Automatic deburring equipment

Abstract

The present invention discloses an automated deburring device, comprising a workbench and a four-axis robot, wherein two groups of automated deburring devices are arranged in parallel on the workbench, wherein the four-axis robot is arranged on the edge of the workbench between each group of automated deburring devices, and is used to carry parts, wherein each group of automated deburring devices comprises a part moving module, a deburring module, an axle height measuring module and a material unloading module, wherein the part moving module is arranged on the workbench, and the deburring module, the axle height measuring module and the material unloading module are arranged on the workbench at the edge of the part moving module at the same time. The present application replaces the original manual deburring, realizes the automation of part deburring and axle height measuring, saves labor costs and improves efficiency.

Description

Technical Field

[0001] The invention relates to the field of automation technology, in particular to automated deburring equipment. Background Art

[0002] After shaft parts are produced, they need to be deburred and have their height measured. The current process is done manually in steps, which is not only inefficient, but also has an impact on the entire process due to human factors, resulting in a lower product qualification rate. Summary of the invention

[0003] To address the deficiencies of the prior art, the present application provides an automated deburring device, the specific scheme of which is as follows: an automated deburring device, comprising a workbench and a four-axis robot, wherein two groups of automated deburring devices are arranged in parallel on the workbench, the four-axis robot is arranged on the edge of the workbench between each group of automated deburring devices, and is used to carry parts, wherein each group of automated deburring devices comprises a part moving module, a deburring module, an axle height measuring module and a material unloading module, the part moving module is arranged on the workbench, the deburring module, the axle height measuring module and the material unloading module are arranged in sequence on the workbench at the edge of the part moving module; the part moving module comprises a divider, a dividing turntable and a part positioning turntable, the divider is arranged on the workbench, the dividing turntable is arranged above the divider, a plurality of part positioning turnstables are arranged circumferentially along the edge of the dividing turntable, and the divider drives the dividing turntable to rotate;

[0004] The deburring module comprises a first cylinder, a first movable plate, a motor, an ejector fixing plate, an ejector, a first bracket, a second cylinder, a second movable plate, a deburring rod and a deburring blade, wherein the first cylinder is fixed to the bottom of the workbench, the first movable plate is fixed to the bottom of the first cylinder and connected to the output end of the first cylinder, the motor is fixed to the first movable plate, the output end of the motor extends above the workbench, the ejector fixing plate is connected to the output end of the motor, the ejector comprises a plurality of ejectors respectively arranged on the ejector fixing plate, the part positioning disk is provided with through holes corresponding to the ejectors, and the ejector passes through the through holes to lift the part positioning disk under the drive of the first cylinder; the first bracket is fixed to the workbench on one side of the dividing turntable, the second cylinder comprises two, symmetrically fixed to the upper part of the first bracket, the second movable plate is respectively fixedly connected to the output end of the second cylinder, the deburring rod is arranged in parallel with the second cylinder, the end of the deburring rod is fixed to the second movable plate, and the deburring blade is connected to the front end of the deburring rod;

[0005] The shaft height measuring module comprises a second bracket, a third cylinder, a third movable plate and a probe, wherein the second bracket is fixed to a workbench on one side of the split turntable, the third cylinder is fixed to the top of the second bracket up and down, the third movable plate is fixed to the output end of the third cylinder, the probe is arranged on the third movable plate, and the lower side of the probe is aligned with the part positioning plate;

[0006] The unloading module includes a third bracket, a linear guide, a transverse cylinder, a fourth cylinder, a clamp cylinder and a clamp. The third bracket is fixed to a workbench on one side of the dividing turntable. The linear guide is horizontally arranged on the top of the third bracket. The transverse cylinder is arranged on the linear guide. The fourth cylinder is arranged on the transverse cylinder. The clamp cylinder is arranged at the output end of the fourth cylinder. The clamp is arranged at the output end of the clamp cylinder. The fourth cylinder drives the clamp cylinder to move up and down.

