Laser derusting machine

Abstract

The utility model relates to the field of laser derusting, in particular to a laser derusting machine, and aims to solve the technical problems that related derusting processes are low in efficiency, not environmentally friendly and high in cost. The laser derusting machine comprises a chassis, a laser vehicle, a driving mechanism and a supporting mechanism, the laser vehicle is movably matched with the chassis and used for emitting laser beams to the workpiece. The driving mechanism is used for driving the laser vehicle to move along a straight line on the chassis; the supporting mechanism is arranged on the chassis and used for placing a workpiece so as to drive the workpiece to rotate around the axis, parallel to the movable path of the laser vehicle, of the workpiece. According to the laser derusting machine, large-scale derusting of workpieces can be achieved, in the derusting process, noise is low, environmental protection is achieved, consumables are not involved, and control over the comprehensive cost is facilitated.

Description

Technical Field

[0001] The utility model relates to the field of laser rust removal, in particular to a laser rust remover. Background Technique

[0002] In the construction of oil and gas field surface projects, rust removal is one of the essential key processes in pipeline and equipment installation projects. The main processes used include electric hand-held grinding wheel rust removal, sandblasting rust removal, shot blasting rust removal, etc.

[0003] In the above processes, the efficiency of electric hand-held grinding wheel rust removal is low, and it is only suitable for sporadic rust removal work at the construction site, unable to meet the needs of large-scale production; for sandblasting rust removal and shot blasting rust removal, the operating noise of the relevant equipment is about 85 decibels, and the PM2.5 in the work shed is greater than 250 μg / m 3 , which belongs to severe pollution. Moreover, both of them have high energy consumption, high continuous consumable costs, and a large amount of on-site cleaning work, which is not conducive to the control of comprehensive costs. Content of the Utility Model

[0004] The purpose of the utility model is to provide a laser rust remover to alleviate the technical problems of low efficiency, environmental unfriendliness, and high cost of related rust removal processes.

[0005] To solve the above technical problems, the technical solution provided by the utility model lies in:

[0006] The laser rust remover provided by the utility model includes a chassis, a laser vehicle, a driving mechanism, and a supporting mechanism;

[0007] The laser vehicle is movably matched with the chassis and is used to emit a laser beam to the workpiece;

[0008] The driving mechanism is used to drive the laser vehicle to move in a straight line on the chassis;

[0009] The supporting mechanism is arranged on the chassis and is used to place the workpiece thereon to drive the workpiece to rotate around its own axis parallel to the movable path of the laser vehicle.

[0010] Furthermore, the laser vehicle includes a dust removal box and a dust suction fan;

[0011] The dust removal box is communicated with the outlet of the dust suction fan;

[0012] The inlet of the dust suction fan is communicated with a dust suction pipe, and the free end of the dust suction pipe is configured to be above the workpiece under the rust removal working condition.

[0013] Furthermore, the laser vehicle further includes a support frame, a laser gun, a laser generator, and a cooling unit;

[0014] The laser gun is fixed to the support frame;

[0015] The laser generator is connected to the laser gun;

[0016] The cooling unit is connected to the laser generator.

[0017] Furthermore, a support is provided on the chassis, and rolling wheels are provided on the upper surface of the support. The rolling wheels can rotate about their own axes;

[0018] A plurality of the rolling wheels are provided. Along the movable direction of the laser vehicle, the plurality of rolling wheels are arranged in a straight line and spaced apart, and the axes of each of the rolling wheels are parallel to each other;

[0019] A drag chain is connected to the laser vehicle, and the drag chain can move on each of the rolling wheels under the moving condition of the laser vehicle.

[0020] Furthermore, the laser vehicle includes a base, and moving wheels are respectively provided at the four corners of the base. The moving wheels are in rolling cooperation with the chassis;

[0021] The driving mechanism is fixed to the base and corresponds to two adjacent moving wheels one by one. The driving mechanism includes a first variable-frequency motor and a speed reducer. The first variable-frequency motor is connected to the speed reducer, and the output end of the speed reducer is in transmission connection with the moving wheel.

[0022] Furthermore, the supporting mechanism includes a plurality of driving wheel sets. Along the movable direction of the laser vehicle, the plurality of driving wheel sets are spaced apart;

[0023] The driving wheel set includes a first rotating wheel and a second variable-frequency motor;

[0024] Two of the first rotating wheels are provided. The two first rotating wheels are arranged in parallel and are both rotatably connected to the chassis;

[0025] The second variable-frequency motor is fixedly connected to the chassis and is in transmission connection with one of the first rotating wheels to drive the first rotating wheel to rotate about its own axis.

[0026] Furthermore, the supporting mechanism further includes a plurality of driven wheel sets. Along the movable direction of the laser vehicle, the plurality of driven wheel sets are also spaced apart and are in a straight line with the driving wheel sets;

[0027] The driven wheel set includes two second rotating wheels. The two second rotating wheels are arranged in parallel and are both rotatably connected to the chassis.

[0028] Furthermore, a tray is provided directly below the supporting mechanism, and the tray extends along the movable direction of the laser vehicle;

[0029] The tray is provided with a plurality of openings, and the plurality of openings are equidistantly distributed along the extension direction of the tray;

[0030] A collection box is provided directly below the opening.

[0031] Furthermore, the laser rust remover further includes a first far-infrared scanner and a controller;

[0032] The first far-infrared scanner is arranged on the laser vehicle and is used to detect whether a workpiece is placed on the support mechanism;

[0033] The controller is electrically connected to the first far-infrared scanner, and is also electrically connected to the laser vehicle, the driving mechanism and the support mechanism respectively.

[0034] Furthermore, the laser rust remover further includes a second far-infrared scanner electrically connected to the controller. There are two second far-infrared scanners, which are respectively arranged at both ends of the chassis and are used to detect whether there are people approaching the workpiece.

[0035] Based on the above technical solutions, the technical effects that can be achieved by the laser rust remover provided by the present utility model are as follows:

[0036] In this laser rust remover, the rust on the workpiece is removed by the laser beam emitted by the laser vehicle. The laser beam irradiates the metal surface, causing the rust layer and oil stain to expand and fall off and quickly vaporize without damaging the base material; the laser vehicle cooperates with the support mechanism to remove rust from the outer peripheral surface of the rotating workpiece from beginning to end.

[0037] It can be seen that compared with the prior art, this laser rust remover can achieve large-scale rust removal of workpieces, and has low noise and environmental protection during the rust removal process, does not involve consumables, and is beneficial to the control of comprehensive costs. Description of the Drawings

[0038] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a top view of the laser rust remover provided by the embodiment of the present utility model;

[0040] Figure 2 It is a structural schematic diagram of the laser vehicle provided by the embodiment of the present utility model;

[0041] Figure 3 It is an installation schematic diagram of the moving wheel provided by the embodiment of the present utility model;

[0042] Figure 4 and Figure 5 are respectively the structural schematic diagrams of the driving wheel set provided by the embodiments of the present invention at different angles;

[0043] Figure 6 is the structural schematic diagram of the driven wheel set provided by the embodiment of the present invention;

[0044] Figure 7 is the side view of the second sub-chassis provided by the embodiment of the present invention.

[0045] Icon: 100 - chassis; 110 - first sub-chassis; 120 - second sub-chassis;

[0046] 200 - laser vehicle; 210 - dust removal box; 220 - dust suction fan; 230 - dust suction pipeline; 240 - support frame; 250 - laser gun; 260 - base; 270 - moving wheel;

[0047] 300 - drive mechanism; 310 - first variable frequency motor; 320 - reduction box;

[0048] 400 - support mechanism; 410 - driving wheel set; 420 - driven wheel set; 411 - first rotating wheel; 412 - second variable frequency motor; 413 - chain; 421 - second rotating wheel;

[0049] 500 - workpiece; 600 - support; 700 - drag chain;

[0050] 800 - tray; 810 - opening;

[0051] 900 - collection box; 1000 - first far-infrared scanner; 1100 - second far-infrared scanner. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and illustrated herein can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the present invention claimed, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0054] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] Among the rust removal processes currently used, electric hand-grinding wheels have low rust removal efficiency and are only suitable for sporadic rust removal work at construction sites, which cannot meet the needs of large-scale production. For sandblasting and shot blasting, the operating noise of the related equipment is about 85 decibels, and the PM2.5 in the work shed is greater than 250μg / m 3 , which is considered severe pollution. Moreover, both of them have high energy consumption, high continuous consumables costs, and a large workload for on-site cleaning, which is not conducive to the control of comprehensive costs.

[0056] In view of this, the utility model provides a laser rust removal machine, including a chassis 100, a laser vehicle 200, a driving mechanism 300 and a supporting mechanism 400; the laser vehicle 200 is movably matched with the chassis 100 to emit a laser beam to a workpiece 500; the driving mechanism 300 is used to drive the laser vehicle 200 to move along a straight line on the chassis 100; the supporting mechanism 400 is arranged on the chassis 100, on which the workpiece 500 is placed, so as to drive the workpiece 500 to rotate around its own axis parallel to the movable path of the laser vehicle 200.

[0057] In the laser rust removal machine, the rust on the workpiece 500 is removed by the laser beam emitted by the laser vehicle 200. The laser beam irradiates the metal surface, causing the rust layer and oil stains to swell and fall off and quickly vaporize without damaging the base material. The laser vehicle 200 cooperates with the support mechanism 400 to remove rust from the outer peripheral surface of the rotating workpiece 500 from beginning to end.

[0058] It can be seen that compared with the existing technology, the laser rust removal machine can realize large-scale rust removal of the workpiece 500, and the rust removal process is low-noise, environmentally friendly, and does not involve consumables, which is conducive to the control of comprehensive costs.

[0059] The following combination Figures 1 to 7 The structure and shape of the laser rust remover provided in this embodiment are described in detail:

[0060] In this embodiment, reference Figure 1 and Figure 2 The chassis 100 is composed of a first sub-chassis 110 and a second sub-chassis 120 which are arranged in parallel; the laser vehicle 200 is arranged on the first sub-chassis 110 , and the supporting mechanism 400 is arranged on the second sub-chassis 120 .

[0061] About Laser Car 200, specifically:

[0062] refer to Figures 1 to 3, the laser vehicle 200 includes a base 260, and a support frame 240, a laser gun 250, a dust removal box 210, and a dust suction fan 220 disposed above the base 260. Four moving wheels 270 are provided on the bottom surface of the base 260. The four moving wheels 270 are distributed at the four corners of the base 260 and are in rolling cooperation with the first sub-chassis 110. There are two driving mechanisms 300. The two driving mechanisms 300 respectively correspond to the two moving wheels 270 on the right side to form a set of active moving wheels 270, and the two moving wheels 270 on the left side form a set of passive moving wheels 270. The driving mechanism 300 includes a first variable-frequency motor 310 fixed to the base 260 and a speed reducer 320. The first variable-frequency motor 310 is connected to the speed reducer 320, and the output end of the speed reducer 320 is in transmission connection with the corresponding moving wheel 270. The first variable-frequency motor 310 provides power for the speed reducer 320, and the speed reducer 320 drives the corresponding moving wheel 270 to rotate, so that the laser vehicle 200 moves linearly along the length direction of the first sub-chassis 110 on the first sub-chassis 110.

[0063] Continuing from the above, the support frame 240 is fixed to the base 260, and the laser gun 250 is fixed on the support frame 240 for facing the outer peripheral surface of the workpiece 500. A laser generator and a cooling unit are provided outside the first sub-chassis 110. The cooling unit includes an air pump, an air compressor, and a dryer. Among them, the laser gun 250 is connected to the laser generator, the laser generator is connected to the air pump, the air pump is connected to the air compressor, and the air compressor is connected to the dryer. The laser beam generated by the laser generator is conducted to the laser gun 250 through an optical fiber and irradiated onto the workpiece 500 by the laser gun 250. The dryer, the air pump, and the air compressor cooperate to cool the laser generator to prevent the laser generator from stopping working due to high temperature.

