars (416) through guide bar fixing brackets (415). The two guide bars (416) are located on both sides of the synchronous belt conveying path.

8. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 7, characterized in that, The feeding and conveying system (4) also includes a transfer transverse cylinder fixing plate (420), on which a linear module (421) is installed. A cylinder seat (422) is connected to the slide of the linear module (421). A lifting cylinder (423) is installed on the cylinder seat (422). A transfer beam seat (424) is connected to the drive shaft of the lifting cylinder (423). A transfer beam (425) is connected to the transfer beam seat (424). A notch is provided on the worktable plate (202) for the transfer beam (425) to descend and pass through.

9. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 8, characterized in that, The material conveying system (5) includes a conveyor support column (501), both ends of which are connected to a conveyor profile support (502). Belt support plates (503) are connected to opposite sides of the two conveyor profile supports (502). A conveyor idler roller (505) is rotatably installed on the outer front end of the conveyor profile support (502). A conveyor drive roller (508) is rotatably installed on the outer rear end of the two conveyor profile supports (502). A motor for driving the conveyor drive roller (508) is installed on the conveyor profile support (502). A material storage frame (6) is provided below the rear side of the conveyor drive roller (508). An NG tray (509) is connected inside the outer frame (101) below the belt support plate (503). A turnover box (510) is slidably connected on the NG tray (509).

10. The automated processing system for laser marking and material removal on a dual-station parallel freeform surface as described in claim 9, characterized in that, The dust purification system (7) includes a dust removal fan (701), which is connected to a dust removal adapter box (703) via a dust removal pipe (702). The dust removal adapter box (703) is connected to two side-mounted dust removal hoods (705) via two dust removal branch pipes (704). The two side-mounted dust removal hoods (705) are respectively located near the first processing station (2) and the second processing station (3) and are equipped with dust removal perforated plates (706).

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