[0007] Furthermore, the part moving module also includes a chassis and a positioning pin. The chassis is arranged on the dividing turntable below each part positioning disk. A first guide hole corresponding to the ejector pin in the deburring module is opened on the chassis. A plurality of second guide holes are opened on the edge of the part positioning disk. The positioning pin is arranged in the second guide hole. The part positioning disk is lifted to the deburring module by the ejector pin.

[0008] Furthermore, the first bracket in the deburring module includes a first guide rod and a first support plate, two first guide rods are arranged on the workbench, the first support plate is fixed to the upper end of the first guide rod, fixed blocks are respectively arranged on the two first guide rods, the fixed blocks are movably connected with the first guide rods, a fixed shaft is horizontally arranged on the fixed block, a rotating plate is arranged on the fixed shaft, the second cylinder and the deburring rod are arranged on the rotating plate, the rotating plate can rotate on the fixed shaft, the second cylinder drives the deburring blade to move, and the rotating plate can adjust the position of the second cylinder.

[0009] Furthermore, a fifth cylinder is vertically arranged on the first supporting plate, and a pressure block is arranged at the output end of the fifth cylinder. The pressure block is aligned with the part positioning plate below and is used to fix and press the parts to facilitate deburring.

[0010] Furthermore, a first guide block and a second guide block are arranged on the rotating plate in parallel with the second cylinder, the deburring rod passes through the second guide block, a guide rod is arranged between the deburring rod and the second cylinder, one end of the guide rod is fixed to the second movable plate, and the other end of the guide rod passes through the first guide block.

[0011] Furthermore, a first position detection sensor for detecting the height position of the ejector is arranged on the workbench on one side of the ejector, and is used to detect the height to which the positioning ejector lifts the part positioning plate each time.

[0012] Furthermore, the second bracket in the axle height measuring module includes a second guide rod and a second support plate, two second guide rods are arranged on the workbench, the second support plate is fixed to the upper end of the second guide rod, the third cylinder is vertically fixed to the second support plate, the third movable plate is movably arranged on the second guide rod, and a second position detection sensor for detecting the position of the measuring head is arranged on the third movable plate. A detection column corresponding to the position of the second position detection sensor is arranged on the workbench below the second position detection sensor, which is used to detect and locate the height of each descent of the measuring head.

[0013] Furthermore, a storage cabinet is arranged under the workbench, a delivery hole for delivering unqualified parts is arranged on the workbench on one side of the four-axis robot, and a hopper for collecting unqualified parts is arranged in the storage cabinet below the delivery hole.

[0014] The benefit of the present application lies in that the provided automated deburring equipment replaces the original manual deburring and shaft height measurement, realizes the automation of part deburring and shaft height measurement, saves labor costs and improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of an embodiment of the automated deburring equipment of the present application;

[0016] Figure 2 for Figure 1 Another structural diagram of the automated deburring equipment;

[0017] Figure 3 It is a schematic diagram of the structure of the parts moving module;

[0018] Figure 4 for Figure 3 Schematic diagram of the positioning plate and positioning pin structure of the middle part;

[0019] Figure 5 for Figure 3 Schematic diagram of the mid-chassis structure;

[0020] Figure 6 It is a schematic diagram of the deburring module structure;

[0021] Figure 7 for Figure 6 Schematic diagram of the structure of the middle part;

[0022] Figure 8 for Figure 7 Schematic diagram of the structure of the middle part;

[0023] Fig. 9 This is a schematic diagram of the axle height measurement module structure;

