CN114749451A - Sand blasting cleaning system adopting visual servo control - Google Patents
Sand blasting cleaning system adopting visual servo control Download PDFInfo
- Publication number
- CN114749451A CN114749451A CN202210226294.4A CN202210226294A CN114749451A CN 114749451 A CN114749451 A CN 114749451A CN 202210226294 A CN202210226294 A CN 202210226294A CN 114749451 A CN114749451 A CN 114749451A
- Authority
- CN
- China
- Prior art keywords
- water
- sand
- spray gun
- cleaning
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
- B24C7/0007—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a liquid carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/006—Treatment of used abrasive material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a sand blasting cleaning system adopting visual servo control, which comprises: the cleaning machine comprises a multi-axis robot, a control system, an adjustable mounting bracket, a camera, an image processor, a spray gun assembly, a workbench and a cleaning agent preparation and storage assembly; the workbench is used for placing a workpiece to be cleaned; the adjustable mounting bracket is mounted on a connecting head of the multi-axis robot; the spray gun assembly and the camera are respectively arranged on the adjustable bracket and are arranged towards the workpiece to be cleaned; the cleaning agent preparation and storage component is communicated with the spray gun component; the camera is electrically connected with the image processor; the control system is respectively and electrically connected with the image processor, the spray gun assembly and the cleaning agent preparation and storage assembly. The invention can intelligently plan the path according to the image space characteristics of the workpiece to be cleaned, greatly ensure the adaptability of the robot and cope with the cleaning work under different environmental conditions.
Description
Technical Field
The invention relates to the technical field of cleaning agent preparation and storage components, in particular to a sand blasting cleaning system adopting visual servo control.
Background
The sandblast cleaning work is the work that the machinery is repeated and the operation is complicated, need consume a large amount of manpower and materials, if can be with the application of robotics in the middle of, just can liberate a large amount of labours. The robot is widely applied to the field of industrial automation, but in most cases, the operation process of the robot is fixed and unchangeable, the robot inputs a motion track through teaching, then the task is completed by only repeating the track, the change of an external complex environment cannot be sensed, and the fault tolerance rate is very low. For example, the automatic wall-climbing cleaning and derusting robot is applied to derusting of large ships, and the derusting capacity of one robot is equivalent to that of 7 derusting workers with pure and mature technologies. However, the automatic wall climbing rust removal robot adopts a remote control mode, manual assistance control is needed, the intelligent degree is very low, if the visual servo technology can be combined, rust images are collected through a camera to identify rust, then the robot is controlled to execute rust removal operation, and the rust removal efficiency is greatly improved. With the development of image recognition technology and robot technology, the robot vision servo technology has many cases successfully applied to various industries, and has a wide development space.
At present, no cleaning equipment can automatically judge the pollution characteristics of a cleaning object in the market, and a full-automatic sandblasting cleaning agent preparation and storage assembly is realized for a polluted area. Moreover, the effect after cleaning is not automatically distinguished, not to mention that the automatic washing is performed on the region which is not cleaned, so that the cleaning effect is difficult to guarantee.
Therefore, it is an urgent need to solve the problem of the art to provide a sand blasting cleaning system using visual servo control, which can automatically plan the sand blasting trajectory according to the rust and can perform repeated cleaning according to the cleaning effect.
Disclosure of Invention
In view of this, the invention provides a sand blasting cleaning system adopting visual servo control, which can intelligently plan a path according to the image space characteristics of a workpiece to be cleaned, greatly ensure the adaptability of a robot, and cope with cleaning work under different environmental conditions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a blast cleaning system employing visual servoing control, comprising: the cleaning machine comprises a multi-axis robot, a control system, an adjustable mounting bracket, a camera, an image processor, a spray gun assembly, a workbench and a cleaning agent preparation and storage assembly;
the workbench is used for placing a workpiece to be cleaned;
the adjustable mounting bracket is mounted on a connecting head of the multi-axis robot;
the spray gun assembly and the camera are respectively arranged on the adjustable bracket and are arranged towards a workpiece to be cleaned;
the cleaning agent preparation and storage assembly is communicated with the spray gun assembly;
the camera is electrically connected with the image processor; the control system is respectively and electrically connected with the image processor, the spray gun assembly and the cleaning agent preparation and storage assembly;
the camera is used for collecting images of a workpiece to be cleaned, and the image processor is used for processing the images of the workpiece to be cleaned; the control system automatically generates a motion track of the multi-axis robot according to the rust position in an image of a workpiece to be cleaned after being processed, controls the multi-axis robot to operate according to the motion track, synchronously starts the cleaning agent preparation and storage component and the spray gun component, and executes single-wheel cleaning work; and after the single-round cleaning work is finished, regenerating the running track of the multi-axis robot according to the position of the rust in the workpiece image to be cleaned after the upper round of cleaning, and starting a new round of cleaning work according to the regenerated running track until the rust is completely removed.
