Automatic deburring equipment and deburring method

Abstract

According to the automatic deburring equipment and the deburring method, the automatic deburring equipment comprises a machining mechanism and a grabbing mechanism, the grabbing mechanism is arranged on the front side of the machining mechanism, the grabbing mechanism comprises a mechanical arm and a clamping device, the mechanical arm is a multi-degree-of-freedom joint robot, and the clamping device is installed on the mechanical arm; the parts are carried to the workbench through the mechanical arm, the machining mechanism comprises the workbench, a burr scraping device and a cleaning device, the burr scraping device and the cleaning device are installed on the workbench, a discharging hole is formed in the upper portion of the workbench, and waste falling from the burr scraping device and waste falling from the cleaning device fall into the discharging hole. And a dust collector is mounted below the blanking hole to absorb waste materials. By means of the deburring method of the equipment, the defects that in the prior art, the efficiency of manual deburring is low, the deburring track is not attractive, and manual operation is not safe can be overcome, waste generated in the working process is effectively removed, the machining efficiency and the qualification rate of parts are effectively improved, the labor intensity and the labor cost are reduced, and the cleanliness of the production environment can be guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of deburring equipment, in particular to automatic deburring equipment and a deburring method. Background Art

[0002] The burrs are mainly caused by the plastic deformation of the material, which is generated by the excess iron chips on the edge of the processed material, or by the mold line and the sprue, as well as some mold cracks. When processing the part (10) with an inner hole structure as shown in Figure (6), the part (10) has multiple inner holes (1001), and the structure of the inner hole (1001) is also relatively complex. The existing manual deburring is inefficient and difficult to control the accuracy, which is easy to damage the shell, resulting in poor burr removal effect of the part (10), increased product defect rate, and during manual deburring, the dust and debris splash in various directions, polluting the processing environment. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic deburring device and a deburring method to solve the technical problems in the background technology.

[0004] To achieve the aforementioned purpose, the present invention provides the following technical solutions:

[0005] An automatic deburring device comprises a processing mechanism and a grasping mechanism, wherein the grasping mechanism is on the front side of the processing mechanism, the grasping mechanism comprises a manipulator and a clamping device, the manipulator is a multi-degree-of-freedom joint robot, the clamping device is mounted on the manipulator, and the parts are transported to the processing mechanism by the manipulator, the processing mechanism comprises a workbench, a deburring device and a cleaning device, the deburring device and the cleaning device are mounted on the workbench, the deburring device is on one side of the cleaning device and is arranged side by side with the cleaning device, a drop hole is provided above the workbench, waste materials dropped from the deburring device and the cleaning device all fall into the drop hole, and a vacuum cleaner is installed below the drop hole to absorb the waste materials.

[0006] The burr scraping device includes a first mounting seat, a floating tool and a first blowing assembly, wherein the first mounting seat is fixed on a workbench, the floating tool is mounted on the first mounting seat and above the blanking hole, the first blowing assembly includes a first mounting frame and a first air pipe, the first air pipe is at the top of the first mounting frame, the bottom of the first mounting frame is fixedly connected to the first mounting seat, and the blowing direction of the first air pipe is toward the floating tool.

[0007] The cleaning device includes a second mounting seat, a floating brush and a second blowing assembly. The second mounting seat is fixed on the workbench. The floating brush is installed on the second mounting seat and above the drop hole. The second blowing assembly includes a second mounting frame and a second air pipe. The bottom of the second mounting frame is fixedly connected to the second mounting seat. The blowing direction of the second air pipe is toward the floating brush.

[0008] The clamping device includes a support plate, a plurality of guide pillars are vertically installed below the support plate, pneumatic clamps are respectively installed at the front and rear ends of the support plate, and the pneumatic clamps include a first cylinder, a clamping arm and a support arm, the first cylinder is fixed on the support plate, the driving shaft of the first cylinder is movably connected to the rear end of the clamping arm through a first hinge point, the support arm is vertically above the clamping arm, the top of the support arm is movably connected to the support arm through a second hinge point, and the bottom of the support arm is movably connected to the clamping arm through a third hinge point.