[0024] Fig.10This is a schematic diagram of the blanking module structure. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] See also Figure 1-10 The present embodiment provides an automated deburring device, including a workbench 10 and a four-axis robot 11. Two groups of automated deburring devices are arranged in parallel on the workbench 10. The four-axis robot 11 is arranged on the edge of the workbench between each group of automated deburring devices for carrying parts. A storage cabinet 101 is arranged below the workbench 10. A delivery hole 102 for delivering unqualified parts is arranged on the workbench 10 on one side of the four-axis robot 11. Each group of automated deburring devices includes a part moving module 12, a deburring module 13, and an axis measuring module. The height module 14 and the unloading module 15, the part moving module 12 is arranged on the workbench 10, the deburring module 13, the shaft height measuring module 14 and the unloading module 15 are arranged on the workbench at the edge of the part moving module in sequence; the part moving module 12 includes a divider 122, a dividing turntable 121 and a part positioning disk 123, the divider 122 is arranged on the workbench, the dividing turntable 121 is arranged above the divider, and six part positioning disks 123 are arranged along the circumference of the edge of the dividing turntable, and the divider 122 drives the dividing turntable 121 to rotate;

[0027] The deburring module 13 includes a first cylinder 133, a first movable plate 132, a motor 131, a pin fixing plate 134, a pin 135, a first bracket 136, a second cylinder 139, a second movable plate 137, a deburring rod 138 and a deburring blade 130. The first cylinder 133 is fixed to the bottom of the workbench 10, the first movable plate 132 is fixed to the bottom of the first cylinder and connected to the output end of the first cylinder 133, the first movable plate 132 is connected to the workbench through four fixing columns, the motor 131 is fixed on the first movable plate 132, the output end of the motor 131 extends above the workbench, and the pin fixing plate 134 is connected to the output end of the motor 131. At the output end, three ejector pins 135 are respectively arranged on the ejector pin fixing plate 134, and a through hole corresponding to the ejector pin is provided on the part positioning disk 123. The ejector pin 135 passes through the through hole and lifts up the part positioning disk under the drive of the first cylinder; the first bracket 136 is fixed to the workbench on one side of the dividing turntable, the second cylinder 139 includes two, which are symmetrically fixed to the upper part of the first bracket, and the second movable plate 137 is respectively fixedly connected to the output end of the second cylinder, the deburring rod 138 is arranged in parallel with the second cylinder 139, the end of the deburring rod 138 is fixed to the second movable plate 137, and the deburring blade 130 is connected to the front end of the deburring rod 138;

[0028] Preferably, the part moving module further comprises a chassis 124 and a positioning pin 125, the chassis 124 is arranged on the dividing turntable below each part positioning disk 123, a first guide hole 126 corresponding to the ejector pin 135 in the deburring module is provided on the chassis 124, a plurality of second guide holes are provided on the edge of the part positioning disk, and the positioning pin 125 is arranged in the second guide hole;

[0029] Preferably, the first bracket 136 includes a first guide rod 1361 and a first support plate 1362, two first guide rods 1361 are arranged on the workbench 10, the first support plate 1362 is fixed to the upper end of the first guide rod 1361, and fixed blocks 1363 are respectively arranged on the two first guide rods, and the fixed blocks are movably connected with the first guide rods. A fixed shaft 1364 is horizontally arranged on the fixed block 1363, and a rotating plate 1365 is arranged on the fixed shaft 1364, and the rotating plate can rotate on the fixed shaft. A first guide block 1367 and a second guide block 1368 are arranged on the rotating plate 1365 in parallel with the second cylinder 139, and the deburring rod 138 passes through the second guide block 1368. A guide rod 1369 is arranged between the deburring rod and the second cylinder, and one end of the guide rod is fixed to the second movable plate 137, and the other end of the guide rod 1369 passes through the first guide block 1367;

[0030] Preferably, a fifth cylinder 1366 is vertically arranged on the first support plate 1362, and a pressure block is arranged at the output end of the fifth cylinder, and the pressure block is aligned with the part positioning plate below, and is used to fix and press the part. A first position detection sensor 1300 for detecting the height position of the ejector is arranged on the workbench on one side of the ejector 135, and is used to detect the height of the part positioning plate lifted by the positioning ejector each time;

[0031] The shaft height measuring module 14 includes a second guide rod 141, a second support plate 144, a third cylinder 145, a third movable plate 142 and a probe 146. Two second guide rods 141 are arranged on the workbench. The second support plate 144 is fixed to the upper end of the second guide rod 141. The third cylinder 145 is fixed to the second support plate up and down. The third movable plate 142 is fixed to the output end of the third cylinder 145. The probe 146 is arranged on the third movable plate, and the lower part of the probe 146 is aligned with the part positioning plate.

