Rust removal device

Abstract

The utility model discloses a derusting device. The derusting device is characterized in that a master control module is respectively connected with a turnover mechanism, a rotating mechanism, a laser and a laser movement module; the turnover mechanism is linked with the pneumatic clamping jaw, and the rotating mechanism is linked with the pneumatic clamping jaw; the axis of the plane surrounded by the pneumatic clamping jaws coincides with the rotating axis of the rotating mechanism. The laser movement module is linked with the laser; the pneumatic clamping jaw is used for outputting a workpiece in-place signal after clamping the workpiece to be derusted; the master control module is used for forming a first control signal, a second control signal and a third control signal; the turnover mechanism drives the pneumatic clamping jaw to turn over, and a turnover in-place signal is formed when turnover is finished; the rotating mechanism drives the pneumatic clamping jaw to rotate; the laser movement module controls the light-emitting surface of the laser to reach a designated position, a laser movement in-place signal is formed when the laser finishes moving, and the laser controls the laser to emit light. Automatic laser rust removal of all faces of the brake disc is achieved, the working efficiency is improved, and the rust removal quality is good.

Description

TECHNICAL FIELD

[0001] The utility model relates to locomotive brake field especially relates to a rust cleaning device. BACKGROUND

[0002] The workpiece processing of the motor vehicle brake disc includes the rust cleaning of the workpiece of the motor vehicle brake disc.

[0003] In the prior art, the rust cleaning of the workpiece of the motor vehicle brake disc is usually carried out manually, the dust in the rust cleaning operation can cause harm to the human body, the rust cleaning labor intensity is high, the operation efficiency is low, the dust pollution leads to poor operation environment, the polishing quality is greatly influenced by human factors, and the polishing quality is uneven. UTILITY MODEL CONTENTS

[0004] The utility model provides a rust cleaning device, has realized the automation of rust cleaning process, has reduced manual intervention, has improved work efficiency.

[0005] The utility model embodiment provides a rust cleaning device, the rust cleaning device includes: a plurality of pneumatic clamping jaw, turnover mechanism, rotating mechanism, laser instrument, laser instrument movement module and total control module,

[0006] The total control module is connected with the turnover mechanism, the rotating mechanism, the laser instrument and the laser instrument movement module respectively,

[0007] The pneumatic clamping jaw is used to clamp the workpiece to be rust cleaned, and outputs a workpiece in-place signal according to the clamping state of the workpiece to be rust cleaned, and the total control module is used to form a first control signal according to the workpiece in-place signal,

[0008] The turnover mechanism is connected with the pneumatic clamping jaw, the turnover mechanism is used to drive the plane around the pneumatic clamping jaw to be the first angle or the second angle with the horizontal plane according to the first control signal, and forms a turnover in-place signal at the end of turnover, and the total control module forms a second control signal according to the turnover in-place signal,

[0009] The axis of the plane around the plurality of pneumatic clamping jaws coincides with the rotation axis of the rotating mechanism, the rotating mechanism is connected with the pneumatic clamping jaw, and the rotating mechanism is used to drive the pneumatic clamping jaw to rotate according to the second control signal,

[0010] The laser instrument movement module is connected with the laser instrument, the laser instrument movement module is used to control the light emitting surface of the laser instrument to be opposite to the rust cleaning surface of the workpiece to be rust cleaned according to the second control signal, the laser instrument movement module forms a laser instrument movement in-place signal at the end of laser instrument movement, and the total control module forms a third control signal according to the laser instrument movement in-place signal,

[0011] The laser emits light according to the third control signal.

[0012] Optionally, the turnover mechanism comprises a first power input unit, a first switch unit, a turnover unit, a first transistor output type controller, a first switch power supply and a turnover information detection unit.

[0013] The control end of the first transistor output type controller is connected with the total control module, for receiving the first control signal.

[0014] The three-way output end of the first power input unit is connected with the power supply end of the first switch unit, the first transistor output type controller and the first switch power supply respectively.

[0015] The output end of the first switch unit is connected with the first input end of the turnover unit.

[0016] The first output end of the first transistor output type controller is connected with the control end of the first switch unit, and the first transistor output type controller is used for sending a first power control signal to the first switch unit according to the first control signal to control the conduction or turn-off between the turnover unit and the output end of the first power input unit.

[0017] The second output end of the first transistor output type controller is connected with the second input end of the turnover unit, and the first transistor output type controller is used for sending a first control positioning pulse train to the turnover unit according to the first control signal to control the turnover unit to perform turnover positioning control.

[0018] The power supply end of the turnover information detection unit is connected with the first switch power supply, and the first switch power supply supplies power for the turnover information detection unit.

[0019] The output end of the turnover information detection unit is connected with the input end of the first transistor output type controller, for collecting the turnover position information of the turnover mechanism and sending to the first transistor output type controller, and the first transistor output type controller sends the turnover to position signal to the total control module according to the turnover position information.

[0020] Optionally, the turnover unit comprises a turnover servo amplifier, a turnover servo motor, a first encoder and a turnover speed reducer.

[0021] The first input end of the turnover servo amplifier is used as the first input end of the turnover unit, the second input end of the turnover servo amplifier is used as the second input end of the turnover unit, the output end of the turnover servo amplifier is connected with the input end of the turnover servo motor, and the input end of the first encoder is connected with the first output end of the turnover servo motor.

[0022] The output end of the first encoder is connected with the third input end of the turnover servo amplifier, and the turnover servo amplifier outputs a turnover control signal according to the first control positioning pulse train and the feedback signal of the turnover servo motor.

[0023] The second output end of the turnover servo motor is connected with the input end of the turnover speed reducer, and the turnover servo motor is used for driving the turnover speed reducer according to the turnover control signal.

[0024] Optionally, the rotating mechanism comprises a second power supply input unit, a second switch unit, a rotating unit and a second transistor output type controller.

[0025] The control end of the second transistor output type controller is connected with the total control module, and is used for receiving the second control signal.

[0026] The two-way output ends of the second power supply input unit are respectively connected with the power supply ends of the second switch unit and the second transistor output type controller.

[0027] The output end of the second switch unit is connected with the first input end of the rotating unit.

[0028] The first output end of the second transistor output type controller is connected with the control end of the second switch unit, and the second transistor output type controller is used for sending a second power control signal to the second switch unit according to the first control signal to control the conduction or turn-off between the rotating unit and the output end of the second power supply input unit.

