Abstract
The subject of the invention is an abrasive blast machine for surfaces of large-scale workpieces comprising a housing (O) constituting a working chamber, a kinematic mechanism for moving the effector, an abrasive recirculation system, an effector feeding system with recirculated abrasive, characterized in that the kinematic mechanism is a multipart kinematic mechanism (MK) with at least four-axis, and in that, the effector is an impact turbine (T), which produces the treatment tool and directs it to the workpiece.
Claims
1. An abrasive blasting treatment machine for large-scale workpieces surfaces comprising a housing (O) constituting the working chamber, kinematic mechanism for moving the effector, abrasive recirculation system, effector feeding system with recirculated abrasive, filtration system of the working chamber and control system, characterized in that the kinematic mechanism is controlled, multi-part kinematic mechanism (MK) at least four-axis, and in that the effector is an impact turbine (T), which produces the treatment tool and directs it to the workpiece.
2. The machine according to claim 1, characterized in that the multi-part kinematic mechanism (MK) comprises a global kinematic mechanism (MG) in a two-axis Cartesian system in a horizontal plane and attached to the global kinematic mechanism (MG) a regional kinematic mechanism (MR) implementing a regional motion of the impact turbine (T) mounted on a regional kinematic mechanism (MR), wherein the multi-part kinematic mechanism (MK) provides the impact turbine (T) with at least four degrees of freedom.
3. The machine according to claim 2, characterized in that the regional kinematic mechanism (MR) comprises a telescopic assembly (7) for moving the impact turbine (T) in a vertical direction and a rotating mechanism (8) for rotating the telescopic assembly (7) about the vertical axis (k), wherein the regional kinematic mechanism (MR) gives the impact turbine two degrees of freedom.
4. The machine according to claim 2, characterized in that the global kinematic mechanism (MG) comprises a track (5) mounted on the housing (O), a traveling beam (4) adapted to move along the track (5) and a traveling trolley (6) adapted to move along the running beam (4), wherein the travelling trolley (6) carries a regional kinematic mechanism (MR), and the global kinematic mechanism (MG) gives the regional kinematic mechanism (MR) two degrees of freedom.
5. The machine according to claim 2, characterized in that the impact turbine (T) is provided with a mechanism (KS) for angular change of the abrasive jet (S) comprising a control sleeve (14) provided with an outlet opening (15) and a drive unit to change the angular position of the control sleeve (14) directing the treatment tool, whereby the treatment tool being given an additional degree of freedom in relation to the impact turbine (T).
6. The machine according to claim 2, characterized in that the multi-part kinematic mechanism (MK) is provided with a local mechanism (ML) in the form of a mechanism for deflecting the impact turbine (T) in relation to the horizontal axis (m) on the arm (r) and to change the distance of the impact turbine (T) from the vertical axis (k) around which the telescopic assembly (7) is rotated, so that the impact turbine (T) and the treatment tool are given an additional degree of freedom.
7. The machine according to claim 2, characterized in that the multipart kinematic mechanism (MK) is provided with a local mechanism (ML) comprising a mechanism (RS) for controlling the angular movement of the impact turbine (T) around the axis (r) of the arm (23) being the longitudinal axis of the arm (23) on which the impact turbine (T) is mounted, so that the impact turbine (T) and the treatment tool are given an additional degree of freedom.
8. The machine according to claim 1, characterized in that the feeding system (F) for feeding the abrasive comprises a global assembly (FG) and a regional assembly (FIR) provided with a gravity feeding hose (PG) located along the telescopic assembly (7), wherein the gravity feeding hose (PG) comprise the upper section (50), the lower section (51) and the open section (52) with a variable length depending on the extension of the telescopic assembly (7).
9. The machine according to claim 8, characterized in that in the upper section (50) the upper vertical channel (26) of the gravity feeding hose (PG) is attached to the upper section of the telescopic assembly (7), while in the lower section (51) the lower vertical channel (28) of the gravity feeding hose (PG) is located at the impact turbine (T), the upper vertical channel (26) and the lower vertical channel (28) are detachable and are located at a variable distance from each other depending on the position of the telescopic assembly (7), and the outlet (27) from the upper vertical channel (26) and the inlet (29) to the lower vertical channel (28) are arranged coaxially.
10. The machine according to claim 9, characterized in that the upper section (50) of the gravity feeding hose (PG) is equipped with an abrasive control valve (31).
11. The machine according to claim 8, characterized in that the regional assembly (FR) comprises an intermediate tank (24) adapted to feeding of the gravity feeding hose (PG).