[0064] Continuing from the above, the dust removal box 210 is fixed to the base 260, and the dust suction fan 220 is fixed on the dust removal box 210. The inlet and outlet of the dust suction fan 220 are respectively communicated with the dust suction pipe 230 and the dust removal box 210 through hoses. The free end of the dust suction pipe 230, that is, the dust suction port, is located above the support mechanism 400. During the rust removal process, the dust suction port is located above the workpiece 500. The dust suction fan 220 adsorbs small particle impurities generated during the rust removal process through the dust suction port and inhales the small particle impurities into the dust removal box 210. A cabinet door is provided on one side of the dust removal box 210 to facilitate the cleaning of the inhaled small particle impurities.

[0065] Continuing with the above, above the outside of the first sub-chassis 110, there is a support 600 provided with a plurality of rolling wheels, and the plurality of rolling wheels are distributed in parallel along the length direction of the first sub-chassis 110. Below the outside of the first sub-chassis 110, there is a drag chain 700, one end of the drag chain 700 is connected to the base 260, and the other end is connected to the support 600 or the first sub-chassis 110; optical fibers, the power supply wires of the dust suction fan 220, the power supply wires of the first variable frequency motor 310, the connecting wires of the cooling unit, etc. are all stored in the drag chain 700. When the laser vehicle 200 moves on the first sub-chassis 110, driven by the base 260, the drag chain 700 moves on the rolling wheels. Here, the support 600 and the rolling wheels also play a supporting role for the drag chain 700.

[0066] Regarding the support mechanism 400, specifically:

[0067] Referring to Figure 1 , the support mechanism 400 includes a plurality of driving wheel sets 410 and a plurality of driven wheel sets 420. Optionally, there are two driving wheel sets 410 and two driven wheel sets 420, and among them, the two driving wheel sets 410 are between the two driven wheel sets 420.

[0068] Continuing with the above, referring to Figure 4 and Figure 5 , the driving wheel set 410 includes a first rotating wheel 411 and a second variable frequency motor 412; there are two first rotating wheels 411, and the two first rotating wheels 411 are distributed in parallel and are both rotatably connected to the second sub-chassis 120; the second variable frequency motor 412 is fixedly connected to the second sub-chassis 120 and is in transmission connection with one of the first rotating wheels 411 to drive the first rotating wheel 411 to rotate around its own axis.

[0069] Specifically, symmetrically distributed support columns are fixed on the second sub-chassis 120. Both ends of the rotating shaft are respectively rotatably connected to the two support columns. The first rotating wheel 411 is between the two support columns, sleeved on the rotating shaft, and is coaxially arranged with the rotating shaft and fixedly connected to the rotating shaft. One end of the rotating shaft corresponding to one of the first rotating wheels 411 is fixed with a first sprocket, the output end of the second variable frequency motor 412 is fixed with a second sprocket, and the first sprocket and the second sprocket are connected by a chain 413.

[0070] Continuing with the above, referring to Figure 6 , the driven wheel set 420 includes two second rotating wheels 421, and the two second rotating wheels 421 are distributed in parallel and are both rotatably connected to the chassis 100.

[0071] During rust removal, the pipeline, i.e., the workpiece 500, is placed between two first rotating wheels 411 and two second rotating wheels 421. The first rotating wheels 411 and the second rotating wheels 421 play a supporting role for the workpiece 500. As the second variable-frequency motor 412 is started, through the transmission of the chain 413, the first sprocket, i.e., the first rotating wheel 411, is driven to rotate around its own axis by the rotating shaft, and the pipeline is driven to rotate. The rotation of the pipeline drives the second rotating wheel 421 to rotate, thus realizing the overall rotation of the pipeline.

[0072] Furthermore, as shown in Figure 1 and Figure 7 , a tray 800 is provided directly below the support mechanism 400. The tray 800 extends along the length direction of the second sub-chassis 120. A plurality of openings 810 are provided on the tray 800, and the plurality of openings 810 are equidistantly distributed along the extension direction of the tray 800. A collection box 900 is provided directly below the opening 810. With such a design, large particle impurities that are not sucked away by the dust suction fan 220 during the rust removal process can be collected.