[0029] The second output end of the second transistor output type controller is connected with the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse train to the rotating unit according to the second control signal to control the rotating positioning control of the rotating unit.

[0030] Optionally, the rotating unit comprises a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating speed reducer.

[0031] The first input end of the rotation servo amplifier is the first input end of the rotation unit, the second input end of the rotation servo amplifier is the second input end of the rotation unit, the output end of the rotation servo amplifier is connected with the input end of the rotation servo motor, and the input end of the second encoder is connected with the first output end of the rotation servo motor.

[0032] The output end of the second encoder is connected with the third input end of the rotation servo amplifier, and the rotation servo amplifier outputs a rotation control signal according to the second control positioning pulse train and the feedback signal of the rotation servo motor.

[0033] The second output end of the rotation servo motor is connected with the input end of the rotation speed reducer, and the rotation servo motor is used for driving the rotation speed reducer according to the rotation control signal.

[0034] Optionally, the laser motion module comprises a third power supply input unit, a third switch unit, a laser rotation unit, a third transistor output type controller, a cylinder, a solenoid valve, a second switch power supply and a laser motion information detection unit.

[0035] The control end of the third transistor output type controller is connected with the total control module, and is used for receiving the second control signal.

[0036] The three-way output end of the third power supply input unit is connected with the power supply end of the third switch unit, the third transistor output type controller and the second switch power supply respectively.

[0037] The output end of the third switch unit is connected with the first input end of the laser rotation unit.

[0038] The first output end of the third transistor output type controller is connected with the first input end of the third switch unit, and the third transistor output type controller is used for sending a third power control signal to the laser rotation unit according to the second control signal to control the conduction or turn-off between the laser rotation unit and the output end of the third power supply input unit.

[0039] The second output end of the third transistor output type controller is connected with the second input end of the laser rotation unit, and the third transistor output type controller is used for sending a third control positioning pulse train to the laser rotation unit according to the second control signal to control the laser rotation unit to perform laser rotation positioning control.

[0040] The third output end of the third transistor output controller is connected with the control end of the electromagnetic valve, and the third transistor output controller is used for sending a motion control signal to the electromagnetic valve according to the second control signal; the first end of the electromagnetic valve is connected with an external air source, and the second end is connected with the air cylinder;

[0041] The electromagnetic valve is turned on or turned off according to the motion control signal to turn on or turn off the air cylinder and the external air source;

[0042] The laser motion information detection unit is connected with the third transistor output controller and is used for collecting motion position information of the laser motion module and sending the motion position information to the third transistor output controller; the third transistor output controller sends the laser motion to position signal to the total control module according to the motion position information;

[0043] The second switching power supply is connected with the laser motion information detection unit and the power supply end of the electromagnetic valve and is used for supplying power to the laser motion information detection unit and the electromagnetic valve.

[0044] Optionally, the laser rotating unit comprises a laser rotating servo amplifier, a laser rotating servo motor, a third encoder and a laser rotating speed reducer.

[0045] The first input end of the laser rotating servo amplifier serves as the first input end of the laser rotating unit; the output end of the laser rotating servo amplifier is connected with the input end of the laser rotating servo motor; the second input end of the laser rotating servo motor serves as the second input end of the laser rotating unit, the input end of the third encoder is connected with the first output end of the laser rotating servo motor, and the third encoder is used for collecting a feedback signal of the laser rotating servo motor;

[0046] The output end of the third encoder is connected with the second input end of the laser rotating servo amplifier, and the laser rotating servo amplifier outputs a laser rotating control signal according to the third control positioning pulse train and the feedback signal of the laser rotating servo motor;

[0047] The second output end of the laser rotating servo motor is connected with the input end of the laser rotating speed reducer, and the laser rotating servo motor is used for driving the laser rotating speed reducer according to the laser rotating control signal.

[0048] Optionally, the laser comprises a fourth power supply input unit, a fourth switching unit, a fourth transistor output controller and a laser light output unit.

[0049] The control end of the fourth transistor output controller is connected with the total control module, and is used for receiving the third control signal;

[0050] The two-way output ends of the fourth power supply input unit are respectively connected with the fourth switch unit and the power supply end of the fourth transistor output controller;

[0051] The output end of the fourth switch unit is connected with the first input end of the laser light emitting unit;

[0052] The first output end of the fourth transistor output controller is connected with the control end of the fourth switch unit, and the fourth transistor output controller is used for sending a fourth power control signal to the fourth switch unit according to the third control signal to control the conduction or turn-off between the laser light emitting unit and the output end of the fourth power supply input unit;

[0053] The second output end of the fourth transistor output controller is connected with the second input end of the laser light emitting unit, and the fourth transistor output controller sends a control pulse signal to the laser light emitting unit to control the laser light emitting unit to carry out light emitting mode control and start / stop light emitting control.

[0054] Optionally, the laser light emitting unit comprises a laser host and a laser head;

[0055] The first input end of the laser host is used as the first input end of the laser light emitting unit, the second input end of the laser host is used as the second input end of the laser light emitting unit, the output end of the laser host is connected with the laser head, and the laser host is used for driving the laser head to emit light according to the control pulse signal.

[0056] Optionally, the total control module comprises a fifth power supply input unit and a control unit;

[0057] The fifth power supply input unit is connected with the power supply end of the control unit;

[0058] The first output end of the control unit is connected with the pneumatic claw, the turnover mechanism, the rotating mechanism, the laser and the laser motion module;

[0059] The first input end of the control unit is connected with an external host computer.

[0060] The rust removal device provided by the utility model realizes the automation of the rust removal process, reduces manual intervention and improves work efficiency through the accurate control of the total control module on each component. Meanwhile, the accurate irradiation of the laser on the workpiece can realize fine rust removal on the surface of the workpiece and avoid the damage caused by the rust removal method in the prior art.

[0061] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to make the technical solutions in the embodiments of the present application clearer, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0063] Figure 1 is a structural schematic diagram of a rust removal device provided by the embodiments of the present application;

[0064] Figure 2 is a structural schematic diagram of a turnover mechanism provided by the embodiments of the present application;

[0065] Figure 3 is a structural schematic diagram of a rotating mechanism provided by the embodiments of the present application;

[0066] Figure 4 is a structural schematic diagram of a laser motion module provided by the embodiments of the present application;

[0067] Figure 5 is a structural schematic diagram of a laser provided by the embodiments of the present application;

[0068] Figure 6 is a structural schematic diagram of another rust removal device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0069] In order to make the technical solutions in the embodiments of the present application clearer, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0070] It should be noted that the terms "first", "second", and the like in the description and in the claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to the clearly listed steps or units, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0071] It should be understood that the various forms of flow shown above can be reordered, added or deleted. For example, the steps described in the utility model can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions of the utility model can be achieved, which is not limited herein.

[0072] Figure 1 It is a structural schematic diagram of a rust removal device provided by the utility model embodiment, as shown in Figure 1 The rust removal device comprises: a plurality of pneumatic clamps 102, a turnover mechanism 103, a rotating mechanism 104, a laser 106, a laser motion module 105 and a general control module 101. The general control module 101 is connected with the turnover mechanism 103, the rotating mechanism 104, the laser 106 and the laser motion module 105 respectively.

[0073] The pneumatic clamp 102 is used for clamping a workpiece to be rusted, and outputs a workpiece in-place signal according to the clamping state of the workpiece to be rusted. The general control module 101 is used for forming a first control signal according to the workpiece in-place signal.

[0074] The turnover mechanism 103 is connected with the pneumatic clamp 102, and the turnover mechanism 103 is used for driving the plane around which the pneumatic clamp 102 is arranged to be at a first angle or a second angle with the horizontal plane according to the first control signal, and forming a turnover in-place signal at the end of the turnover. The general control module 101 forms a second control signal according to the turnover in-place signal.

[0075] The axis of the plane around which the plurality of pneumatic clamps 102 are arranged coincides with the rotation axis of the rotating mechanism 104. The rotating mechanism 104 is connected with the pneumatic clamp 102, and the rotating mechanism 104 is used for driving the pneumatic clamp 102 to rotate according to the second control signal.

[0076] The laser motion module 105 is connected with the laser 106, and the laser motion module 105 is used for controlling the light emitting surface of the laser 106 to be arranged opposite to the rust removal surface of the workpiece to be rusted according to the second control signal, and the laser motion module 105 forms a laser motion to position signal when the laser 106 stops moving; the total control module 101 forms a third control signal according to the laser motion to position signal; and the laser 106 emits light according to the third control signal.

[0077] Specifically, the total control module controls all mechanisms or modules of the rust removal device. When the workpiece to be rusted is clamped by the pneumatic clamping jaw 102, the pneumatic clamping jaw 102 outputs a workpiece to position signal to the total control module. The total control module 101 forms a first control signal according to the received workpiece to position signal and sends the first control signal to the turnover mechanism 103.

[0078] The turnover mechanism 103 is connected with the pneumatic clamping jaw 102, and the turnover mechanism 103 can drive the plane around which the pneumatic clamping jaw is arranged to be turned from a first angle with the horizontal plane to a second angle with the horizontal plane. The first angle is the angle when the workpiece to be rusted is just clamped by the pneumatic clamping jaw 102, and the second angle is the angle when the workpiece to be rusted is subjected to laser irradiation rust removal. Optionally, the plane around which the pneumatic clamping jaw is arranged is at a first angle with the horizontal plane, i.e., the plane around which the pneumatic clamping jaw is arranged is at 0° with the horizontal plane; and the plane around which the pneumatic clamping jaw is arranged is at a second angle with the horizontal plane, i.e., the plane around which the pneumatic clamping jaw is arranged is at 90° with the horizontal plane.

[0079] The turnover mechanism 103 forms a turnover to position signal when the turnover is completed. Specifically, the plane around which the pneumatic clamping jaw is arranged is turned from the first angle with the horizontal plane to the second angle with the horizontal plane when the turnover is completed. The total control module 101 forms a second control signal according to the angle information of the workpiece to be rusted contained in the turnover to position signal.

[0080] The axis of the plane around which the plurality of pneumatic clamping jaws 102 are arranged coincides with the rotation axis of the rotating mechanism 104, and the rotating mechanism 104 is connected with the pneumatic clamping jaw 102. Optionally, when the angle information of the workpiece to be rusted contained in the second control signal is the angle when the workpiece to be rusted reaches the angle at which the workpiece to be rusted can be subjected to laser irradiation rust removal, the rotating mechanism 104 drives the pneumatic clamping jaw 102 to rotate at a preset rotation speed; and when the angle information of the workpiece to be rusted contained in the second control signal indicates that the workpiece to be rusted has not reached the angle at which the workpiece to be rusted can be subjected to laser irradiation rust removal, the rotation speed of the rotating mechanism 104 driving the pneumatic clamping jaw 102 to rotate is 0 rpm.

[0081] The laser motion module 105 is connected with the laser 106, and the laser motion module 105 can drive the laser to move and rotate, so that the light emitting surface of the laser can be arranged opposite to the rust removal surface of the workpiece to be rusted. Optionally, the workpiece to be rusted in the embodiment of the utility model is a brake disc, and the rust removal surface of the workpiece to be rusted includes a friction surface, a heat dissipation rib surface and a brake disc circumferential surface.

[0082] The laser motion module 105 is used for controlling the light emitting surface of the laser 106 to be arranged opposite to the rust removal surface of the workpiece to be rusted according to the second control signal. The total control module 101 generates the second control signal to control the laser motion module 105 to drive the laser 106 to move according to the angle position information of the workpiece to be rusted contained in the flip-to-position signal. Optionally, when the rust removal surface includes a plurality of rust removal surfaces, the total control module generates the second control signal containing the laser position changing control signal according to the rotation information of the rotating mechanism 104. Exemplarily, the laser 106 removes rust by laser light emission for the friction surface of the workpiece to be rusted, and the rotating mechanism 104 drives the workpiece to be rusted to rotate, so that the friction surface of the workpiece to be rusted is irradiated by the laser 106. When the total control module 101 detects that the rotating mechanism 104 rotates by a preset angle, it is determined that the current friction surface has been rusted completely, the total control module 101 generates the second control signal containing the laser position changing control signal, and the laser motion module 105 drives the laser 106 to rotate to the next position according to the second control signal, so that the light emitting surface of the laser 106 is arranged opposite to the heat dissipation rib surface or the brake disc circumferential surface of the workpiece to be rusted.

[0083] Optionally, after the workpiece to be rusted is rusted by laser, the total control module 101 controls the rotating mechanism 104 to stop rotating, the total control module 101 controls the laser motion module 105 to drive the laser 106 to rise to the upper limit position, and then the total control module 101 controls the flip mechanism 103 to drive the plane surrounded by the pneumatic clamping jaw 102 to be horizontal to the horizontal plane, so that the brake disc is placed on the brake disc transmission line after the pneumatic clamping jaw is loosened, and the workpiece to be rusted is rusted completely.

[0084] The utility model embodiment provides a kind of rust removal device, total control module is connected with turnover mechanism, rotating mechanism, laser and laser movement module respectively;Turnover mechanism is connected with pneumatic dog, rotating mechanism is connected with pneumatic dog;The axis of the plane around by pneumatic dog coincides with the rotation axis of rotating mechanism;Laser movement module is connected with laser;Pneumatic dog is clamped to the rust removal workpiece to be removed, and exports workpiece in place signal.Total control module receives the signal, forms first control signal, controls turnover mechanism action.Turnover mechanism according to first control signal, the plane around by pneumatic dog is turned to and horizontal plane is first angle or second angle, and forms turnover in place signal when turning over ends.Total control module is according to turnover in place signal again, forms second control signal, controls rotating mechanism action.The rotation axis of rotating mechanism coincides with the axis of the plane around by multiple pneumatic dog, it drives pneumatic dog rotation according to second control signal.Meanwhile, laser movement module according to second control signal, the light exit surface of laser is relative to the rust removal surface of rust removal workpiece to be removed and is arranged, and forms laser movement in place signal when movement ends.Total control module is according to laser movement in place signal last, forms third control signal, controls laser light to remove rust.The rust removal device provided by the utility model realizes the automation of rust removal process by the accurate control of total control module to each component, reduces manual intervention, improves work efficiency.Meanwhile, by laser, the accurate irradiation of workpiece can be realized to the fine rust removal of workpiece surface, avoid the damage that may be brought by the rust removal method in prior art.

[0085] Figure 2 It is the structure schematic diagram of the turnover mechanism provided by the utility model embodiment, as shown in Figure 2 Turnover mechanism 103 includes: first power input unit 1031, first switch unit 1032, turnover unit 1033, first transistor output type controller 1034, first switch power supply 1035 and turnover information detection unit 1036;

[0086] The control end of first transistor output type controller 1034 is connected with total control module 101, for receiving first control signal;

[0087] The three-way output end of first power input unit 1031 is connected with the power supply end of first switch unit 1032, first transistor output type controller 1034 and first switch power supply 1035 respectively;

[0088] The output end of first switch unit 1032 is connected with the first input end of turnover unit 1033;

[0089] A first output terminal of the first transistor output type controller 1034 is connected to the control terminal of the first switch unit 1032. The first transistor output type controller 1034 is used to send a first power control signal to the first switch unit 1032 according to the first control signal to control the conduction or disconnection between the flip unit 1033 and the output terminal of the first power input unit 1031;

[0090] The second output terminal of the first transistor output type controller 1034 is connected to the second input terminal of the flip unit 1033, and the first transistor output type controller 1034 is used to send a first control positioning pulse string to the flip unit 1033 according to the first control signal to control the flip unit 1033 to perform flip positioning control;

[0091] The power supply end of the flip information detection unit 1036 is connected to the first switching power supply 1035, and the first switching power supply 1035 supplies power to the flip information detection unit 1036;

[0092] The output end of the flip information detection unit 1036 is connected to the first transistor output type controller 1034, which is used to collect the flip position information of the flip mechanism 103 and send it to the first transistor output type controller 1034; the first transistor output type controller 1034 sends a flip position signal to the main control module 101 according to the flip position information.

[0093] The flip unit 1033 includes: a flip servo amplifier 10331, a flip servo motor 10332, a first encoder 10333 and a flip reducer 10334;

[0094] A first input end of the flip servo amplifier 10331 serves as a first input end of the flip unit 1033, a second input end of the flip servo amplifier 10331 serves as a second input end of the flip unit 1033, an output end of the flip servo amplifier 10331 is connected to an input end of the flip servo motor 10332, an input end of the first encoder 10333 is connected to a first output end of the flip servo motor 10332, and the first encoder 10333 is used to collect a feedback signal from the flip servo motor 10332;

[0095] The output terminal of the first encoder 10333 is connected to the third input terminal of the flip servo amplifier 10331, and the flip servo amplifier 10331 outputs a flip control signal according to the first control positioning pulse train and the feedback signal of the flip servo motor 10332;

[0096] The second output end of the flip servo motor 10332 is connected to the input end of the flip reducer 10334 , and the flip servo motor 10332 is used to drive the flip reducer 10334 according to the flip control signal.

[0097] Specifically, in the turnover mechanism 103, when the first transistor output type controller 1034 receives the first control signal of the total control module 101, the first transistor output type controller 1034 generates a first power control signal according to the first control signal and sends it to the first switch unit 1032 for power control of the turnover unit 1033; generates a first control positioning pulse train and sends it to the turnover unit 1033 for turnover positioning control. In the process of turnover, the turnover information detection unit 1036 collects the turnover position information of the turnover mechanism 103 and sends it to the first transistor output type controller 1034, which processes and judges the turnover position information, and when it is detected that the current turnover position meets the preset position, a turnover to position signal is generated and sent to the total control module. Optionally, the preset position is that the angle between the workpiece to be derusted and the horizontal plane is 90°.

[0098] In the turnover unit 1033, the first encoder 10333 collects the feedback signal of the turnover servo motor 10332 and encodes it and sends it to the turnover servo amplifier 10331. The turnover servo amplifier 10331 outputs a turnover control signal to the turnover servo motor 10332 according to the first control positioning pulse train and the feedback signal of the turnover servo motor 10332, so as to control the turnover speed reducer 10334 to realize the turnover of the workpiece to be derusted.

[0099] Optionally, the first power supply input unit 1031 includes a three-way circuit breaker, which cuts off the system power when overload or short circuit occurs in one of the three ways, thereby playing a protection role. The input end of the first power supply input unit 1031 is connected to a single-phase alternating current 220V power supply.

[0100] Optionally, the first switch unit 1032 includes an electromagnetic contactor.

