Automatic equipment with machine vision for cleaning burrs of blade pressed blank through mechanical arm

Abstract

The invention relates to the technical field of tool treatment, in particular to automatic equipment with a machine vision mechanical arm for cleaning burrs of a blade pressed blank. Comprising a cleaning protection shell, a cleaning mechanism is installed at the top end in the cleaning protection shell, the cleaning mechanism comprises a fixing table, a mechanical arm, a dust collector, a first conveying belt, an air cylinder, a feeding conveying belt, a discharging conveying belt and a height supporting frame, the fixing table is fixed to one side in the cleaning protection shell, and the top of the fixing table is in bolted connection with the mechanical arm. According to the automatic equipment with the machine vision mechanical arm for cleaning the blade pressed blank burrs, through cooperation of the cleaning mechanism, the positioning shell and the storage frame, blades needing to be cleaned can be conveyed into the top of the feeding conveying belt through the positioning shell; and the mechanical arm works to drive the visual camera to conduct visual monitoring on the blade, meanwhile, the cleaning brush works to clean burrs, and after cleaning is finished, the blades enter the inner side of the storage frame through the discharging conveying belt and the positioning shell.

Description

Technical Field

[0001] The invention relates to the technical field of tool processing, and in particular to automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision. Background Art

[0002] Cutting tools are known as "industrial teeth" and they play an extremely important role in the history of human development. Carbide cutting tools have many excellent properties, such as high strength, high hardness, heat resistance, wear resistance, corrosion resistance, etc. They are widely used in mechanical processing fields such as electronic information, automotive parts, aerospace and military industries, and with the development of the manufacturing industry, the demand for cutting tools will increase. At present, CNC cutting processing has the characteristics of high speed and high efficiency. Compared with traditional cutting processing, CNC cutting processing has higher requirements for blades, but burrs have a great impact on the life and performance of the tool, and it is difficult to remove, which places higher and higher requirements on the deburring process of the blade blank.

[0003] Molding is an essential process in the production of CNC blades. Due to the gap between the molds, burrs will appear on the pressed blade blanks. The difference in mold gaps leads to different burr widths. In addition, the difference in blade groove shape and pressed brand makes the burr strength and height very different. Therefore, the burrs actually produced have different shapes, which increases the difficulty of removing the burrs on the blade blanks.

[0004] At present, if burrs appear on the blade blanks pressed by powder metallurgy forming presses, most of them are manually brushed with a brush similar to a paint brush. The quality of the blade blanks brushed in this way is difficult to guarantee. Not only is the quality of the brushing uneven, but the human factor also has a great influence. Everyone holds the brush in a different way. Different gestures will cause different angles for each person to brush the burrs, and the strength of each person to brush the burrs is also different. Some workers brush the burrs more forcefully, some workers brush the burrs less forcefully, and some workers may shake their hands during the process of brushing the burrs. These factors increase the probability of scrapping the blade blanks brushed out, causing defects such as cutting edge notches, cutting edge rounded edges or burr residues on the blade blanks, which directly affects the quality of the cutting edge of the blank after sintering, and increases the difficulty of the passivation process operation and the control of the uniformity of the cutting edge rounding value.

[0005] With the rapid development of the manufacturing industry, the share of cutting tools in the manufacturing industry has become increasingly indispensable. However, from the import and export unit prices and domestic sales unit prices of blades in recent years, it can be seen that domestic blades are still mainly low-end products. In the high-end field, especially in providing long life and high stability under extreme cutting conditions, imported blades still account for a large share, and domestic blades still have a long way to go.

[0006] At present, the generation of burrs on blade blanks is still one of the important problems hindering the development of cutting tools. The burrs not only affect the life of the cutting tools, but also seriously affect the processing quality of the cutting tools, resulting in the generation of waste products.

[0007] To this end, an automated device for cleaning burrs of blade blanks using a robotic arm with machine vision is designed to provide another technical solution to the above technical problem. Summary of the invention

[0008] Based on this, it is necessary to provide an automated equipment with a robot arm with machine vision to clean the burrs of the blade blank in order to solve the technical problems raised in the above background technology.