12. The machine according to claim 11, characterized in that the intermediate tank (24) is attached to the telescopic assembly (7) and rotates with the telescopic assembly (7).
13. The machine according to claim 8, characterized in that the global assembly (FG) is provided with a main tank (32), a longitudinal belt conveyor (33) receiving the abrasive from the main tank (32) located along the track (5) and a transverse belt conveyor (34) located along the running beam (4), wherein the traveling beam (4) Is provided with a scraper bar (36) for dropping the abrasive from the longitudinal belt conveyor (33) onto the transverse belt conveyor (34) and the travelling trolley (6) is provided with a scraper bar (37) for dropping the abrasive from the transverse belt conveyor (34) to the intermediate tank (24).
14. The machine according to claim 8, characterized in that the global assembly (FG′) is provided with a main tank (32), the intermediate tank (24) being adapted to feed the abrasive to the impact turbine (T) with cyclic breaks and for cyclic feeding directly from the main tank (32).
15. The machine according to claim 8, characterized in that the global assembly (FG″) is provided with a main tank (38) and a flexible pneumatic hose (41) connected to the main tank (38), wherein the outlet (42) of the flexible pneumatic hose (41) is directed to the intermediate tank (24).
16. The machine according to claim 1, characterized in that the abrasive recirculation system (UR) comprises the scraper floor system (3) for transporting the abrasive provided with scraper bars moving in the corridors.
17. The machine according to claim 1, characterized in that the abrasive recirculation system (UR) comprises an auxiliary lift (46) connecting the main tank (45) feeding the abrasive through the control valve (47) with the longitudinal belt conveyor (33).
Description
[0048] The invention has been described in more detail in the preferred embodiments illustrated in the drawing, in which:
[0049] FIG. 1 shows a machine for abrasive blast treatment of the surface of large-scale workpieces in perspective view,
[0050] FIG. 2 shows the multi-part kinematic mechanism of the machine according to FIG. 1,
[0051] FIG. 3 shows a perspective view of the local mechanism for angular change in the ejection of the abrasive jet from the impact turbine,
[0052] FIGS. 4 and 5 shows the impact turbine in a perpendicular section to the axis and in the axial section,
[0053] FIGS. 6 and 7 shows variants of the impact turbine drive units,
[0054] FIG. 8 shows the local mechanism of the distance movement of the impact turbine relative to the vertical axis of the telescope,
[0055] FIG. 9, 10 show a local mechanism for changing the angular position of the impact turbine in the range of 0-90° around the axis of the local attachment arm,
[0056] FIG. 11 shows the regional assembly of the system for feeding the impact turbine with the abrasive,
[0057] FIG. 12 shows a cross-sectional view of the regional assembly of the system for feeding the impact turbine with the abrasive,
[0058] FIG. 13, 14 shows a feeding system with a global assembly with a belt conveyor variant,
[0059] FIG. 15, 16 shows the feeding system with global assembly in the cyclic feeding variant,
[0060] FIG. 17 shows the feeding system with the global assembly in the pneumatic feeding variant, and,
[0061] FIG. 18 shows the abrasive feeding system of the impact turbine in a variant with the global belt assembly and the abrasive main tank in the lower position.
[0062] FIG. 1 shows the machine M in its basic version. The machine M comprises a housing O, which closes off the space constituting the working chamber and in which the treatment of surfaces of the workpieces with use of the abrasive takes place, while, for clarity, the machine has been shown without a side wall. Usually the front or rear wall is provided with access gates 1, through which the workpieces are delivered to the working chamber. In addition, the machine is provided with a typical filter ventilation system (not shown in the figure), which ensures dedusting of the working space. The machine can be provided with any known filtering and ventilation units adapted to dusts generated during abrasive blasting treatment. The working chamber is equipped with light sources 2. The machine comprises the abrasive recirculation system UR. The recirculation system UR comprises a scraper floor system 3 for transport the abrasive, known for example from the patent application P402365, however any known scraper floor system for transport the abrasive can be used in the Machine. The abrasive recirculation system also performs the role of cleaning the abrasive by classification, removing large fractions generated during treatment (foreign bodies) and fine fractions (dusts) formed during the treatment process including abrasive wear.
[0063] FIG. 1 shows an exemplary workpiece P to be treated. The shown workpiece P is a large-scale workpiece, i.e., each of the three geometrical dimensions of which is over 1000 mm, while the machine can be used for workpieces of any size. Workpiece P is positioned in such a way, that the kinematic mechanism enables the treatment tool to reach the surfaces to be treated, as well as the kinematic mechanism is designed for the needs of treatment of specific workpieces.