Preferably, in the sandblast cleaning system using visual servo control, the image processor is used for performing edge detection, Hough transformation and perspective change processing on the image of the workpiece to be cleaned.
Preferably, in the sandblasting cleaning system using the visual servo control, the plurality of cameras face different directions of the workpiece to be cleaned respectively, and the workpiece to be cleaned is shot without dead angles.
Preferably, in the sandblast cleaning system adopting visual servo control, the control system is further configured to control the cleaning agent preparation and storage assembly and the spray gun assembly to spray pure water flow to clean the residual sand water on the surface of the workpiece to be cleaned after the completion of the single-round cleaning operation and before the next round of cleaning operation, and control the camera to perform image acquisition on the workpiece to be cleaned after the residual sand water is cleaned.
Preferably, in the sand blasting cleaning system adopting visual servo control, the spray gun assembly comprises a high-pressure water spray gun and an abrasive jet spray gun; the high-pressure water spray gun and the abrasive jet spray gun are respectively communicated with the cleaning agent preparation and storage component; the high-pressure water spray gun is used for spraying pure high-pressure water; the abrasive jet spray gun is used for spraying water-sand mixture or dry sand.
Preferably, in the sandblasting cleaning system using visual servo control, the cleaning agent preparing and storing component comprises a sandblasting component and a water spraying component; the sand blasting assembly comprises a stirring barrel, a first delivery pump and a water sand delivery pipeline; the stirring barrel is used for preparing a water-sand mixture according to a specific proportion; the first conveying pump is arranged in the stirring barrel; the prepared water-sand mixture is pressurized by the first delivery pump and then delivered to the abrasive jet spray gun through the water-sand delivery pipeline to be sprayed out;
the water spraying assembly comprises a water storage tank, a second delivery pump and a water delivery pipeline; the water storage tank is used for containing water; the second delivery pump is arranged in the water storage tank; and after being pressurized by the second delivery pump, the water is delivered to the high-pressure water spray gun through the water delivery pipeline to be sprayed out.
Preferably, in the sand blasting cleaning system adopting visual servo control, a filter screen is installed in the water sand conveying pipeline.
Preferably, in the sandblasting cleaning system adopting the visual servo control, the sandblasting cleaning system further comprises a dry sand storage tank and a dry sand pump; the dry sand storage tank is used for storing dry sand, and the dry sand is pressurized by the dry sand pump and then conveyed to the abrasive jet spray gun through the water sand conveying pipeline to be sprayed out.
Preferably, in the sandblasting cleaning system using visual servo control, a recovery tank is further included, and the recovery tank is used for recovering the cleaned polluted sand water.
Preferably, in the sand blasting cleaning system using visual servo control, the adjustable support is driven by the multi-axis robot to realize distance adjustment in three axis directions.
Compared with the prior art, the invention discloses and provides the sand blasting cleaning system adopting the visual servo control, and the sand blasting cleaning system has the following beneficial effects:
1. the invention applies the multi-axis robot technology to the cleaning and sand blasting industry, can liberate a large amount of labor force, realizes automatic and efficient production, has certain universality, can be used for derusting parts, can also be used for renovating parts and polishing and cleaning the surfaces of the parts.
2. In the cleaning process, the camera is adopted to collect images of the workpiece to be treated, the image processor is used for analyzing the images of the workpiece to be cleaned, the rust characteristics of the workpiece to be cleaned are extracted, a cleaning path is generated, the rust removing effect is detected after rust removal, if the rust still exists, the cleaning path is planned again, a new round of cleaning work is carried out until the rust is removed completely, the pollution characteristics of the cleaning part are automatically judged, intelligent full-automatic sand blasting cleaning is carried out on a polluted area, the automatic judgment of the effect after cleaning is realized, and the automatic repairing and cleaning can be carried out on the area which is not cleaned completely.
