A fully automatic robot deburring equipment

Abstract

The present invention relates to the technical field of automated processing equipment, and in particular to a fully automatic robotic deburring device, which comprises: a deburring processing area, a flexible circulating material discharge area, and a flexible finished product receiving conveyor belt; the deburring processing area comprises a pneumatic assembly, a burr scanning component, a grinder, a cover, a vibrating roller, a scraper, a polisher, a chip collecting bucket, a chip collecting basket, and a chip storage box; wherein the pneumatic assembly comprises a pneumatic claw, which is driven by multiple motors to meet the clamping and moving requirements of workpiece processing in various directions and angles. The present invention is not only suitable for deburring, deburring, chamfering, electroplating pretreatment, and removal of tool marks for large quantities of small and medium-sized workpieces, but also solves the polishing problems of some complex-shaped, micro-precision parts, special-shaped, easily deformable thin arms, narrow slits, and thin-sheet parts; and can also maintain the dimensional accuracy of the workpiece after processing, significantly improving its appearance and feel, achieving an effect that cannot be achieved by some manual deburring equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of automated processing equipment, in particular to a fully automatic robot deburring device. Background Art

[0002] There are many traditional deburring methods in factories, and the following are commonly used:

[0003] 1. Manual deburring has good effect but low efficiency;

[0004] 2. Grinding to remove burrs. This method is currently widely used, but it is noisy and wastes resources.

[0005] 3. High-pressure water spray removes burrs with high efficiency and achieves the purpose of cleaning at the same time.

[0006] However, deburring is often done manually or with handheld pneumatic or electric tools, such as grinding, lapping, and filing. This can lead to increased product rejection rates, low efficiency, and rough, uneven surfaces. The process is cumbersome, time-consuming, labor-intensive, unsafe, and harmful to health, often resulting in suboptimal finished products. Traditional processing tools offer advantages such as portability and affordability. However, they are unable to achieve the desired processing position, resulting in low processing efficiency. Deburring is directly related to the performance of die-cast parts and is crucial to the long-term development of processing companies.

[0007] In summary, a fully automatic robot processing mechanism mainly for deburring small and medium-sized workpieces is what the die-casting industry urgently needs to design and invent. Summary of the Invention

[0008] The present invention aims to perform deburring, deburring, chamfering and removing machining marks on a large number of small and medium-sized workpieces without changing the dimensional accuracy of the workpieces while improving the appearance and feel, and solve the polishing problems of some complex-shaped, micro-precision parts, special-shaped and easily deformed thin arms, narrow gaps, thin sheet workpieces, etc. To this end, the present invention proposes a fully automatic robot deburring equipment that can deburr, deburr, chamfer, perform electroplating pre-treatment and remove machining marks, further improve the degree of automation, increase work efficiency, significantly improve the appearance and feel, and can also further improve the completion of the finished product after the workpiece is processed.

[0009] In order to achieve the above object, the technical solution provided by the present invention is a fully automatic robot deburring device, comprising:

[0010] Deburring processing area, flexible circulating unloading area and flexible finished product receiving conveyor belt;

[0011] The flexible circulating material discharge area is arranged behind the deburring processing area according to the process, and the flexible finished product receiving conveyor belt is added to the side of the deburring processing area (1), and all three are placed on two load-bearing cabinets;

[0012] The flexible circulating discharge area is provided with a plurality of materials to be deburred;

[0013] The flexible finished product receiving conveyor belt is a double-layer structure for receiving finished products that have been deburred.

[0014] The deburring processing area includes: a pneumatic component, a burr scanning component, a grinder, a cover, a vibrating stick, a scraper, a polisher, a chip collecting bucket, a chip collecting dustpan and a chip box. The chip collecting bucket is located in the middle of the deburring processing area and there is one in the front and back. The chip box is placed directly below the chip collecting bucket and is in the load-bearing cabinet. There are two pneumatic components located on the left side of each chip collecting bucket. One of the burr scanning components is installed in the upper left corner of the rear chip collecting bucket, and the other is installed on the right side between the two chip collecting buckets. The grinder is provided with two chips in the upper right corner of the rear chip collecting bucket and a drill. The head is facing inward, and there is another one placed in the middle end of the right side of the front chip collection bucket with the drill bit facing upward. There are two polishing machines set on the right side of the front chip collection bucket, one drill bit is facing inward and behind the adjacent grinder, and the other drill bit is facing upward in front of the same grinder. The vibrating rod is fixed to the middle end of the right side of the rear chip collection bucket, and the scraper is installed at the front of the left edge of the rear chip collection bucket with bolts. There are two chip collection baskets, each of which has an upper end opening set near the rear of the corresponding pneumatic component and covered with a cover. At the same time, the lower end outlet of the chip collection basket is suspended above the chip box.