[0064] According to the invention, the machine comprises an effector in the form of an impact turbine T producing a treatment tool in the form of an abrasive jet S. The impact turbine T is moved by means of the multi-part kinematic mechanism MK, wherein the global kinematic mechanism MG and the regional kinematic mechanism MR can be distinguished. The global kinematic mechanism MG is used to implement locomotion movement that enables the movement of the regional kinematic mechanism MR, while the regional kinematic mechanism MR enables the positioning and orientation of the impact turbine T in space. The kinematic parts of the global kinematic mechanism MG and the kinematic parts of the regional kinematic mechanism MR together form the multi-part kinematic mechanism MK. Such a multi-part kinematic mechanism MK has a supporting structure K, which can also be a built-in structure (sheathing and gate) of the working chamber, in which abrasive blast treatment is carried out (FIG. 1). The global kinematic mechanism MG comprises a running beam 4 moveably mounted along the track 5 for making movement in the X direction and a traveling trolley 6 mounted moveably on the running beam 4 for making movement in the Y direction. In the embodiment shown, the global kinematic mechanism MG moves the regional kinematic mechanism MR in the Cartesian plane, i.e. in two axes X and Y (plane substantially parallel to the ground). The global kinematic mechanism MG provides two degrees of freedom for the regional kinematic mechanism MR mounted on it. In the embodiment shown, the track 5, running beam 4 and traveling trolley 6 are in the form of a gantry crane, but the drive units are not shown in the drawing.
[0065] The regional kinematic mechanism MR allows the height and orientation of the impact turbine T to be changed. In the embodiment shown, the regional kinematic mechanism MR is mounted on the travelling trolley 6. The regional kinematic mechanism MR comprises a telescopic assembly 7 (FIG. 2) and a rotating assembly 8 on which the telescopic assembly 7 is mounted. The rotating assembly 8 serves to rotate the telescopic assembly 7, with the gear 9 driven by the motor 10 being used to implement the rotary movement. The impact turbine T is attached to the part 11 of the telescopic assembly 7. The rotatably mounted telescopic assembly 7 allows the impact turbine T to be moved in the Z axis, in the embodiment shown the impact turbine T can rotate by an angle γ in the range +180° to −180°, i.e. in a full angle. The rotatably mounted telescopic assembly 7 allows the impact turbine T to move, i.e., movement leading the impact turbine T to the workpiece P surfaces to be treated, thus the regional kinematic mechanism MR gives the impact turbine T two degrees of freedom. Thanks to the multi-part kinematic mechanism MK comprising the global kinematic mechanism MG and the regional kinematic mechanism MR, the impact turbine T can move in a three-dimensional X, Y, Z coordinate system and rotate around a vertical axis, and thus, together, the multi-part kinematic mechanism MK gives the impact turbine T four degrees of freedom, i.e. the multi-part kinematic mechanism MK is a four-axis mechanism.
[0066] The impact turbine T can be equipped with a controlled mechanism for changing the angle of the treatment tool for a fixed position of the impact turbine T, thanks to which the treatment tool has an additional degree of freedom. In addition, the effector may have a controlled mechanism for changing the intensity and shape of the treatment tool.
[0067] The abrasive jet S produced by the impact turbine T is shown in FIG. 3 as the angular range of the abrasive grain vectors ejected by the impact wheel 12 having sufficient energy to affect the treated surfaces. In the further part of the description, it was assumed that the direction of the treatment tool described by the axis p coincides with the sum vector of grains velocity of the abrasive jet ejected by the turbine in a specific working position. The p-axis shows the speed vector V for abrasive grains exiting from the impact wheel 12 of the impact turbine T. The impact turbine T allows a change in the feed direction of the abrasive jet S, i.e. an angular change in the treatment tool S, without changing the position of the turbine itself. In the impact turbine T, the jet of abrasive S is generated by means of the rotating impact wheel 12 with blades 13 (FIG. 4) rotating about the axis t. Changing the direction of the abrasive jet S described by axis p is carried out by means of the mechanism KS of changing the direction of jet S. The mechanism KS of changing the direction of the jet S comprises a rotatably mounted control sleeve 14 having an outlet 15 opening through which the abrasive is ejected (FIGS. 4 and 5). The position of the control sleeve 14 is changed by means of a gear 16 comprises a worm wheel 17 cooperating with a worm 18 driven by a motor 19 (FIG. 3). The impact turbine T and the jet S direction change mechanism KS is shown in section A-A in FIG. 5. The jet S direction change mechanism KS can be equipped with any other drive unit. The abrasive jet S can be directed upwards (rotated clockwise in FIG. 3) or downwards (anti-clockwise) by rotating the control sleeve 14 around the axis t by means of a gear 16. FIG. 3 shows in thick lines the abrasive jet S for the control sleeve 14 in the intermediate position and thin lines two positions of the abrasive jet S′, S″ after the rotation of the control sleeve 14 in two extreme positions. The p′ axis represents the maximum increase of the abrasive jet S′ up by an angle β of about 50° in relation to the intermediate position of the abrasive jet S described by the axis p. The p″ axis represents the maximum lowering down of the abrasive jet S″ by an angle β of about 50° relative to the intermediate position of the abrasive jet S. The jet S direction change mechanism KS causes a change in the direction of the abrasive jet S speed vector, i.e. it gives this jet S a degree of freedom—rotation around the axis t. The angular position change mechanism KS of the control sleeve 14 gives the abrasive jet a degree of freedom without having to change the position of the turbine. The abrasive jet S has five degrees of freedom given by the multi-part kinematic mechanism MK and the direction change mechanism KS. The use of the abrasive jet S direction change mechanism KS allows changing the angle of the velocity vector V of the treatment tool in relation to the axis of rotation t of the rotating disk without involving a regional kinematic mechanism. A wide range of changing the intensity of the treatment tool is obtained by changing the rotational speed of the impact wheel 12. By changing the tool orientation, it is possible to control the turbine in such a way, as to avoid collision between the turbine and the telescopic assembly with the workpiece.
[0068] The impact turbine T is rotated around the t axis by means of a transmission gear. In the embodiment shown in FIG. 6, the impact turbine T is driven by a motor 20 via a belt transmission 21 (transmission of the drive from the engine to the belt transmission 21 is not shown). In the embodiment shown in FIG. 7, the impact turbine T is driven by a motor 22 located on the t axis.
[0069] The multi-part kinematic mechanism MK of an abrasive blast treatment machine comprising the global kinematic mechanism MG and the regional kinematic mechanism MR may be additionally equipped with a local kinematic mechanism ML mounted on the regional kinematic mechanism MR. In the embodiment shown in FIG. 8, the local kinematic mechanism ML is in the form of a mechanism for deflecting the impact turbine T and includes a rotating arm 23 mounted on a substantially horizontal m axis to the lowest part 11 of the telescopic assembly 7, wherein for simplicity the drive of rotational mechanism has not been shown. The drive mechanism can be hidden inside the arm 23. The impact turbine T is mounted at the end of the arm 23, wherein the conventional axis of the arm 23, designated as r, passes through the rotational t axis of the impact turbine T and through the rotational m axis of the rotational arm. By rotation, the arm 23 can be directed vertically downwards, which position is described by r′ axis. The arm can be rotated upwards from the r′ axis to the r″ axis by an angle α of about 90°. The local kinematic mechanism ML allows the impact turbine T to be moved away from the axis of the telescope belonging to the regional kinematic mechanism MR. The local kinematic mechanism causes a change in the angular position of the arm 23 relative to the horizontal plane. The local kinematic mechanism ML gives the impact turbine T an additional degree of freedom—rotation around the m axis. Thus, the impact turbine T has five degrees of freedom given by the multi-part kinematic mechanism MK and the local kinematic mechanism ML. By using the jet S direction change mechanism KS, the treatment tool has six degrees of freedom.
[0070] FIGS. 9 and 10 show a local mechanism RS for controlling the angular movement of the impact turbine T about the r axis being the longitudinal axis of the arm 23 on which the impact turbine T is mounted. Any known mechanism hidden in the arm 23 can be used to perform this movement. The torsional movement mechanism RS of the impact turbine T allows the rotation of the impact turbine T by an angle φ in the range from 0° to 90°, and thus the rotation of the abrasive jet S around the r axis. Thus, the torsional movement mechanism RS of the impact turbine T gives the treatment tool S an additional degree of freedom.
[0071] The impact turbine T can therefore direct the abrasive jet both from the side to the workpiece as well as from below and above. The impact turbine T can perform more complex local movements, for example inside the workpieces.