[0009] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0010] The cleaning mechanism comprises a fixed platform, a mechanical arm, a dust collector, a first conveyor belt, a cylinder, a loading conveyor belt, a unloading conveyor belt and a height support frame. A fixed platform is fixed on one side of the cleaning protective shell, and the mechanical arm is bolted to the top of the fixed platform. Two cylinders are symmetrically fixed on one side of the cleaning protective shell and on the fixed platform. The first conveyor belt is fixed on the push rods of the two cylinders. Dust collectors are bolted to both sides of the first conveyor belt. A loading conveyor belt and a unloading conveyor belt are sequentially arranged from top to bottom in the cleaning protective shell and at one end of the first conveyor belt. Both sides of the two ends of the loading conveyor belt and the unloading conveyor belt are bolted to the height support frame, and the bottom of the height support frame is bolted to the cleaning protective shell.

[0011] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a robotic arm with machine vision provided by the present invention, a motor tray is fixed at one end of the robotic arm, a side of the motor tray away from the robotic arm is rotatably connected to a cleaning brush, a servo motor is fixed on the inner side of the motor tray, the output end of the servo motor is connected to a cleaning brush via a coupling, and visual cameras are fixed inside the motor tray and at both ends of the cleaning brush.

[0012] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a robotic arm with machine vision provided by the present invention, two rectangular grooves are opened inside one end of the cleaning protective shell, the top rectangular groove corresponds to the position of the loading conveyor belt, and the bottom rectangular groove corresponds to the position of the unloading conveyor belt.

[0013] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision provided by the present invention, a positioning shell is installed at one end of the cleaning protective shell, and the positioning shell includes a first shell, a first frame, a transmission rack, a second shell, a feed conveyor belt and a height adjustment component, the first frame is fixed on both sides of the first shell, and the first frame is fixed with transmission racks at both ends of the inside of the first shell, one end of the transmission rack is bolted to the cleaning protective shell, the second shell is fixed to the outside of the first shell and the first frame away from one end of the cleaning protective shell, and the second shell is bolted to the transmission rack at the other end, the feed conveyor belt is slidably connected to the inside of the first shell and at a position corresponding to the rectangular groove at the top, and a height adjustment component is installed at the inside of the first shell and at a position corresponding to the discharge trough.

[0014] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a robotic arm with machine vision provided by the present invention, a feed trough is opened inside the second shell and at a position corresponding to the feed conveyor belt, and a discharge trough is opened inside the second shell and at the bottom of the feed trough.

[0015] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks with a mechanical arm having machine vision provided by the present invention, the height adjustment component includes a positioning frame, a transmission wheel, a U-shaped frame, an adjustment drive motor and an adjustment gear. Both sides of the two ends of the positioning frame are rotatably connected with transmission wheels, and the two transmission wheels on the same side are connected by a first synchronous belt. Both sides of the two ends of the positioning frame are fixed with U-shaped frames, and the U-shaped frame is slidably connected to the first outer shell. The inner side of the U-shaped frame is fixed with an adjustment drive motor, and the output end of the adjustment drive motor is connected with an adjustment gear, and the adjustment gear is meshed with the transmission rack.

[0016] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a robotic arm with machine vision provided by the present invention, one side of the positioning frame is rotatably connected to an auxiliary wheel, the auxiliary wheel is located on the inner side of the first synchronous belt on one side, a motor frame is fixed to the bottom of the positioning frame, a conveying drive motor is fixed to the inner side of the motor frame, and the output end of the conveying drive motor is connected to the auxiliary wheel through a second synchronous belt.

[0017] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a robotic arm with machine vision provided by the present invention, a storage rack is arranged inside the positioning shell away from one end of the cleaning protective shell, and the storage rack includes a second frame, a handle and a placement plate, the second frame is slidably connected to the discharge trough, handles are fixed on both sides of one end of the second frame, and placement plates are symmetrically fixed on both sides of the inner side of the second frame.

[0018] As a preferred embodiment of the automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision provided by the present invention, a brakeable movable wheel is provided at the bottom of the second frame.