[0015] Preferably, the pneumatic assembly includes a pneumatic claw, a mechanical forearm, a movable joint, a mechanical rear arm, an arm lifter and a rotating seat;

[0016] The base at the bottom of the rotating seat is fixed to the left side of the deburring processing area by bolts, and a second motor is arranged in the rotating seat body;

[0017] The arm lifter has a built-in motor and a rotating ring installed at its lower end, and the rotating ring is sleeved on the top of the rotating seat;

[0018] The two ends of the mechanical rear arm are equipped with connecting shafts, one end is connected to the side of the arm lifting machine, and the other end is axially connected to the movable joint. The mechanical rear arm is also equipped with an air supply pipe;

[0019] The movable joint includes a rotating ring and a second rotating member, wherein the second rotating member is connected to one end of the rear arm of the robot, and the rotating ring is arranged on the ground-proximal side of the second rotating member;

[0020] The top of the mechanical forearm is fixed to the rotating ring, and the bottom is provided with a rotating member 1, and a claw ring is fixed on the rotating member 1 by bolts;

[0021] The front end of the pneumatic claw is embedded with the claw finger, and the end thereof is sleeved with a coupling tube, which is embedded in the claw ring.

[0022] Preferably, the pneumatic claw also includes an air supply interface, a palm block and a wrist block. The palm block and the wrist block are spliced together and arranged together at the front end of the coupling tube. Two claw fingers are embedded in the palm of the palm block, and the two claw fingers are respectively on the left and right sides of the palm block. Two air supply interfaces are symmetrically inserted into the top surface of the palm block, and an air supply interface is inserted into each of the two side surfaces of the wrist block. Two air supply interfaces are also installed on the back side of the coupling tube.

[0023] Preferably, the hollow areas on the four sides of the load-bearing cabinet are equipped with lifting doors, and six sets of universal wheels and fixed rods are fixed to the edge of the bottom surface of the load-bearing cabinet by bolts, four of which are located at the four corners of the bottom surface, and the other two sets are located at the middle ends of the front and rear edges.

[0024] Preferably, the burr scanning component includes an infrared scanner, a pillar and a double-layer support. Corresponding infrared scanners are placed on both sides of the upper layer of the double-layer support. At the same time, several pillars of different heights are erected on the upper layer, and the tips of the pillars just fit the surface of the material.

[0025] Preferably, the scraper includes motor three, a guard plate, a plate top shaft, a belt, a belt block, a belt support cylinder, a pulling wheel and a detachable base, the middle end of the detachable base is fixed with the guard plate, and motor three is hung on one side of the guard plate, and the front end of the shaft of motor three passing through the guard plate is equipped with a pulling wheel, the top of the guard plate is inserted with the plate top shaft, and a belt support block is hung on the wall at the oblique side of the guard plate, and a belt support cylinder is suspended in the middle of the guard plate and below the belt support block, and the same belt is wrapped around the outer circumference of the plate top shaft, the belt block, the belt support cylinder and the pulling wheel.

[0026] In summary, the present invention has the following beneficial effects compared to the prior art:

[0027] 1. The use of pneumatic components can flexibly clamp the workpiece and meet the back-and-forth movement requirements of multiple processing steps, which is also one of the foundations of automation;

[0028] 2. Grinding machines, vibrating rollers, scrapers and polishing machines are used to remove burrs, flashes, chamfer edges, perform electroplating pre-treatment and remove knife marks, further improving the degree of automation, increasing work efficiency and significantly improving the appearance and feel;

[0029] 3. The burr scanning component is enabled, and repeated inspections of the workpiece surface are added in multiple processing steps to ensure that the workpiece has a high degree of completion after completion. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0032] Figure 2 It is a schematic diagram of a partial structure of the utility model;

[0033] Figure 3 This is a schematic diagram of the second part of the structure of the utility model;

[0034] Figure 4 This is a schematic diagram of the structure of the load-bearing cabinet of the utility model;

[0035] Figure 5 This is a schematic diagram of the structure of the pneumatic component of the utility model;

[0036] Figure 6 This is a schematic diagram of the rear side and top view of the pneumatic claw of the utility model;