[0072] The feeding system F for feeding the impact turbine T with the abrasive comprises the global feeding assembly FG, hereinafter the global assembly FG and the regional feeding assembly FR, hereinafter the regional assembly FR. The global assembly FG is associated with the global kinematic mechanism MG and feed the abrasive to the regional assembly FR associated with the regional kinematic mechanism MR. Embodiments of the feeding system F will be discussed later in the description.
[0073] The regional assembly FR of feeding the impact turbine comprises an intermediate tank 24 located on the telescopic assembly 7 (FIG. 11). The intermediate tank 24 is attached to the top of the telescopic assembly 7 and rotates with it. The intermediate tank 24 is open from above and is adapted to be filled from above by the global assembly FG. The intermediate tank 24 can have any shape, in the embodiment shown the intermediate tank 24 is cylindrical. In the embodiment shown in FIG. 12, the regional assembly FR comprises a gravity feeding hose PG that feeds the abrasive to the impact turbine T. The gravity feed hose PG comprises the upper section 50 and the lower section 51. The upper section 50 includes an upper sloping channel 25 directly connected to the intermediate tank 24, an upper vertical channel 26 connected to the upper sloping channel 25, wherein the upper vertical channel 26 has an outlet 27. The lower section 51 includes a lower vertical channel 28 having an inlet 29 and a lower inclined channel 30 connected to the lower vertical channel 28, wherein the lower inclined channel 30 is located at the impact turbine T and feeds the abrasive to the impact turbine T. Between the outlet 27 from the upper section 50 and the inlet 29 to the lower section 51 there is an open section 52 of variable length. The gravity feed hose PG can be equipped with an abrasive control valve 31 located above the outlet 27 from the vertical channel 26. The abrasive valve can also be located directly by the tank 24. The tank 24 and the gravity feed hose PG rotate together with the telescopic assembly 7, wherein in the extended position of the telescopic assembly 7 the lower vertical channel 28 together with the inclined lower channel 30 move away from the upper vertical channel 26. The lower inclined channel 30 can be attached to the lowest element 11 of the telescopic assembly 7. The upper vertical channel 26 and the upper inclined channel 25 can be mounted on the travelling trolley 6. The outlet 27 of the upper vertical channel 26 and the inlet 29 of the lower vertical channel 28 are arranged coaxially with each other, the outlet 27 may be made in the form of a (tapering) cone, while the inlet 29 may be made in the form of a (expanding) cone. The upper vertical channel 26 and the lower vertical channel 28, and thus the outlet 27 and the inlet 29 change the distance from each other depending on the position of the telescopic assembly, i.e. from the degree of extension of the movable elements of the telescopic assembly 7. In FIG. 2 the impact turbine T is in the highest position, and the outlet 27 and the inlet 29 are pushed together at a minimum distance. In FIGS. 1 and 11, outlet 27 and inlet 29 are moved as far as possible. During machine operation, the abrasive flies out of the upper vertical channel 26 through the outlet 27 and falls in the air by gravity through the open section 52 without any guidance, and finally falls into the inlet 29 of the lower vertical channel 28. The abrasive that flows into the lower vertical channel 28 falls further into the lower inclined channel 30 and then into the impact turbine T. The inclined lower channel 30 is inclined by an angle 9 of at least 30°, preferably by an angle of 35° in relation to the vertical channel 28, which enables the abrasive to be poured directly into the impact turbine T.
[0074] The global feeding assembly FG of the impact turbine feeds the abrasive to the intermediate tank 24, which is a compensation buffer for the movements of the global kinematic mechanism MG.
[0075] In the embodiment of Machine M shown in FIGS. 13 and 14, the feeding system F for feeding the impact turbine T with the abrasive, comprises the global assembly FG and the regional assembly FR as discussed above. The global assembly FG comprise the main tank 32, the longitudinal belt conveyor 33 located along the housing wall O and the transverse belt conveyor 34 located along the running beam 4, wherein the conveyors 33 and 34 being adapted to feed the abrasive from the main tank 32 to the intermediate tank 24 located on the telescopic assembly 7 in the regional assembly FR for feeding the impact turbine. The abrasive is fed from the main tank 32 through the hopper ended with the control valve 35 to the longitudinal belt conveyor 33. The running beam 4 is equipped with a scraper bar 36, by means of which the abrasive is redirected from the longitudinal belt conveyor 33 to the transverse belt conveyor 34. The travelling trolley 6 is equipped with a scraper bar 37, by means of which the abrasive is redirected from the transverse belt conveyor 34 to the intermediate tank 24. The feed of the abrasive to the intermediate tank 24 takes place in a way that allows the turbine to work without interruptions, considering the momentary changes in the demand for the abrasive. The abrasive is moved along the longitudinal belt conveyor 33 along the track Tx, and then along the transverse belt conveyor 34 along the track Ty. An exemplary location of the regional kinematic mechanism MR is shown in FIG. 13. In FIG. 14 a different location of the regional kinematic mechanism MR is shown, the abrasive being moved along the shorter track Tx and along the extended track Ty, furthermore the gravity feed hose PG has been shortened. The movement of the abrasive along the Tx and Ty tracks is synchronized with the reception intensity by the regional assembly FR and the location and direction of the global kinematic mechanism movement MG.