[0019] It can be seen without a doubt that the above-mentioned technical solution of the present application can definitely solve the technical problem to be solved by the present application.

[0020] At the same time, through the above technical solutions, the present invention has at least the following beneficial effects:

[0021] The present invention provides an automated device for cleaning burrs of blade blanks by a mechanical arm with machine vision. Through the cooperation of a cleaning mechanism, a positioning shell and a storage rack, the blade to be cleaned can be conveyed to the top of a feeding conveyor belt through the positioning shell, and the work of the mechanical arm drives a visual camera to visually monitor the blade. At the same time, the burrs are cleaned by the work of a cleaning brush, and after the cleaning is completed, the blade enters the inner side of the storage rack through the unloading conveyor belt and the positioning shell, thereby eliminating the influence of human factors on the burr cleaning effect. The device has a strong engineering application value and has a positive impact on the development of my country's manufacturing industry.

[0022] The cleaning brush driven by the robot arm can remove the burrs of the blade blank through a reasonable running trajectory. It has a high degree of automation and good removal effect. The visual camera can automatically focus and analyze the accuracy of the operation, so as to better remove the burrs on the cutting edge, and then the uniformity and consistency of the burr treatment are better. It can completely remove the burrs without causing damage to the notch and the round edge of the blade, thereby improving the quality of the blade edge. At the same time, the carbide blade blank deburring equipment can set the contact amount between the brush and the blank and the speed and angle of the brush according to the actual blade model requirements. Different types of blades have different databases. When replacing different types of blades for deburring, there is no need to readjust the parameters, and they can be directly called, which improves the efficiency of deburring the blade blank.

[0023] Through the cooperation of the first shell, the first frame, the transmission rack and the adjusting gear, the blade after burr cleaning enters the top of the positioning frame through the operation of the unloading conveyor belt, and the adjusting gear is driven to rise and fall on the meshing transmission rack by adjusting the operation of the driving motor, so that the positioning frame drives the blade after burr cleaning to rise and fall to the corresponding height, and then the blade after burr cleaning is driven to enter the inner side of the storage frame through the rotation of the transmission wheel and the synchronous belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of extending the feed conveyor belt of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the cleaning protective shell of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the dust collector of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the cylinder of the present invention;

[0030] Figure 6 It is a structural schematic diagram of the motor tray of the present invention;

[0031] Figure 7 It is a structural schematic diagram of the height support frame of the present invention;

[0032] Figure 8 is a schematic structural diagram of the second housing of the present invention;

[0033] Fig. 9 It is a structural schematic diagram of the positioning frame of the present invention;

[0034] Fig.10 It is a structural schematic diagram of the storage rack of the present invention.

[0035] In the figure: 1. cleaning protective shell; 2. positioning shell; 3. storage rack; 4. fixed table; 5. robotic arm; 6. dust collector; 7. first conveyor belt; 8. cylinder; 9. motor tray; 10. servo motor; 11. cleaning brush; 12. visual camera; 13. loading conveyor belt; 14. unloading conveyor belt; 15. height support frame; 16. first shell; 17. first frame; 18. transmission rack; 19. second shell; 20. rectangular groove; 21. feed trough; 22. discharge trough; 23. positioning frame; 24. motor frame; 25. transmission wheel; 26. U-shaped frame; 27. adjusting drive motor; 28. adjusting gear; 29. ​​second frame; 30. handle; 31. placement plate; 32. feed conveyor belt. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] Reference Figure 1-Figure 10 , an automated device for cleaning burrs of blade blanks by a robot arm with machine vision, comprising a cleaning protective shell 1, a cleaning mechanism is installed at the top of the cleaning protective shell 1, and a storage slot is arranged at the bottom of the cleaning protective shell 1 for storing the lines, the cleaning mechanism comprises a fixed platform 4, a robot arm 5, a dust collector 6, a first conveyor belt 7, a cylinder 8, a feeding conveyor belt 13, a unloading conveyor belt 14 and a height support frame 15, a fixed platform 4 is fixed on one side of the cleaning protective shell 1, and a robot arm 5 is bolted to the top of the fixed platform 4, so that the robot arm 5 can realize plane rotation and angle rotation on the top of the fixed platform 4;

[0041] In this embodiment, the robot arm 5 is an existing device, which can drive an object to move and adjust its angle.