[0101] Optionally, the first transistor output type controller 1034 can also be connected to a pneumatic claw unit; the pneumatic claw unit includes an electromagnetic valve and a pneumatic claw, and the first input end of the electromagnetic valve is connected to an external gas source and the second input end is connected to the pneumatic claw. The first transistor output type controller 1034 further includes a third output end connected to the control end of the electromagnetic valve. The first transistor output type controller 1034 inputs a pneumatic claw driving signal to the electromagnetic valve to control the conduction and shutdown of the pneumatic claw and the external gas source, thereby controlling the clamping or loosening of the pneumatic claw. At the same time, the first transistor output type controller 1034 outputs a workpiece to position signal to the total control module according to the clamping state of the pneumatic claw to the workpiece to be derusted.

[0102] The feedback signal of the overturning servo motor 10332 is collected by the first encoder 10333, so that the running state and position of the motor can be monitored in real time. This feedback mechanism makes the overturning control more accurate and ensures that the workpiece to be derusted is accurately overturned to the predetermined angle. The overturning servo amplifier 10331 outputs the overturning control signal according to the first control positioning pulse train and the feedback signal of the motor, and this closed-loop control mode can maintain the stability and reliability of the overturning process. Even if the load changes or external disturbances are encountered, the accuracy and consistency of the overturning can be maintained by adjusting the control signal.

[0103] Figure 3 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present application, as shown in Figure 3 The rotating mechanism 104 comprises a second power supply input unit 1041, a second switch unit 1042, a rotating unit 1043 and a second transistor output type controller 1044.

[0104] The control end of the second transistor output type controller 1044 is connected with the general control module 101, for receiving a second control signal.

[0105] The two-way output end of the second power supply input unit 1041 is connected with the second switch unit 1042 and the power supply end of the second transistor output type controller 1044 respectively.

[0106] The output end of the second switch unit 1042 is connected with the first input end of the rotating unit 1043.

[0107] The first output end of the second transistor output type controller 1044 is connected with the control end of the second switch unit 1042; the second transistor output type controller 1044 is used for sending a second power control signal to the second switch unit 1042 according to the first control signal to control the conduction or turn-off between the rotating unit 1043 and the output end of the second power supply input unit 1041.

[0108] The second output end of the second transistor output type controller 1044 is connected with the second input end of the rotating unit 1043; the second transistor output type controller 1044 is used for sending a second control positioning pulse train to the rotating unit 1043 according to the second control signal to control the rotating positioning control of the rotating unit 1043.

[0109] The rotating unit 1043 comprises a rotating servo amplifier 10431, a rotating servo motor 10432, a second encoder 10433 and a rotating speed reducer 10434.

[0110] The first input end of the rotation servo amplifier 10431 is the first input end of the rotation unit 1043, the second input end of the rotation servo amplifier 10431 is the second input end of the rotation unit 1043, the output end of the rotation servo amplifier 10431 is connected with the input end of the rotation servo motor 10432, the input end of the second encoder 10433 is connected with the first output end of the rotation servo motor 10432, and the second encoder 10433 is used for collecting the feedback signal of the rotation servo motor 10432.

[0111] The output end of the second encoder 10433 is connected with the third input end of the rotation servo amplifier 10431, and the rotation servo amplifier 10431 outputs the rotation control signal according to the second control positioning pulse train and the feedback signal of the rotation servo motor 10432.

[0112] The second output end of the rotation servo motor 10432 is connected with the input end of the rotation speed reducer 10434, and the rotation servo motor 10432 is used for driving the rotation speed reducer 10434 according to the rotation control signal.

[0113] Specifically, in the rotation mechanism 104, when the second transistor output type controller 1044 receives the second control signal of the total control module 101, the second transistor output type controller 1044 generates the second power supply control signal according to the second control signal and sends it to the second switch unit 1042 for power supply control of the rotation unit 1043; and generates the second control positioning pulse train and sends it to the rotation unit 1043 for rotation positioning control.

[0114] In the rotation unit 1043, the second encoder 10433 collects the feedback signal of the rotation servo motor 10432 and sends it to the rotation servo amplifier 10431 after encoding. The rotation servo amplifier 10431 outputs the rotation control signal to the rotation servo motor 10432 according to the first control positioning pulse train and the feedback signal of the rotation servo motor 10432, so as to control the rotation speed reducer 10434 to realize the rotation of the workpiece to be derusted.

[0115] Optionally, the second power supply input unit 1041 includes two circuit breakers, which cut off the system power supply when overload or short circuit occurs in one of the two circuit breakers, thereby playing a protection role. The input end of the second power supply input unit 1041 is connected with a single-phase alternating current 220V power supply.

[0116] Optionally, the second switch unit 1042 includes an electromagnetic contactor.

[0117] Optionally, the information acquisition unit acquires the rotation information of the rotating mechanism, and the acquired information includes the angle of rotation of the rotating mechanism. The information acquisition unit acquires the rotation information of the rotating mechanism and sends it to the second transistor output type controller 1044 for recording. The laser starts to emit light at the first time point, and the rotation angle of the rotating mechanism at the first time point is 0°. When the rotation angle of the rotating mechanism at the second time point is 360°, it is considered that the current rust removal surface has been rusted. The second transistor output type controller 1044 sends a notification signal to the total control module 101, and the total control module 101 controls the next step according to the notification signal. The rotation angle of the rotating mechanism can also be set to 720°, and it is considered that the current rust removal surface has been rusted. The specific angle is set according to the actual requirements of the rust removal effect, which is not limited here.

[0118] Figure 4 is a structural schematic diagram of a laser motion module provided by an embodiment of the present application, as shown in Figure 4 The laser motion module 105 includes: a third power input unit 1051, a third switch unit 1052, a laser rotating unit 1053, a third transistor output type controller 1054, a cylinder, a solenoid valve, a second switch power supply 1055, and a laser motion information detection unit 1056.