3. The multi-axis robot can flexibly adjust the height and angle of rust removal, can be adjusted according to different rust conditions, can greatly expand the range of sand blasting rust removal, can reach each position of a workpiece, can carry out targeted rust removal treatment by combining image processing, has high intelligent degree, can save sand water and other resources, and ensures the rust removal quality. The problems of low automation degree, low rust removal efficiency, environmental pollution and the like of the traditional cleaning and rust removal system are solved.
4. The invention adopts a plurality of cameras to combine, can enlarge the visual field, can avoid the phenomena of shielding, visual dead angles and the like, can identify three-dimensional scenes and ensures the thoroughness of cleaning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a sand blasting cleaning system using visual servo control according to the present invention;
fig. 2 is a flow chart of the operation of the sand blast cleaning system using visual servo control according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention discloses a sand blast cleaning system using visual servo control, including: the system comprises a multi-axis robot 1, a control system 2, an adjustable mounting bracket 3, a camera 4, an image processor 5, a spray gun assembly 6, a workbench 7 and a cleaning agent preparation and storage assembly 8;
the workbench 7 is used for placing a workpiece to be cleaned;
the adjustable mounting bracket 3 is mounted on a connecting head of the multi-axis robot 1;
the spray gun assembly 6 and the camera 4 are respectively arranged on the adjustable bracket 3 and are arranged towards a workpiece to be cleaned;
the cleaning agent preparing and storing component 8 is communicated with the spray gun component 6;
the camera 4 is electrically connected with the image processor 5; the control system 2 is respectively and electrically connected with the image processor 5, the spray gun assembly 6 and the cleaning agent preparation and storage assembly 8;
the camera 4 is used for collecting an image of a workpiece to be cleaned, and the image processor 5 is used for processing the image of the workpiece to be cleaned; the control system 2 automatically generates a motion track of the multi-axis robot 1 according to the rust position in the image of the processed workpiece to be cleaned, controls the multi-axis robot 1 to operate according to the motion track, synchronously starts the cleaning agent preparation and storage component 8 and the spray gun component 6, and executes single-wheel cleaning work; after the single-round cleaning operation is completed, the running track of the multi-axis robot 1 is regenerated according to the position of the rust in the workpiece image to be cleaned after the cleaning operation is completed, and a new round of cleaning operation is started according to the regenerated running track until the rust is completely removed.
After the single round of cleaning work is finished and before the next round of cleaning work is carried out, the control system 2 further controls the cleaning agent preparation and storage assembly 8 and the spray gun assembly 6 to spray pure water flow to clean residual sand water on the surface of the workpiece to be cleaned, and after the residual sand water is cleaned, the camera 4 is controlled to carry out image acquisition on the workpiece to be cleaned.
In one embodiment, the work bench may be mounted on top of the cleaning agent dispensing and storage assembly 8; the image processor 5 and the control system 2 may be integrated in one housing. The camera 4 and the image processor 5, the image processor 5 and the control system 2, the control system, the multi-axis robot 1 and the cleaning agent preparation and storage component 8 are electrically connected through signal lines.
Specifically, the image processor 5 corrects the deformation image by adopting edge detection, Hough transformation and perspective transformation, the edge detection adopts a Sobel operator to carry out edge identification, the Hough transformation can carry out edge straight lines, simultaneously, the edge straight lines are selected in general, and the perspective transformation converts the graph into a front view. In this embodiment, the image processor adopts edge detection, Hough transform and perspective transform to correct the deformed image to solve the problem of image deformation and difficult positioning in rust and stain recognition.
In one embodiment, the adjustable support 3 can be driven by the multi-axis robot 1 to perform distance adjustment in three axis directions, the spray gun assembly 6 is installed in the middle of the adjustable support 3, the cameras 4 are installed at two ends of the adjustable support 3, and the installation positions and angles of the spray gun assembly 6 and the cameras 4 are adjusted to corresponding optimal states, so that the maximum sand blasting cleaning efficiency and the optimal visual effect are achieved. In other embodiments, the cameras 4 installed at different angles can be arranged, and the multiple cameras can enlarge the visual field, correct errors, present stereoscopically, avoid blocking and dead angles, so that the operation flexibility of the robot is increased.
In one embodiment, the types of guns in the gun assembly 6 include two types, respectively, a high pressure water gun and an abrasive jet gun, which are used in combination according to the process of workpiece treatment: the cleaning device can be a pure high-pressure water gun for cleaning a workpiece independently, can also be an abrasive jet spray gun for cleaning the workpiece independently by combining high-pressure water and abrasive conveyed by an abrasive pump to form abrasive jet, and can also be a pure high-pressure water spray gun and an abrasive jet spray gun for cleaning the workpiece in a combined mode.