[0042] Two cylinders 8 are symmetrically fixed to the inside of the cleaning protection shell 1 and located on one side of the fixed platform 4. The first conveyor belt 7 is fixed to the push rods of the two cylinders 8, so that the operation of the cylinders 8 can drive the first conveyor belt 7 to be raised and lowered. Dust collectors 6 are bolted to the inside of the cleaning protection shell 1 and located on both sides of the first conveyor belt 7, so that the external air pump can collect the dust cleaned by the blade through the dust collector 6;

[0043] A loading conveyor belt 13 and a unloading conveyor belt 14 are sequentially arranged inside the cleaning protective shell 1 and at one end of the first conveyor belt 7 from top to bottom, so that the operation of the loading conveyor belt 13 can drive the top blade to enter the top of the first conveyor belt 7, so that the operation of the unloading conveyor belt 14 can convey the blade on the first conveyor belt 7 that has been cleaned of burrs. At the same time, when the operation of the cylinder 8 drives the first conveyor belt 7 to rise to the highest position, it corresponds to the height of the loading conveyor belt 13, and when the operation of the cylinder 8 drives the first conveyor belt 7 to drop to the lowest position, it corresponds to the position of the unloading conveyor belt 14; both sides of the two ends of the loading conveyor belt 13 and the unloading conveyor belt 14 are bolted to a height support frame 15, and the bottom of the height support frame 15 is bolted to the cleaning protective shell 1, so that the height of the loading conveyor belt 13 and the unloading conveyor belt 14 is supported by the height support frame 15, and at the same time, the height support frame 15 does not affect the operation of the loading conveyor belt 13 and the unloading conveyor belt 14;

[0044] In this embodiment, the first conveyor belt 7, the loading conveyor belt 13 and the unloading conveyor belt 14 are all existing equipment, which are used to transport objects on the top.

[0045] A motor tray 9 is fixed to one end of the robot arm 5, so that the operation of the robot arm 5 can drive the motor tray 9 to rotate or move at multiple angles. The side of the motor tray 9 away from the robot arm 5 is rotatably connected to a cleaning brush 11, and a servo motor 10 is fixed to the inner side of the motor tray 9. The output end of the servo motor 10 is connected to the cleaning brush 11 through a coupling, so that the rotation of the servo motor 10 drives the cleaning brush 11 to rotate through the coupling, and the burrs on the blade are cleaned by the rotation of the cleaning brush 11. Visual cameras 12 are fixed inside the motor tray 9 and at both ends of the cleaning brush 11, and visual monitoring is achieved by illuminating the blade with the visual camera 12.

[0046] In this embodiment, the visual camera 12 is an existing machine. In other embodiments, it can also be a small high-precision SLR imaging camera.

[0047] A positioning shell 2 is installed at one end of the cleaning protective shell 1. Two rectangular grooves 20 are opened inside one end of the cleaning protective shell 1. The top rectangular groove 20 corresponds to the position of the feeding conveyor belt 13, and the bottom rectangular groove 20 corresponds to the position of the unloading conveyor belt 14, so that the blade that needs to be cleaned of burrs enters the top of the feeding conveyor belt 13 through the positioning shell 2 and the top rectangular groove 20, and the blade that has finished cleaning the burrs enters the interior of the positioning shell 2 through the unloading conveyor belt 14 and the bottom rectangular groove 20. The positioning shell 2 includes a first shell 16, a first frame 17, a transmission rack 18, and a second outer shell. Shell 19, feed conveyor belt 32 and height adjustment assembly, first frames 17 are fixed on both sides of the first shell 16, transmission racks 18 are fixed on both ends of the first frame 17 close to the first shell 16, one end of the transmission rack 18 is bolted to the cleaning protective shell 1, and a second shell 19 is fixed to the outer side of the first shell 16 and the first frame 17 away from the cleaning protective shell 1, and the second shell 19 is bolted to the transmission rack 18 at the other end, so that the second shell 19 can protect one end of the top of the first shell 16 and the first frame 17;

