Deburring system, deburring method and computer readable storage medium

Abstract

The present disclosure relates to a deburring system, a deburring method and a computer readable storage medium for deburring a workpiece (1), the deburring system comprising: an operating device (2) for performing a deburring operation; the tool cathode (3) is used for removing burrs of the workpiece (1); the workpiece conveying device (4) is provided with a conveying line (41) and a material disc (42), the material disc (42) is arranged on the conveying line (41), the material disc (42) is used for bearing a workpiece (1), and the conveying line (41) is configured to convey the material disc (42) to the operation device (2); and the adjusting device (5) is arranged on the conveying line (41) and located on the upstream of the operating device (2), and the adjusting device (5) is used for enabling the workpiece (1) to be located at a preset deburring position on the material disc (42) and adjusting the workpiece (1) to be in a preset posture so that the tool cathode (3) can be inserted into a hole of the workpiece (1).

Description

Technical Field

[0001] The present disclosure relates to the field of mechanical processing, and in particular to a deburring system, a deburring method and a computer-readable storage medium. Background Art

[0002] During the machining process, burrs are inevitable, especially for complex precision parts such as hydraulic valve bodies, which have many grooves and inner holes, and many locations where burrs are generated. Deburring requires high standards, especially in the cross hole area, which is hidden and inefficient to remove by manual deburring. Electrochemical deburring technology uses low-voltage DC power supply and neutral salt solution as conductive media. The specially designed tool cathode is inserted into the cross hole and acts directly on the burr area. It can remove burrs from all cross holes at the same time. It is a green, efficient, energy-saving and low-cost deburring technology.

[0003] The electrochemical deburring process in the related technology generally designs a special tool cathode according to the cross-hole characteristics of the workpiece. One workpiece requires a corresponding set of tool cathodes. For workpieces with many types and small batches, when using electrochemical deburring technology, the cathode needs to be replaced frequently, and the operation is cumbersome. When the workpiece needs to be replaced, the positioning tooling of the workpiece needs to be replaced frequently, and the processing efficiency is low. Summary of the invention

[0004] In view of this, embodiments of the present disclosure provide a deburring system, a deburring method, and a computer-readable storage medium, which can improve the deburring efficiency.

[0005] In one aspect of the present disclosure, a deburring system is provided for removing burrs from a workpiece, comprising:

[0006] An operating device for performing a deburring operation;

[0007] Tool cathode, used to remove burrs from workpieces;

[0008] A workpiece conveying device, comprising a conveying line and a material tray, wherein the material tray is arranged on the conveying line, the material tray is used to carry the workpiece, and the conveying line is configured to convey the material tray to the operating device;

[0009] The adjusting device is arranged on the conveying line and located upstream of the operating device. The adjusting device is used to position the workpiece at a preset deburring position on the tray and adjust the workpiece to a preset posture so that the tool cathode can be inserted into the hole of the workpiece.

[0010] In some embodiments, the conveyor line has a rotating station; the adjustment device includes a rotating member, which is disposed at the rotating station and disposed on one side of the conveyor line along a first direction, and the rotating member is configured to rotate the workpiece around the first direction;

[0011] Among them, the deburring system also includes:

[0012] A first acquisition device, disposed on the other side of the conveyor line along the first direction, configured to acquire an image of the workpiece;

[0013] The processor is connected to the first acquisition device and the adjustment device by signal, and is configured to enable the first acquisition device to acquire an image of the workpiece located at the rotating station, determine the corresponding angle to be rotated of the workpiece according to the image of the workpiece acquired by the first acquisition device, and enable the rotating member to drive the workpiece to rotate around the first direction by the angle to be rotated, so that the workpiece is adjusted to a preset posture.

[0014] In some embodiments, the tray has a positioning element and a tray body, and the positioning element is used to limit the position of the workpiece on the tray;

[0015] Wherein, the adjustment device further comprises a tray adjustment member, which is arranged upstream of the rotating station and is configured to drive the positioning element to move so as to adjust the position of the positioning element relative to the tray body;

[0016] The processor is configured to enable the tray adjustment member to adjust the position of the positioning element relative to the tray body according to the model of the workpiece, so that the positioning element limits the workpiece to a preset deburring position.

[0017] In some embodiments, the tray body has a positioning hole, and the rotating member lifts the workpiece through the positioning hole and drives the workpiece to rotate.

[0018] In some embodiments, the deburring system further comprises:

[0019] The loading station is located adjacent to the conveyor line and is used to place the workpiece to be deburred;

[0020] Loading rails, installed on the conveyor line and loading station; and

[0021] A workpiece transfer member is configured to move along the loading track and move in a first direction relative to the loading track;

[0022] The processor is connected to the workpiece transfer member by signal, and is configured to enable the workpiece transfer member to transfer the workpiece located at the loading station to the tray adjusted by the tray adjustment member on the conveyor line.

[0023] In some embodiments, the deburring system further comprises:

[0024] A second acquisition device, disposed at the loading station, is configured to acquire an image of the workpiece to be deburred;

[0025] The processor is connected to the second acquisition device by signal and is configured as follows:

[0026] Determine the coordinates of the workpiece according to the workpiece image acquired by the second acquisition device, and enable the workpiece transfer member to transfer the workpiece at the loading station to the conveyor line according to the coordinates of the workpiece; and / or

[0027] The model of the workpiece is determined according to the workpiece image acquired by the second acquisition device.

[0028] In some embodiments, the deburring system further comprises:

[0029] a cathode conveying device disposed adjacent to the operating device and configured to convey the tool cathode to the operating device;

[0030] The processor is connected to the cathode conveying device by signal, and is configured to enable the cathode conveying device to convey a tool cathode corresponding to the model of the workpiece to the operating device.

[0031] In some embodiments, the cathode delivery device comprises:

[0032] A cathode receiving member having a plurality of cathode receiving openings arranged at intervals, each cathode receiving opening being configured to carry a tool cathode, and the cathode receiving member being rotatable about a first direction;

[0033] a cathode conveying member, connected with the cathode receiving member and the operating device respectively, and configured to convey the tool cathode on the cathode receiving member to the operating device;

[0034] The processor is further configured to rotate the cathode receiving member around a first direction so that the tool cathode corresponding to the workpiece model rotates to the cathode conveying member for conveyance by the cathode conveying member.