The cleaning agent preparing and storing component 8 comprises a sand blasting component and a water spraying component; the sand blasting assembly comprises a stirring barrel, a first delivery pump and a water sand delivery pipeline; the stirring barrel is used for mixing and stirring the water sand according to a specific proportion to prepare a uniform water sand mixture; the first conveying pump is arranged in the stirring barrel; the prepared water-sand mixture is pressurized by the first delivery pump to form high-pressure water-sand flow, and then is delivered to the abrasive jet spray gun through the water-sand delivery pipeline to be sprayed out to act on the surface of a workpiece; because the water sand is uniformly mixed, the energy obtained by the gravel is higher, and the rust removing effect is better.
The water spraying assembly comprises a water storage tank, a second delivery pump and a water delivery pipeline; the water storage tank is used for containing water; the second delivery pump is arranged in the water storage tank; and after being pressurized by the second delivery pump, the water is delivered to the high-pressure water spray gun through the water delivery pipeline to be sprayed out.
In another embodiment, the system further comprises a dry sand storage tank and a dry sand pump; the dry sand storage tank is used for storing dry sand, and the dry sand is pressurized by the dry sand pump and then conveyed to the abrasive jet spray gun through the water sand conveying pipeline to be sprayed out.
More advantageously, a filter screen is installed in the water sand conveying pipeline.
In another embodiment, the system further comprises a recovery tank, wherein the recovery tank is used for recovering the cleaned polluted sand water.
As shown in fig. 2, the specific work flow of the sand blasting cleaning work of the present invention is as follows:
a workpiece to be subjected to rust removal treatment is placed on a workbench 7;
starting the system, and acquiring an image of a target workpiece through the camera 4;
analyzing and processing the image of the target workpiece on the image processor 5 to obtain the rust position of the target workpiece;
the control system 2 automatically plans the operation path of the multi-axis robot 1 according to the rust position, then controls the multi-axis robot 1 to operate, and starts sand blasting and rust removal after the spray head of the spray gun assembly 6 reaches the initial position.
After the multi-axis robot 1 operates for once rust removal according to the preset track, the image is obtained again for rust detection, and a new round of rust removal and cleaning work is carried out until all rust is removed.
After each sand blasting and rust removing, stains such as residual sand water, rust residues and the like on the workpiece can influence subsequent image acquisition and detection, and after the single cleaning work is finished, the residual sand water on the surface of the workpiece is cleaned by pure water jet flow.
In the process of identifying rust by image processing, the invention adopts the camera to collect and analyze the image of the workpiece to be processed, extracts the rust characteristics of the workpiece and detects the rust removing effect after rust removal. The multi-axis robot can flexibly adjust the height and the angle of rust removal, can be adjusted according to different rust conditions, can greatly expand the range of sand blasting rust removal, can reach each position of a workpiece, can purposefully perform rust removal treatment by combining image processing, saves resources such as sand water and the like, and ensures the rust removal quality.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A blast cleaning system using visual servo control, comprising: the cleaning machine comprises a multi-axis robot, a control system, an adjustable mounting bracket, a camera, an image processor, a spray gun assembly, a workbench and a cleaning agent preparation and storage assembly;
the workbench is used for placing a workpiece to be cleaned;
the adjustable mounting bracket is mounted on a connecting head of the multi-axis robot;
the spray gun assembly and the camera are respectively arranged on the adjustable bracket and are arranged towards a workpiece to be cleaned;
the cleaning agent preparation and storage assembly is communicated with the spray gun assembly;
the camera is electrically connected with the image processor; the control system is respectively and electrically connected with the image processor, the spray gun assembly and the cleaning agent preparation and storage assembly;
the camera is used for collecting images of a workpiece to be cleaned, and the image processor is used for processing the images of the workpiece to be cleaned; the control system automatically generates a motion track of the multi-axis robot according to the rust position in an image of a workpiece to be cleaned after being processed, controls the multi-axis robot to operate according to the motion track, synchronously starts the cleaning agent preparation and storage component and the spray gun component, and executes single-wheel cleaning work; and after the single-round cleaning work is finished, regenerating the running track of the multi-axis robot according to the position of the rust in the workpiece image to be cleaned after the upper round of cleaning, and starting a new round of cleaning work according to the regenerated running track until the rust is completely removed.