[0048] A feed conveyor belt 32 is slidably connected inside the first housing 16 and at a position corresponding to the top rectangular groove 20, so that the feed conveyor belt 32 can work to convey the top blade to be processed to the loading conveyor belt 13 through the top rectangular groove 20. A feed groove 21 is opened inside the second housing 19 and at a position corresponding to the feed conveyor belt 32, so that the feed conveyor belt 32 can be pulled to slide out from the inside of the feed groove 21, and then the blade to be cleaned of burrs can be placed on the top of the feed conveyor belt 32;

[0049] In this embodiment, a pressure sensor is provided on the conveyor belt of the feed conveyor belt 32, and pulleys controlled by a stepper motor are provided at both ends of the bottom of the feed conveyor belt 32, so that the pulley slides on the inner side of the first shell 16, so that the feed conveyor belt 32 can only slide in translation, and then when the external deburred blade blank is placed on the top of the feed conveyor belt 32, at this time, because the pressure detected by the pressure sensor exceeds the set threshold value, the stepper motor controls the pulley to rotate, so that the feed conveyor belt 32 enters the inner side of the first shell 16, and then the deburred blade blank is transmitted through the loading conveyor belt 13. When the deburred blade blank enters the loading conveyor belt 13, the pressure sensor detects that the pressure is lower than the set threshold value, so the stepper motor controls the pulley to rotate, so that the feed conveyor belt 32 extends out of the first shell 16 and waits for the next work, thereby realizing intelligent perception and conveying uncleaned blades through the control of the pulley.

[0050] A discharge trough 22 is provided inside the second housing 19 and at the bottom of the feed trough 21. A height adjustment component is installed inside the first housing 16 and at a position corresponding to the discharge trough 22, so that the height adjustment component can adjust the height of the processed blades conveyed by the unloading conveyor belt 14 through the rectangular groove 20. The height adjustment component includes a positioning frame 23, a transmission wheel 25, a U-shaped frame 26, an adjustment drive motor 27 and an adjustment gear 28. Both sides of the two ends of the positioning frame 23 are rotatably connected with a transmission wheel 25. The two transmission wheels 25 on the same side are connected by a first synchronous belt, so that the rotation of the transmission wheel 25 on the same end is controlled by the first synchronous belt. The first synchronous belt drives the remaining transmission wheels 25 to rotate simultaneously, one side of the positioning frame 23 is rotatably connected with an auxiliary wheel, and the auxiliary wheel is located on the inner side of the first synchronous belt on one side, so that the rotation of the auxiliary wheel can drive the corresponding first synchronous belt to rotate, and the bottom of the positioning frame 23 is fixed with a motor frame 24, and the inner side of the motor frame 24 is fixed with a conveying drive motor, and the output end of the conveying drive motor is connected to the auxiliary wheel through the second synchronous belt, so that the conveying drive motor drives the auxiliary wheel to rotate through the second synchronous belt, and the rotation of the auxiliary wheel drives the transmission wheel 25 to rotate through the bottom synchronous belt, so that the first synchronous belt can convey the top blade;

[0051] U-shaped frames 26 are fixed on both sides of both ends of the positioning frame 23. The U-shaped frame 26 is slidably connected to the first housing 16, so that the U-shaped frame 26 can be lifted and slid inside the first housing 16. An adjustment drive motor 27 is fixed on the inner side of the U-shaped frame 26. The output end of the adjustment drive motor 27 is connected to an adjustment gear 28. The adjustment gear 28 is meshed and connected with the transmission rack 18. Through the fixation of the transmission rack 18, the rotation of the adjustment gear 28 drives the adjustment gear 28 and the U-shaped frame 26 to drive the positioning frame 23 to rise and fall.