[0037] Figure 7 This is a schematic diagram of the mechanical forearm of the utility model;

[0038] Figure 8 This is a schematic diagram of the activity section of the utility model;

[0039] Figure 9 This is a schematic diagram of the mechanical forearm of the utility model;

[0040] Figure 10 This is a schematic diagram of the arm lifting machine of the utility model;

[0041] Figure 11 This is a schematic diagram of the rotating seat of the utility model;

[0042] Figure 12 This is a schematic diagram of the burr scanning component of the utility model;

[0043] Figure 13 This is a schematic diagram of the scraper of the utility model;

[0044] 1. Deburring processing area; 2. Flexible circulating unloading area; 3. Flexible finished product receiving conveyor belt; 4. Pneumatic components; 5. Burr scanning component; 6. Grinding machine; 7. Sealing cover; 8. Vibrating stick; 9. Scraper; 10. Polishing machine; 11. Chip collecting bucket; 12. Lifting door; 13. Load-bearing cabinet; 14. Chip collecting basket; 15. Chip collecting box; 16. Universal wheel; 17. Fixed rod; 18. Material; 31. Pneumatic claw; 32. Mechanical front arm; 33. Active joint; 34. Mechanical rear arm; 35. Arm lifting machine; 36. Rotating seat; 3101. Claw finger; 3102. Air supply interface; 3103. Palm block; 3104, wrist block; 3105, coupling; 3201, rotating part 1; 3202, claw ring; 3301, rotating part 2; 3302, rotating ring; 3401, connecting shaft; 3402, air supply pipe; 3501, motor 1; 3502, rotating ring; 3601, base; 3602; motor 2; 501, infrared scanner; 502, pillar; 503, double-layer support; 901, motor 3; 902, guard plate; 903, plate top shaft; 904, belt; 905, belt block; 906, belt cylinder; 907, pulling wheel; 908, detachable base. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0048] In the description of the present invention, it should be noted that the terms "inner" and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second," etc., are used solely for distinction and should not be construed as indicating or implying relative importance.

[0049] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0050] In the present invention, unless otherwise expressly specified or limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature. Example

[0051] See Figure 1 and Figure 4 , which is a fully automatic robot deburring equipment of the present invention, comprising: a deburring processing area 1, a flexible circulating material discharge area 2 and a flexible finished product receiving conveyor belt 3; the flexible circulating material discharge area 2 is arranged behind the deburring processing area 1 according to the process, and the flexible finished product receiving conveyor belt 3 is added to the side of the deburring processing area 1, and all three are placed on two load-bearing cabinets 13;

[0052] The flexible circulating discharge area 2 is provided with a number of materials 18 to be deburred;

[0053] The flexible finished product receiving conveyor belt 3 is a double-layer structure, and is used to receive the finished product 18 that has been deburred.

[0054] See Figures 2 to 4The deburring processing area 1 includes: a pneumatic component 4, a burr scanning component 5, a grinder 6, a cover 7, a vibrating roller 8, a scraper 9, a polisher 10, a chip collecting bucket 11, a chip collecting basket 14 and a chip storage box 15. The chip collecting bucket 11 is located in the middle of the deburring processing area 1 and there is one in the front and back. The chip storage box 15 is placed directly below the chip collecting bucket 11 and is in the load-bearing cabinet 13. There are two pneumatic components 4, each located on the left side of each chip collecting bucket 11. One burr scanning component 5 is installed in the upper left corner of the rear chip collecting bucket 11, and the other is installed on the right side between the two chip collecting buckets 11. The grinder 6 is provided with two chip collecting buckets 11 at the rear. There are two polishing machines 10 on the right side of the front chip collecting bucket 11, one with a drill bit facing inward and behind the adjacent grinder 6, and the other with a drill bit facing upward in front of the same grinder 6. The vibrating rod 8 is fixed to the middle end of the right side of the rear chip collecting bucket 11, and the scraper 9 is bolted to the front of the left edge of the rear chip collecting bucket 11. There are two chip collecting baskets 14, each of which has an upper end opening located near the rear of the corresponding pneumatic component 4 and is covered with a cover 7. At the same time, the lower end outlet of the chip collecting basket 14 is suspended above the chip box 15.

[0055] See Figure 4 The four hollowed-out areas on the load-bearing cabinet 13 are equipped with lifting doors 12. Six sets of universal wheels 16 and fixed rods 17 are fixed to the bottom edge of the load-bearing cabinet 13 by bolts, four of which are located at the four corners of the bottom, and the other two are located at the middle ends of the front and rear.

