Vertical workpiece painting automatic guiding device

Abstract

The application discloses a vertical workpiece automatic guiding device, belongs to the technical field of aluminum alloy profile coating, and comprises a mounting support, a guiding frame mounted on the top of the mounting support, a chain slidingly arranged in the guiding frame, a driving motor mounted on the guiding frame, a sprocket mounted on the output shaft of the driving motor and engaged with the chain, and mounting frames evenly arranged on the chain, a hanging rod is rotatably mounted on a rotating shaft through a torsional resistance mechanism, a quick insertion mounting mechanism is mounted at the bottom of the rotating shaft, and the quick insertion mounting mechanism is used for inserting and mounting the aluminum alloy tubular profile; a stable holding and rotating mechanism is arranged on one side of the guiding frame, a pressing rod mechanism is arranged on the other side of the inner top of the guiding frame, and a control mechanism is mounted on the mounting support. The device can effectively avoid the left and right swing of the workpiece caused by the impact force of the pigment spraying, the pigment particles are evenly attached, and the aluminum alloy tubular profile is more evenly and effectively sprayed on each side surface.

Description

Technical Field

[0001] This invention belongs to the field of aluminum alloy profile coating technology, specifically relating to an automatic guiding device for vertical coating workpieces. Background Technology

[0002] Aluminum alloy profiles are typically coated using powder coating. Extremely fine pigment particles are electrostatically treated and then sprayed onto the product to form a coating, which is then cured to form a solid coating. Powder-coated aluminum alloy profiles are aesthetically pleasing, durable, scratch-resistant, chemically resistant, and UV-resistant; moreover, they are more environmentally friendly than traditional coating processes.

[0003] With the continuous increase in production volume and the increasing length requirements of aluminum alloy profiles, the traditional process of manual handling and separate loading into electrostatic spraying booths and thermosetting chambers for spraying and curing is clearly unable to meet production demands. Therefore, three-dimensional coating systems are gradually replacing this process.

[0004] For coating aluminum alloy tubular profiles, a three-dimensional coating system has been developed, consisting of an automatic guide frame, a flow-type lifting spray booth, and a flow-type thermosetting chamber. The automatic guide frame vertically carries the aluminum alloy tubular profiles and moves them at a constant speed around the production area, replacing manual handling. Both the flow-type thermosetting chamber and the flow-type lifting spray booth have openings on both sides. The automatic guide frame transports the aluminum alloy tubular profiles through the openings in the flow-type lifting spray booth into it. The automatic guide frame then stops, and the front and rear lifting sprayers in the flow-type lifting spray booth apply electrostatic pigment spraying to the aluminum alloy tubular profiles. After spraying, the automatic guide frame continues to operate, feeding the sprayed aluminum alloy tubular profiles through the openings in the flow-type thermosetting chamber into it. The automatic guide frame then stops, and the flow-type thermosetting chamber performs thermosetting treatment. After thermosetting, the automatic guide frame continues to operate, outputting the cured aluminum alloy tubular profiles.

[0005] The automatic guide frame consists of a suspended chain conveyor frame supported by mounting brackets installed on the ground of the processing area. The suspended chain conveyor frame is arranged around the processing area and is divided into a profile loading section, a spraying section, a thermosetting section, and an unloading section. The profile loading section is inclined upwards, the spraying and thermosetting sections are horizontally coiled, and the unloading section is inclined downwards. The profile loading and unloading sections are equipped with smooth guide rods of the same curvature to support the middle section of the uncoated or coated aluminum alloy tubular profiles. The spraying and thermosetting sections are concave to increase the transportation distance in both areas.

[0006] The main body of the overhead conveyor frame consists of a guide frame and a conveyor chain that slides inside it. A drive motor is installed in the non-working area of ​​the overhead conveyor frame, and a sprocket is installed on the output shaft of the drive motor. With the sprocket and the conveyor chain meshing, the drive motor runs, driving the conveyor chain to move within the guide frame, thereby causing the hanging rods that are flipped and set on the side of the conveyor chain to move along the guide opening at the bottom of the guide frame. A quick-connect installation mechanism is installed at the bottom of the hanging rod. By drilling positioning holes at the ends of the aluminum alloy tubular profiles and installing them through the quick-connect installation mechanism, the aluminum alloy tubular profiles can be quickly and stably installed under the hanging rods.

[0007] The flip-up design of the hanging rod is mainly to allow the profile to lie obliquely on the smooth guide rod in the loading section, so as to facilitate the manual installation of the drilled aluminum alloy tubular profile in real time using the quick-insertion installation mechanism; it is also to allow the profile to lie obliquely on the smooth guide rod in the unloading section, so as to facilitate the manual removal of the aluminum alloy tubular profile from the quick-insertion installation mechanism.

[0008] However, while the boom tilting mechanism is highly applicable to loading and unloading sections, during spraying in a flow-type lifting spraying machine, the impact force of the sprayed pigment can easily cause the aluminum alloy tubular profile to sway from side to side. In this situation, the aluminum alloy tubular profile also sways from side to side, which adversely affects the electrostatic adhesion of pigment to the surface of the aluminum alloy tubular profile, posing a significant challenge to the effectiveness and uniformity of the spraying. Summary of the Invention

[0009] The purpose of this invention is to provide a vertical automatic guiding device for coated workpieces to solve the problems existing in the prior art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a vertical automatic guiding device for coated workpieces, comprising a mounting bracket, a guide frame mounted on the top of the mounting bracket, a chain slidably disposed within the guide frame, a drive motor mounted on the guide frame, a sprocket mounted on the output shaft of the drive motor and meshing with the chain, and mounting frames evenly disposed on the chain. A calibration plate is disposed on the top of the mounting frame. A CCD camera is disposed on one inner top side of the guide frame, corresponding to the front and rear positions of the calibration plate. The CCD camera is used to collect image information of the calibration plate. A hanging bracket is disposed on one side of the mounting frame. A rotating shaft is rotatably disposed within the hanging bracket. A hanging rod is rotatably mounted on the rotating shaft via a torsion resistance mechanism. The torsion resistance mechanism is used to increase the rotational resistance of the hanging rod. A quick-connect mounting mechanism is disposed at the bottom of the hanging rod. The quick-connect mounting mechanism is used to insert aluminum alloy tubular profiles.

[0011] A reflector is provided on one side of the upper part of the hanging rod, and a stabilizing and rotating mechanism is provided on one side of the guide frame. The stabilizing and rotating mechanism is used to stably clamp the hanging rod and drive the hanging rod to rotate with its axial center as the rotation center.