2. The system of claim 1, wherein the image processor is configured to perform edge detection, Hough transform and perspective change processing on the image of the workpiece to be cleaned.
3. The sand blasting cleaning system adopting visual servo control as claimed in claim 1, wherein the cameras are provided in a plurality and respectively face different directions of the workpiece to be cleaned, and the workpiece to be cleaned is shot without dead angles.
4. The system according to claim 1, wherein the control system is further configured to control the cleaning agent preparation and storage assembly and the spray gun assembly to spray pure water to clean residual sand water on the surface of the workpiece to be cleaned after the completion of the single cleaning operation and before the next cleaning operation, and control the camera to perform image acquisition on the workpiece to be cleaned after the cleaning of the residual sand water.
5. The system of claim 1, wherein the spray gun assembly comprises a high pressure water spray gun and an abrasive jet spray gun; the high-pressure water spray gun and the abrasive jet spray gun are respectively communicated with the cleaning agent preparation and storage component; the high-pressure water spray gun is used for spraying pure high-pressure water; the abrasive jet spray gun is used for spraying water-sand mixture or dry sand.
6. The system of claim 5, wherein the cleaning agent preparation and storage assembly comprises a sand blasting assembly and a water spraying assembly; the sand blasting assembly comprises a stirring barrel, a first delivery pump and a water sand delivery pipeline; the stirring barrel is used for preparing a water-sand mixture according to a specific proportion; the first conveying pump is arranged in the stirring barrel; the prepared water-sand mixture is pressurized by the first delivery pump and then delivered to the abrasive jet spray gun through the water-sand delivery pipeline to be sprayed out;
the water spraying assembly comprises a water storage tank, a second delivery pump and a water delivery pipeline; the water storage tank is used for containing water; the second delivery pump is arranged in the water storage tank; and after being pressurized by the second delivery pump, the water is delivered to the high-pressure water spray gun through the water delivery pipeline to be sprayed out.
7. The sand blast cleaning system adopting visual servo control as claimed in claim 6, wherein the water sand conveying pipeline is provided with a filter screen.
8. The system of claim 6, further comprising a dry sand storage tank and a dry sand pump; the dry sand storage tank is used for storing dry sand, and the dry sand is pressurized by the dry sand pump and then conveyed to the abrasive jet spray gun through the water sand conveying pipeline to be sprayed out.
9. The system of claim 1, further comprising a recovery tank for recovering the cleaned contaminated sand water.
10. The visual servo-controlled sand blasting cleaning system according to claim 1, wherein the adjustable support is driven by the multi-axis robot to realize distance adjustment in three axis directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210226294.4A CN114749451A (en) | 2022-03-09 | 2022-03-09 | Sand blasting cleaning system adopting visual servo control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210226294.4A CN114749451A (en) | 2022-03-09 | 2022-03-09 | Sand blasting cleaning system adopting visual servo control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114749451A true CN114749451A (en) | 2022-07-15 |
Family
ID=82325773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210226294.4A Pending CN114749451A (en) | 2022-03-09 | 2022-03-09 | Sand blasting cleaning system adopting visual servo control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114749451A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117655932A (en) * | 2024-01-30 | 2024-03-08 | 江苏省成越科技有限公司 | Internet of things shot blasting machine control system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201086238Y (en) * | 2007-08-01 | 2008-07-16 | 王鹏飞 | Three-phase impulse fluid jet surface eliminating process equipment |
| CN201832822U (en) * | 2010-11-05 | 2011-05-18 | 李志雄 | Full-automatic rust removing and scale removing cleaning device for inner wall of metal pipe |
| CN106272090A (en) * | 2016-08-15 | 2017-01-04 | 永红保定铸造机械有限公司 | A kind of efficiency wet type sand blasting machine |
| CN107489401A (en) * | 2017-09-12 | 2017-12-19 | 大庆信志合科技有限责任公司 | A kind of process of water-jet sleeve pipe apparatus for eliminating sludge and the application device |