[0009] A protective cover is also installed on the workbench, and the protective cover covers the burr scraping device and the cleaning device. The front end of the protective cover is an opening, and the manipulator carries the parts to the workbench for processing at the front side of the opening.

[0010] A deburring method using the automatic deburring device as described above, wherein the specific processing steps are:

[0011] S1 The manipulator controls the clamping device to grab parts from other stations;

[0012] S2: the manipulator moves the part above the floating tool, and the manipulator presses the edge to be scraped against the blade of the floating tool;

[0013] S3: the robot drives the part to move counterclockwise along the inner hole contour according to a pre-set program until all inner holes on the part are processed;

[0014] S4: the manipulator carries the deburred part and moves it to the floating brush position, and the manipulator presses one side of the inner hole of the part against the brush head position of the floating brush;

[0015] S5: the floating brush moves up and down in the inner hole of the part, and the manipulator drives the part to move counterclockwise along the inner hole contour until all the inner holes on the part are cleaned;

[0016] S6 The robot carries the parts into another processing line, and the robot performs the next working cycle.

[0017] Compared with the prior art, the automatic deburring equipment and deburring method provided by the present invention can overcome the shortcomings of low efficiency, unsightly removal trajectory and unsafe manual operation of the existing manual burr removal, and can also effectively remove waste generated during the work process, effectively improve the processing efficiency and qualified rate of parts, reduce labor intensity and labor costs, and ensure the cleanliness of the production environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : Schematic diagram of the three-dimensional structure of the automatic deburring equipment in this application;

[0019] Figure 2 : A three-dimensional structural diagram of the processing mechanism in this application;

[0020] Figure 3 : A three-dimensional structural diagram of the grabbing mechanism in this application;

[0021] Figure 4 : A three-dimensional structural diagram of the clamping device in this application;

[0022] Figure 5 : Schematic diagram of the pneumatic gripper movement principle;

[0023] Figure 6 : Main view of the parts to be processed in this application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] Specific embodiment 1: Please refer to Figures 1 to 6 , an automatic deburring device and a deburring method of the present embodiment include a processing mechanism 4 and a grasping mechanism 1, the grasping mechanism 1 is on the front side of the processing mechanism 4, the grasping mechanism 1 includes a manipulator 2 and a clamping device 3, the manipulator 2 is a multi-degree-of-freedom joint robot, the clamping device 3 is installed on the manipulator 2, and the part 10 is transported to the processing mechanism 4 by the manipulator 2, the processing mechanism 4 includes a workbench 5, a burr scraping device 6 and a cleaning device 7, the burr scraping device 6 and the cleaning device 7 are installed on the workbench 5, the burr scraping device 6 is on one side of the cleaning device 7 and is arranged side by side with the cleaning device 7, a drop hole 501 is provided above the workbench 5, the waste materials dropped from the burr scraping device 6 and the cleaning device 7 all fall into the drop hole 501, a vacuum cleaner 8 is installed below the drop hole 501 to absorb the waste materials, when the burr scraping device 6 and the cleaning device 7 are in working state, the removed burrs enter the vacuum cleaner 8 through the drop hole 501, so as to avoid the burrs splashing everywhere and keep the cleanliness of the production environment.

[0026] A protective cover 9 is also installed on the workbench 5, which covers the burr scraping device 6 and the cleaning device 7. The front end of the protective cover 9 is an opening. The manipulator 2 transports the part 10 to the workbench 5 for processing at the front side of the opening. The setting of the protective cover 9 can also effectively prevent the burrs removed from splashing outside the workbench 5.