[0056] See Figures 5 to 11 The pneumatic assembly 4 includes a pneumatic claw 31, a mechanical front arm 32, an active joint 33, a mechanical rear arm 34, an arm lifter 35 and a rotating seat 36;

[0057] The base 3601 at the bottom of the rotating seat 36 is fixed to the left side of the deburring processing area 1 by bolts, and a second motor 3602 is provided in the rotating seat 36.

[0058] The arm lifter 35 has a built-in motor 3501. A rotating ring 3302 is installed at the lower end of the arm lifter 35. The rotating ring 3302 is sleeved on the top of the rotating seat 36.

[0059] The two ends of the rear arm 34 are provided with connecting shafts 3401, one end of which is connected to the side of the arm lifter 35, and the other end of which is connected to the movable joint 33. The rear arm 34 is also provided with an air supply pipe 3402.

[0060] The movable joint 33 includes a rotating ring 3302 and a second rotating member 3301 , wherein the second rotating member 3301 is connected to one end of the rear arm 34 , and the rotating ring 3302 is provided on the ground side of the second rotating member 3301 ;

[0061] The top of the mechanical forearm 32 is fixed to the rotating ring 3302, and the bottom is provided with a rotating member 1 3201. At the same time, a claw ring 3202 is fixed to the rotating member 1 3201 by bolts.

[0062] The pneumatic claw 31 includes claw fingers 3101, air supply interfaces 3102, a palm block 3103, a wrist block 3104 and a coupling 3105. Two claw fingers 3101 are embedded in the palm of the palm block 3103, and the two claw fingers 3101 are respectively on the left and right sides of the palm block 3103. The palm block 3103 and the wrist block 3104 are spliced into one body, and the tail end of the wrist block 3104 is fitted with a coupling 3105. Two air supply interfaces 3102 are symmetrically inserted into the left and right sides of the palm block 3103 when viewed from above, and an air supply interface 3102 is inserted into each of the two side surfaces of the wrist block 3104. Two air supply interfaces 3102 are also installed on the back of the coupling 3105.

[0063] See Figure 12 The burr scanning component 5 includes an infrared scanner 501, a pillar 502 and a double-layer support 503. Corresponding infrared scanners 501 are placed on both sides of the upper layer of the double-layer support 503. At the same time, several pillars 502 of different heights are standing on the upper layer, and the tips of the pillars 502 just fit in with the surface of the material 18.

[0064] See Figure 13 The scraper 9 includes a motor 3 901, a guard plate 902, a plate top shaft 903, a belt 904, a belt block 905, a belt drum 906, a pulling wheel 907 and a detachable base 908. The middle end of the detachable base 908 is fixed with the guard plate 902, and a motor 3 901 is hung on one side of the guard plate 902. The front end of the shaft of the motor 3 901 is provided with a pulling wheel 907 through the guard plate 902. The top of the guard plate 902 is inserted with a plate top shaft 903, and a belt block 905 is hung on the wall at the oblique side of the guard plate 902. A belt drum 906 is suspended in the middle of the guard plate 902 and below the belt block 905. The same belt 904 is wrapped around the outer periphery of the plate top shaft 903, the belt block 905, the belt drum 906 and the pulling wheel 907.

[0065] The working principle of the pneumatic component 4 for clamping the workpiece: the motor 2 3602 and the motor 1 3501 built into the rotating seat 36 and the arm lifting machine 35 are driven to adjust the horizontal and vertical angles of the mechanical rear arm 34. The rotating part 2 3301 on the movable joint 33 is axially connected to the mechanical rear arm 34. The rotating ring 3302 on the ground side is connected to the top of the mechanical forearm 32. At the same time, the rotating ring 3302 and the rotating part 2 3301 are both equipped with motors. By driving the motor of the movable joint 33, the bending angle of the mechanical forearm 32 and the mechanical rear arm 34 can be changed and the mechanical forearm 32 can be manipulated to rotate 360 degrees at will. The rotating part 1 3201 of the mechanical forearm 32 is fixed with a clamp ring. 3202, the claw ring 3202 is engaged with the pneumatic claw 31, and the rotating part 3201 also has a built-in motor. Operating the motor can make the pneumatic claw 31 rotate significantly along the plane where the mechanical forearm 32 is located. The pneumatic claw 31 is connected to six air supply interfaces 3102, which are all connected to the air supply pipe 3402 installed on the back wall of the machine. The control of the pneumatic claw 31 includes: increasing or decreasing the air inside through the two air supply interfaces 3102 on the palm block 3103 to make the claw fingers 3101 slide inward or outward, and then changing the amount of air supplied by the four air supply interfaces 3102 located on the wrist block 3104 to achieve the purpose of rotating the palm block 3103 and the claw fingers 3101 together.

[0066] Deburring process: a number of workpieces to be processed are pre-placed in the flexible circulating discharge area 2. First, the pneumatic component 4 is started to clamp the workpiece to be processed with the pneumatic claw 31 and gently place it on the burr scanning component 5. The surface burr data is collected by the infrared scanner 501 and analyzed by the computer. Then the pneumatic claw 31 is driven to clamp the workpiece and repeatedly pass it through the grinder 6, vibrating roller 8, and polishing machine 10 to flatten the burrs and brighten the surface. After reaching a certain number of processes, the motor 901 of the scraper 9 is turned on to drive the traction wheel 907 to rotate and then drive the plate The belt 904 wrapped around the outer circumference of the top shaft 903, the belt block 905, the belt drum 906 and the pulling wheel 907 starts to roll. At this time, the pneumatic claw 31 clamps the workpiece and scrapes it on the belt 904 multiple times to remove particles, debris and dust on the surface of the workpiece. Next, the pneumatic claw 31 places the workpiece on the burr scanning component 5 to obtain the status data of the surface of the workpiece. After the processing requirements are met, the pneumatic claw 31 clamps it and places it flat on the flexible finished product receiving conveyor belt 3 for storage. Otherwise, the relevant processing steps are repeated again until the scan is passed.

[0067] The above processing procedures are all controlled and managed by computers with a high degree of automation. Workers with low technical and professional skills can be competent to operate the entire processing process after simple training.

[0068] Most of the particles, debris and dust generated in the above deburring process fall into the chip box 15 along the chip collecting bucket 11. A small part remains in the area where the pneumatic component 4 is located. After all equipment is shut down, the cover 7 is opened to sweep it into the upper inlet of the chip collecting basket 14, and it will also flow into the chip box 15, so as to collect the debris generated in the processing process as completely as possible.

[0069] Regarding the movement and fixation of the load-bearing cabinet 13: there are six sets of universal wheels 16 and fixed rods 17 on the bottom of the load-bearing cabinet 13. When the load-bearing cabinet 13 needs to be moved, turn the fixed rods 17 to shorten its length. At this time, the load-bearing cabinet 13 is supported by the universal wheels 16. Push the load-bearing cabinet 13 to reach the specified position, and then twist the fixed rods 17 to increase its length. The load-bearing cabinet 13 is supported by the six fixed rods 17 and firmly fixed in the current position.

[0070] The embodiments of this specific implementation method are all preferred embodiments of the present utility model, and are not intended to limit the scope of protection of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the scope of protection of the present utility model.

Claims

1. A fully automatic robot deburring device, characterized in that: include: Deburring processing area (1), flexible circulating material discharge area (2) and flexible finished product receiving conveyor belt (3); The flexible circulating unloading area (2) is arranged behind the deburring processing area (1) according to the process, and the flexible finished product receiving conveyor belt (3) is added to the side of the deburring processing area (1), and all three are placed on two load-bearing cabinets (13); The flexible circulating discharge area (2) is provided with a plurality of materials (18) to be deburred; The flexible finished product receiving conveyor belt (3) is a double-layer structure, and is used to receive the finished product material (18) that has been deburred. The deburring processing area (1) includes: a pneumatic component (4), a burr scanning component (5), a grinder (6), a cover (7), a vibrating rod (8), a scraper (9), a polisher (10), a chip collecting bucket (11), a chip collecting basket (14) and a chip storage box (15). The chip collecting bucket (11) is located in the middle of the deburring processing area (1) and one is located in the front and one in the back. The chip storage box (15) is placed directly below the chip collecting bucket (11) and is located in the load-bearing cabinet (13). There are two pneumatic components (4) located on the left side of each chip collecting bucket (11). One of the burr scanning components (5) is installed at the upper left corner of the rear chip collecting bucket (11), and the other is installed on the right side between the two chip collecting buckets (11). The grinder (6) is provided with two There is a polishing machine (10) arranged on the right side of the front chip collecting bucket (11) with the drill bit facing inward, and another one arranged on the right side of the front chip collecting bucket (11) with the drill bit facing upward. There are two polishing machines (10) arranged on the right side of the front chip collecting bucket (11), one with the drill bit facing inward and behind the adjacent grinder (6), and the other with the drill bit facing upward in front of the same grinder (6). The vibrating rod (8) is fixed to the right side of the rear chip collecting bucket (11). The scraper (9) is bolted to the front of the left edge of the rear chip collecting bucket (11). There are two chip collecting baskets (14), each of which has an upper end opening arranged near the rear of the corresponding pneumatic component (4) and covered with a cover (7). At the same time, the lower end outlet of the chip collecting basket (14) is suspended above the chip box (15).

2. The fully automatic robot deburring equipment according to claim 1, characterized in that: The pneumatic assembly (4) includes a pneumatic claw (31), a mechanical front arm (32), a movable joint (33), a mechanical rear arm (34), an arm lifter (35) and a rotating seat (36); The base (3601) at the bottom of the rotating seat (36) is fixed to the left side of the deburring processing area (1) via bolts, and a second motor (3602) is provided in the rotating seat (36); The arm lifter (35) has a built-in motor (3501), and a rotating ring (3302) is installed at its lower end. The rotating ring (3302) is fitted on the top of the rotating seat (36); The two ends of the mechanical rear arm (34) are provided with connecting shafts (3401), one end of which is connected to the side of the arm lifting machine (35), and the other end of which is axially connected to the movable joint (33). The mechanical rear arm (34) is also provided with an air supply pipe (3402); The movable joint (33) includes a rotating ring (3302) and a second rotating member (3301), wherein the second rotating member (3301) is connected to one end of the mechanical rear arm (34), and the rotating ring (3302) is arranged on the ground-proximal side of the second rotating member (3301); The top of the mechanical forearm (32) is fixed to the rotating ring (3302), and the bottom portion thereof is provided with a rotating member 1 (3201), and a claw ring (3202) is fixed to the rotating member 1 (3201) by bolts; The front end of the pneumatic claw (31) is embedded with the claw finger (3101), and the end thereof is sleeved with a coupling tube (3105), and the coupling tube (3105) is embedded in the claw ring (3202).

3. The fully automatic robot deburring device according to claim 2, characterized in that: The pneumatic claw (31) further comprises an air supply interface (3102), a palm block (3103) and a wrist block (3104). The palm block (3103) and the wrist block (3104) are spliced together and arranged together at the front end of the coupling tube (3105). Two claw fingers (3101) are embedded in the palm of the palm block (3103). The two claw fingers (3101) are respectively on the left and right sides of the palm block (3103). Two air supply interfaces (3102) are symmetrically inserted into the top surface of the palm block (3103). One air supply interface (3102) is inserted into each of the two side surfaces of the wrist block (3104). Two air supply interfaces (3102) are also installed on the back surface of the coupling tube (3105).

4. The fully automatic robot deburring device according to claim 1, characterized in that: The four hollowed-out areas on the load-bearing cabinet (13) are provided with lifting doors (12). Six groups of universal wheels (16) and fixed rods (17) are fixed to the bottom edge of the load-bearing cabinet (13) by bolts, four of which are located at the four corners of the bottom, and the other two groups are located at the middle ends of the front and rear sides.

5. The fully automatic robot deburring equipment according to claim 1, characterized in that: The burr scanning component (5) includes an infrared scanner (501), a pillar (502) and a double-layer support (503). Corresponding infrared scanners (501) are respectively placed on both sides of the upper layer of the double-layer support (503). At the same time, a number of pillars (502) of different heights are also erected on the upper layer, and the tips of the pillars (502) just fit in with the surface of the material (18).

6. The fully automatic robot deburring equipment according to claim 1, characterized in that: The scraper (9) comprises a motor (901), a guard plate (902), a plate top shaft (903), a belt (904), a belt block (905), a belt drum (906), a pulling wheel (907) and a detachable base (908). The middle end of the detachable base (908) is fixed with the guard plate (902). The motor (901) is hung on one side of the guard plate (902). The motor (901) is driven through the shaft of the guard plate (902). A pulling wheel (907) is installed at the front end, a plate top shaft (903) is inserted at the top end of the guard plate (902), a belt block (905) is hung on the wall at the oblique side of the guard plate (902), a belt drum (906) is suspended in the middle of the guard plate (902) and below the belt block (905), and the outer periphery of the plate top shaft (903), the belt block (905), the belt drum (906) and the pulling wheel (907) are surrounded by the same belt (904).

Images