[0119] The control end of the third transistor output type controller 1054 is connected with the total control module 101, used for receiving the second control signal;

[0120] The three-way output end of the third power input unit 1051 is connected with the power supply end of the third switch unit 1052, the third transistor output type controller 1054, and the second switch power supply 1055 respectively;

[0121] The output end of the third switch unit 1052 is connected with the first input end of the laser rotating unit 1053;

[0122] The first output end of the third transistor output type controller 1054 is connected with the first input end of the third switch unit 1052, and the third transistor output type controller 1054 is used for sending the third power control signal to the laser rotating unit 1053 according to the second control signal to control the conduction or shutdown between the laser rotating unit 1053 and the output end of the third power input unit 1051;

[0123] The second output end of the third transistor output type controller 1054 is connected with the second input end of the laser rotating unit 1053, and the third transistor output type controller 1054 is used for sending a third control positioning pulse train to the laser rotating unit 1053 according to the second control signal to control the laser rotating unit 1053 to perform laser rotating positioning control;

[0124] The third output end of the third transistor output type controller 1054 is connected with the control end of the electromagnetic valve 1057, and the third transistor output type controller 1054 is used for sending a motion control signal to the electromagnetic valve 1057 according to the second control signal; the first end of the electromagnetic valve 1057 is connected with an external gas source, and the second end is connected with the air cylinder 1058;

[0125] The electromagnetic valve 1057 is turned on or turned off according to the motion control signal to make the air cylinder 1058 turned on or turned off with the external gas source; the laser motion information detection unit 1056 is connected with the third transistor output type controller 1054 to collect the motion position information of the laser motion module 105 and send it to the third transistor output type controller 1054; the third transistor output type controller 1054 sends a laser motion to position signal to the total control module 101 according to the motion position information;

[0126] The second switch power supply 1055 is connected with the power supply end of the laser motion information detection unit 1056 and the electromagnetic valve 1057 to supply power for the laser motion information detection unit 1056 and the electromagnetic valve 1057.

[0127] The laser rotating unit 1053 comprises a laser rotating servo amplifier 10531, a laser rotating servo motor 10532, a third encoder 10533 and a laser rotating reducer 10534.

[0128] The first input end of the laser rotating servo amplifier 10531 is used as the first input end of the laser rotating unit 1053; the output end of the laser rotating servo amplifier 10531 is connected with the input end of the laser rotating servo motor 10532; the second input end of the laser rotating servo motor 10532 is used as the second input end of the laser rotating unit 1053, and the input end of the third encoder 10533 is connected with the first output end of the laser rotating servo motor 10532, and the third encoder 10533 is used for collecting the feedback signal of the laser rotating servo motor 10532;

[0129] The output end of the third encoder 10533 is connected with the second input end of the laser rotating servo amplifier 10531, and the laser rotating servo amplifier 10531 outputs a laser rotating control signal according to the third control positioning pulse train and the feedback signal of the laser rotating servo motor 10532;

[0130] The second output end of the laser rotating servo motor 10532 is connected with the input end of the laser rotating speed reducer 10534, and the laser rotating servo motor 10532 is used for driving the laser rotating speed reducer 10534 according to the laser rotating control signal.

[0131] Specifically, the laser motion module 105 controls the laser 106 to move according to the second control signal. In the laser motion module 105, when the third transistor output type controller 1054 receives the second control signal of the total control module 101, the third transistor output type controller 1054 generates a third power control signal according to the second control signal and sends it to the third switch unit 1052 for power control of the laser rotating unit 1053; and generates a third control positioning pulse train and sends it to the laser rotating unit 1053 for laser rotating positioning control. In the process of laser rotating, the laser motion information detection unit 1056 collects the motion position information of the laser motion module of the laser motion module 105 and sends it to the third transistor output type controller 1054, and the third transistor output type controller 1054 processes and judges the motion position information of the laser motion module. When it is detected that the current position information meets the preset position, a laser motion to position signal is generated and sent to the total control module.

[0132] In the laser motion unit 1053, the third encoder 10533 collects the feedback signal of the laser rotating servo motor 10532 and encodes it and sends it to the laser rotating servo amplifier 10531. The laser rotating servo amplifier 10531 outputs a flip control signal to the laser rotating servo motor 10532 according to the first control positioning pulse train and the feedback signal of the laser rotating servo motor 10532, so as to control the laser rotating speed reducer 10534 to realize the rotation of the workpiece to be derusted.

[0133] In the laser motion module 105, the laser rotating unit 1053 controls the rotating action of the laser 106; and the pneumatic unit controls the linear motion action of the laser 106. Among them, for the pneumatic unit, the third transistor output type controller 1054 is connected with the electromagnetic valve 1057, and the third transistor output type controller 1054 controls the electromagnetic valve 1057 to conduct to the pneumatic unit for driving the laser motion through the motion control signal.

[0134] Optionally, the third power supply input unit 1051 includes three circuit breakers, which cut off the system power when overload or short circuit occurs in a certain path, playing a protection role. The input end of the third power supply input unit 1051 is connected with a single-phase alternating current 220V power supply.

[0135] Optionally, the third switch unit 1052 includes an electromagnetic contactor.

[0136] Figure 5 is a structural schematic diagram of a laser provided by an embodiment of the present application, as shown in the figure, the laser 106 comprises: a fourth power supply input unit 1061, a fourth switch unit 1062, a fourth transistor output type controller 1064 and a laser light output unit 1063; Figure 5

[0137] The control end of the fourth transistor output type controller 1064 is connected with the total control module 101, for receiving the third control signal;

[0138] The two-way output end of the fourth power supply input unit 1061 is connected with the power supply end of the fourth switch unit 1062 and the fourth transistor output type controller 1064 respectively;

[0139] The output end of the fourth switch unit 1062 is connected with the first input end of the laser light output unit 1063;

[0140] The first output end of the fourth transistor output type controller 1064 is connected with the control end of the fourth switch unit 1062, and the fourth transistor output type controller 1064 is used for sending the fourth power control signal to the fourth switch unit 1062 according to the third control signal to control the conduction or the turn-off between the laser light output unit 1063 and the output end of the fourth power supply input unit 1061;

[0141] The second output end of the fourth transistor output type controller 1064 is connected with the second input end of the laser light output unit 1063, and the fourth transistor output type controller 1064 sends the control pulse signal to the laser light output unit 1063 to control the laser light output unit 1063 to carry out the light emission mode control and the start / stop light emission control.

[0142] The laser light output unit 1063 comprises: a laser host 106 and a laser head;

[0143] The first input end of the laser host 106 is used as the first input end of the laser light output unit 1063, the second input end of the laser host 106 is used as the second input end of the laser light output unit 1063, the output end of the laser host 106 is connected with the laser head, and the laser host 106 is used for driving the laser head to emit light according to the control pulse signal.