[0012] Laser rangefinders are uniformly arranged on the stabilizing and rotating mechanism at height positions corresponding to the reflector, and the laser rangefinders are used to measure the distance between the mechanism and the reflector.

[0013] A pressure rod mechanism is provided on the other side of the inner top of the guide frame. The pressure rod mechanism is used to limit one side of the hanging rod.

[0014] The mounting bracket is equipped with a control mechanism, which is used to receive real-time image information from the CCD camera and real-time distance data from the laser rangefinder, analyze and process them, and control the operation of the drive motor, pressure rod mechanism and stabilizing rotary mechanism according to the benchmark analysis results.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The vertical automatic workpiece guiding device provided by this invention, under the control of the control mechanism, uses a double-position synchronous belt pressing and a rear sliding support of the stabilizing and rotating mechanism, along with a front sliding support of the swing arm of the pressure rod mechanism. This effectively prevents the workpiece from swaying left and right due to the impact force of the pigment spray when the hanging rod is loaded with aluminum alloy tubular profiles for spraying. The pigment particles are evenly adhered. The automatic control stabilizing and rotating mechanism drives the torsion resistance mechanism area of ​​the hanging rod to change direction in conjunction with the single spraying process, thereby ensuring that all sides of the aluminum alloy tubular profile are sprayed more evenly and effectively.

[0017] The vertical automatic guide device for coating workpieces provided by this invention uses a lens-capture method to collect and count the aluminum alloy tubular profiles entering the spraying process. During the process, the control mechanism controls the drive motor to move the chain by means of benchmarking and compensation. This not only provides conditions for the stable holding and rotating mechanism and the pressure rod mechanism to accurately control the hanging rod, but also effectively avoids the situation of missing coating of aluminum alloy tubular profiles.

[0018] The vertical automatic workpiece guiding device provided by this invention controls the drive motor to operate in a counting and quantitative manner, so that aluminum alloy tubular profiles are quantitatively input into the flow-type lifting spraying chamber for spraying and quantitatively input into the flow-type thermosetting chamber for thermosetting. Before spraying, the control mechanism automatically controls the stabilizing and rotating mechanism and the pressure bar mechanism in conjunction with the stabilizing hanging rod, based on distance measurement and rotation measurement. After spraying, it can automatically control the pressure bar mechanism and the stabilizing and rotating mechanism to reset in sequence. Under the premise of reasonable planning of spraying and curing time, the time control mechanism ensures that the reset process of the pressure bar mechanism and the stabilizing and rotating mechanism does not affect the next input of aluminum alloy tubular profiles for spraying, making the entire spraying and curing process smoother and more automated. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the left side of the present invention;

[0020] Figure 2 for Figure 1 A partial cross-sectional diagram;

[0021] Figure 3 for Figure 2 Enlarged structural diagram of the guide frame;

[0022] Figure 4 for Figure 3 A magnified structural diagram at point a;

[0023] Figure 5 for Figure 3 A magnified structural diagram at point b;

[0024] Figure 6 for Figure 3 A magnified structural diagram at point c;

[0025] Figure 7 for Figure 3 A magnified structural diagram at point d;

[0026] Figure 8 This is a rear view diagram of the present invention;

[0027] Figure 9 This is a front view schematic diagram of the present invention;

[0028] Figure 10 This is a top view schematic diagram of the stabilizing and rotating mechanism of the present invention;

[0029] Figure 11 This is a front view schematic diagram of the stabilizing and rotating mechanism of the present invention;

[0030] Figure 12 for Figure 11 A magnified structural diagram at point e;

[0031] Figure 13 This is a schematic diagram of the connection at the hanger of the present invention;

[0032] Figure 14 This is a schematic diagram of the cross-section of the hanging rod of the present invention;

[0033] Figure 15 This is a schematic diagram of the interior of the clamping block of the present invention;

[0034] Figure 16 for Figure 3 Enlarged schematic diagram of the intermediate pressure bar mechanism;

[0035] Figure 17 This is a bottom view schematic diagram of the pressure bar mechanism of the present invention;

[0036] Figure 18 for Figure 2 Enlarged structural diagram of the central control mechanism;

[0037] Figure 19 This is a schematic diagram showing the connections of the modules in the development board of this invention.

[0038] In the diagram: 1. Mounting bracket, 2. Guide frame, 3. Chain, 4. Mounting frame, 5. Support pulley seat, 6. CCD camera, 7. Alignment plate, 8. Hanger, 9. Rotary shaft, 10. Hanging rod, 11. Connecting shaft, 12. Torsion spring, 13. Reflector, 14. Insert block, 15. Slide tube, 16. Slide rod, 17. Pressure plate, 18. Spring, 19. Press-in head, 20. Hydraulic rod, 21. Support plate, 22. Lead screw, 23. Protrusion, 24. Laser rangefinder, 25. Clamping block, 26. Motor 1, 27. Synchronous pulley, 28. Synchronous belt, 29. Motor 2, 30. Encoder 1, 31. Support frame, 32. Rotary connecting shaft, 33. Swing rod, 34. Motor 3, 35. Encoder 2, 36. Mounting side plate, 37. Mounting hoop, 38. Control box, 39. Development board, 40. Driver, 41. Industrial computer. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0040] A vertical automatic guide device for painting workpieces includes a mounting bracket 1, a guide frame 2 bolted to the top of the mounting bracket 1, a chain 3 slidably disposed within the guide frame 2, a drive motor mounted on the guide frame 2, a sprocket connected to the output shaft of the drive motor via an interference fit key and meshing with the chain 3, and mounting frames 4 evenly bolted to the chain plates of the chain 3. The base of the mounting bracket 1 is fixed to the ground with four expansion bolts. A side bracket is bolted to the lower part of the non-working area of ​​the guide frame 2, and the base of the drive motor is bolted to the side bracket. The drive motor is a stepper motor with a reducer installed. The lateral distance between adjacent mounting frames 4 is two chain plate lengths. A hanging rod 10 movable opening is provided at the lower end of the guide frame 2 with the configuration direction of the guide frame 2. A calibration plate 7, which is a round piece engraved with a cross mark, is pasted on the top rear side of the mounting frame 4. A CCD camera 6 is screwed onto the inner top front side of the guide frame 2, corresponding to the front and rear positions of the target piece 7. When the CCD camera 6 is directly facing the target piece 7, the center of the lens of the CCD camera 6 is aligned with the center of the crosshair on the target piece 7. The CCD camera 6 is used to collect image information of the target piece 7. The mounting frame 4 is bolted to the rear side of the mounting bracket 8. The bracket 8 is a U-shaped frame with bearing grooves on the left and right sides inside the bracket 8. Bearings are interference-fitted into the bearing grooves. The left and right ends of the rotating shaft 9 are interference-fitted into the inner rings of the bearings. Therefore, the hanging rod 10 can effectively rotate in the loading and unloading sections.

[0041] The hanging rod 10 is rotatably mounted on the lower middle part of the rotating shaft 9 via a torsion resistance mechanism. The torsion resistance mechanism is used to increase the rotational resistance of the hanging rod 10, effectively limiting the hanging rod 10 to rotate around its axial center in the non-spraying section area.

[0042] A quick-connect installation mechanism is installed at the bottom of the hanging rod 10. The quick-connect installation mechanism is used to insert aluminum alloy tubular profiles. The quick-connect installation mechanism can be used to quickly install or remove aluminum alloy tubular profiles at the bottom of the hanging rod 10.

[0043] A reflector 13 is attached to the upper rear side of the hanging rod 10. A stabilizing and rotating mechanism is provided on the rear side of the guide frame 2. The stabilizing and rotating mechanism is used to stably clamp the hanging rod 10 and drive the hanging rod 10 to rotate with its axial center as the rotation center.

[0044] Nine laser rangefinders 24 are evenly installed on the stabilizing rotating mechanism at the height position corresponding to the reflector 13. The laser rangefinders 24 are used to measure the distance between themselves and the reflector 13.

[0045] A pressure rod mechanism is installed on the inner top front side of the guide frame 2. The pressure rod mechanism is used to limit the front side of the hanging rod 10, thereby preventing the hanging rod 10 from swinging.

[0046] The control mechanism is installed on the mounting bracket 1. The control mechanism is used to receive the real-time image information obtained by the CCD camera 6 and the real-time distance data obtained by the laser rangefinder 24, perform benchmark analysis and processing, and control the operation of the drive motor, pressure rod mechanism and stabilizing rotary mechanism according to the benchmark analysis results.

[0047] The upper and lower parts of the mounting frame 4 are bolted to support the pulley seat 5. The upper and lower parts of the guide frame 2 are provided with wheel grooves, and the pulleys supporting the pulley seat 5 are slidably set in the wheel grooves. By the cooperation between the pulleys of the upper and lower supporting pulley seats 5 and the wheel grooves, the chain 3 moves more stably within the guide frame 2.

[0048] The torsion resistance mechanism includes a slot provided in the hanging rod 10. The slot is a circular groove structure. A connecting shaft 11 is integrally set on the bottom center side of the rotating shaft 9. A bearing groove is provided at the center of the inner bottom of the slot. A bearing is inserted into the bearing groove with interference fit. The bottom of the connecting shaft 11 is inserted into the inner ring of the bearing with interference fit. A torsion spring 12 is sleeved on the connecting shaft 11. The initial torsional restoring force of the torsion spring 12 is 80 Newtons. The upper and lower ends of the torsion spring 12 are slidably inserted into the lower side of the rotating shaft 9 and the spring groove opened in the inner bottom of the slot, respectively.

[0049] The torsion spring 12 effectively increases the rotational resistance of the hanging rod 10 with its axial center as the rotation center, preventing the hanging rod 10 from rotating in the non-spraying section, and also providing conditions for the laser rangefinder 24 to obtain the crosshairs of the reflector 13; while the hanging rod 10 can rotate with its axial center as the rotation center under the action of the rotational force that overcomes the rotational resistance, thus adapting to the rotation of the vertically mounted aluminum alloy tubular profile in the spraying section.

[0050] The quick-connect installation mechanism includes an insert block 14 integrally formed at the lower end of the hanging rod 10. The size of the insert block 14 is set to allow it to slide and contact the left and right walls of the aluminum alloy tubular profile. A sliding tube 15 is slidably inserted into the front side of the insert block 14. The sliding tube 15 is a square tube. A pressure plate 17 is integrally formed at the front end of the sliding tube 15. A sliding rod 16 is fused to the rear end of the pressure plate 17 and located inside the sliding tube 15. A spring 18 is sleeved on the sliding rod 16 and located inside the sliding tube 15. The spring 18 is a compression-rebound type, and the initial compression-rebound force of the spring 18 is 30 Newtons. The rear end of the sliding rod 16 passes through the insert block 14 and is locked with a nut. A pressing head 19 is integrally formed at the upper and lower positions of the front side of the pressure plate 17. The pressing head 19 is slidably inserted into a drilled hole in the aluminum alloy tubular profile.

[0051] The pressure plate 17 slides in contact with the inner left and right walls of the aluminum alloy tubular profile on the left and right sides. Under the elastic support of the spring 18, the pressure plate 17 and the insert block 14 press against the inner front and rear walls of the aluminum alloy tubular profile. After the press-in head 19 is inserted into the drilled hole on the aluminum alloy tubular profile, the compression and rebound force of the spring 18 is 40 Newtons, so that the aluminum alloy tubular profile is stably installed at the lower part of the hanging rod 10.

[0052] Before the aluminum alloy tubular profile is installed on the lower part of the hanging rod 10, a drilling machine is used to drill positioning holes on the end side of the aluminum alloy tubular profile, and then the hole wall is polished.

[0053] When loading aluminum alloy tubular profiles, workers only need to hold the insert block 14 and press down the pressure plate 17. The spring 18 is compressed, and the insert block 14 and pressure plate 17 can be inserted into the aluminum alloy tubular profile. When the pressing head 19 is aligned with the drill hole, the pressing head 19 is quickly pushed into the drill hole by the rebound force of the spring 18, thereby stably installing the aluminum alloy tubular profile at the lower part of the hanging rod 10.

[0054] When disassembling the aluminum alloy tubular profile, the worker only needs to hold the insert block 14 and press down the pressure plate 17. The spring 18 is compressed, and the pressing head 19 is dislodged from the drill hole, thus separating the aluminum alloy tubular profile from the insert block 14 and the pressure plate 17.

[0055] The stabilizing and rotating mechanism includes a hydraulic rod 20 bolted to the rear side of the guide frame 2. The top rod of the hydraulic rod 20 passes through the guide frame 2 and is flanged to the support plate 21. The oil inlet and outlet of the hydraulic rod 20 are connected to one side of the oil inlet and outlet of an externally installed solenoid directional valve through hydraulic oil pipes. The other side of the oil inlet and outlet of the externally installed solenoid directional valve is connected to the oil inlet and outlet of an externally installed hydraulic pump through hydraulic oil pipes. By controlling the solenoid directional valve to switch directions, the top rod of the hydraulic rod 20 is controlled to extend or retract, thereby driving the support plate 21 to move back and forth within the guide frame 2. When the top rod of the hydraulic rod 20 is extended to its longest position, the protrusion 23 slides in contact with the rear side of the hanging rod 10. Under the sliding support of the swing rod 33 on the front side of the hanging rod 10, the hanging rod 10 remains in a vertical state.

[0056] A lead screw 22 is laterally rotatable inside the support plate 21. Nine protrusions 23 are uniformly and integrally arranged laterally on the front side of the support plate 21. A laser rangefinder 24 is embedded in an inner groove located at the center of the front end of the protrusion 23. The laser rangefinder 24 does not extend beyond the port of the inner groove, and the distance between the laser emitter of the laser rangefinder 24 and the port of the inner groove is 2 mm. Sliding grooves are provided on the support plate 21 on both sides of the protrusion 23. Clamping blocks 25 are slidably arranged in the sliding grooves and screwed to the lead screw 22. The screw holes of the clamping blocks 25 on both sides of the protrusion 23 rotate in opposite directions. When the lead screw 22 rotates forward, the clamping blocks 25 on both sides of the protrusion 23 move towards each other; when the lead screw 22 rotates in reverse, the clamping blocks 25 on both sides of the protrusion 23 move in the opposite direction. The front screw of the support plate 21 fixes the second motor 29, which is a stepper motor. The rotor shaft of the second motor 29 rotates through the support plate 21 and is connected to the center position of the front end of the lead screw 22 through an interference fit key. The rear screw of the support plate 21 fixes the first encoder 30. The rotating shaft of the first encoder 30 rotates through the support plate 21 and is connected to the center position of the rear end of the lead screw 22 through an interference fit key.

[0057] The operation of motor 29 drives nine sets of clamping blocks 25 to perform clamping and releasing actions. Encoder 30 is used to monitor the rotation speed and direction of motor 29, thereby providing conditions for the control mechanism to control motor 29.

[0058] The clamping block 25 has a stepped square structure. The stabilizing and rotating mechanism also includes an installation groove inside the clamping block 25. The installation groove is a square recess, and bearing grooves are provided on the upper and lower parts of the front and rear sides of the installation groove. Bearings are inserted into the bearing grooves with an interference fit, and the inner ring of the bearing is inserted into the fixed shaft with an interference fit. The fixed shaft is connected to the center position of the synchronous pulley 27 through an interference fit flat key. Synchronous teeth are evenly arranged in the circumferential groove of the synchronous pulley 27. The synchronous belt 28 is tensioned and installed on the synchronous pulley 27. Synchronous teeth that mesh with the synchronous teeth of the synchronous pulley 27 are evenly arranged on the inner wall of the synchronous belt 28. Motor 26, which is a stepper motor, is fixed to the rear side of the clamping block 25 with screws. The rotor shaft of motor 26 rotates through the clamping block 25 and extends out of the installation groove. It is connected to the upper center position of the rear synchronous pulley 27 through an interference fit flat key. The outer side of the synchronous belt 28 is evenly provided with anti-slip texture I, and the upper side of the hanging rod 10 is evenly provided with anti-slip texture II.

[0059] When the clamping blocks 25 on both sides of the protrusion 23 move towards each other, the anti-slip pattern 1 of the synchronous belt 28 presses against the anti-slip pattern 2 of the hanging rod 10, providing sliding support for the front side of the hanging rod 10 by the swing rod 33 and for the rear side of the hanging rod 10 by the protrusion 23; thus stabilizing the vertical state of the hanging rod 10; when the motor 26 on the clamping blocks 25 on both sides of the protrusion 23 rotates synchronously forward, it drives the hanging rod 10 to rotate in reverse; when the motor 26 on the clamping blocks 25 on both sides of the protrusion 23 rotates synchronously in reverse, it drives the hanging rod 10 to rotate forward.

[0060] The pressure rod mechanism includes a guide frame 2 with a guide frame 2 and a guide frame 2. The guide frame 31 is a U-shaped frame. A rotating shaft 32 is rotatably mounted inside the guide frame 31. Nine swing rods 33 are uniformly and integrally mounted on the rotating shaft 32. A motor 34 is fixed to the left side of the guide frame 31 with screws. The motor 34 is a stepper motor. The rotor shaft of the motor 34 rotates through the guide frame 31 and is connected to the center of the front end of the rotating shaft 32 by an interference fit key. An encoder 2 35 is fixed to the right side of the guide frame 31 with screws. The rotating shaft of the encoder 2 35 rotates through the guide frame 31 and is connected to the center of the rear end of the rotating shaft 32 by an interference fit key.

[0061] The rotor shaft of motor 34 rotates forward, driving the rotating shaft 32 to rotate forward, which in turn drives the swing arm 33 to flip downward, so that the end side of the swing arm 33 slides into contact with the front side of the anti-slip texture of the hanging rod 10, which is used to support the front side of the hanging rod 10 in the vertical state.

[0062] The control mechanism includes a mounting side plate 36 mounted on the lower rear side of the mounting bracket 1. A mounting clamp 37 is screwed onto the mounting side plate 36 and is tightened onto the mounting bracket 1. A control box 38 is screwed onto the mounting side plate 36. An insulated pad is used to screw the development board 39 onto the front side of the control box 38. Twelve drivers 40 and an integrated relay are screwed onto the front side of the control box 38 and located below the development board 39. An industrial computer 41 is screwed onto the panel of the control box 38.

[0063] The power control input terminals of each driver 40 are connected via cables to the power control terminals of the drive motor, motor 1 26, motor 2 29, and motor 3 34, respectively. The main power input terminals of each driver are connected via cables to an external power source. The driver 40 connected to motor 1 26, after closed-loop modulation by the computer, enables the synchronous and unidirectional operation of motor 1 26 on both sides of the control bump 23. The main power input terminal of the integrated relay is connected via a cable to an external power source, and the potential control input terminal of the integrated relay is connected via a cable to the potential control terminal of the electromagnetic directional valve. The I / O power terminals of the development board 39 are connected via cables to an externally configured DC power source. The power cord of the industrial computer 41 is connected to an external power source.