[0035] In some embodiments, the deburring system further comprises:

[0036] A power source, wherein the anode of the power source is connected to the cathode of the tool, and the cathode of the power source is connected to the workpiece;

[0037] The liquid injection tray is arranged in the operating device and is used to be combined with the tool cathode so that the tool cathode can spray electrolyte to the workpiece.

[0038] In some embodiments, the deburring system further comprises:

[0039] The post-processing device is arranged on the conveying line and is configured to remove rust, clean, rinse and / or vacuum dry the workpiece after deburring.

[0040] In another aspect of the embodiments of the present disclosure, a deburring method of the deburring system of any of the above embodiments is provided, comprising:

[0041] The workpiece is positioned at a preset deburring position on the tray by adjusting the device;

[0042] The workpiece is adjusted to a preset posture by means of an adjusting device;

[0043] The workpieces carried by the tray are conveyed to the operating device through the conveyor line;

[0044] Insert the tool cathode into the hole of the workpiece.

[0045] In some embodiments, the conveyor line has a rotating station; the adjustment device includes a rotating member, which is disposed at the rotating station and is disposed on one side of the conveyor line along a first direction, and the rotating member is configured to rotate the workpiece around the first direction; the deburring system also includes a first acquisition device, which is disposed on the other side of the conveyor line along the first direction and is configured to acquire an image of the workpiece;

[0046] The operation of adjusting the workpiece to a preset posture by the adjusting device specifically includes:

[0047] Acquire an image of the workpiece located at the rotating station by a first acquisition device;

[0048] Acquire the actual posture of the workpiece according to the workpiece image acquired by the first acquisition device to determine the corresponding angle to be rotated of the workpiece;

[0049] The rotating member drives the workpiece to rotate around a first direction by a desired rotation angle, so that the workpiece is adjusted to a preset posture.

[0050] In some embodiments, the tray has a positioning element and a tray body, the positioning element is used to limit the position of the workpiece on the tray; the adjustment device also includes a tray adjustment member, the tray adjustment member is arranged upstream of the rotating station, and is configured to drive the positioning element to move so as to adjust the position of the positioning element relative to the tray body;

[0051] The operation of positioning the workpiece at a preset deburring position on the tray by adjusting the device specifically includes:

[0052] Get the model of the workpiece;

[0053] The position of the positioning element relative to the tray body is adjusted by the tray adjusting member according to the model of the workpiece, so that the positioning element limits the workpiece to a preset deburring position.

[0054] In some embodiments, the deburring system further comprises a loading station and a loading device, wherein the loading station is arranged adjacent to the conveyor line and is used to place the workpiece to be deburred, and the loading device comprises a loading track and a workpiece transfer member, wherein the loading track is arranged at the conveyor line and the loading station, and the workpiece transfer member is configured to move along the loading track and move in a first direction relative to the loading track;

[0055] Among them, the deburring method also includes:

[0056] After adjusting the position of the positioning element relative to the tray body through the tray adjusting member according to the model of the workpiece, the workpiece transfer member transfers the workpiece located at the loading station to the conveyor line.

[0057] In some embodiments, the deburring system further includes a second acquisition device, disposed at the loading station and configured to acquire an image of the workpiece to be deburred;

[0058] The operation of enabling the workpiece transfer member to transfer the workpiece located at the loading station to the conveyor line specifically includes:

[0059] Collecting the workpiece image at the loading station by a second collecting device;

[0060] Determine the coordinates of the workpiece according to the workpiece image acquired by the second acquisition device, so that the workpiece transfer member grabs the workpiece at the corresponding coordinates of the workpiece;

[0061] The workpiece is transferred to the conveyor line by the workpiece transfer unit.

[0062] In some embodiments, the deburring system further includes a cathode delivery device disposed adjacent to the operating device and configured to deliver the tool cathode to the operating device;

[0063] The operation of inserting the tool cathode into the hole of the workpiece specifically includes:

[0064] Get the model of the workpiece;

[0065] The tool cathode corresponding to the workpiece model is conveyed to the operating device through the cathode conveying device.

[0066] In another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the deburring method of any of the above embodiments is implemented.

[0067] Therefore, according to the embodiment of the present disclosure, the posture and position of the loaded workpiece are adjusted by adjusting the device so that the workpiece can be accurately positioned on the material tray before deburring, so that any workpiece sent to the operating device can maintain a preset relative position with the tool cathode, thereby making the insertion operation of the tool cathode more efficient, and eliminating the need for manual participation in operations such as material discharge, positioning, and cathode replacement, which helps to achieve automated batch deburring operations for multiple varieties and small batches of parts, and can improve the production efficiency and degree of automation of workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0069] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0070] Figure 1 is a schematic structural diagram of some embodiments of the deburring system according to the present disclosure;

[0071] Figure 2is a schematic structural diagram of some embodiments of the adjustment device of the deburring system according to the present disclosure;

[0072] Figure 3 is a schematic structural diagram of other embodiments of the adjustment device of the deburring system according to the present disclosure;

[0073] Figure 4 is a connection relationship diagram of some embodiments of the deburring system according to the present disclosure;

[0074] Figure 5 is a schematic structural diagram of some embodiments of a cathode conveying device of a deburring system according to the present disclosure;

[0075] Figure 6 is a schematic diagram of the structure of some embodiments of a tool cathode and a liquid injection plate of a deburring system according to the present disclosure;

[0076] Figure 7 is a flow chart of some embodiments of the deburring method according to the present disclosure.

[0077] In the figure:

[0078] 1. Workpiece; 2. Operating device; 3. Tool cathode; 4. Workpiece conveying device; 41. Conveying line; 42. Material tray; 421. Positioning element; 422. Material tray body; 422a. Positioning hole; 43. Rotating station; 5. Adjusting device; 51. Rotating member; 52. Material tray adjusting member; 61. First collecting device; 62. Second collecting device; 7. Processor; 81. Loading station; 82. Loading track; 83. Workpiece transfer member; 91. Cathode conveying device; 911. Cathode containing member; 912. Cathode conveying member; 92. Liquid filling tray; 93. Post-processing device.

[0079] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0080] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0081] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0082] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other device without an intermediate device, or may not be directly connected to the other device but have an intermediate device.