| CN107931865A (en) * | 2016-10-12 | 2018-04-20 | 中国科学院沈阳自动化研究所 | Large Enclosure inner wall dirt automatic online laser cleaner and method |
| CN108789171A (en) * | 2018-08-15 | 2018-11-13 | 天津理工大学 | Portable sandblaster device people's control system |
| CN111805438A (en) * | 2020-07-24 | 2020-10-23 | 宝宇(武汉)激光技术有限公司 | Sand blasting-laser polishing composite system and method for removing rust or oxide layer in large area |
| CN113369221A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中安维科技有限公司 | Cleaning system and cleaning method for railway insulator |
| CN214184259U (en) * | 2020-11-11 | 2021-09-14 | 上海瑞仕格医疗科技有限公司 | Cleaning system |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
-
2022
- 2022-03-09 CN CN202210226294.4A patent/CN114749451A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201086238Y (en) * | 2007-08-01 | 2008-07-16 | 王鹏飞 | Three-phase impulse fluid jet surface eliminating process equipment |
| CN201832822U (en) * | 2010-11-05 | 2011-05-18 | 李志雄 | Full-automatic rust removing and scale removing cleaning device for inner wall of metal pipe |
| CN106272090A (en) * | 2016-08-15 | 2017-01-04 | 永红保定铸造机械有限公司 | A kind of efficiency wet type sand blasting machine |
| CN107931865A (en) * | 2016-10-12 | 2018-04-20 | 中国科学院沈阳自动化研究所 | Large Enclosure inner wall dirt automatic online laser cleaner and method |
| CN107489401A (en) * | 2017-09-12 | 2017-12-19 | 大庆信志合科技有限责任公司 | A kind of process of water-jet sleeve pipe apparatus for eliminating sludge and the application device |
| CN108789171A (en) * | 2018-08-15 | 2018-11-13 | 天津理工大学 | Portable sandblaster device people's control system |
| CN111805438A (en) * | 2020-07-24 | 2020-10-23 | 宝宇(武汉)激光技术有限公司 | Sand blasting-laser polishing composite system and method for removing rust or oxide layer in large area |
| CN214184259U (en) * | 2020-11-11 | 2021-09-14 | 上海瑞仕格医疗科技有限公司 | Cleaning system |
| CN113386052A (en) * | 2021-05-12 | 2021-09-14 | 华南理工大学 | Hull abrasive water jet paint and rust removing equipment and implementation method thereof |
| CN113369221A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中安维科技有限公司 | Cleaning system and cleaning method for railway insulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117655932A (en) * | 2024-01-30 | 2024-03-08 | 江苏省成越科技有限公司 | Internet of things shot blasting machine control system |
| CN117655932B (en) * | 2024-01-30 | 2024-04-16 | 江苏省成越科技有限公司 | Internet of things shot blasting machine control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102218381B (en) | Full-automatic paint spraying machine and paint spraying technology thereof | |
| CN109731708B (en) | Automatic paint spraying method for automobile maintenance based on image recognition | |
| CN104440585B (en) | Full-automatic efficient sand-blasting and deburring equipment | |
| CN104842238A (en) | Intelligent automatic grinding and polishing unit based on digital bus and usage method thereof | |
| JP3192699U (en) | Processing apparatus using moving carriage device and moving carriage apparatus | |
| CN108514976B (en) | Paint mist recycling device and paint spray booth with same | |
| CN114749451A (en) | Sand blasting cleaning system adopting visual servo control | |
| CN107378615A (en) | A kind of machining workbench of automated cleaning | |
| CN208815145U (en) | A kind of spray equipment in electrophoresis coating technique | |
| CN111346768B (en) | Device for quickly spraying paint, drying and utilizing high temperature to quickly polish | |
| CN211163540U (en) | Dust protected sandblast rust cleaning and useless sand recovery unit | |
| CN111229697A (en) | Cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas | |
| CN110625534A (en) | Full-automatic sand blasting machine | |
| CN106826399A (en) | A kind of wheel hub intelligence burr removing method | |
| CN215030436U (en) | Improved automatic paint spraying machine | |
| CN109483409B (en) | Paint removing method for automatic spray repairing of aviation parts | |
| CN211305991U (en) | Acid-free phosphating device based on shot blasting process | |
| CN213194744U (en) | Casting cleaning machine | |
| CN112847162A (en) | Automatic sandblast of industrial robot and recovery unit | |
| CN210998211U (en) | Full-automatic sand blasting machine | |
| WO2023089646A1 (en) | System for the automatic cleaning of skids for bodies and artifacts | |
| CN220561275U (en) | Automatic water sand blasting equipment | |
| CN107866398B (en) | Efficient intelligent high-pressure water cleaning equipment and working method thereof | |
| CN210386723U (en) | Electromechanical device spare part conveying cleaning machine | |
| CN212733219U (en) | Cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |