Blank workpiece deburring system, method, computer device and storage medium

Abstract

This application relates to a deburring system, method, computer device, storage medium, and computer program product for blank workpieces. The system includes: a roller conveyor device, a truss conveyor device, and a deburring device; the truss conveyor device includes: a transport truss and a workpiece gripping manipulator capable of moving on the transport truss; the transport truss is erected above the roller conveyor device and the deburring device; the roller conveyor device conveys the blank workpieces transported by the automated guided vehicle to the manipulator gripping station, the truss conveyor device grabs the blank workpieces from the manipulator gripping station, and conveys the blank workpieces to the deburring device, the deburring device performs deburring treatment on the blank workpieces, and the truss conveyor device conveys the deburred workpieces to the blanking station. The efficiency of deburring treatment is improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and particularly to a deburring system, method, computer device, storage medium, and computer program product for rough workpieces. Background Art

[0002] With the increasing degree of industrialization, more and more production lines have achieved automation. However, for the deburring treatment of rough workpieces, the current method is still manual. The deburring treatment of rough workpieces refers to cleaning the burrs on the outer contour of the rough workpieces. After the rough workpieces are cooled, the surface temperature is still close to 100°C. The manual method has the risk of scalding hands and very low processing efficiency. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a deburring system, method, computer device, computer-readable storage medium, and computer program product for rough workpieces that can improve the deburring processing efficiency.

[0004] In a first aspect, the present application provides a deburring system for rough workpieces, including:

[0005] A roller conveyor equipment, a truss conveyor equipment, and a deburring equipment; the truss conveyor equipment includes: a transport truss and a workpiece grasping manipulator capable of moving on the transport truss; the transport truss is erected above the roller conveyor equipment and the deburring equipment;

[0006] Wherein, the roller conveyor equipment is used to transport the rough workpieces transported by the automated guided vehicle to the manipulator grasping station; the workpiece grasping manipulator is used to grasp the rough workpieces from the manipulator grasping station and transport the rough workpieces to the deburring equipment by moving on the transport truss; the deburring equipment is used to perform deburring treatment on the rough workpieces to obtain the workpieces after deburring treatment; the workpiece grasping manipulator is also used to grasp the workpieces after deburring treatment from the deburring equipment and transport the workpieces after deburring treatment to the blanking station by moving on the transport truss.

[0007] In one embodiment, the roller conveyor equipment includes a roller conveyor, and the roller conveyor includes: a roller support and rollers, the rollers are installed on the roller support, and the rollers transport the rough workpieces transported by the automated guided vehicle to the manipulator grasping station by rolling.

[0008] In one embodiment, the roller conveyor equipment further includes a code scanning device, the code scanning device is installed on the side of the roller conveyor, and the code scanning device is used to scan the rough workpieces transported by the roller conveyor to obtain the workpiece model information and send the workpiece model information to the truss conveyor equipment.

[0009] In one embodiment, there are multiple burr processing devices, and each burr processing device is used to deburr blank workpieces of different models. The workpiece grasping manipulator is also used to determine a target processing device from the multiple burr processing devices according to the workpiece model information, and convey the grasped blank workpiece to the target processing device.

[0010] In one embodiment, the roller conveyor device further includes a forward pushing and positioning mechanism and a front blocking block. The front blocking block is installed between the last two rollers at the end of the roller conveyor, and the forward pushing and positioning mechanism is installed above the roller conveyor. The forward pushing and positioning mechanism is used to push the blank workpiece conveyed by the roller conveyor to contact the front blocking block.

[0011] In one embodiment, the roller conveyor device further includes a lateral positioning mechanism. The lateral positioning mechanism is installed on both sides of the roller conveyor and is used to laterally position the blank workpiece in contact with the front blocking block.

[0012] In one embodiment, the roller conveyor device further includes a lifting mechanism. The lifting mechanism includes multiple lifting rods, and the width of each lifting rod is less than the width of the gap between two adjacent rollers. The multiple lifting rods are used to lift the laterally positioned blank workpiece to the manipulator grasping station.

[0013] In one embodiment, the workpiece grasping manipulator includes a first gripper and a second gripper. The first gripper is used to grasp the blank workpiece from the manipulator grasping station and convey the blank workpiece above the burr processing device by moving on the transportation truss; the second gripper is used to convey the workpiece that has completed deburring processing in the burr processing device to the blanking station; the first gripper places the blank workpiece in the burr processing device.

[0014] In one embodiment, both the first gripper and the second gripper include a double guide rod cylinder and a workpiece fixture. The double guide rod cylinder and the workpiece fixture are fixedly connected. The workpiece fixture is used to grasp the blank workpiece from the manipulator grasping station, and the double guide rod cylinder is used to fix the blank workpiece grasped by the workpiece fixture.

[0015] In one embodiment, the blank workpiece is an engine block blank workpiece.

[0016] In a second aspect, the present application provides a method for deburring a blank workpiece, including:

[0017] The roller conveyor device conveys the blank workpiece transported by the automatic guided vehicle to the manipulator grasping station; the workpiece grasping manipulator grasps the blank workpiece from the manipulator grasping station and conveys the blank workpiece to the burr processing device by moving on the transportation truss;

[0018] The deburring device performs deburring on the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the deburring device and transports the workpiece after deburring to the blanking station by moving on the transportation truss.

[0019] In one of the embodiments, the roller conveyor equipment transports the blank workpiece transported by the automated guided vehicle to the manipulator gripping station, including:

[0020] After the roller conveyor completes the roller transportation of the blank workpiece transported by the automated guided vehicle, the forward pusher positions the blank workpiece that has completed the roller transportation to contact the front stop block;

[0021] The lateral positioning mechanism performs lateral positioning on the blank workpiece in contact with the front stop block;

[0022] The lifting mechanism lifts the laterally positioned blank workpiece to the manipulator gripping station.

[0023] Thirdly, the present application also provides a deburring device for blank workpieces, including:

[0024] A roller conveyor control module for controlling the roller conveyor equipment to transport the blank workpiece transported by the automated guided vehicle to the manipulator gripping station;

[0025] A manipulator control module for controlling the workpiece gripping manipulator to grab the blank workpiece from the manipulator gripping station and transport the blank workpiece to the deburring device by moving on the transportation truss;

[0026] A deburring control module for controlling the deburring device to perform deburring on the blank workpiece to obtain the workpiece after deburring;

[0027] The manipulator control module is also used to control the workpiece gripping manipulator to grab the workpiece after deburring from the deburring device and transport the workpiece after deburring to the blanking station by moving on the transportation truss.

[0028] Fourthly, the present application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] The roller conveyor equipment transports the blank workpiece transported by the automated guided vehicle to the manipulator gripping station; the workpiece gripping manipulator grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the deburring device by moving on the transportation truss;

[0030] The burr processing device deburrs the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the burr processing device and transports the workpiece after deburring to the blanking station by moving on the transportation truss.

[0031] In a fifth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0032] The roller conveyor device transports the blank workpiece transported by the automatic guided vehicle to the manipulator gripping station; the workpiece gripping manipulator grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the burr processing device by moving on the transportation truss;

[0033] The burr processing device deburrs the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the burr processing device and transports the workpiece after deburring to the blanking station by moving on the transportation truss.

[0034] In a sixth aspect, the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0035] The roller conveyor device transports the blank workpiece transported by the automatic guided vehicle to the manipulator gripping station; the workpiece gripping manipulator grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the burr processing device by moving on the transportation truss;

[0036] The burr processing device deburrs the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the burr processing device and transports the workpiece after deburring to the blanking station by moving on the transportation truss.

[0037] For the above-mentioned blank workpiece deburring system, method, computer device, storage medium and computer program product, the system includes: a roller conveyor device, a truss conveyor device and a burr processing device; the roller conveyor device transports the blank workpiece transported by the automatic guided vehicle to the manipulator gripping station, the truss conveyor device grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the burr processing device, the burr processing device deburrs the blank workpiece, and the truss conveyor device transports the workpiece after deburring to the blanking station. The automation of the deburring process of the blank workpiece is realized, without manual intervention, avoiding the safety hazards existing in the manual method, and improving the efficiency of the deburring process. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a top view of a deburring system for a blank workpiece in an embodiment;

[0040] Figure 2 It is a plan view of a deburring system for a blank workpiece in an embodiment;

[0041] Figure 3 It is a schematic structural diagram of a roller conveyor in an embodiment;

[0042] Figure 4 It is a schematic diagram of the setting of a code scanning device in an embodiment;

[0043] Figure 5 It is a schematic diagram of the setting of a front push positioning mechanism and a front stop block in an embodiment;

[0044] Figure 6 It is a schematic diagram of the setting of a lateral positioning mechanism in an embodiment;

[0045] Figure 7 It is a schematic diagram of the setting of a lifting mechanism in an embodiment;

[0046] Figure 8 It is a schematic structural diagram of a double gripper in an embodiment;

[0047] Figure 9 It is a schematic structural diagram of a manipulator in an embodiment;

[0048] Figure 10 It is a fixture schematic diagram of a deburring device in an embodiment;

[0049] Figure 11 It is a schematic flow diagram of a method for deburring a blank workpiece in an embodiment;

[0050] Figure 12 It is an internal structure diagram of a computer device in an embodiment.

[0051] Explanation of reference numerals:

[0052] 10: Roller conveyor equipment;

[0053] 20: Truss conveyor equipment;

[0054] 30: Deburring equipment;

[0055] 201: Transport truss;

[0056] 202: Workpiece gripping manipulator;

[0057] 2021: Double guide rod cylinder;

[0058] 2022: Workpiece fixture;

[0059] 101: Drum support;

[0060] 102: Drum;

[0061] 103: Scanning device;

[0062] 104: Forward pushing and positioning mechanism;

[0063] 105: Front blocking block;

[0064] 106: Lateral positioning mechanism;

[0065] 107: Lifting mechanism. Detailed implementation manners

[0066] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] In the traditional technology, the deburring process of the blank workpiece is still carried out manually. After the blank workpiece is cooled, the surface temperature is still close to 100°C. The manual method has the risk of scalding hands and the processing efficiency is very low. For this reason, the embodiment of the present application proposes a deburring system for blank workpieces, including: a roller conveyor device, a truss conveyor device, and a deburring device; the roller conveyor device transports the blank workpieces transported by the automatic guided vehicle to the manipulator gripping station, the truss conveyor device grabs the blank workpieces from the manipulator gripping station, and transports the blank workpieces to the deburring device, the deburring device deburrs the blank workpieces, and the truss conveyor device transports the deburred workpieces to the blanking station. The automation of the deburring process of the blank workpiece is realized, without manual intervention, avoiding the safety hazards existing in the manual method, and improving the efficiency of the deburring process. The deburring system for blank workpieces provided by the present application will be described in detail below with reference to specific embodiments.

[0068] In an exemplary embodiment, a deburring system for blank workpieces is provided, as Figure 1 and Figure 2 shown, Figure 1 which is a top view of the deburring system for blank workpieces, Figure 2A plan view of the deburring system for the blank workpiece. The deburring system for the blank workpiece includes: a roller conveyor device 10, a truss conveyor device 20, and a deburring device 30; the truss conveyor device 20 includes: a transport truss 201 and a workpiece gripping manipulator 202 capable of moving on the transport truss 201; the transport truss 201 is erected above the roller conveyor device 10 and the deburring device 30.

[0069] Among them, the roller conveyor device 10 is used to convey the blank workpiece transported by the automated guided vehicle to the manipulator gripping station; the workpiece gripping manipulator 202 is used to grip the blank workpiece from the manipulator gripping station and convey the blank workpiece to the deburring device 30 by moving on the transport truss 201; the deburring device 30 is used to perform deburring treatment on the blank workpiece to obtain the workpiece after deburring treatment; the workpiece gripping manipulator 202 is also used to grip the workpiece after deburring treatment from the deburring device 30 and convey the workpiece after deburring treatment to the blanking station by moving on the transport truss 201.

[0070] Optionally, the number of the roller conveyor devices 10 included in the deburring system for the blank workpiece can be the same as that of the deburring devices 30. For example, as shown in Figure 1 and Figure 2 the deburring system for the blank workpiece can include three roller conveyor devices 10, three deburring devices 30, and one truss conveyor device 20. It can be understood that three is only an example, and it can also be other numbers, such as one, two, five, etc. The embodiments of the present application do not limit this.

[0071] Optionally, the blank workpiece mentioned in the embodiments of the present application can be an engine block blank workpiece, or a low cylinder blank workpiece or a cylinder head blank workpiece. The embodiments of the present application do not limit this.

[0072] Among them, the automated guided vehicle can convey the blank workpiece onto the roller conveyor device 10. The conveying direction of the roller conveyor device 10 is as shown in Figure 1 The roller conveyor device 10 can convey the blank workpiece through rollers or through a conveyor belt. The embodiments of the present application do not limit this. After the automated guided vehicle conveys the blank workpiece onto the roller conveyor device 10, the roller conveyor device 10 conveys the blank workpiece to the manipulator gripping station according to the conveying direction shown in Figure 1 .

[0073] Among them, as shown in Figure 1 the transport truss 201 is erected above the roller conveyor device 10 and the deburring device 30. As shown in Figure 2As shown, the workpiece gripping manipulator 202 can move left and right on the transportation truss 201. After the roller conveyor equipment 10 transports the blank workpiece to the manipulator gripping station, it can send a gripping permission to the workpiece gripping manipulator 202. After receiving the gripping permission, the workpiece gripping manipulator 202 grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the deburring equipment 30 by moving on the transportation truss 201. The deburring equipment 30 can position and clamp the blank workpiece, and then perform dry cutting to remove burrs. After the processing is completed, it can send a blanking instruction to the workpiece gripping manipulator 202. After receiving the blanking instruction, the workpiece gripping manipulator 202 grabs the workpiece after deburring from the deburring equipment 30 and transports the workpiece after deburring to the blanking station by moving on the transportation truss 201 to enter the next production line.

[0074] Among them, the deburring equipment 30 uses a five-axis machining center, namely the XYZAB axes, a total of five axes, which is compatible with multiple fixture models and has high flexibility.

[0075] In the above embodiment, a blank workpiece deburring system is provided, including: a roller conveyor equipment, a truss conveyor equipment, and a deburring equipment; the roller conveyor equipment transports the blank workpiece transported by the automatic guided vehicle to the manipulator gripping station, the truss conveyor equipment grabs the blank workpiece from the manipulator gripping station and transports the blank workpiece to the deburring equipment, and the deburring equipment performs deburring treatment on the blank workpiece, and the truss conveyor equipment transports the workpiece after deburring to the blanking station. The automation of the deburring treatment of the blank workpiece is realized, without manual intervention, avoiding the safety hazards existing in the manual method, and improving the efficiency of the deburring treatment.

[0076] In some embodiments, the roller conveyor equipment 10 includes a roller conveyor. Refer to Figure 3 shown, Figure 3 which is the top view of the roller conveyor. The roller conveyor includes: a roller bracket 101 and rollers 102. The rollers 102 are installed on the roller bracket 101, and the rollers 102 transport the blank workpiece transported by the automatic guided vehicle to the manipulator gripping station by rolling.

[0077] Among them, the rollers 102 can roll in the Figure 3 shown conveying direction. The automatic guided vehicle can transport the blank workpiece to the position on the rollers 102 Figure 3 shown, and the rollers 102 can roll in the Figure 3 shown conveying direction to transport the blank workpiece to the manipulator gripping station.

[0078] In the above embodiment, the blank workpiece is transported to the manipulator gripping station by the rolling of the rollers. The conveying speed is relatively fast, the damage to the blank workpiece is small, and the flexibility of the production line processing is improved.

[0079] In some embodiments, the raceway conveying device 10 further includes a code scanning device 103. Refer to Figure 4 As shown, the code scanning device 103 is installed on the side of the roller conveyor. The code scanning device 103 is used to scan the blank workpieces conveyed by the roller conveyor to obtain workpiece model information, and send the workpiece model information to the truss conveying device 20.

[0080] Among them, the code scanning device 103 can be installed on the side in the middle of the roller conveyor. The code scanning device 103 has a corresponding scanning range. An image code is pasted on the surface of the blank workpiece facing the code scanning device 103. The image code contains the workpiece model information of the blank workpiece. The roller conveys the blank workpiece to Figure 4 When it is within the shown scanning range, the code scanning device 103 scans the image code to obtain workpiece model information, and sends the workpiece model information to the truss conveying device 20, specifically to the workpiece grasping manipulator 202.

[0081] Optionally, when the automatic guided vehicle conveys the blank workpiece onto the roller, the side with the image code pasted can be oriented towards the side where the code scanning device 103 is located, so that the code scanning device 103 can scan the graphic code.

[0082] In the above embodiments, a code scanning device is also provided on the side of the roller conveyor. The code scanning device can scan the graphic code pasted on the blank workpiece to obtain workpiece model information, and send the workpiece model information to the workpiece grasping manipulator. Subsequently, the workpiece grasping manipulator can, based on the workpiece model information, select a suitable deburring device to perform deburring on the blank workpiece, making the blank workpiece deburring system provided in the embodiments of the present application applicable to blank workpieces of multiple models and improving the system compatibility.

[0083] In some embodiments, there are multiple deburring devices 30. Each deburring device 30 is used to perform deburring on blank workpieces of different models. The workpiece grasping manipulator 202 is further used to determine a target processing device from the multiple deburring devices 30 according to the workpiece model information, and convey the grasped blank workpiece to the target processing device.

[0084] Optionally, refer to Figure 1 and Figure 2 As shown, both the raceway conveying device 10 and the deburring device 30 can be three. The raceway conveying device 10 and the deburring device 30 are placed crosswise. Each deburring device 30 is used to perform deburring on blank workpieces of different models.

[0085] Among them, after the code scanning device 103 scans the workpiece model information, it can send the workpiece model information to the workpiece gripping manipulator 202. The workpiece gripping manipulator 202 compares the workpiece model information with the models that each deburring device 30 can process. If the models that a certain deburring device 30 can process include the above workpiece model information, then this deburring device 30 is used as the target processing device, and the grabbed blank workpiece is transported to the target processing device, and the target processing device deburrs the blank workpiece, thereby realizing the adaptation of the model.

[0086] In the above embodiment, after the code scanning device scans the workpiece model information, it can send the workpiece model information to the workpiece gripping manipulator. Based on the workpiece model information, the workpiece gripping manipulator finds the deburring device that can process the grabbed blank workpiece, and transports the grabbed blank workpiece to the deburring device, thereby realizing the adaptation of the model, making the blank workpiece deburring system provided by the embodiment of the present application applicable to blank workpieces of multiple models, improving the system compatibility. The automatic guided vehicle can transport blank workpieces of any model, realizing the mixed flow of multiple models and achieving lossless model switching.

[0087] In some embodiments, the roller conveyor device 10 further includes a forward pushing and positioning mechanism 104 and a forward blocking block 105. Refer to Figure 5 As shown, the forward blocking block 105 is installed between the last two rollers of the roller conveyor. The forward pushing and positioning mechanism 104 is installed above the roller conveyor. The forward pushing and positioning mechanism 104 is used to push the blank workpiece conveyed by the roller conveyor to contact the forward blocking block 105.

[0088] Among them, the forward blocking block 105 can be fixed on the last two rollers of the roller conveyor. The forward pushing and positioning mechanism 104 can be erected above the roller conveyor through a bracket. The forward pushing and positioning mechanism 104 can rise or fall on the bracket. That is to say, it can move away from the roller conveyor (rise), or move towards the roller conveyor (fall). The forward pushing and positioning mechanism 104 can also move in the conveying direction or in the opposite direction of the conveying direction.

[0089] Among them, the rollers can roll in the Figure 3 shown conveying direction to convey the blank workpiece forward. During the forward conveying process, the forward pushing and positioning mechanism 104 is at a high position to prevent blocking the forward movement of the blank workpiece. When the blank workpiece is conveyed to contact the forward blocking block 105, it reaches the manipulator gripping station. In order to realize the precise gripping of the blank workpiece by the workpiece gripping manipulator 202, the embodiment of the present application provides the forward pushing and positioning mechanism 104, the lateral positioning mechanism 106, the lifting mechanism 107, etc. to perform precise positioning on the blank workpiece. The precise positioning principles of each mechanism are described below one by one.

[0090] Among them, after the blank workpiece is conveyed to contact the front stop block 105, the front stop block 105 can send a forward push instruction to the forward push positioning mechanism 104. After receiving the forward push instruction, the forward push positioning mechanism 104 descends to a position where it can push the blank workpiece forward, and then moves in the conveying direction to push the blank workpiece to be in close contact with the front stop block 105, preventing inaccurate longitudinal position caused by the blank workpiece rebounding after contacting the front stop block 105.

[0091] In the above embodiment, the roller conveyor device further includes a forward push positioning mechanism and a front stop block. The front stop block is installed between the last two rollers of the roller conveyor, and the forward push positioning mechanism is installed above the roller conveyor. The forward push positioning mechanism is used to push the blank workpiece conveyed by the roller conveyor to contact the front stop block, so that the position of the blank workpiece in the longitudinal direction is fixed, preparing for the accurate grasping of the subsequent workpiece grasping manipulator.

[0092] In some embodiments, the roller conveyor device 10 further includes a lateral positioning mechanism 106. The lateral positioning mechanism 106 is installed on both sides of the roller conveyor and is used for lateral positioning of the blank workpiece in contact with the front stop block 105.

[0093] Among them, referring to Figure 6 As shown, the lateral positioning mechanism 106 may include 4 electric cylinders. Two electric cylinders are arranged on each side of the roller conveyor, and the electric cylinders on both sides are arranged oppositely. Each electric cylinder can move towards the blank workpiece or move away from the blank workpiece. After the forward push positioning mechanism 104 pushes the blank workpiece to contact the front stop block 105, it can send a lateral push instruction to the 4 electric cylinders. After receiving the lateral push instruction, the 4 electric cylinders move towards the blank workpiece along the Figure 6 As shown in the direction, laterally push the blank workpiece in contact with the front stop block 105, so that the position of the blank workpiece in the transverse direction is fixed. After the longitudinal and transverse positions are both fixed, the forward push positioning mechanism 104 and the lateral positioning mechanism 106 can both return to their original positions.

[0094] Among them, the surface pushed by the forward push positioning mechanism 104 can be called the TC surface, and the surface pushed by the lateral positioning mechanism 106 can be the air inlet and outlet surface.

[0095] In the above embodiment, the roller conveyor device further includes a lateral positioning mechanism. The lateral positioning mechanism is installed on both sides of the roller conveyor. The lateral positioning mechanism can laterally push the blank workpiece in contact with the front stop block, so that the position of the blank workpiece in the transverse direction is fixed, preparing for the accurate grasping of the subsequent workpiece grasping manipulator.

[0096] In some embodiments, the roller conveyor device 10 further includes a lifting mechanism 107. Referring to Figure 7As shown, the lifting mechanism 107 includes a plurality of lifting rods, and the width of each lifting rod is less than the width of the gap between two adjacent rollers. The plurality of lifting rods are used to lift the blank workpiece after lateral positioning to the robot grasping station.

[0097] Among them, the lifting mechanism 107 is arranged between the front stop block 105 and the front push positioning mechanism 104. The lifting mechanism 107 includes a plurality of lifting rods, and the width of each lifting rod is less than the width of the gap between two adjacent rollers. Each lifting rod can rise or fall through the gap between two adjacent rollers and is fixed in both longitudinal and transverse positions. After the front push positioning mechanism 104 and the lateral positioning mechanism 106 both return to their original positions, a lifting instruction can be sent to the lifting mechanism. After receiving the lifting instruction, the lifting mechanism controls the plurality of lifting rods to rise, thereby lifting the blank workpiece placed on the rollers to a certain height. Subsequently, the workpiece grasping robot 202 grasps the blank workpiece from this position.

[0098] In the above embodiment, the roller conveyor equipment further includes a lifting mechanism, which can lift the blank workpiece placed on the rollers to a certain height, enabling the workpiece grasping robot to achieve precise grasping.

[0099] In some embodiments, as shown in Figure 8 the workpiece grasping robot 202 includes two grippers, namely the first gripper and the second gripper. The first gripper is used to grasp the blank workpiece from the robot grasping station and convey the blank workpiece above the deburring equipment 30 by moving on the transport truss 201; the second gripper is used to convey the workpiece that has completed deburring treatment in the deburring equipment 30 to the blanking station; the first gripper places the blank workpiece in the deburring equipment 30.

[0100] Among them, the workpiece grasping robot 202 includes the first gripper and the second gripper. The first gripper and the second gripper as a whole can move left and right along the transport truss 201, and both the first gripper and the second gripper can rise or fall in a direction perpendicular to the transport truss 201. Specifically, when it is necessary to grasp the blank workpiece, it descends to the robot grasping station and then rises to its original position, and conveys the blank workpiece above the deburring equipment 30 by moving on the transport truss 201. Both the first gripper and the second gripper can rotate 360 degrees around an axis.

[0101] Among them, the process of the cooperation of the two grippers is as follows: One of the grippers grasps the blank workpiece from the robot grasping station and conveys the grasped blank workpiece above the deburring equipment 30 by moving on the transport truss 201; the other gripper conveys the workpiece that has completed deburring treatment in the deburring equipment 30 to the blanking station. After the workpiece that has completed deburring treatment is conveyed away, the previous gripper places the grasped blank workpiece in the deburring equipment 30, and the deburring equipment 30 performs deburring treatment on the blank workpiece.

[0102] Among them, the entire process of the production line can be as follows: The automatic guided vehicle transports the blank workpiece to the roller, and the roller transports the blank workpiece forward. When the blank workpiece reaches the scanning range of the code scanning device 103, the code scanning device 103 scans the graphic code on the blank workpiece to obtain the workpiece model information, and sends the workpiece model information to the workpiece gripping manipulator 202. Based on this workpiece model information, the gripping manipulator determines the target processing device from multiple deburring devices 30. When the blank workpiece is transported to contact the front stop block 105, it reaches the manipulator gripping station and sends a forward push instruction to the forward push positioning mechanism 104. After receiving the forward push instruction, the forward push positioning mechanism 104 pushes the blank workpiece to closely contact the front stop block 105, and then sends a side push instruction to the 4 electric cylinders. After receiving the side push instruction, the 4 electric cylinders perform a lateral push on the blank workpiece in contact with the front stop block 105. After the longitudinal and transverse positions are both fixed, the forward push positioning mechanism 104 and the lateral positioning mechanism 106 can both return to their original positions. At this time, a lifting instruction can be sent to the lifting mechanism. After receiving the lifting instruction, the lifting mechanism controls the multiple lifting rods to rise, so as to lift the blank workpiece placed on the roller to a certain height. At this time, a gripping permission can be sent to the workpiece gripping manipulator 202. After receiving the gripping permission, the first gripper grabs the blank workpiece from the lifting rod. Each deburring device 30 has a corresponding top door. The first gripper transports the blank workpiece to above the top door of the target processing device by moving on the transport truss 201, and waits for the target processing device to finish processing the previous blank workpiece. After the previous blank workpiece is processed, the target processing device can release the fixture and open the top door. The second gripper takes out the previous workpiece that has completed deburring from the released fixture. The first gripper places the grabbed blank workpiece into the deburring device 30. The fixture of the deburring device 30 clamps the blank workpiece and closes the top door, and starts to perform deburring processing on the blank workpiece. After the processing is completed, the first gripper (or the second gripper) takes out the workpiece after deburring processing and transports the workpiece after deburring processing to the blanking station by moving on the transport truss 201.

[0103] In the above embodiment, the workpiece gripping manipulator includes a first gripper and a second gripper. One of the grippers is used to grab the blank workpiece from the manipulator gripping station, and the other gripper is used to remove the previous workpiece that has completed deburring from the deburring device. The two grippers cooperate with each other to improve the processing efficiency of the deburring production line.

[0104] In some embodiments, as shown in Figure 9 the first gripper and the second gripper both include a double guide rod cylinder 2021 and a workpiece fixture 2022, and the structures of the first gripper and the second gripper are the same. Figure 9The double-guide-rod cylinder 2021 is fixedly connected to the workpiece fixture 2022 , the workpiece fixture 2022 is used to grab the rough workpiece from the robot grabbing station, and the double-guide-rod cylinder 2021 is used to fix the rough workpiece grabbed by the workpiece fixture 2022 .

[0105] Among them, the workpiece fixture 2022 is used to grab the blank workpiece from the robot gripping station. The double guide rod cylinder 2021 is used to extend downward to press the OP surface of the blank workpiece after the workpiece fixture 2022 grabs the blank workpiece. The OP surface can be understood as the side of the blank workpiece facing up, thereby fixing the blank workpiece and preventing the blank workpiece from shifting. At the same time, the double guide rod cylinder 2021 can determine which model the blank workpiece belongs to based on the workpiece model information sent by the code scanning device 103, and determine the downward pressing stroke based on the model. Therefore, the double guide rod cylinder 2021 also has the function of model identification and error prevention, and performs consistency interlocking with the model identified by the code scanning device 103.

[0106] Among them, the workpiece clamp 2022 adopts parallel jaws with serrated pressure blocks to clamp the crankshaft neck of the workpiece, greatly reducing the risk of falling. The parallel jaws can be moved, making the clamping stroke compatible with 5 models.

[0107] Optionally, the structure of the fixture in the burr processing device 30 can be as follows: Figure 10 As shown, this clamp uses three-finger central jaws and parallel jaws. The three-finger central jaws refer to jaws with three directions, and the parallel jaws refer to jaws with two directions. Both the three-finger central jaws and the parallel jaws are equipped with ball-end clamping pins to locate cylinder holes with different apertures and spacings, meet compatibility, and realize precise positioning of the workpiece at the same time, with a positioning accuracy of ±0.05mm.

[0108] In the above embodiment, the first gripper and the second gripper both include a double guide rod cylinder and a workpiece clamp. The double guide rod cylinder can be used to extend downward to press the upward side of the blank workpiece after the workpiece clamp grasps the blank workpiece, thereby fixing the blank workpiece and preventing the blank workpiece from shifting, thereby improving the stability of workpiece grasping.

[0109] In some embodiments, a method for deburring a rough workpiece is provided, which can be applied to the rough workpiece deburring system provided in the above embodiments, see Figure 11 As shown, the method includes:

[0110] Step 1101, the roller conveyor device 10 conveys the rough workpiece conveyed by the automatic guided transport vehicle to the robot gripping station.

[0111] The automatic guided transport vehicle can transport the rough workpiece to the roller conveyor device 10, and the roller conveyor device 10 can transport the rough workpiece to the robot gripping station through rollers or conveyor belts. The detailed implementation process is described in the above embodiment, and this application will not repeat it here.

[0112] In step 1102 , the workpiece grabbing robot 202 grabs the blank workpiece from the robot grabbing station, and transports the blank workpiece to the burr processing equipment 30 by moving on the transport truss 201 .

[0113] The workpiece grabbing manipulator 202 includes a first gripper and a second gripper, wherein one gripper is used to grab a rough workpiece from the manipulator grabbing station, or after the lifting mechanism 107 lifts the rough workpiece placed on the roller to a certain height, the gripper grabs the rough workpiece from this position, and the gripper moves on the transport truss 201 to transport the grabbed rough workpiece to the top of the burr processing device 30; the other gripper transports the last workpiece that has completed the deburring process in the burr processing device 30 to the unloading station, and after the last workpiece that has completed the deburring process is transported away, the first gripper places the grabbed rough workpiece in the burr processing device 30, and the burr processing device 30 performs deburring on the rough workpiece. The detailed implementation process refers to the description of the aforementioned embodiment, and this application will not be repeated here.

[0114] Step 1103 , the burr processing equipment 30 performs a deburring process on the rough workpiece to obtain a deburred workpiece.

[0115] Among them, the clamp in the burr processing equipment 30 can adopt three-finger central jaws and parallel jaws. The three-finger central jaws refer to jaws with three directions, and the parallel jaws refer to jaws with two directions. Both the three-finger central jaws and the parallel jaws are equipped with ball head clamping pins to position cylinder holes with different apertures and spacings. For the detailed implementation process, please refer to the description of the aforementioned embodiment, and this application will not repeat it here.

[0116] In step 1104 , the workpiece grabbing robot 202 grabs the deburred workpiece from the burr processing device 30 , and transports the deburred workpiece to the unloading station by moving on the transport truss 201 .

[0117] Among them, the burr processing equipment 30 can position and clamp the blank workpiece, and then perform dry cutting to remove burrs. After the processing is completed, a material unloading instruction can be sent to the workpiece grabbing manipulator 202. After receiving the unloading instruction, the workpiece grabbing manipulator 202 grabs the deburred workpiece from the burr processing equipment 30, and transports the deburred workpiece to the unloading station by moving on the transport truss 201 to enter the next assembly line. The detailed implementation process refers to the description of the aforementioned embodiment, and this application will not be repeated here.

[0118] In the above embodiments, the raceway conveying device 10 conveys the blank workpieces conveyed by the automatic guided vehicle to the mechanical hand grasping station; the workpiece grasping mechanical hand 202 grasps the blank workpieces from the mechanical hand grasping station, and conveys the blank workpieces to the deburring device 30 by moving on the transport truss 201; the deburring device 30 performs deburring on the blank workpieces to obtain the workpieces after deburring; the workpiece grasping mechanical hand 202 grasps the workpieces after deburring from the deburring device 30, and conveys the workpieces after deburring to the blanking station by moving on the transport truss 201. The automation of the deburring process for the blank workpieces is realized, without manual intervention, avoiding the potential safety hazards existing in the manual method, and improving the efficiency of the deburring process.

[0119] In some embodiments, the raceway conveying device 10 conveys the blank workpieces conveyed by the automatic guided vehicle to the mechanical hand grasping station, including: after the roller conveyor completes the roller conveying of the blank workpieces conveyed by the automatic guided vehicle, the forward pushing positioning machine pushes the blank workpieces that have completed the roller conveying to contact with the front stop block 105; the lateral positioning mechanism 106 performs lateral positioning on the blank workpieces in contact with the front stop block 105; the lifting mechanism 107 lifts the laterally positioned blank workpieces to the mechanical hand grasping station.

[0120] Among them, the automatic guided vehicle conveys the blank workpieces to the rollers, and the rollers convey the blank workpieces forward. When the blank workpieces reach the scanning range of the code scanning device 103, the code scanning device 103 scans the graphic code on the blank workpieces to obtain the workpiece model information, and sends the workpiece model information to the workpiece grasping mechanical hand 202. The grasping mechanical hand determines the target processing device from multiple deburring devices 30 based on this workpiece model information. When the blank workpieces are conveyed to contact with the front stop block 105, the roller conveyor has completed the roller conveying of the blank workpieces conveyed by the automatic guided vehicle, and sends a forward pushing instruction to the forward pushing positioning mechanism 104. After receiving the forward pushing instruction, the forward pushing positioning mechanism 104 pushes the blank workpieces to be in close contact with the front stop block 105, and then sends a side pushing instruction to the 4 electric cylinders. After receiving the side pushing instruction, the 4 electric cylinders perform lateral pushing on the blank workpieces in contact with the front stop block 105. After being fixed in both the longitudinal and transverse positions, both the forward pushing positioning mechanism 104 and the lateral positioning mechanism 106 can return to their original positions. At this time, a lifting instruction can be sent to the lifting mechanism. After receiving the lifting instruction, the lifting mechanism controls the multiple lifting rods to rise, so as to lift the blank workpieces placed on the rollers to a certain height, and this position can be used as the mechanical hand grasping station. The subsequent processes of the workpiece grasping mechanical hand 202, the deburring process, etc. can be referred to the description of the foregoing embodiments, and will not be elaborated herein.

[0121] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0122] Based on the same inventive concept, an embodiment of the present application also provides a deburring device for a blank workpiece for implementing the deburring method for a blank workpiece involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the deburring device for a blank workpiece provided below can refer to the limitations on the deburring method for a blank workpiece in the above text, and will not be repeated here.

[0123] In an exemplary embodiment, a deburring device for a blank workpiece is provided, including:

[0124] A raceway conveying control module, configured to control a raceway conveying device to convey the blank workpiece transported by an automatic guided vehicle to a robot grasping station;

[0125] A robot control module, configured to control a workpiece grasping robot to grasp the blank workpiece from the robot grasping station and convey the blank workpiece to a deburring device by moving on a transportation truss;

[0126] A deburring process control module, configured to control the deburring device to perform deburring on the blank workpiece to obtain a workpiece after deburring;

[0127] The robot control module is further configured to control the workpiece grasping robot to grasp the workpiece after deburring from the deburring device and convey the workpiece after deburring to a blanking station by moving on the transportation truss.

[0128] In some embodiments, the raceway conveying control module is specifically configured to:

[0129] After the roller conveyor completes the roller conveying of the blank workpiece transported by the automatic guided vehicle, control the forward pusher to push the blank workpiece that has completed the roller conveying until it contacts the front stop block; control the lateral positioning mechanism to perform lateral positioning on the blank workpiece that contacts the front stop block; control the lifting mechanism to lift the laterally positioned blank workpiece to the robot grasping station.

[0130] Each module in the above deburring device for blank workpieces can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0131] In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 12 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store workpiece model information. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for deburring blank workpieces.

[0132] Those skilled in the art can understand that Figure 12 the structure shown in

[0133] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0134] The roller conveyor device conveys the blank workpieces transported by the automatic guided vehicle to the manipulator grasping station; the workpiece grasping manipulator grasps the blank workpieces from the manipulator grasping station and conveys the blank workpieces to the deburring device by moving on the transportation truss;

[0135] The deburring device performs deburring on the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the deburring device and conveys the workpiece after deburring to the blanking station by moving on the transportation truss.

[0136] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0137] After the roller conveyor completes the roller conveyance of the blank workpiece conveyed by the automatic guided vehicle, the forward pusher positions the blank workpiece after the roller conveyance to contact the front stop block;

[0138] The lateral positioning mechanism performs lateral positioning on the blank workpiece in contact with the front stop block;

[0139] The lifting mechanism lifts the laterally positioned blank workpiece to the manipulator gripping station.

[0140] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0141] The raceway conveying device conveys the blank workpiece conveyed by the automatic guided vehicle to the manipulator gripping station; the workpiece gripping manipulator grabs the blank workpiece from the manipulator gripping station and conveys the blank workpiece to the deburring device by moving on the transportation truss;

[0142] The deburring device performs deburring on the blank workpiece to obtain the workpiece after deburring; the workpiece gripping manipulator grabs the workpiece after deburring from the deburring device and conveys the workpiece after deburring to the blanking station by moving on the transportation truss.

[0143] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0144] After the roller conveyor completes the roller conveyance of the blank workpiece conveyed by the automatic guided vehicle, the forward pusher positions the blank workpiece after the roller conveyance to contact the front stop block;

[0145] The lateral positioning mechanism performs lateral positioning on the blank workpiece in contact with the front stop block;

[0146] The lifting mechanism lifts the laterally positioned blank workpiece to the manipulator gripping station.

[0147] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0148] The raceway conveying equipment conveys the blank workpieces conveyed by the automatic guided vehicle to the manipulator grasping station; the workpiece grasping manipulator grasps the blank workpieces from the manipulator grasping station and conveys the blank workpieces to the deburring equipment by moving on the transportation truss;

[0149] The deburring equipment deburrs the blank workpieces to obtain the workpieces after deburring; the workpiece grasping manipulator grasps the workpieces after deburring from the deburring equipment and conveys the workpieces after deburring to the blanking station by moving on the transportation truss.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0151] After the roller conveyor completes the roller conveying of the blank workpieces conveyed by the automatic guided vehicle, the forward pusher positions the blank workpieces that have completed the roller conveying to contact the front stop block;

[0152] The lateral positioning mechanism laterally positions the blank workpieces in contact with the front stop block;

[0153] The lifting mechanism lifts the laterally positioned blank workpieces to the manipulator grasping station.

[0154] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0155] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0156] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A system for deburring a rough workpiece, characterized in that: include: Roller conveyor equipment, truss conveyor equipment and burr treatment equipment; The truss conveying equipment comprises: a transport truss and a workpiece grabbing manipulator capable of moving on the transport truss; the transport truss is erected above the roller conveying equipment and the burr processing equipment; Wherein, the roller conveying equipment is used to convey the rough workpiece conveyed by the automatic guided transport vehicle to the manipulator grabbing station; the workpiece grabbing manipulator is used to grab the rough workpiece from the manipulator grabbing station, and convey the rough workpiece to the burr processing equipment by moving on the transport truss; the burr processing equipment is used to deburr the rough workpiece to obtain the deburred workpiece; the workpiece grabbing manipulator is also used to grab the deburred workpiece from the burr processing equipment, and convey the deburred workpiece to the unloading station by moving on the transport truss; the roller conveying equipment includes a roller conveyor; The roller conveying device also includes a forward push positioning mechanism and a front blocking block, the front blocking block is installed between the two rollers at the end of the roller conveyor, the forward push positioning mechanism is installed above the roller conveyor, and the forward push positioning mechanism is used to push the blank workpiece conveyed by the roller conveyor until it contacts the front blocking block; the forward push positioning mechanism is erected above the roller conveyor through a bracket; the forward push positioning mechanism can move in a direction away from the roller conveyor, and can also move toward the roller conveyor; it can also move in the conveying direction of the roller conveying device, and can also move in the opposite direction of the conveying direction; the front blocking block is used to send a forward push instruction to the forward push positioning mechanism after the blank workpiece is conveyed to contact with the front blocking block; the forward push positioning mechanism is used to move toward the roller conveyor to a position where the blank workpiece can be pushed forward after receiving the forward push instruction, and move toward the conveying direction until the blank workpiece is pushed to be in close contact with the front blocking block; The roller conveying equipment also includes a lateral positioning mechanism, which is installed on both sides of the roller conveyor and is used for laterally positioning the blank workpiece in contact with the front blocking block; the lateral positioning mechanism includes 4 electric cylinders; 2 electric cylinders are arranged on each side of the roller conveyor; the electric cylinders on both sides of the roller conveyor are arranged relatively to each other; each electric cylinder can move toward the blank workpiece and can also move away from the blank workpiece; the forward pushing positioning mechanism is also used to push the blank workpiece until it is in close contact with the front blocking block, and then send a lateral pushing instruction to the 4 electric cylinders; the 4 electric cylinders are used to move toward the blank workpiece after receiving the lateral pushing instruction, and laterally push the blank workpiece in contact with the front blocking block until the lateral position of the blank workpiece is fixed; the forward pushing positioning mechanism and the lateral positioning mechanism return to their original positions; The roller conveying device also includes a lifting mechanism, which includes a plurality of lifting rods, each of which has a width smaller than a width of a gap between two adjacent rollers, and is used to lift the blank workpiece after lateral positioning to the robot gripping station; each lifting rod can rise or fall from the gap between two adjacent rollers; the forward positioning mechanism and the lateral positioning mechanism are also used to send a lifting instruction to the lifting mechanism after returning to their original positions, and the lifting mechanism is used to control the plurality of lifting rods to rise after receiving the lifting instruction, so as to lift the blank workpiece placed on the roller conveyor to the robot gripping station; The workpiece grasping manipulator comprises a first gripper and a second gripper, each of the first gripper and the second gripper comprises a double-guide-rod cylinder and a workpiece fixture, the double-guide-rod cylinder and the workpiece fixture are fixedly connected, the workpiece fixture is used to grasp the blank workpiece from the grasping station of the manipulator, the workpiece fixture adopts parallel grippers in combination with a sawtooth-shaped pressing block, and the parallel grippers are movable; the double-guide-rod cylinder is used to determine the model of the blank workpiece according to the workpiece model information sent by the code scanning device, determine the downward pressing stroke based on the model, and extend the downward pressing stroke downward to fix the blank workpiece grasped by the workpiece fixture; The roller conveying equipment also includes a code scanning device, which is installed on the side of the roller conveyor. The code scanning device is used to scan the blank workpiece conveyed by the roller conveyor to obtain workpiece model information, and send the workpiece model information to the truss conveying equipment.

2. The system according to claim 1, characterized in that The roller conveyor comprises: a roller support and a roller, wherein the roller is mounted on the roller support, and the roller conveys the rough workpiece conveyed by the automatic guided transport vehicle to the robot gripping station by rolling.

3. The system according to claim 1, characterized in that There are multiple burr processing devices, each of which is used to deburr different types of blank workpieces. The workpiece grasping robot is also used to determine the target processing device from the multiple burr processing devices according to the workpiece model information, and transport the grasped blank workpiece to the target processing device.

4. The system according to claim 1, characterized in that The first gripper is used to grab the blank workpiece from the robot gripping station, and transport the blank workpiece to the top of the burr processing equipment by moving on the transport truss; the second gripper is used to transport the previous workpiece that has completed deburring processing in the burr processing equipment to the unloading station; the first gripper places the blank workpiece in the burr processing equipment.

5. The system according to any one of claims 1 to 4, characterized in that: The rough workpiece is an engine cylinder block rough workpiece.

6. A method for deburring a rough workpiece, applied to the system according to any one of claims 1 to 5, characterized in that: include: The roller conveying device conveys the rough workpiece conveyed by the automatic guided transport vehicle to the robot gripping station; the workpiece gripping robot grabs the rough workpiece from the robot gripping station, and conveys the rough workpiece to the burr processing equipment by moving on the transport truss; The burr treatment device performs a deburring treatment on the blank workpiece to obtain a deburred workpiece; the workpiece grabbing manipulator grabs the deburred workpiece from the burr treatment device and transports the deburred workpiece to the unloading station by moving on the transport truss; The roller conveying device conveys the rough workpiece conveyed by the automatic guided transport vehicle to the robot gripping station, including: After the roller conveyor completes roller conveying of the rough workpiece conveyed by the automatic guided transport vehicle, the front blocking block sends a forward push instruction to the forward push positioning mechanism after the rough workpiece is conveyed to contact with the front blocking block; after receiving the forward push instruction, the forward push positioning mechanism moves toward the roller conveyor to a position where the rough workpiece can be pushed forward, and moves in the conveying direction until the rough workpiece is pushed to be in close contact with the front blocking block; after the forward push positioning mechanism pushes the rough workpiece to be in close contact with the front blocking block, it sends a side push instruction to the side positioning mechanism; After receiving the lateral push instruction, the lateral positioning mechanism moves toward the blank workpiece and pushes the blank workpiece in contact with the front blocking block laterally until the lateral position of the blank workpiece is fixed; the forward push positioning mechanism and the lateral positioning mechanism return to their original positions; the forward push positioning mechanism and the lateral positioning mechanism send a lifting instruction to the lifting mechanism; After receiving the lifting instruction, the lifting mechanism controls a plurality of lifting rods to rise, and lifts the blank workpiece placed on the roller conveyor to the robot gripping station.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to claim 6 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 6 are implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 6 are implemented.

Images