[0083] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0084] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0085] Burrs are inevitable during the machining process of parts, especially for precision parts with complex shapes, such as hydraulic valve bodies, which have many grooves and inner holes, and many locations where burrs are generated. Deburring requires high standards, especially in the cross hole area, which is hidden and manual deburring is inefficient.

[0086] Electrochemical deburring technology uses a low-voltage DC power supply and a neutral salt solution as a conductive medium. The cathode of a specially designed tool is inserted into the cross hole and acts directly on the burr area. It can remove the burrs of all cross holes at the same time. It is a green, efficient, energy-saving and low-cost deburring technology.

[0087] The electrochemical deburring process in related technologies generally designs a special tool cathode according to the cross-hole characteristics of the workpiece. One workpiece requires a corresponding set of tool cathodes. It is generally used in production lines with fixed workpiece models and large batches, such as automobile engine and crankshaft production lines.

[0088] For workpieces with many types and small batches, when electrochemical deburring technology is used, the cathode needs to be replaced frequently, which is cumbersome to operate. In small batch and single piece production, manual replacement is generally adopted, which is inefficient.

[0089] The cathode of the electrochemical deburring tool and the workpiece need to be inserted in a fixed relative position, which places high demands on the positioning of the workpiece. When the workpiece needs to be replaced, the positioning tooling of the workpiece needs to be replaced frequently, resulting in low processing efficiency.

[0090] In view of this, in one aspect of an embodiment of the present disclosure, a deburring system is provided for removing burrs from a workpiece, which can improve the deburring efficiency.

[0091] Figure 1 is a schematic diagram of the structure of some embodiments of the deburring system according to the present disclosure, Figure 2 is a schematic diagram of the structure of some embodiments of the adjustment device of the deburring system according to the present disclosure, Figure 3 is a schematic diagram of the structure of other embodiments of the adjustment device of the deburring system according to the present disclosure, referring to Figure 1~Figure 3 The deburring system includes: an operating device 2, a tool cathode 3, a workpiece conveying device 4 and an adjusting device 5. The workpiece 1 includes but is not limited to hydraulic parts for cranes and excavators.

[0092] The operating device 2 is used for performing a deburring operation, including but not limited to having a chamber for the deburring operation. The workpiece 1 and the tool cathode 3 can be engaged in the chamber. The tool cathode 3 is used to remove burrs from the workpiece 1, and the tool cathode 3 is used to be inserted into the cross hole of the workpiece 1 so as to deburr the cross hole position.

[0093] The workpiece conveying device 4 comprises a conveying line 41 and a material tray 42 . The material tray 42 is disposed on the conveying line 41 . The material tray 42 is used to carry the workpiece 1 . The conveying line 41 is configured to convey the material tray 42 to the operating device 2 .

[0094] A lifting mechanism for driving the tool cathode 3 to move and a lifting mechanism for driving the material tray 42 to lift can be set in the chamber of the operating device 2. The lifting mechanism will position the material tray 42 that arrives at the operating device 2 to ensure that the tool cathode 3 can be inserted into the workpiece 1. The lifting mechanism drives the tool cathode 3 to insert into the workpiece 1. The workpiece 1 is connected to the cathode of the power supply, and the tool cathode 3 is connected to the anode of the power supply. The tool cathode 3 sprays electrolyte toward the cross hole position of the workpiece 1 to remove burrs.

[0095] The conveyor line 41 includes but is not limited to a closed rotary conveyor line 41. The material tray 42 moves in a circular motion on the conveyor line 41 to move the loaded workpiece 1 to the operating device 2 for deburring. After completing the transfer of the workpiece 1, the material tray 42 continues to move along the rotary line to carry other workpieces 1.

[0096] The adjusting device 5 is arranged on the conveying line 41 and is located upstream of the operating device 2 . The adjusting device 5 is used to position the workpiece 1 at a preset deburring position on the material tray 42 and adjust the workpiece 1 to a preset posture so that the tool cathode 3 can be inserted into the hole of the workpiece 1 .

[0097] In this embodiment, the posture and position of the loaded workpiece 1 are adjusted by the adjustment device 5, so that the workpiece 1 can be accurately positioned on the material tray 42 before deburring, so that any workpiece 1 sent to the operating device 2 and the tool cathode 3 can maintain a preset relative position, thereby making the insertion operation of the tool cathode 3 more efficient, and eliminating the need for manual participation in operations such as material discharge, positioning, and cathode replacement, which helps to achieve automated batch deburring operations for multiple varieties and small batches of parts, and can improve the production efficiency and degree of automation of the workpiece 1.

[0098] Figure 4 is a connection diagram of some embodiments of the deburring system according to the present disclosure, Figure 2 The X direction in the figure is the first direction, and the first direction includes but is not limited to the vertical direction. Figure 1~Figure 4 In some embodiments, the conveying line 41 has a rotating station, and the rotating station 43 is upstream of the operating device 2.

[0099] The adjusting device 5 includes a rotating member 51 , which is disposed at a rotating station and arranged at one side of the conveying line 41 along a first direction. The rotating member 51 is configured to rotate the workpiece 1 around the first direction.

[0100] The deburring system further includes: a first acquisition device 61 and a processor 7. The first acquisition device 61 is disposed at the other side of the conveying line 41 along the first direction, and is configured to acquire an image of the workpiece 1.

[0101] The rotating member 5 can be disposed below the conveyor line 41 to drive the workpiece 1 to rotate by contacting the bottom of the workpiece 1. The first acquisition device 61 includes but is not limited to a 2D camera, which can be disposed on the upper side of the conveyor line 41 to take pictures of the top of the workpiece 1.

[0102] The processor 7 is signal-connected to the first acquisition device 61 and the adjustment device 5, and is configured to enable the first acquisition device 61 to acquire an image of the workpiece 1 located at the rotating station, determine the corresponding angle to be rotated of the workpiece 1 according to the workpiece image acquired by the first acquisition device 61, and enable the rotating member 51 to drive the workpiece 1 to rotate around the first direction by the angle to be rotated, so that the workpiece 1 is adjusted to a preset posture.

[0103] In this embodiment, the current posture of the workpiece 1 is determined by the image of the workpiece located at the rotating station obtained by the first acquisition device 61. The angle at which the workpiece 1 needs to be rotated can be determined by comparing the current posture of the workpiece 1 with the preset posture, so that the rotating member 51 drives the workpiece 1 to rotate the corresponding angle, so that the workpiece 1 is adjusted to the preset posture into which the tool cathode 3 can be inserted before entering the operating device 2. Accurate posture adjustment and flexible positioning can be achieved for workpieces 1 of different models and sizes, without the need for manual intervention and adjustment, and with good adaptability, making the deburring process more efficient and accurate.

[0104] refer to Figure 1~Figure 3 , Figure 3 The Y direction is the second direction, and the Z direction is the third direction. In some embodiments, the material tray 42 has a positioning element 421 and a material tray body 422 , and the positioning element 421 is used to limit the position of the workpiece 1 on the material tray 42 .

[0105] The adjusting device 5 further includes a tray adjusting member 52 , which is disposed upstream of the rotating station and is configured to drive the positioning element 421 to move so as to adjust the position of the positioning element 421 relative to the tray body 422 .

[0106] The processor 7 is configured to make the tray adjustment member 52 adjust the position of the positioning element 421 relative to the tray body 422 according to the model of the workpiece 1, so that the positioning element 421 limits the workpiece 1 to a preset deburring position.

[0107] The positioning elements 421 are distributed along the edge of the tray 42, and the number of the positioning elements 421 is multiple, including but not limited to being arranged at equal intervals along the outer circumference of the tray 42. Multiple positioning elements 421 surround a preset deburring position capable of positioning the workpiece 1. The diameter of the space surrounded by the positioning elements 421 is 0.1-1 mm larger than the outer diameter of the workpiece 1, and the front end of the positioning element 421 is chamfered to facilitate the workpiece 1 to be placed in the tray 42. The positioning element 421 can move along the second direction and / or the third direction to adapt to different models of workpieces 1.

[0108] The adjustment device 5 includes a first driving mechanism and a lever, the lever can contact the positioning element 421 and drive the positioning element 421 to move, the first driving mechanism drives the lever to move along the second direction and / or the third direction to adjust the position of the positioning element 421, thereby adaptively limiting different workpieces.

[0109] Each lever is responsible for adjusting the position of a positioning element 421, so that the tray 42 can be compatible with workpieces 1 of different diameters and position them. After the lever adjusts the position of the positioning element 421, the positioning element 421 can be self-locking. The first driving mechanism includes but is not limited to the use of a servo module, integrating a motor driver, a position feedback system and a controller, and realizing precise motion control in a simplified manner.

[0110] In this embodiment, different types of workpieces 1 can be appropriately limited on the tray 42 through the positioning element 421 and the tray adjustment member 52, so that the workpiece 1 can be more reliably maintained on the tray 42 during the transfer of the tray 42 along the conveyor line 41, and the workpiece 1 can be located at a preset deburring position on the tray 42 so as to be precisely combined with the tool cathode 3, so that multi-variety and small-batch parts can also achieve flexible positioning and flexible loading and deburring operations.

[0111] refer to Figure 3 In some embodiments, the tray body 422 has a positioning hole 422a, and the rotating member 51 lifts the workpiece 1 and drives the workpiece 1 to rotate through the positioning hole 422a. The tray body 422 may have a positioning hole 422a, and the workpiece 1 is placed on the positioning hole 422a. The outer periphery of the positioning hole 422a may be provided with a recessed groove that is concave relative to the tray body 422, so that the workpiece 1 is more reliably prevented from being placed on the tray body 422. A hole for positioning the tray may also be provided on the back of the tray 42.

[0112] In this embodiment, the rotating member 51 can contact the workpiece 1 through the positioning hole 422a, and lift the workpiece 1 upward so that a suitable distance is reached between the first acquisition device 61 and the workpiece 1. The workpiece 1 is located within a suitable focal length range of the first acquisition device 61, so that the first acquisition device 61 can capture a clearer picture of the top of the workpiece 1, and according to the angle information obtained from the picture, the rotating member 51 drives the workpiece 1 to rotate to a preset posture.

[0113] refer to Figure 1 In some embodiments, the deburring system further includes: a loading station 81, a loading track 82 and a workpiece transfer member 83. The loading station 81 is arranged adjacent to the conveyor line 41 and is used to place the workpiece 1 to be deburred. The loading station 81 can be arranged adjacent to the adjustment device 5. The workpiece transfer member 83 transfers the workpiece 1 at the loading station 81 to the tray 42 whose positioning element 421 has been adjusted by the tray adjustment member 52.

[0114] The loading track 82 is set up at the conveyor line 41 and the loading station 81, and the loading track 82 is set up above the conveyor line 41 and the loading station 81 along the first direction to improve space utilization. The loading, adjustment and deburring of the workpiece are integrated on the conveyor line 41 to realize the automatic connection of the deburring process.

[0115] The workpiece transfer member 83 is configured to move along the loading track 82 and move in a first direction relative to the loading track 82. The workpiece transfer member 83 includes a second drive mechanism and a manipulator. The second drive mechanism drives the manipulator to move along the loading track 82 and drives the manipulator to move in the first direction so that the manipulator approaches the loading station 81 to grab the workpiece 1 and transfer the workpiece 1 to the adjusted material tray 42. The second drive mechanism includes but is not limited to the use of a servo module, which integrates a motor driver, a position feedback system and a controller to achieve precise motion control in a simplified manner.

[0116] The processor 7 is connected to the workpiece transfer member 83 by signal, and is configured to enable the workpiece transfer member 83 to transfer the workpiece 1 located at the loading station 81 to the material tray 42 adjusted by the material tray adjustment member 52 on the conveyor line 41 .

[0117] In this embodiment, a workpiece transfer member 83 is provided to transfer the workpiece 1 between the loading station 81 and the conveyor line 41 along the loading track 82 , so that the workpiece 1 can be loaded accurately and reliably without interfering with the conveying of the material tray 42 .

[0118] refer to Figure 1 and Figure 4 In some embodiments, the deburring system further comprises a second acquisition device 62, which is disposed at the loading station 81 and is configured to acquire an image of the workpiece 1 to be deburred. The processor 7 is connected to the second acquisition device 62 by signals, and is configured to determine the coordinates of the workpiece 1 according to the workpiece image acquired by the second acquisition device 62, and to enable the workpiece transfer member 83 to transfer the workpiece 1 at the loading station 81 to the conveyor line 41 according to the coordinates of the workpiece 1; and / or determine the model of the workpiece 1 according to the workpiece image acquired by the second acquisition device 62.

[0119] In this embodiment, the second acquisition device 62 is set to acquire the workpiece image, and the coordinates of the workpiece 1 are determined according to the acquired workpiece image, so that the workpiece transfer member 83 can more efficiently and accurately grab the workpiece 1 to be deburred at the loading station 81. The model of the workpiece 1 can also be determined according to the acquired workpiece image, so as to control the operating state of the adjustment device 5 in a targeted manner according to the model of the workpiece 1, and can also be checked and calibrated with the workpiece model input by the operator.

[0120] Figure 5 is a schematic diagram of the structure of some embodiments of the cathode conveying device of the deburring system according to the present disclosure, with reference to Figure 1 and Figure 5 In some embodiments, the deburring system further comprises a cathode conveying device 91, which is disposed adjacent to the operating device 2 and is configured to convey a tool cathode 3 to the operating device 2. The processor 7 is connected to the cathode conveying device 91 by signal, and is configured to cause the cathode conveying device 91 to convey a tool cathode 3 corresponding to the model of the workpiece 1 to the operating device 2.

[0121] A cathode placement rack can be provided in the operating chamber of the operating device, and the cathode placement rack is provided on the inner wall of the operating chamber so as to carry the tool cathode 3 to be operated. The cathode placement rack can roughly position the tool cathode 3 and is used to temporarily store the tool cathode 3 that needs to be replaced. The length and position of the cathode rod of different tool cathodes 3 are customized according to the workpiece model, and the flange of the tool cathode 3 adopts the same specifications, so that different models of tool cathodes 3 can be combined with the liquid injection tray 92.

[0122] The deburring system may further include a cathode moving device, which is disposed at one side of the operating chamber along the first direction and is configured to drive the tool cathode to move in the operating chamber. The cathode moving device may be disposed at the upper opening of the operating chamber, and the cathode moving device includes a cathode driving member and a cathode guide rail, which may be disposed along the opening of the operating chamber, and the cathode driving member may grasp the tool cathode and drive the tool cathode to move along the third direction and the first direction so as to be inserted into the workpiece hole.

[0123] In this embodiment, the cathode conveying device 91 can be connected to the operating device 2 so as to convey the tool cathode 3 corresponding to the model of the workpiece 1 into the operating device 2 for deburring operation.

[0124] refer to Figure 1 and Figure 5 In some embodiments, the cathode conveying device 91 includes a cathode container 911 and a cathode conveying member 912. The cathode container 911 has a plurality of cathode accommodating openings arranged at intervals, each cathode accommodating opening is configured to carry a tool cathode 3, and the cathode container 911 can rotate around a first direction.

[0125] The cathode conveyor 912 is connected to the cathode container 911 and the operating device 2 respectively, and is configured to convey the tool cathode 3 on the cathode container 911 to the operating device 2. The processor 7 is further configured to rotate the cathode container 911 around a first direction so that the tool cathode 3 corresponding to the model of the workpiece 1 rotates to the cathode conveyor 912 for conveyance by the cathode conveyor 912.

[0126] The cathode container 911 may be set to be disc-shaped, with multiple cathode accommodating openings spaced apart along the circumferential direction to carry different types of tool cathodes 3. The cathode conveyor 912 may transfer the tool cathode 3 matching the workpiece 1 to the operating device 2 along a direction perpendicular to the first direction.

[0127] In this embodiment, the tool cathode 3 corresponding to the model of the workpiece 1 is rotated to the cathode conveying member 912 by rotating the cathode receiving member 911 , so that the cathode conveying member 912 conveys the corresponding tool cathode 3 to the operating device 2 .

[0128] Figure 6is a schematic diagram of the structure of some embodiments of the tool cathode and the liquid injection plate of the deburring system according to the present disclosure, with reference to Figure 6 In some embodiments, the deburring system further comprises a power supply and a liquid injection tray. The anode of the power supply is used to connect to the tool cathode 3, and the cathode of the power supply is used to connect to the workpiece 1. The liquid injection tray 92 is arranged in the operating device 2, and is used to be combined with the tool cathode 3 so that the tool cathode 3 sprays electrolyte to the workpiece 1.

[0129] In this embodiment, the upper end of the liquid injection tray 92 is connected to the liquid injection pipeline, and the lower end can be combined or separated with the tool cathode 3. After the liquid injection tray 92 is filled with water, water is discharged from the end of the tool cathode 3. The cathode moving device combines the tool cathode 3 with the liquid injection tray 92 and inserts it into the workpiece.

[0130] refer to Figure 1 In some embodiments, the deburring system further includes a post-processing device, which is disposed on the conveying line 41, downstream of the operating device 2, and is configured to remove rust, clean, rinse and / or vacuum dry the deburred workpiece 1. The deburring system may also include auxiliary devices such as a chiller and a filter press.

[0131] The post-processing device includes a rust cleaning mechanism, which removes rust on the surface of the workpiece by spraying or immersing on the top and around. In order to ensure the effect of rust removal and cleaning, ultrasound can be applied during cleaning.

[0132] The post-processing device includes a rinsing, anti-rust and drying mechanism. The rinsing liquid can be a cleaning liquid with anti-rust function. The drying mechanism can use hot air drying or vacuum drying. After the parts have gone through the rinsing and drying processes, they have the anti-rust ability until the next process.

[0133] In this embodiment, the post-processing device 93 can be arranged on the conveyor line 41, including rust removal cleaning, rinsing, vacuum drying and other stations, so that the surface of the workpiece after deburring is dry and has a rust-proof effect. After the post-processing cleaning is completed, the workpiece is unloaded and enters the next process. The post-processing cleaning and deburring operations are integrated on the conveyor line 41, which occupies a small space and has a high degree of integration.

[0134] Figure 7 is a flowchart of some embodiments of the deburring method according to the present disclosure, referring to Figure 1 to Figure 7 In another aspect of the embodiments of the present disclosure, a deburring method based on the deburring system of any embodiment is provided, comprising: steps S1 to S4.

[0135] In step S1 , the workpiece 1 is positioned at a preset deburring position on the tray 42 by means of the adjusting device 5 .

[0136] In step S2 , the workpiece 1 is adjusted to a preset posture by the adjusting device 5 .

[0137] In step S3 , the workpiece 1 carried by the tray 42 is transported to the operating device 2 via the conveyor line 41 .

[0138] In step S4 , the tool cathode 3 is inserted into the hole of the workpiece 1 .

[0139] In this embodiment, the posture and position of the loaded workpiece 1 are adjusted by the adjustment device 5, so that the workpiece 1 can be accurately positioned on the material tray 42 before deburring, so that any workpiece 1 sent to the operating device 2 can maintain a preset relative position with the tool cathode 3, thereby making the insertion operation of the tool cathode 3 more efficient, and eliminating the need for manual participation in operations such as material discharge, positioning, and cathode replacement, which helps to achieve automated and flexible batch deburring operations for multiple varieties and small batches of parts, and can improve the production efficiency and automation level of the workpiece 1.

[0140] In some embodiments, the conveyor line 41 has a rotating station; the adjustment device 5 includes a rotating member 51, which is arranged at the rotating station and is arranged on one side of the conveyor line 41 along the first direction, and the rotating member 51 is configured to rotate the workpiece 1 around the first direction; the deburring system also includes a first acquisition device 61, which is arranged on the other side of the conveyor line 41 along the first direction and is configured to capture an image of the workpiece 1.

[0141] The operation of adjusting the workpiece 1 to a preset posture by means of the adjustment device 5 specifically includes: acquiring an image of the workpiece 1 located at the rotating station by means of the first acquisition device 61; acquiring the actual posture of the workpiece 1 based on the workpiece image acquired by the first acquisition device 61 to determine the corresponding angle to be rotated of the workpiece 1; and driving the workpiece 1 to rotate around the first direction by the angle to be rotated by means of the rotating member 51 to adjust the workpiece 1 to the preset posture.

[0142] In this embodiment, the current posture of the workpiece 1 is determined by using the image of the workpiece located at the rotating station acquired by the first acquisition device 61. By comparing the current posture of the workpiece 1 with the preset posture, the angle at which the workpiece 1 needs to be rotated can be determined, so that the rotating member 51 drives the workpiece 1 to rotate the corresponding angle, so that the workpiece 1 is adjusted to the preset posture into which the tool cathode 3 can be inserted before entering the operating device 2. Accurate posture adjustment can be achieved for workpieces 1 of different models and sizes without manual intervention and adjustment, and it has good adaptability, making the deburring process more efficient and accurate.

[0143] In some embodiments, the tray 42 has a positioning element 421 and a tray body 422, the positioning element 421 is used to limit the position of the workpiece 1 on the tray 42; the adjustment device 5 also includes a tray adjustment member 52, the tray adjustment member 52 is arranged upstream of the rotating station, and is configured to drive the positioning element 421 to move to adjust the position of the positioning element 421 relative to the tray body 422.

[0144] The operation of positioning the workpiece 1 at a preset deburring position on the tray 42 by means of the adjustment device 5 specifically includes: obtaining the model of the workpiece 1; adjusting the position of the positioning element 421 relative to the tray body 422 by means of the tray adjustment member 52 according to the model of the workpiece 1, so that the positioning element 421 limits the workpiece 1 to the preset deburring position.

[0145] In this embodiment, different types of workpieces 1 can be appropriately limited on the tray 42 through the positioning element 421 and the tray adjustment member 52, so that the workpiece 1 can be more reliably maintained on the tray 42 during the transfer of the tray 42 along the conveyor line 41, and the workpiece 1 can be located at a preset deburring position on the tray 42 so as to be precisely combined with the tool cathode 3, so that multi-variety and small-batch parts can also achieve automated deburring operations.

[0146] In some embodiments, the deburring system also includes a loading station 81 and a loading device. The loading station 81 is arranged adjacent to the conveyor line 41 and is used to place the workpiece 1 to be deburred. The loading device has a loading track 82 and a workpiece transfer member 83. The loading track 82 is installed at the conveyor line 41 and the loading station 81. The workpiece transfer member 83 is configured to move along the loading track 82 and move in a first direction relative to the loading track 82.

[0147] The deburring method further includes: adjusting the position of the positioning element 421 relative to the tray body 422 through the tray adjustment member 52 according to the model of the workpiece 1, and then allowing the workpiece transfer member 83 to transfer the workpiece 1 located at the loading station 81 to the conveyor line 41.

[0148] In this embodiment, the workpiece 1 is transferred between the loading station 81 and the conveyor line 41 along the loading track 82 by the workpiece transfer member 83 , so that the workpiece 1 can be loaded accurately and reliably without interfering with the transportation of the material tray 42 .

[0149] In some embodiments, the deburring system further includes a second acquisition device 62, which is disposed at the loading station 81 and is configured to acquire an image of the workpiece to be deburred. The operation of enabling the workpiece transfer member 83 to transfer the workpiece 1 located at the loading station 81 to the conveyor line 41 specifically includes: acquiring an image of the workpiece at the loading station 81 by the second acquisition device 62; determining the coordinates of the workpiece 1 according to the image of the workpiece acquired by the second acquisition device 62, enabling the workpiece transfer member 83 to grab the workpiece 1 at the corresponding coordinates of the workpiece 1; and transferring the workpiece 1 to the conveyor line 41 by the workpiece transfer member 83.

[0150] In this embodiment, the workpiece image is collected by the second acquisition device 62, and the coordinates of the workpiece 1 are determined according to the acquired workpiece image, so that the workpiece transfer member 83 can more efficiently and accurately grab the workpiece 1 to be deburred at the loading station 81. The model of the workpiece 1 can also be determined according to the acquired workpiece image, so as to control the operating state of the adjustment device 5 in a targeted manner according to the model of the workpiece 1, and can also be checked and calibrated with the workpiece model input by the operator.

[0151] In some embodiments, the deburring system further includes a cathode conveying device 91, which is disposed adjacent to the operating device 2 and is configured to convey the tool cathode 3 to the operating device 2. The operation of inserting the tool cathode 3 into the hole of the workpiece 1 specifically includes: obtaining the model of the workpiece 1; conveying the tool cathode 3 corresponding to the model of the workpiece 1 to the operating device 2 through the cathode conveying device 91.

[0152] In this embodiment, the cathode conveying device 91 can be connected to the operating device 2 so as to convey the tool cathode 3 corresponding to the model of the workpiece 1 into the operating device 2 for deburring operation.

[0153] refer to Figure 1 to Figure 6 , the deburring process in some embodiments is given below:

[0154] Processing information input: The operator inputs information such as the model and quantity of workpiece 1.

[0155] Information comparison: the second acquisition device 62 takes a photo of the workpiece 1 to obtain the model information and coordinate information of the workpiece 1 and determine whether the model of the workpiece has changed.

[0156] Material tray adjustment: If the model of the workpiece 1 is changed, the material tray adjustment member 52 adjusts the position of the positioning element 421 according to the new workpiece model so that the positioning element 421 can accurately position the workpiece 1 on the material tray 42 .

[0157] Mobile cathode replacement: If the model of the workpiece 1 is changed, the cathode conveying device 91 conveys the corresponding tool cathode 3 to the operating chamber to replace the old model tool cathode 3. The step of replacing the tool cathode 3 can be performed at any time before the deburring operation is performed.

[0158] Workpiece loading: The workpiece 1 to be loaded is placed in advance on the loading station 81 by the operator. There is a workpiece positioning device on the loading station 81 to position the workpiece, or a second acquisition device 62 is installed above the loading station 81 to take a picture of the workpiece 1, and the coordinates of the workpiece 1 are determined and sent to the workpiece transfer part 83. The workpiece transfer part 83 clamps the workpiece 1 from the loading station 81 to the material tray 42, and the material tray 42 positions the workpiece 1.

[0159] Visually guided rotation: After the material tray 42 drives the workpiece 1 to move to the rotating station 43, the rotating member 51 lifts the workpiece 1 and the material tray 42, and the first acquisition device 61 takes a picture of the top of the workpiece 1 to calculate the angle at which the workpiece 1 needs to rotate. The rotating member 51 rotates the workpiece 1 to the required angle to achieve accurate positioning of the workpiece 1 in the first direction.

[0160] Electrochemical deburring: After the material tray 42 drives the workpiece 1 into the operating device 2, the material tray 42 is positioned, the tool cathode 3 is inserted into the workpiece 1, the workpiece 1 is connected to the cathode of the power supply, the tool cathode 3 is connected to the anode of the power supply, and the tool cathode 3 sprays electrolyte to the cross hole position of the workpiece 1 to deburr.

[0161] Rust removal, rinsing, rust prevention, and drying: the workpiece tray drives the workpiece 1 to successively enter the rust removal station for rust removal, enter the rinsing station for rinsing, enter the rust prevention station for immersion or spraying of rust prevention liquid, and enter the drying station for workpiece drying.

[0162] Workpiece unloading: The dried workpiece 1 is unloaded from the rotary cleaning line manually or by a robot and enters the subsequent process.

[0163] Tray reflux: The tray continues to flow on the rotary cleaning line until it is loaded.

[0164] In yet another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by the processor 7, the deburring method of any of the above embodiments is implemented.

[0165] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by means of a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0166] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0167] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A deburring system for removing burrs from a workpiece (1), characterized in that: include: An operating device (2) for performing a deburring operation; A tool cathode (3) for removing burrs from a workpiece (1); A workpiece conveying device (4), comprising a conveying line (41) and a material tray (42), wherein the material tray (42) is arranged on the conveying line (41), the material tray (42) is used to carry the workpiece (1), and the conveying line (41) is configured to convey the material tray (42) to the operating device (2); An adjustment device (5) is arranged on the conveyor line (41) and is located upstream of the operating device (2). The adjustment device (5) is used to position the workpiece (1) at a preset deburring position on the material tray (42) and adjust the workpiece (1) to a preset posture so that the tool cathode (3) can be inserted into the hole of the workpiece (1).

2. The deburring system according to claim 1, characterized in that: The conveyor line (41) has a rotating station (43); the adjustment device (5) comprises a rotating member (51) disposed at the rotating station and arranged on one side of the conveyor line (41) along a first direction, the rotating member (51) being configured to rotate the workpiece (1) around the first direction; Wherein, the deburring system further comprises: A first acquisition device (61), arranged along the first direction at the other side of the conveying line (41), configured to acquire an image of the workpiece (1); A processor (7) is signal-connected to the first acquisition device (61) and the adjustment device (5), and is configured to enable the first acquisition device (61) to acquire an image of the workpiece (1) located at the rotation station, determine the corresponding angle to be rotated of the workpiece (1) based on the image of the workpiece acquired by the first acquisition device (61), and enable the rotating member (51) to drive the workpiece (1) to rotate around the first direction by the angle to be rotated, so that the workpiece (1) is adjusted to a preset posture.

3. The deburring system according to claim 2, characterized in that: The material tray (42) comprises a positioning element (421) and a material tray body (422), wherein the positioning element (421) is used to limit the position of the workpiece (1) on the material tray (42); The adjustment device (5) further comprises a tray adjustment member (52), which is arranged upstream of the rotating station (43) and is configured to drive the positioning element (421) to move so as to adjust the position of the positioning element (421) relative to the tray body (422); The processor (7) is configured to enable the tray adjustment member (52) to adjust the position of the positioning element (421) relative to the tray body (422) according to the model of the workpiece (1), so that the positioning element (421) limits the workpiece (1) to a preset deburring position.

4. The deburring system according to claim 3, characterized in that: The tray body (422) has a positioning hole (422a), and the rotating member (51) lifts the workpiece (1) through the positioning hole (422a) and drives the workpiece (1) to rotate.

5. The deburring system according to claim 3, characterized in that: Also includes: A loading station (81), disposed adjacent to the conveyor line (41), for placing a workpiece (1) to be deburred; A loading track (82) is installed between the conveyor line (41) and the loading station (81); and A workpiece transport member (83) configured to move along the loading track (82) and to move along a first direction relative to the loading track (82); The processor (7) is connected to the workpiece transfer member (83) by signal, and is configured to enable the workpiece transfer member (83) to transfer the workpiece (1) located at the loading station (81) to the material tray (42) on the conveyor line (41) adjusted by the material tray adjustment member (52).