[0032] Preferably, a second position detection sensor 143 for detecting the position of the probe is provided on the third movable plate 142, and a detection column 147 corresponding to the position of the second position detection sensor is provided on the workbench below the second position detection sensor;

[0033] The unloading module 15 includes a third bracket 151, a linear guide 152, a transverse cylinder 153, a fourth cylinder 154, a clamping cylinder 155 and a clamping claw 156. The third bracket 151 is fixed to the workbench 10 on one side of the dividing turntable. The linear guide 152 is horizontally arranged at the top of the third bracket. The transverse cylinder 153 is arranged on the linear guide 152. The fourth cylinder 154 is arranged on the transverse cylinder 153. The clamping claw cylinder 155 is arranged at the output end of the fourth cylinder 154. The clamping claw 156 is arranged at the output end of the clamping claw cylinder 155. The fourth cylinder 154 drives the clamping claw cylinder 155 to move up and down.

[0034] Working principle: The four-axis robot 11 moves the parts to the part positioning plate 123, the divider 122 drives the dividing turntable 121 and the part positioning plate 123 to rotate, and when they rotate to the bottom of the deburring module, they stop rotating, the first cylinder 133 starts, and the part positioning plate 123 is lifted by the ejector pin 135, the motor 131 drives the part positioning plate 123 to rotate, the second cylinder 137 starts, drives the deburring 130 to move to the lifted part position, and the deburring is completed, and then the first cylinder 133 The part is driven to move downward, the divider 122 is started, and the part is transferred to the shaft height measurement module. The rotation stops, and the third cylinder 145 drives the probe 146 to move downward, and the position is controlled by the second position detection sensor 143 to complete the shaft height measurement process. At this time, the deburring module is also working at the same time, and then the part is transferred to the unloading module. The fourth cylinder 154 drives the clamp 156 to move downward, and the clamp cylinder 155 is used to start grabbing the part. Under the action of the transverse cylinder 153, the part is moved elsewhere, and the cycle is repeated.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated deburring device, comprising a workbench and a four-axis robot, wherein two groups of automated deburring devices are arranged in parallel on the workbench, and the four-axis robot is arranged on the edge of the workbench between each group of automated deburring devices, for carrying parts, characterized in that: Each group of the automated deburring equipment comprises a part moving module, a deburring module, an axle height measuring module and a material unloading module, wherein the part moving module is arranged on a workbench, and the deburring module, the axle height measuring module and the material unloading module are arranged on a workbench at the edge of the part moving module in sequence; the part moving module comprises a divider, a dividing turntable and a part positioning disk, wherein the divider is arranged on the workbench, the dividing turntable is arranged above the divider, and a plurality of part positioning disks are arranged along the circumference of the edge of the dividing turntable, and the divider drives the dividing turntable to rotate; The deburring module comprises a first cylinder, a first movable plate, a motor, an ejector fixing plate, an ejector, a first bracket, a second cylinder, a second movable plate, a deburring rod and a deburring blade, wherein the first cylinder is fixed to the bottom of the workbench, the first movable plate is fixed to the bottom of the first cylinder and connected to the output end of the first cylinder, the motor is fixed to the first movable plate, the output end of the motor extends above the workbench, the ejector fixing plate is connected to the output end of the motor, the ejector comprises a plurality of ejectors respectively arranged on the ejector fixing plate, the part positioning disk is provided with through holes corresponding to the ejectors, and the ejector passes through the through holes to lift the part positioning disk under the drive of the first cylinder; the first bracket is fixed to the workbench on one side of the dividing turntable, the second cylinder comprises two, symmetrically fixed to the upper part of the first bracket, the second movable plate is respectively fixedly connected to the output end of the second cylinder, the deburring rod is arranged in parallel with the second cylinder, the end of the deburring rod is fixed to the second movable plate, and the deburring blade is connected to the front end of the deburring rod; The shaft height measuring module comprises a second bracket, a third cylinder, a third movable plate and a probe, wherein the second bracket is fixed to a workbench on one side of the split turntable, the third cylinder is fixed to the top of the second bracket up and down, the third movable plate is fixed to the output end of the third cylinder, the probe is arranged on the third movable plate, and the lower side of the probe is aligned with the part positioning plate; The unloading module includes a third bracket, a linear guide, a transverse cylinder, a fourth cylinder, a clamp cylinder and a clamp. The third bracket is fixed to a workbench on one side of the dividing turntable. The linear guide is horizontally arranged on the top of the third bracket. The transverse cylinder is arranged on the linear guide. The fourth cylinder is arranged on the transverse cylinder. The clamp cylinder is arranged at the output end of the fourth cylinder. The clamp is arranged at the output end of the clamp cylinder. The fourth cylinder drives the clamp cylinder to move up and down.