[0144] Specifically, when the laser motion module 105 controls the laser 106 to move to the specified position, the total control module 101 generates the third control signal according to the laser moving to the position signal and sends it to the laser 106. The laser 106 emits light to remove rust.

[0145] ​The fourth transistor output type controller 1064 sends a control pulse signal to the laser light emitting unit 1063 to control the laser light emitting unit 1063 to perform light emitting mode control and start / stop light emitting control after receiving the third control signal.

[0146] Optionally, the light emitting mode control includes controlling the width of the emitted laser light to set the laser light of a specified wavelength to improve the rust removal efficiency according to different situations.

[0147] Optionally, the laser head 10632 emits laser light with a wavelength of 1064 nm, and the output head radiates light power greater than 300 W.

[0148] Optionally, the start light emitting control includes starting the laser light emitting.

[0149] Optionally, the fourth power input unit 1061 includes two circuit breakers, which cut off the system power when overload or short circuit occurs in one of the two circuits, thereby playing a protection role.

[0150] Optionally, the fourth switch unit 1062 includes an electromagnetic contactor.

[0151] Figure 6 is a structural schematic diagram of another rust removal device provided by the embodiment of the utility model, as shown in the figure, Figure 6 The rust removal device includes: a total control module 101 including: a fifth power input unit 1011 and a control unit 1012; the fifth power input unit 1011 is connected with the power supply end of the control unit 1012; the first output end of the control unit 1012 is connected with a pneumatic claw 102, a turnover mechanism 103, a rotating mechanism 104, a laser 106 and a laser movement module 105; the first input end of the control unit 1012 is connected with an external host computer.

[0152] Specifically, the control unit 1012 is connected with a first transistor output type controller 1034, a second transistor output type controller 1044, a third transistor output type controller 1054 and a fourth transistor output type controller 1064 to receive signals and send corresponding control signals.

[0153] Specifically, the host computer is connected to the control unit 1012 so as to control the rust removal device through the host computer, or the host computer is connected to a plurality of rust removal devices in the above embodiments so as to control the plurality of rust removal devices through the host computer.

[0154] Optionally, the host computer and the control unit 1012 are connected through wireless or wired connection.

[0155] Optionally, the first transistor output type controller 1034, the second transistor output type controller 1044, the third transistor output type controller 1054 and the fourth transistor output type controller 1064 can be the same transistor output type controller, which has a plurality of output ends to output corresponding control positioning pulse trains to control the pneumatic clamping jaw 102, the overturning mechanism 103, the rotating mechanism 104 and the laser motion module connection 105 respectively after receiving the control signal of the total control module 101, and also output control pulse signals to control the laser 106.

[0156] Optionally, the control unit 1012 is connected to each transistor output type controller through a communication line.

[0157] Optionally, the rust removal device further comprises a remote controller, which is connected to each transistor output type controller to manually control the pneumatic clamping jaw 102, the overturning mechanism 103, the rotating mechanism 104, the laser 106 and the laser motion module connection 105. The remote controller is connected to each transistor output type controller through wireless or wired connection.

[0158] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rust removal device characterized by, The rust removal device comprises a plurality of pneumatic clamps, a turnover mechanism, a rotating mechanism, a laser, a laser motion module and a general control module; The general control module is connected with the turnover mechanism, the rotating mechanism, the laser and the laser motion module respectively; The pneumatic clamps are used for clamping the workpiece to be rust removed, and output a workpiece positioning signal according to the clamping state of the workpiece to be rust removed; the general control module is used for forming a first control signal according to the workpiece positioning signal; The turnover mechanism is connected with the pneumatic clamps, and is used for driving the plane around which the pneumatic clamps are arranged to be at a first angle or a second angle with the horizontal plane according to the first control signal, and forming a turnover positioning signal at the end of turnover; the general control module forms a second control signal according to the turnover positioning signal; The axis of the plane around which the plurality of pneumatic clamps are arranged coincides with the rotating axis of the rotating mechanism; the rotating mechanism is connected with the pneumatic clamps, and is used for rotating the pneumatic clamps according to the second control signal; The laser motion module is connected with the laser, and is used for controlling the light emitting surface of the laser to be arranged opposite to the rust removal surface of the workpiece to be rust removed according to the second control signal; the laser motion module forms a laser motion positioning signal at the end of laser motion; the general control module forms a third control signal according to the laser motion positioning signal; The laser emits light according to the third control signal.

2. The rust removal device according to claim 1, characterized by The turnover mechanism comprises a first power supply input unit, a first switch unit, a turnover unit, a first transistor output type controller, a first switch power supply and a turnover information detection unit; The control end of the first transistor output type controller is connected with the general control module, and is used for receiving the first control signal; The three-way output end of the first power supply input unit is connected with the power supply end of the first switch unit, the first transistor output type controller and the first switch power supply respectively; The output end of the first switch unit is connected with the first input end of the turnover unit; The first output end of the first transistor output type controller is connected with the control end of the first switch unit; the first transistor output type controller is used for sending a first power control signal to the first switch unit according to the first control signal to control the conduction or interruption between the turnover unit and the output end of the first power supply input unit; The second output end of the first transistor output type controller is connected with the second input end of the turnover unit; the first transistor output type controller is used for sending a first control positioning pulse train to the turnover unit according to the first control signal to control the turnover positioning control of the turnover unit; The power supply end of the turnover information detection unit is connected with the first switch power supply; the first switch power supply supplies power to the turnover information detection unit. An output end of the turnover information detection unit is connected with an input end of the first transistor output type controller, for collecting turnover position information of the turnover mechanism and sending to the first transistor output type controller; the first transistor output type controller sends the turnover to position signal to the total control module according to the turnover position information.

3. The rust removal device according to claim 2, characterized by The turnover unit comprises a turnover servo amplifier, a turnover servo motor, a first encoder and a turnover speed reducer. A first input end of the turnover servo amplifier serves as a first input end of the turnover unit, a second input end of the turnover servo amplifier serves as a second input end of the turnover unit, an output end of the turnover servo amplifier is connected with an input end of the turnover servo motor, an input end of the first encoder is connected with a first output end of the turnover servo motor, and the first encoder is used for collecting feedback signals of the turnover servo motor. An output end of the first encoder is connected with a third input end of the turnover servo amplifier, and the turnover servo amplifier outputs a turnover control signal according to the first control positioning pulse train and the feedback signals of the turnover servo motor. A second output end of the turnover servo motor is connected with an input end of the turnover speed reducer, and the turnover servo motor is used for driving the turnover speed reducer according to the turnover control signal.

4. The rust removal device according to any one of claims 1 to 3, characterized by The rotation mechanism comprises a second power supply input unit, a second switch unit, a rotation unit and a second transistor output type controller. A control end of the second transistor output type controller is connected with the total control module, for receiving the second control signal. Two output ends of the second power supply input unit are respectively connected with the second switch unit and a power supply end of the second transistor output type controller. An output end of the second switch unit is connected with a first input end of the rotation unit. A first output end of the second transistor output type controller is connected with a control end of the second switch unit, and the second transistor output type controller is used for sending a second power control signal to the second switch unit according to the first control signal to control conduction or turn-off between the rotation unit and the output end of the second power supply input unit. A second output end of the second transistor output type controller is connected with a second input end of the rotation unit, and the second transistor output type controller is used for sending a second control positioning pulse train to the rotation unit according to the second control signal to control rotation positioning control of the rotation unit.

5. The rust removal device according to claim 4, wherein The rotation unit comprises a rotation servo amplifier, a rotation servo motor, a second encoder and a rotation speed reducer. A first input end of the rotation servo amplifier serves as a first input end of the rotation unit, a second input end of the rotation servo amplifier serves as a second input end of the rotation unit, an output end of the rotation servo amplifier is connected with an input end of the rotation servo motor, an input end of the second encoder is connected with a first output end of the rotation servo motor, and the second encoder is used for collecting feedback signals of the rotation servo motor. The output end of the second encoder is connected with the third input end of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and a feedback signal of the rotary servo motor; The second output end of the rotary servo motor is connected with the input end of the rotary speed reducer, and the rotary servo motor is used for driving the rotary speed reducer according to the rotary control signal.

6. The rust removal device according to claim 1, wherein The laser motion module comprises a third power supply input unit, a third switch unit, a laser rotary unit, a third transistor output type controller, a cylinder, a solenoid valve, a second switch power supply and a laser motion information detection unit; The control end of the third transistor output type controller is connected with the total control module, and is used for receiving the second control signal; The three-way output end of the third power supply input unit is connected with the power supply end of the third switch unit, the third transistor output type controller and the second switch power supply respectively; The output end of the third switch unit is connected with the first input end of the laser rotary unit; The first output end of the third transistor output type controller is connected with the first input end of the third switch unit, and the third transistor output type controller is used for sending a third power control signal to the laser rotary unit according to the second control signal to control the conduction or turn-off between the laser rotary unit and the output end of the third power supply input unit; The second output end of the third transistor output type controller is connected with the second input end of the laser rotary unit, and the third transistor output type controller is used for sending a third control positioning pulse train to the laser rotary unit according to the second control signal to control the laser rotary unit to perform laser rotary positioning control; The third output end of the third transistor output type controller is connected with the control end of the solenoid valve, and the third transistor output type controller is used for sending a motion control signal to the solenoid valve according to the second control signal; the first end of the solenoid valve is connected with an external air source, and the second end is connected with the cylinder; The solenoid valve is turned on or turned off according to the motion control signal to make the cylinder turn on or turn off with the external air source; The laser motion information detection unit is connected with the third transistor output type controller to collect the motion position information of the laser motion module and send to the third transistor output type controller; the third transistor output type controller sends the laser motion to the position signal to the total control module according to the motion position information; The second switch power supply is connected with the power supply end of the laser motion information detection unit and the solenoid valve, and is used for supplying power for the laser motion information detection unit and the solenoid valve.

7. The rust removal device according to claim 6, wherein The laser rotary unit comprises a laser rotary servo amplifier, a laser rotary servo motor, a third encoder and a laser rotary speed reducer. The first input end of the laser rotation servo amplifier is the first input end of the laser rotation unit; the output end of the laser rotation servo amplifier is connected with the input end of the laser rotation servo motor; the second input end of the laser rotation servo motor is the second input end of the laser rotation unit, and the input end of the third encoder is connected with the first output end of the laser rotation servo motor, and the third encoder is used for collecting the feedback signal of the laser rotation servo motor; The output end of the third encoder is connected with the second input end of the laser rotation servo amplifier, and the laser rotation servo amplifier outputs the laser rotation control signal according to the third control positioning pulse train and the feedback signal of the laser rotation servo motor; The second output end of the laser rotation servo motor is connected with the input end of the laser rotation speed reducer, and the laser rotation servo motor is used for driving the laser rotation speed reducer according to the laser rotation control signal.

8. The rust removal device according to claim 1, wherein The laser comprises a fourth power supply input unit, a fourth switch unit, a fourth transistor output type controller and a laser light emitting unit. The control end of the fourth transistor output type controller is connected with the total control module, and is used for receiving the third control signal. The two-way output ends of the fourth power supply input unit are respectively connected with the power supply end of the fourth switch unit and the fourth transistor output type controller. The output end of the fourth switch unit is connected with the first input end of the laser light emitting unit. The first output end of the fourth transistor output type controller is connected with the control end of the fourth switch unit, and the fourth transistor output type controller is used for sending the fourth power control signal to the fourth switch unit according to the third control signal to control the conduction or turn-off between the laser light emitting unit and the output end of the fourth power supply input unit. The second output end of the fourth transistor output type controller is connected with the second input end of the laser light emitting unit, and the fourth transistor output type controller sends the control pulse signal to the laser light emitting unit to control the laser light emitting unit to perform light emitting mode control and start / stop light emitting control.

9. The rust removal device according to claim 8, wherein The laser light emitting unit comprises a laser host and a laser head. The first input end of the laser host is the first input end of the laser light emitting unit, the second input end of the laser host is the second input end of the laser light emitting unit, the output end of the laser host is connected with the laser head, and the laser host is used for driving the laser head to emit light according to the control pulse signal.

10. The rust removal device according to claim 1, wherein The total control module comprises a fifth power supply input unit and a control unit. The fifth power supply input unit is connected with the power supply end of the control unit. The first output end of the control unit is connected with the pneumatic claw, the turnover mechanism, the rotation mechanism, the laser and the laser motion module. The first input end of the control unit is connected with an external host computer.

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