[0073] In this embodiment, the laser rust removal machine further includes a first far-infrared scanner 1000, a second far-infrared scanner 1100, and a controller. There are two first far-infrared scanners 1000, which are respectively fixed on both sides of the support frame 240. There are also two second far-infrared scanners 1100, which are respectively fixed at both ends of the second sub-chassis 120. The controller is electrically connected to the first far-infrared scanner 1000 and the second far-infrared scanner 1100 respectively, and is also electrically connected to the laser generator, air pump, air compressor, dryer, first variable-frequency motor 310, second variable-frequency motor 412, and dust suction fan 220 respectively.

[0074] During application, the first far-infrared scanner 1000 senses whether there is a workpiece 500 placed on the support mechanism 400. After sensing the workpiece 500, it sends the information to the controller, and the controller controls the laser generator, air pump, air compressor, dryer, first variable-frequency motor 310, second variable-frequency motor 412, and dust suction fan 220 to start, and performs rust removal work. The second far-infrared scanner 1100 is used for safety monitoring. When a staff member strays into the rust removal area of the workpiece 500, the second far-infrared scanner 1100 generates an induction and transmits the information to the controller, and the controller controls the laser generator to stop working.

[0075] The working process of the laser rust removal machine provided by this embodiment is as follows:

[0076] First, place the workpiece 500 above the driving wheel set 410 and the driven wheel set 420. After the first far-infrared scanner 1000 senses the surface of the workpiece 500, under the control of the controller, the laser gun 250 automatically emits a laser beam to act on the surface of the workpiece 500. At the same time, the first variable-frequency motor 310, the second variable-frequency motor 412, and the dust suction fan 220 start to work. Here, the first variable-frequency motor 310 provides power for the speed reducer 320, thereby driving the moving wheel 270 to rotate, causing the laser vehicle 200 to move on the first sub-chassis 110 to remove rust from the entire workpiece 500. The second variable-frequency motor 412 drives the first rotating wheel 411 to rotate through the first sprocket, the second sprocket, the chain 413, and the rotating shaft. The first rotating wheel 411 drives the workpiece 500 to rotate, and the rotation of the workpiece 500 drives the second rotating wheel 421 to rotate, thus realizing the overall rotation of the workpiece 500, which is convenient for the laser beam to remove rust from the workpiece 500.

[0077] Continuing from the above, during the rust removal process, the dust suction port is above the workpiece 500. Under the action of the dust suction fan 220, small particle impurities generated during rust removal are sucked into the dust removal box 210, and large particle impurities generated are not easily sucked by the dust suction port and fall on the tray 800. After the workpiece 500 finishes rust removal, the operator sweeps the large particle impurities on the tray 800 into the collection box 900 through the opening 810, and cleans the impurities in the dust removal box 210 and the collection box 900.

[0078] This laser rust removal machine realizes all-round laser rust removal of the outer surface of the workpiece 500 through the laser vehicle 200, the driving mechanism 300, and the supporting mechanism 400, and also realizes the collection and cleaning of large and small particle impurities generated during the rust removal process. This laser rust removal machine is suitable for rust removal work of various common types of oilfield pipelines such as DN15 to DN350, and is especially suitable for industrial and mining enterprises with fixed rust removal sites and a large amount of pipeline prefabrication work, with obvious advantages in terms of environmental protection compliance, labor cost savings, and energy conservation and consumption reduction.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser derusting machine, characterized in that, Including: A chassis (100), a laser vehicle (200), a driving mechanism (300), and a supporting mechanism (400); the laser vehicle (200) is movably engaged with the chassis (100) and is used for emitting a laser beam to a workpiece (500); the driving mechanism (300) is used for driving the laser vehicle (200) to move linearly on the chassis (100); the supporting mechanism (400) is arranged on the chassis (100) and is used for placing the workpiece (500) thereon to drive the workpiece (500) to rotate around its own axis parallel to the movable path of the laser vehicle (200).

2. The laser rust removal machine according to claim 1, wherein the laser vehicle (200) includes a dust removal box (210) and a dust suction fan (220); the dust removal box (210) is communicated with the outlet of the dust suction fan (220); the inlet of the dust suction fan (220) is communicated with a dust suction pipe (230), and the free end of the dust suction pipe (230) is configured to be above the workpiece (500) under the rust removal working condition.

3. The laser rust removal machine according to claim 2, wherein the laser vehicle (200) further includes a support frame (240), a laser gun (250), a laser generator, and a cooling unit; the laser gun (250) is fixed to the support frame (240); the laser generator is connected to the laser gun (250); the cooling unit is connected to the laser generator.

4. The laser rust removal machine according to claim 3, wherein a support (600) is arranged on the chassis (100), the upper surface of the support (600) is provided with rolling wheels, and the rolling wheels can rotate around their own axes; there are multiple rolling wheels, and along the movable direction of the laser vehicle (200), the multiple rolling wheels are arranged in a straight line and are spaced apart, and the axes of the rolling wheels are parallel to each other; a drag chain (700) is connected to the laser vehicle (200), and the drag chain (700) can move on each of the rolling wheels under the moving condition of the laser vehicle (200).

5. The laser rust removal machine according to claim 1, wherein the laser vehicle (200) includes a base (260), and moving wheels (270) are respectively arranged at the four corners of the base (260), and the moving wheels (270) are in rolling engagement with the chassis (100); the driving mechanism (300) is fixed to the base (260) and corresponds to two adjacent moving wheels (270) one by one. The driving mechanism (300) includes a first variable frequency motor (310) and a speed reducer (320), the first variable frequency motor (310) is connected to the speed reducer (320), and the output end of the speed reducer (320) is in transmission connection with the moving wheel (270).

6. The laser rust removal machine according to claim 1, wherein the supporting mechanism (400) includes a plurality of driving wheel sets (410), and the plurality of driving wheel sets (410) are spaced apart along the movable direction of the laser vehicle (200); The driving wheel set (410) includes a first rotating wheel (411) and a second variable-frequency motor (412); There are two of the first rotating wheels (411), and the two first rotating wheels (411) are distributed in parallel and are both rotatably connected to the chassis (100); The second variable-frequency motor (412) is fixedly connected to the chassis (100) and is in transmission connection with one of the first rotating wheels (411) to drive the first rotating wheel (411) to rotate about its own axis.

7. The laser rust remover according to claim 6, characterized in that The support mechanism (400) further includes a plurality of driven wheel sets (420). Along the movable direction of the laser vehicle (200), the plurality of driven wheel sets (420) are also spaced apart and are in a straight line with the driving wheel set (410); The driven wheel set (420) includes two second rotating wheels (421), and the two second rotating wheels (421) are distributed in parallel and are both rotatably connected to the chassis (100).

8. The laser rust remover according to claim 1, characterized in that A tray (800) is provided directly below the support mechanism (400), and the tray (800) extends along the movable direction of the laser vehicle (200); A plurality of openings (810) are provided on the tray (800), and the plurality of openings (810) are equidistantly distributed along the extending direction of the tray (800); A collection box (900) is provided directly below the opening (810).

9. The laser rust remover according to any one of claims 1 to 8, characterized in that The laser rust remover further includes a first far-infrared scanner (1000) and a controller; The first far-infrared scanner (1000) is disposed on the laser vehicle (200) and is used to detect whether a workpiece (500) is placed on the support mechanism (400); The controller is electrically connected to the first far-infrared scanner (1000) and is also electrically connected to the laser vehicle (200), the driving mechanism (300), and the support mechanism (400) respectively.

10. The laser rust remover according to claim 9, characterized in that The laser rust remover further includes a second far-infrared scanner (1100) electrically connected to the controller. There are two second far-infrared scanners (1100), which are respectively disposed at both ends of the chassis (100) and are used to detect whether there are people approaching the workpiece (500).

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