6. The deburring system according to claim 5, characterized in that: Also includes: A second acquisition device (62), disposed at the loading station (81), configured to acquire an image of a workpiece to be deburred; The processor (7) is signal-connected to the second acquisition device (62) and is configured as follows: Determining the coordinates of the workpiece (1) based on the workpiece image acquired by the second acquisition device (62), and enabling the workpiece transfer member (83) to transfer the workpiece (1) at the loading station (81) to the conveyor line (41) based on the coordinates of the workpiece (1); and / or The model of the workpiece (1) is determined based on the workpiece image acquired by the second acquisition device (62).

7. The deburring system according to any one of claims 1 to 6, characterized in that: Also includes: A cathode conveying device (91), disposed adjacent to the operating device (2), and configured to convey a tool cathode (3) to the operating device (2); The processor (7) is connected to the cathode conveying device (91) by signal, and is configured to enable the cathode conveying device (91) to convey a tool cathode (3) corresponding to the model of the workpiece (1) to the operating device (2).

8. The deburring system according to claim 7, characterized in that: The cathode conveying device (91) comprises: A cathode accommodating member (911) having a plurality of cathode accommodating openings arranged at intervals, each cathode accommodating opening being configured to carry a tool cathode (3), and the cathode accommodating member (911) being capable of rotating about a first direction; a cathode conveying member (912), connected to the cathode receiving member (911) and the operating device (2) respectively, and configured to convey the tool cathode (3) on the cathode receiving member (911) to the operating device (2); The processor (7) is further configured to rotate the cathode container (911) about a first direction so that the tool cathode (3) corresponding to the model of the workpiece (1) is rotated to the cathode conveying member (912) for conveyance by the cathode conveying member (912).

9. The deburring system according to claim 1, characterized in that: Also includes: A power source, wherein the anode of the power source is connected to the tool cathode (3), and the cathode of the power source is connected to the workpiece (1); The liquid injection tray (92) is arranged in the operating device (2) and is used to be combined with the tool cathode (3) so that the tool cathode (3) can spray electrolyte toward the workpiece (1).

10. The deburring system according to claim 1, characterized in that: Also includes: A post-processing device is arranged on the conveying line (41) and is configured to perform rust removal, cleaning, rinsing and / or vacuum drying on the deburred workpiece (1).

11. A deburring method based on the deburring system according to any one of claims 1 to 10, characterized in that: include: The workpiece (1) is positioned at a preset deburring position on the tray (42) by means of the adjustment device (5); The workpiece (1) is adjusted to a preset posture by means of the adjustment device (5); Conveying the workpiece (1) carried by the material tray (42) to the operating device (2) via the conveying line (41); The tool cathode (3) is inserted into the hole of the workpiece (1).

12. The deburring method according to claim 11, characterized in that: The conveyor line (41) has a rotating station; the adjustment device (5) comprises a rotating member (51) disposed at the rotating station and arranged on one side of the conveyor line (41) along a first direction, the rotating member (51) being configured to rotate the workpiece (1) around the first direction; the deburring system further comprises a first acquisition device (61), the first acquisition device (61) being arranged on the other side of the conveyor line (41) along the first direction and being configured to acquire an image of the workpiece (1); The operation of adjusting the workpiece (1) to a preset posture by means of the adjustment device (5) specifically includes: Acquiring an image of the workpiece (1) located at the rotating station by means of the first acquisition device (61); Acquiring the actual posture of the workpiece (1) according to the workpiece image acquired by the first acquisition device (61) to determine the corresponding angle to be rotated of the workpiece (1); The rotating member (51) drives the workpiece (1) to rotate around the first direction by the angle to be rotated, so that the workpiece (1) is adjusted to a preset posture.

13. The deburring method according to claim 12, characterized in that: The material tray (42) comprises a positioning element (421) and a material tray body (422), wherein the positioning element (421) is used to limit the position of the workpiece (1) on the material tray (42); the adjustment device (5) further comprises a material tray adjustment member (52), wherein the material tray adjustment member (52) is arranged upstream of the rotating station and is configured to drive the positioning element (421) to move so as to adjust the position of the positioning element (421) relative to the material tray body (422); The operation of positioning the workpiece (1) at a preset deburring position on the tray (42) by means of the adjustment device (5) specifically includes: Get the model of the workpiece (1); The position of the positioning element (421) relative to the tray body (422) is adjusted by the tray adjustment member (52) according to the model of the workpiece (1), so that the positioning element (421) limits the workpiece (1) to a preset deburring position.

14. The deburring method according to claim 13, characterized in that: The deburring system further comprises a loading station (81) and a loading device, wherein the loading station (81) is arranged adjacent to the conveyor line (41) and is used to place the workpiece (1) to be deburred, and the loading device comprises a loading track (82) and a workpiece transfer member (83), wherein the loading track (82) is arranged at the conveyor line (41) and the loading station (81), and the workpiece transfer member (83) is configured to move along the loading track (82) and move in a first direction relative to the loading track (82); Wherein, the deburring method further comprises: After adjusting the position of the positioning element (421) relative to the tray body (422) through the tray adjustment member (52) according to the model of the workpiece (1), the workpiece transfer member (83) transfers the workpiece (1) located at the loading station (81) to the conveyor line (41).

15. The deburring method according to claim 14, characterized in that: The deburring system further comprises a second acquisition device (62), which is disposed at the loading station (81) and is configured to acquire an image of the workpiece to be deburred; The operation of causing the workpiece transfer member (83) to transfer the workpiece (1) located at the loading station (81) to the conveyor line (41) specifically includes: Collecting an image of the workpiece at the loading station (81) by means of the second collecting device (62); Determining the coordinates of the workpiece (1) based on the workpiece image acquired by the second acquisition device (62), so that the workpiece transfer member (83) grabs the workpiece (1) at the corresponding coordinates of the workpiece (1); The workpiece (1) is transferred to the conveying line (41) by the workpiece transfer member (83).

16. The deburring method according to claim 11, characterized in that: The deburring system further comprises a cathode conveying device (91), which is arranged adjacent to the operating device (2) and is configured to convey a tool cathode (3) to the operating device (2); The operation of inserting the tool cathode (3) into the hole of the workpiece (1) specifically includes: Get the model of the workpiece (1); The tool cathode (3) corresponding to the model of the workpiece (1) is transported to the operating device (2) via the cathode transport device (91).

17. A computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor (7), the deburring method of any one of claims 11 to 16 is implemented.

Images