[0064] The development board 39 includes an image signal receiving module, a distance signal receiving module, a digital signal receiving module one, and a digital signal receiving module two. The signal receiving pin of the image signal receiving module is connected to the image signal output line of the CCD camera 6, and the image signal receiving module is used to receive the image signal input from the CCD camera 6 in real time. The signal receiving pin of the distance signal receiving module is connected to the distance signal output terminal of the laser rangefinder 24, and the distance signal receiving module is used to receive the distance information obtained by the laser rangefinder 24 in real time. The signal line of encoder one 30 is connected to the digital signal input pin of digital signal receiving module one, and digital signal receiving module one is used to receive the absolute position digital signal input from encoder one 30 in real time. The signal line of encoder two 35 is connected to the digital signal input pin of digital signal receiving module two, and digital signal receiving module two is used to receive the absolute position digital signal input from encoder two 35 in real time. Among them, encoder one 30 and encoder two 35 are both absolute value rotary encoders, used to output the absolute position digital signal at each rotation angle generated by the rotation of the moving shaft in real time.

[0065] The image signal receiving module is connected to the image signal processing module. The image signal processing module performs sharpening processing on the image from the image signal receiving module, and performs binarization and noise reduction on the image sequence. The image signal processing module is also connected to the benchmark analysis module. The benchmark analysis module performs real-time center capture on the sharpened image, performs benchmark ranging analysis, and outputs control signals to the drive motor. It releases a crosshair capture factor at the center of the image, captures crosshairs appearing in the image in real time, and aligns with the center of each crosshair. A count is performed each time a crosshair is aligned, until the count reaches a set target number. In this embodiment, the set target number is 9. When the set target number is reached, the benchmark analysis module outputs a control signal to stop the drive motor; when the set target number is not reached, the benchmark analysis module outputs a control signal to continue the drive motor.

[0066] In the control process, since the distance p that chain 3 moves per revolution of the drive motor's output shaft is known, and the distance between the centers of adjacent crosshairs is also known, the number of revolutions X of the drive motor from one crosshair to the next is known. When the center of the second-to-last crosshair is aligned, the alignment analysis module outputs a control signal to stop the drive motor after running X revolutions.

[0067] After the drive motor stops for 1 second after executing X revolutions, the alignment analysis module releases the alignment centerline, which coincides with the centerline of the CCD camera's 6 lenses. The alignment analysis module calibrates the alignment centerline with the center of the crosshair captured by the crosshair capture factor. If they coincide, the calibration stops; if they do not coincide, a difference calculation is performed: the alignment centerline and the center of the crosshair captured by the crosshair capture factor are aligned and drawn. Given that the measured distance = r% of the image distance, the alignment analysis module outputs a distance measurement coordinate line with the captured crosshair center as the origin and the alignment centerline position as the direction. The distance measurement accuracy of the distance measurement coordinate line is 0.01 mm. The image distance between the two is calculated by the corresponding position of the alignment centerline in the distance measurement coordinate system. The allowable error value is set to: 0 ≤ allowable error value ≤ 0.5 mm. Even if the two do not coincide, if the error is within the allowable error value range, it is judged as coincident. When the error exceeds the allowable value, a compensation control signal is generated: if the crosshair center is to the left of the alignment centerline and the image distance value is negative, the drive motor's operating direction is forward; if the crosshair center is to the right of the alignment centerline and the image distance value is positive, the drive motor's operating direction is reverse. The positive and negative values ​​of the image distance are used to calibrate the drive motor's operating direction. After calculating the measured distance by calculating the measured distance = r%image distance, the drive motor's rotational speed data to be compensated is calculated by dividing the measured distance by p. After the compensation calculation is completed, the alignment analysis module automatically generates speed control feed information to reduce the drive motor speed to one-tenth of its normal operating speed. After completion, the alignment analysis module converts the rotational speed data to be compensated and the speed control feed information into a compensation operation command output.

[0068] During the execution of the above-mentioned compensation operation command by the drive motor, the calibration analysis module maintains the calibration action of the calibration centerline and the center of the crosshair captured by the crosshair capture factor until the calibration centerline and the center of the crosshair captured by the crosshair capture factor coincide. If, after the above-mentioned compensation operation command is executed, it is still determined that it does not coincide with the center of the crosshair captured by the crosshair capture factor, the compensation operation action and compensation operation command output are executed again until it is determined that they coincide. If the above-mentioned compensation operation command is not executed, but the calibration centerline and the center of the crosshair captured by the crosshair capture factor have been determined to coincide, the calibration analysis module outputs a command to stop the drive motor.

[0069] Digital signal receiving module one and digital signal receiving module two are connected to a digital signal processing module. The digital signal processing module is used to convert the absolute position digital signals from digital signal receiving module one and digital signal receiving module two into rotation number and direction signals in real time.

[0070] The digital signal processing module has a bidirectional transmission connection to the monitoring and analysis processing module, which is used to monitor and analyze the rotation speed and steering signal in real time.

[0071] The monitoring and analysis processing module stores the rotation commands for the opening and closing limits of the stabilizing rotary mechanism, as well as the rotation commands for setting the downward and upward tilting amounts of the pressure rod mechanism. The rotation command for the opening limit meets the following conditions: from the start of the closed limit state to the completion of the opening limit operation, the distance between the outer sides of the clamping blocks 25 on both sides of the protrusion 23 and the left and right walls of the slide groove is 0.1 mm, and the lateral gap distance after the hanging rod 10 is inserted between the two clamping blocks 25 is 5 cm. The rotation command for the closing limit meets the following conditions: from the start of the opening limit state to the completion of the closing limit operation, the anti-slip pattern 1 on the outer side of the synchronous belt 28 is pressed against the anti-slip pattern 2 on the upper side of the hanging rod 10, and the clamping block 25 does not contact the hanging rod 10. The rotation command for setting the downward tilting amount meets the following conditions: after the hanging rod 10 contacts the swing rod 33, the hanging rod 10 is in a vertical state. The rotation command for setting the upward tilting amount meets the following conditions: the swing rod 33 is completely disengaged from the hanging frame 8.

[0072] The benchmarking analysis module, monitoring analysis and processing module, and distance signal receiving module are connected to the control and transmission processing module. The control and transmission processing module obtains the control signal of the drive motor through the benchmarking analysis module, and obtains the control signals of the stabilizing rotary mechanism and the pressure rod mechanism through the monitoring analysis and processing module and the distance signal receiving module.

[0073] The control and transmission processing module stores calibration distance data F and reset distance data V. When the instruction for the protrusion 23 to contact the hanging rod 10 is executed, the distance value input by the distance signal receiving module in real time is compared with F in real time. When the real-time input distance value is the same as F, the control and transmission processing module will issue a control hydraulic rod 20 to stop running instruction to the relay control and transmission module. When the instruction for the protrusion 23 to disengage from the hanging rod 10 is executed, the distance value input by the distance signal receiving module in real time is compared with V in real time. When the real-time input distance value is the same as V, the control and transmission processing module will issue a control hydraulic rod 20 to stop running instruction to the relay control and transmission module. F satisfies: the front section of the protrusion 23 slides to contact the reflector 13 on the rear side of the hanging rod 10, and the hanging rod 10 is in a vertical state. V satisfies: the clamping block 25 is completely disengaged from the hanging bracket 8.

[0074] The signal input pin of the control and input processing module is connected to the signal input terminal of the industrial control computer 41 via a signal line. The industrial control computer 41 extracts the operating status information of the control and input processing module in real time and issues temporary control and input commands to the control and input processing module. The temporary control and input commands have higher priority than the program control and input commands. Therefore, after the industrial control computer 41 issues a temporary control and input command, the control and input processing module will immediately stop the currently executing program control and input commands and execute the temporary control and input commands. After the temporary control and input commands are completed, there is a two-second delay before the remaining unexecuted program control and input commands are executed.

[0075] The signal input terminals of the programmable controllers of the flow-type thermosetting chamber and the flow-type lifting spraying chamber are connected to the external signal input pins of the control and transmission processing module via signal lines. The total spraying time D in the flow-type lifting spraying chamber and the curing time I in the flow-type thermosetting chamber are known. If D is longer than I, DI is used as the delay duration; if I is longer than D, ID is used as the delay duration. In this embodiment, ID is used as the delay duration. The delay duration is the time required to wait after spraying or curing has been completed. It is worth noting that the set value of the delay duration must be at least 30 seconds longer than the total reset time of the pressure bar mechanism and the stabilizing rotary mechanism after spraying is completed.

[0076] It is known that the flow-type lifting spraying machine nacelle takes one lifting spraying as a single spraying process, and it takes B single spraying processes to complete the total spraying. The running time of each single spraying process is S. Starting from the completion of the first single spraying process, the aluminum alloy tubular profile rotates 90° clockwise to execute the next single spraying process. After the execution is completed, the aluminum alloy tubular profile rotates 90° counterclockwise to reset, and then executes the next single spraying process. This process is repeated until the total spraying is completed. It is known that the time required for the hanging rod 10 to rotate 90° clockwise or counterclockwise is 0.5 seconds. The waiting time for the hanging rod 10 to rotate clockwise or counterclockwise during the total spraying is 0.5*(B-1). Where, 0.5*(B-1)+B*S=D.

[0077] It is known that the number of revolutions required for motor 26 to run during the 90° forward and 90° reverse rotation reset of the hanging rod 10 are KL and KF, respectively. When the control and input processing module executes the direction-changing spraying command, after timing S from the start of the first single spraying process, the control and input processing module sends a command to the direction rotation control input three to control motor 26 to run forward for KL and then stop. After motor 26 finishes running, timing S is repeated, and the control and input processing module sends a command to the direction rotation control input three to control motor 26 to run reverse for KF and then stop. This process is repeated until B single spraying processes are completed.

[0078] The industrial control computer 41 can also issue overall system operation and stop commands to the control and input processing module, and guide the input to the programmable controllers of the flow-type thermosetting chamber and the flow-type lifting spraying chamber respectively; when the overall system operation command is issued, the spraying and curing program is executed; when the overall system stop command is issued, the executed spraying and curing program immediately stops running.

[0079] The control and input processing module transmits data to and connects to steering CNC input modules 1, 2, 3, and 4, as well as the relay control and input module. The signal output pin of steering CNC input module 1 is connected via a signal line to the signal input terminal of the driver 40 controlling the drive motor; steering CNC input module 1 is used to control the operation of the drive motor. The signal output pin of steering CNC input module 2 is connected via a signal line to the signal input terminal of the driver 40 controlling motor 29; the signal output pin of steering CNC input module 3 is connected via a signal line to the signal input terminal of the driver 40 controlling motor 1 26; and the signal output pin of the relay control and input module is connected via a signal line to the signal input terminal of the integrated relay. Steering CNC input modules 2, 3, and the relay control and input module are used to control the operation of the stabilizing and rotating mechanism. The signal output pin of steering CNC input module 4 is connected via a signal line to the driver signal input terminal of motor 3 34; steering CNC input module 4 is used to control the operation of the pressure lever mechanism.

[0080] When the industrial control computer 41 issues the overall system operation command, the spraying and curing program begins: the drive motor runs, causing the hanging rod 10, connected to the aluminum alloy tubular profile by the quick-connect installation mechanism, to move at a constant speed within the guide frame 2; during this process, the CCD camera 6 captures images of the benchmark plate 7 in real time, the image signal processing module sharpens the images in real time, the benchmark analysis module counts and captures crosshairs in the sharpened images, and issues a compensation operation command to the control and input processing module until the last crosshair of the target quantity coincides with the benchmark centerline, providing a basis for the next step of accurately clamping the rod. Under favorable conditions, the target quantity has been reached. The benchmarking analysis module issues a drive motor stop command to the control and input processing module. After the monitoring and analysis processing module obtains the drive motor stop status through the control and input processing module, it issues a motor 29 operation opening limit rotation speed command to the control and input processing module, and monitors the rotation speed signal from encoder 30 input by the digital signal processing module until the rotation speed in the opening limit rotation speed command is reached. Then, the monitoring and analysis processing module issues a motor 29 stop command to the control and input processing module.Next, after the monitoring and analysis processing module obtains the running status of motor 29 after completing the opening limit rotation command and stopping, it sends a control command to motor 34 to run at the set downward rotation number. It also monitors the rotation rotation signal from encoder 2 35 input to the digital signal processing module until the rotation number in the downward rotation command is reached. Then, the monitoring and analysis processing module sends a stop command to motor 34, causing the swing arm 33 to tilt down and support the front of the hanging rod 10. Next, the control command sends a command to the relay control module to extend the hydraulic rod 20. The distance signal receiving module inputs the distance value obtained by the laser rangefinder 24 to the control command module in real time and compares it with the calibrated distance data F. When the real-time input distance value matches F, the control command sends a stop command to the relay control module to control the hydraulic rod 20. The front section of the protrusion 23 slides into contact with the reflector 13 on the rear side of the hanging rod 10. With the sliding support of the swing arm 33 and the protrusion 23, the hanging rod 10 is in a vertical state. After the monitoring and analysis processing module obtains the stopped running state of the hydraulic rod 20 through the control and input processing module, the monitoring and analysis processing module issues a turning command for the motor 29 to the control and input processing module, and monitors the turning speed signal from the encoder 30 input by the digital signal processing module until the turning speed in the turning command for the closed limit is reached. Then, the monitoring and analysis processing module issues a stop running command for the motor 29 to the control and input processing module. After a 5-second delay, the control and input processing module issues running commands for the flow-type thermosetting chamber and the flow-type lifting spraying machine chamber through the programmable controllers of the flow-type thermosetting chamber and the flow-type lifting spraying machine chamber, respectively. During the spraying process, the control and input processing module times the single spraying process and the total spraying time, and issues a turning speed control command for the motor 26 to change direction for spraying to the turning speed control input three, until the total spraying is completed. After D time is reached, the control and input processing module performs a delay duration timer.