[0027] In the present application, the deburring device 6 includes a first mounting seat 601, a floating tool 602 and a first blowing assembly 603. The first mounting seat 601 is fixed on the workbench 5. The floating tool 602 is installed on the first mounting seat 601 and above the blanking hole 501. The first blowing assembly 603 includes a first mounting frame 603-1 and a first air pipe 603-2. The first air pipe 603-2 is at the top of the first mounting frame 603-1, and the bottom of the first mounting frame 603-1 is fixedly connected to the first mounting seat 601. The blowing direction of the first air pipe 603-2 is toward the floating tool 602. According to the setting of the floating tool handle, the tool always fits the side of the inner hole 1001 of the part 10 to be deburred, thereby effectively avoiding damage to the tool and the part 10.

[0028] In the present application, the cleaning device 7 includes a second mounting seat 701, a floating brush 702 and a second blowing assembly 703. The second mounting seat 701 is fixed on the workbench 5. The floating brush 702 is installed on the second mounting seat 701 and above the blanking hole 501. The second blowing assembly 703 includes a second mounting frame 703-1 and a second air pipe 703-2. The bottom of the second mounting frame 703-1 is fixedly connected to the second mounting seat 701. The blowing direction of the second air pipe 703-2 is toward the floating brush 702. Similarly, the structure of the floating brush 702 used in the present application is also to make the contact between the brush head and the part 10 more flexible to prevent damage to the part 10. The floating tool 602 and the floating brush 702 in the present application can both float radially and axially.

[0029] In the present application, the clamping device 3 includes a support plate 301, a plurality of guide pillars 302 are vertically installed below the support plate 301, and pneumatic clamps 303 are respectively installed at the front and rear ends of the support plate 301, and the pneumatic clamps 303 include a first cylinder 303-1, a clamping arm 303-2 and a support arm 303-3. The first cylinder 303-1 is fixed on the support plate 301, and the driving shaft of the first cylinder 303-1 is movably connected to the rear end of the clamping arm 303-2 through a first hinge point 303-4. The support arm 303-3 is vertically above the clamping arm 303-2, and the top of the support arm 303-3 is movably connected to the support arm 303-3 through a second hinge point 303-5, and the bottom of the support arm 303-3 is movably connected to the clamping arm 303-2 through a third hinge point 303-6. The pneumatic clamp 303 is clamped at both ends of the outside of the part 10. After being plugged into the corresponding guide hole on the part 10 through the guide column 302, the pneumatic clamp 303 clamps the part 10 and carries it to the deburring device station for processing; when the first cylinder 303-1 drives the clamp arm 303-2 to move downward, the other end of the clamp arm 303-2 rotates toward the part 10 around the third hinge point 303-6 until it is supported under the part 10. When the driving shaft of the first cylinder 303-1 drives the clamp arm 303-2 to move upward, the other end of the clamp arm 303-2 rotates counterclockwise relative to the part 10, that is, the clamp arm 303-2 rotates away from the part 10 and separates from the part 10.

[0030] A deburring method using the above automatic deburring device, the specific processing steps are:

[0031] S1: The robot 2 controls the clamping device 3 to grab the part 10 from other stations. Before processing the part 10, the running path of the robot 2 can be set first;

[0032] S2: the robot 2 moves the part 10 to above the floating tool 602, and the robot 2 presses the edge to be scraped against the blade of the floating tool 602;

[0033] S3 According to the pre-set program, the robot 2 drives the part 10 to run counterclockwise along the contour of the inner hole 1001 (see Figure 6 The inner hole burr removal path 11) is performed until all the inner holes 1001 on the part 10 are processed; while the burr removal process is being performed, the first air pipe 603-2 is started to blow air to blow the removed burrs into the vacuum cleaner 8 below the blanking hole 501;

[0034] S4 The robot 2 carries the deburred part 10 and moves to the position of the floating brush 702. The robot 2 presses one side of the inner hole 1001 of the part 10 against the brush head of the floating brush 702.

[0035] S5 The floating brush 702 moves up and down in the inner hole 1001 of the part 10, and the robot 2 drives the part 10 to move counterclockwise along the contour of the inner hole 1001 (see Figure 6 The inner hole burr removal path 11) is used until all the inner holes 1001 on the part 10 are cleaned; while the cleaning operation is being performed, the second air pipe 703-2 simultaneously blows air in the direction of the inner hole 1001 of the part 10, and the removed and remaining burrs are blown off to the vacuum cleaner 8 under the blanking hole 501.

[0036] Robot S6 carries part 10 to another processing line, and robot 2 performs the next work cycle.

[0037] Compared with the prior art, the automatic deburring equipment and deburring method provided by the present invention can overcome the shortcomings of low efficiency, unsightly removal trajectory and unsafe manual operation of the existing manual burr removal, and can also effectively remove waste generated during the work process, effectively improve the processing efficiency and qualified rate of parts, reduce labor intensity and labor costs, and ensure the cleanliness of the production environment.

[0038] It will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic deburring device, characterized in that: It includes a processing mechanism and a grasping mechanism, the grasping mechanism is on the front side of the processing mechanism, the grasping mechanism includes a manipulator and a clamping device, the manipulator is a multi-degree-of-freedom joint robot, the clamping device is installed on the manipulator, and the parts are transported to the processing mechanism by the manipulator. The processing mechanism includes a workbench, a deburring device and a cleaning device, the deburring device and the cleaning device are installed on the workbench, the deburring device is on one side of the cleaning device and is arranged side by side with the cleaning device, a drop hole is provided above the workbench, the waste materials dropped from the deburring device and the cleaning device all fall into the drop hole, and a vacuum cleaner is installed below the drop hole to absorb the waste materials.

2. The automatic deburring device according to claim 1, characterized in that: The burr scraping device includes a first mounting seat, a floating tool and a first blowing assembly, wherein the first mounting seat is fixed on a workbench, the floating tool is mounted on the first mounting seat and above the blanking hole, the first blowing assembly includes a first mounting frame and a first air pipe, the first air pipe is at the top of the first mounting frame, the bottom of the first mounting frame is fixedly connected to the first mounting seat, and the blowing direction of the first air pipe is toward the floating tool.

3. The automatic deburring device according to claim 2, characterized in that: The cleaning device includes a second mounting seat, a floating brush and a second blowing assembly. The second mounting seat is fixed on the workbench. The floating brush is installed on the second mounting seat and above the drop hole. The second blowing assembly includes a second mounting frame and a second air pipe. The bottom of the second mounting frame is fixedly connected to the second mounting seat. The blowing direction of the second air pipe is toward the floating brush.

4. The automatic deburring device according to claim 3, characterized in that: The clamping device includes a support plate, a plurality of guide pillars are vertically installed below the support plate, pneumatic clamps are respectively installed at the front and rear ends of the support plate, and the pneumatic clamps include a first cylinder, a clamping arm and a support arm, the first cylinder is fixed on the support plate, the driving shaft of the first cylinder is movably connected to the rear end of the clamping arm through a first hinge point, the support arm is vertically above the clamping arm, the top of the support arm is movably connected to the support arm through a second hinge point, and the bottom of the support arm is movably connected to the clamping arm through a third hinge point.

5. The automatic deburring device according to claim 4, characterized in that: A protective cover is also installed on the workbench, and the protective cover covers the burr scraping device and the cleaning device. The front end of the protective cover is an opening, and the manipulator carries the parts to the workbench for processing at the front side of the opening.

6. A deburring method according to any one of claims 1 to 5, characterized in that: The specific processing steps are: S1 The manipulator controls the clamping device to grab parts from other stations; S2: the manipulator moves the part above the floating tool, and the manipulator presses the edge to be scraped against the blade of the floating tool; S3: the robot drives the part to move counterclockwise along the inner hole contour according to a pre-set program until all inner holes on the part are processed; S4: the manipulator carries the deburred part and moves it to the floating brush position, and the manipulator presses one side of the inner hole of the part against the brush head position of the floating brush; S5: the floating brush moves up and down in the inner hole of the part, and the manipulator drives the part to move counterclockwise along the inner hole contour until all the inner holes on the part are cleaned; S6 The robot carries the parts into another processing line, and the robot performs the next working cycle.

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