2. The automatic deburring device according to claim 1, characterized in that: The part moving module also includes a chassis and a positioning pin. The chassis is arranged on a dividing turntable below each of the part positioning plates. A first guide hole corresponding to the top pin in the deburring module is formed on the chassis. A plurality of second guide holes are formed on the edge of the part positioning plate, and the positioning pin is arranged in the second guide hole.

3. The automatic deburring device according to claim 1, characterized in that: The first bracket in the deburring module includes a first guide rod and a first support plate, two first guide rods are arranged on the workbench, the first support plate is fixed to the upper end of the first guide rod, fixed blocks are respectively arranged on the two first guide rods, the fixed blocks are movably connected with the first guide rods, a fixed shaft is horizontally arranged on the fixed block, a rotating plate is arranged on the fixed shaft, the second cylinder and the deburring rod are arranged on the rotating plate, and the rotating plate can rotate on the fixed shaft.

4. The automatic deburring device according to claim 3, characterized in that: A fifth cylinder is vertically arranged on the first supporting plate, a pressing block is arranged at the output end of the fifth cylinder, and the pressing block is aligned with the part positioning plate below.

5. The automatic deburring device according to claim 3, characterized in that: A first guide block and a second guide block are arranged on the rotating plate in parallel with the second cylinder, the deburring rod passes through the second guide block, a guide rod is arranged between the deburring rod and the second cylinder, one end of the guide rod is fixed to the second movable plate, and the other end of the guide rod passes through the first guide block.

6. The automatic deburring equipment according to claim 1, characterized in that: A first position detection sensor for detecting the height position of the ejector is arranged on a workbench on one side of the ejector.

7. The automatic deburring device according to claim 1, characterized in that: The second bracket in the axle height measuring module includes a second guide rod and a second support plate, two second guide rods are arranged on the workbench, the second support plate is fixed to the upper end of the second guide rod, the third cylinder is vertically fixed to the second support plate, and the third movable plate is movably arranged on the second guide rod.

8. The automatic deburring device according to claim 7, characterized in that: A second position detection sensor for detecting the position of the probe is disposed on the third movable plate, and a detection column corresponding to the position of the second position detection sensor is disposed on the workbench below the second position detection sensor.

9. The automatic deburring equipment according to claim 1, characterized in that: A storage cabinet is arranged under the workbench.

10. The automatic deburring device according to claim 9, characterized in that: A delivery hole for delivering unqualified parts is arranged on a workbench on one side of the four-axis robot, and a hopper for collecting unqualified parts is arranged in a storage cabinet below the delivery hole.

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