[0081] After a 5-second delay following the completion of the final spraying, the monitoring and analysis processing module sends a control command to the control and input processing module to control motor 34 to run at the set upward rotation speed. It also monitors the rotation speed signal from encoder 2 35 input to the digital signal processing module until the set rotation speed is reached. At this point, the monitoring and analysis processing module sends a stop command to motor 34. The monitoring and analysis processing module then sends a stop command to motor 2 29 to the control and input processing module to open the limit switch rotation speed. It also monitors the rotation speed signal from encoder 1 30 input to the digital signal processing module until the limit switch is opened. The monitoring and analysis processing module sends a stop command to the control and input processing module for the number of revolutions in the limit rotation direction command. Then, the control and input processing module sends a command to the relay control and input module to control the hydraulic rod 20 to retract. The distance signal receiving module inputs the distance value obtained by the laser rangefinder 24 to the control and input processing module in real time and compares it with the calibrated distance data V in real time. When the real-time input distance value is the same as V, the control and input processing module sends a stop command to the relay control and input module to control the hydraulic rod 20 to stop. The process continues until the delay time is reached, and then the spray curing program continues to run, repeating this process.

[0082] The working principle of this embodiment is as follows:

[0083] The stabilizing and rotating mechanism and the pressure bar mechanism: The stabilizing and rotating mechanism is supported by the double-position synchronous belt 28 and the rear sliding support of the protrusion 23, and the front sliding support of the swing rod 33 of the pressure bar mechanism. This allows the hanging rod 10 to effectively prevent the workpiece from swinging left and right due to the impact force of the pigment spraying when it is loaded with aluminum alloy tubular profile for spraying, and to avoid the adverse effect of the pigment electrostatic adhesion on the surface of the aluminum alloy tubular profile.

[0084] Drive motor, chain 3, CCD camera 6, alignment plate 7 and control mechanism: The lens capture method is used to collect and count the aluminum alloy tubular profiles entering the spraying process. During the process, the alignment and compensation method is controlled by the control mechanism to drive the chain 3 to move. This not only provides conditions for the stable rotating and pressing mechanism and the pressure rod mechanism to accurately control the hanging rod 10, but also effectively avoids the situation of missing coating of aluminum alloy tubular profiles.

[0085] Drive motor, chain 3, CCD camera 6, alignment plate 7, stabilizing rotary mechanism, pressure bar mechanism and control mechanism: In the overall process of spraying and curing, the control mechanism controls the operation of the drive motor in a counting and quantitative manner, so that the aluminum alloy tubular profile is quantitatively input into the flow-type lifting spraying chamber for spraying, and quantitatively input into the flow-type heat curing chamber for heat curing treatment. Before spraying, the control mechanism automatically controls the stabilizing rotary mechanism and pressure bar mechanism in conjunction with the stabilizing hanging rod 10, based on distance measurement and rotation measurement. During the spraying process, while preventing the hanging rod 10 from swinging, the automatic control of the stabilizing and rotating mechanism drives the torsion resistance area of ​​the hanging rod 10 to change direction in coordination with the single spraying process, thereby ensuring that all sides of the aluminum alloy tubular profile are sprayed more evenly and effectively. After the spraying is completed, the automatic control of the pressure rod mechanism and the stabilizing and rotating mechanism can be reset in sequence. Under the premise of reasonable planning of spraying and curing time, the time control mechanism ensures that the reset process of the pressure rod mechanism and the stabilizing and rotating mechanism does not affect the next input of aluminum alloy tubular profile spraying, making the entire spraying and curing process smoother and more automated.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A vertical automatic guide device for coated workpieces, comprising a mounting bracket (1), a guide frame (2) mounted on the top of the mounting bracket (1), a chain (3) slidably disposed within the guide frame (2), a drive motor mounted on the guide frame (2), a sprocket mounted on the output shaft of the drive motor and meshing with the chain (3), and mounting frames (4) evenly disposed on the chain (3), characterized in that: The top of the mounting frame (4) is provided with a benchmark piece (7). A CCD camera (6) is provided on the inner top side of the guide frame (2) and at the front and rear positions of the benchmark piece (7). The CCD camera (6) is used to collect image information of the benchmark piece (7). A bracket (8) is provided on one side of the mounting frame (4). A rotating shaft (9) is rotatably provided inside the bracket (8). A hanging rod (10) is rotatably installed on the rotating shaft (9) through a torsion resistance mechanism. The torsion resistance mechanism is used to increase the rotation resistance of the hanging rod (10). A quick-connect installation mechanism is installed at the bottom of the hanging rod (10). The quick-connect installation mechanism is used to insert aluminum alloy tubular profiles. A reflector plate (13) is provided on one side of the upper part of the hanging rod (10), and a stabilizing and rotating mechanism is provided on one side of the guide frame (2). The stabilizing and rotating mechanism is used to stably clamp the hanging rod (10) and drive the hanging rod (10) to rotate with its axial center as the rotation center. Laser rangefinders (24) are uniformly arranged on the holding and rotating mechanism at the height position corresponding to the reflector (13). The laser rangefinders (24) are used to measure the distance between the laser rangefinder and the reflector (13). A pressure bar mechanism is provided on the other side of the inner top of the guide frame (2), and the pressure bar mechanism is used to limit one side of the hanging rod (10); The mounting bracket (1) is equipped with a control mechanism. The control mechanism is used to receive the image information obtained in real time by the CCD camera (6) and the distance data obtained in real time by the laser rangefinder (24), and to analyze and process them. Based on the analysis results, the control mechanism controls the operation of the drive motor, the pressure rod mechanism and the stabilizing and rotating mechanism.

2. The vertical automatic guiding device for coating workpieces according to claim 1, characterized in that: The upper and lower parts of the mounting frame (4) are respectively provided with supporting pulley seats (5), and the upper and lower parts of the guide frame (2) are provided with wheel grooves, and the pulleys of the supporting pulley seats (5) are slidably arranged in the wheel grooves.

3. The vertical automatic guiding device for coating workpieces according to claim 2, characterized in that: The torsion mechanism includes a slot provided in the hanging rod (10), the bottom of the rotating shaft (9) is connected to a connecting shaft (11) and the bottom of the connecting shaft (11) is rotatably set in the inner bottom of the slot, and a torsion spring (12) is sleeved on the connecting shaft (11), and the two ends of the torsion spring (12) are respectively connected to the lower side of the rotating shaft (9) and the inner bottom of the slot.

4. The vertical automatic guiding device for coating workpieces according to claim 3, characterized in that: The quick-connect installation mechanism includes a plug (14) connected to the lower end of a hanging rod (10). A slide tube (15) is slidably inserted on one side of the plug (14). A pressure plate (17) is connected to one end of the slide tube (15). A slide rod (16) is connected to the pressure plate (17) and located inside the slide tube (15). A spring (18) is sleeved on the slide rod (16) and the spring (18) is located inside the slide tube (15). One end of the slide rod (16) is installed on the plug (14). A press-in head (19) is provided on one side of the pressure plate (17). The press-in head (19) is inserted into a drilled hole on the aluminum alloy tubular profile.

5. The vertical automatic guiding device for coating workpieces according to claim 4, characterized in that: The stabilizing and rotating mechanism includes a hydraulic rod (20) fixedly installed on the rear side of the guide frame (2). The top rod of the hydraulic rod (20) passes through the guide frame (2) and is connected to a support plate (21). A lead screw (22) is rotatably mounted inside the support plate (21). A protrusion (23) is evenly arranged on one side of the support plate (21). The laser rangefinder (24) is installed at the center of one end of the protrusion (23). A sliding groove is provided on the support plate (21) and on both sides of the protrusion (23). A clamping block (25) is slidably arranged in the sliding groove and screwed to the lead screw (22). A second motor (29) is installed on one side of the support plate (21). The rotor shaft of the second motor (29) passes through the support plate (21) and is connected to the center of one end of the lead screw (22). An encoder (30) is installed on the other side of the support plate (21). The moving shaft of the encoder (30) passes through the support plate (21) and is connected to the center of the other end of the lead screw (22).

6. The vertical automatic guiding device for coating workpieces according to claim 5, characterized in that: The stabilizing and rotating mechanism also includes an installation groove provided in the clamping block (25). A synchronous pulley (27) is rotatably arranged on both sides of the installation groove. A synchronous belt (28) is installed on the synchronous pulley (27). A motor (26) is installed on the clamping block (25). The rotor shaft of the motor (26) passes through the clamping block (25) and is connected to the center of one end of the synchronous pulley (27). The outer side of the synchronous belt (28) is uniformly provided with anti-slip texture I in the circumferential direction. The upper side of the hanging rod (10) is uniformly provided with anti-slip texture II in the circumferential direction.

7. The vertical automatic guiding device for coating workpieces according to claim 6, characterized in that: The pressure rod mechanism includes a support frame (31) installed on the other side of the inner top of the guide frame (2). A rotating shaft (32) is rotatably arranged inside the support frame (31). A swing rod (33) is evenly arranged laterally on the rotating shaft (32). A motor three (34) is arranged on one side of the support frame (31). The rotor shaft of the motor three (34) passes through the support frame (31) and is connected to the center position of one end of the rotating shaft (32). An encoder two (35) is arranged on the other side of the support frame (31). The moving shaft of the encoder two (35) passes through the support frame (31) and is connected to the center position of the other end of the rotating shaft (32).

8. The vertical automatic guiding device for coating workpieces according to claim 7, characterized in that: The control mechanism includes a mounting side plate (36) on a mounting bracket (1). The mounting side plate (36) is mounted on the mounting bracket (1) by a mounting clamp (37). A control box (38) is mounted on the mounting side plate (36). A development board (39) is mounted on one side inside the control box (38). A driver (40) and an integrated relay are provided on one side inside the control box (38) and below the development board (39). An industrial computer (41) is mounted on the panel of the control box (38).

9. The vertical automatic guiding device for coating workpieces according to claim 8, characterized in that: The development board (39) includes an image signal receiving module, a distance signal receiving module, a digital signal receiving module one, and a digital signal receiving module two. The image signal receiving module is used to receive the image signal input in real time from the CCD camera (6). The distance signal receiving module is used to receive the distance information obtained in real time from the laser rangefinder (24). The digital signal receiving module one is used to receive the absolute position digital signal input in real time from the encoder one (30). The digital signal receiving module two is used to receive the absolute position digital signal input in real time from the encoder two (35). The image signal receiving module is connected to an image signal processing module, which performs sharpness processing on the image from the image signal receiving module. The image signal processing module is also connected to a benchmark analysis module, which performs real-time center capture on the sharpened image, performs benchmark ranging analysis, and outputs control signals for the drive motor. The digital signal receiving module 1 and digital signal receiving module 2 are transmitted and connected to a digital signal processing module. The digital signal processing module is used to simulate the absolute position digital signals from the absolute position digital signal receiving module 1 and digital signal receiving module 2 into rotation speed steering signals in real time. The digital signal processing module is transmitted and connected to a monitoring and analysis processing module. The monitoring and analysis processing module is used to monitor and analyze the rotation speed steering signals in real time. The benchmarking analysis module, the monitoring and analysis processing module, and the distance signal receiving module are transmitted and connected to a control and input processing module. The control and input processing module obtains the control signals of the drive motor through the benchmarking analysis module. The control and input processing module obtains the control signals of the stabilizing rotary mechanism and the pressure rod mechanism through the monitoring and analysis processing module and the distance signal receiving module. The control and transmission processing module is connected to steering rotary CNC transmission module one, steering rotary CNC transmission module two, steering rotary CNC transmission module three, steering rotary CNC transmission module four, and relay control and transmission module; The first steering CNC input module is used to control the operation of the drive motor; the second, third and relay control input modules are used to control the operation of the stabilizing and rotating mechanism; and the fourth steering CNC input module is used to control the operation of the pressure rod mechanism.

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