[0076] In the embodiment of Machine M′ shown in FIGS. 15 and 16 the feeding system F′ for feeding the impact turbine T with the abrasive, comprises the global assembly FG′ and the regional assembly FR as discussed above. The global assembly FG′ comprise a main tank 32. Refilling the intermediate tank 24 in regional assembly FR from main tank 32 takes place in a cyclical manner. FIG. 15 shows the global kinematic mechanism MG and the global assembly FG′ for feeding the impact turbine in an exemplary operating position, i.e. during treatment of the workpiece P. The regional assembly FR and the impact turbine T operate autonomously, wherein the length of the impact turbine T operating cycle is dependent on the required abrasive feed capacity during treatment and the capacity of the intermediate tank 24. After the amount of abrasive accumulated in the intermediate tank 24 has been used up, the treatment is interrupted to fill the intermediate tank 24. FIG. 16 shows the global kinematic mechanism MG in the filling position, in which the abrasive is feed from the main tank 32 via a hopper ended with a control valve 35 to the intermediate tank 24.
[0077] In the embodiment of Machine M″ shown in FIG. 17 the feeding system F″ for feeding the impact turbine T with the abrasive, comprises the global assembly FG″ and the regional assembly FR as discussed above. The global assembly FG″ comprise a main tank 38 and flexible pneumatic hose 41. The outlet 39 of the main tank 38 is connected by a hose 40 to the flexible pneumatic hose 41, the outlet 42 of the flexible pneumatic hose 41 is directed directly to the intermediate tank 24 in the regional assembly FR. Refilling the intermediate tank 24 is continuous. The flexible pneumatic hose 41 is adapted to efficiently feed the abrasive in the entire range of motion performed by the global kinematic mechanism MG. The flexible pneumatic hose 41 is suspended on rails 48, 49 so as to form a zigzag line, wherein the flexible pneumatic hose 41 extends along the wall of the housing O″ and along the running beam 4.
[0078] In the embodiment shown in FIG. 18, the machine M′″ is provided with a feeding system F′″ including an abrasive recirculation system UR, which includes a scraper floor system 3 for transport the abrasive, gravity lift 43, abrasive separator 44 and main tank 45. In separator 44, the abrasive is subjected to cleaning and classification to separate the impurities and the fraction of the unusable abrasive by shape or size. Foreign bodies formed during treatment can be separated on the platform trusses or on the sieve system cleaned manually or automatically, through a vibrating or rotating sieve. In the embodiment shown, an auxiliary lift 46 is used to connect the main tank 45 feeding the abrasive through the control valve 47 to the longitudinal belt conveyor 33, so that it is possible to locate the separator 44 and the main tank 45 with the valve at a lower level and lowering down the machine. The feeding system F′″ used is adapted to be fed with abrasive continuously.
[0079] The machine M may be provided with one or more parallel abrasive transport corridors as disclosed in P402365 and with transverse abrasive transport corridors. The abrasive transport corridor is preferably located in the floor. Horizontal, floor, abrasive transport preferably takes place by means of a scraper system operating with reciprocating movement.
[0080] As part of the implementation of the invention, it is also possible to use other abrasive recirculation systems.
[0081] To control the motion of the impact turbine, it is necessary to control the individual parts of the multi-part kinematic mechanism. For this purpose, a programmable controller available on the market can be used, which performs tasks of simple and inverse kinematics, with servo drivers of mechanism parts. The controller enables the implementation of its own kinematic chains using these modules to control the central point of the tool (TCP), i.e. turbines and calculate the position of each axis of the system. In the knowledge of the skilled person, adjustment of commercially available control and monitoring systems of the device system according to the invention will be adaptable, e.g. SEW-EURODRIVES in the form of the “MultiMotion” Motion Control platform with the additional “Kinematics” technology module.