[0052] A storage rack 3 is provided inside the positioning shell 2 away from the end of the cleaning protection shell 1, and the storage rack 3 includes a second frame 29, a handle 30 and a placement plate 31. The second frame 29 is slidably connected to the discharge trough 22, so that the second frame 29 can contact the height adjustment component through the inner side of the discharge trough 22, and a brakeable movable wheel is provided at the bottom of the second frame 29, so that the storage rack 3 can be moved to the corresponding position through the brakeable movable wheel. Handles 30 are fixed on both sides of one end of the second frame 29, so that the storage rack 3 can be moved by pushing the handle 30, and placement plates 31 are symmetrically fixed on both sides of the inner side of the second frame 29, and the shape of the placement plate 31 is L-shaped, so that a blade that has been cleaned of burrs is supported by two placement plates 31 at the same height.

[0053] The use process of the automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision provided by the present invention is as follows: when in use, firstly, the blade blank that needs to be deburred is placed on the top of the feed conveyor belt 32, and the blade blank that needs to be deburred enters the top of the feeding conveyor belt 13 through the top rectangular groove 20 through the operation of the feed conveyor belt 32, and the blade blank that needs to be deburred enters the top of the first conveyor belt 7 through the operation of the feeding conveyor belt 13, and the visual camera 12 is driven by the operation of the mechanical arm 5 to detect the image of the top of the blade blank that needs to be deburred, and the cleaning brush 11 is driven by the operation of the servo motor 10 to rotate, so as to remove the burrs on the blade blank, and at the same time, the removed powder is collected by the dust collector 6;

[0054] The deburred blade blank is driven by the operation of the cylinder 8 to synchronously descend the first conveyor belt 7, and the deburred blade blank is transported to the top of the unloading conveyor belt 14 by the operation of the first conveyor belt 7. The deburred blade blank is transported to the top of the positioning frame 23 in the height adjustment component through the bottom rectangular groove 20 by the operation of the unloading conveyor belt 14. The adjusting gear 28 is driven to rotate by the operation of the adjusting drive motor 27, and the adjusting gear 28 is meshed with the transmission rack 18, so that the positioning frame 23 is raised and lowered by the rotation of the adjusting gear 28. After the positioning frame 23 is adjusted to an appropriate height, the deburred blade blank is transported to the placement plate 31 of the corresponding height by the rotation of the transmission wheel 25 and the rotation of the first synchronous belt, so that the processed blade blank can be temporarily stored on the storage rack 3, and when the storage rack 3 is full, the brake is canceled by the brakeable movable wheel at the bottom of the second frame 29, and the storage rack 3 is moved to an appropriate position by pulling the handle 30.

[0055] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automated device for cleaning burrs of blade blanks by a mechanical arm with machine vision, characterized in that: The cleaning protective shell (1) comprises a cleaning mechanism installed at the top of the cleaning protective shell (1), the cleaning mechanism comprising a fixed platform (4), a mechanical arm (5), a dust collector (6), a first conveyor belt (7), a cylinder (8), a feeding conveyor belt (13), a unloading conveyor belt (14) and a height support frame (15), a fixed platform (4) is fixed on one side of the cleaning protective shell (1), the top of the fixed platform (4) is bolted to the mechanical arm (5), and two cylinders (8) are symmetrically fixed inside the cleaning protective shell (1) and located on one side of the fixed platform (4). ), a first conveyor belt (7) is fixed on the push rods of the two cylinders (8), a dust collector (6) is bolted inside the cleaning protective shell (1) and on both sides of the first conveyor belt (7), a loading conveyor belt (13) and a unloading conveyor belt (14) are arranged in sequence from top to bottom inside the cleaning protective shell (1) and on one end of the first conveyor belt (7), both sides of the two ends of the loading conveyor belt (13) and the unloading conveyor belt (14) are bolted to a height support frame (15), and the bottom of the height support frame (15) is bolted to the cleaning protective shell (1).

2. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 1, characterized in that: A motor tray (9) is fixed to one end of the robot arm (5); a cleaning brush (11) is rotatably connected to the side of the motor tray (9) away from the robot arm (5); a servo motor (10) is fixed to the inner side of the motor tray (9); an output end of the servo motor (10) is connected to the cleaning brush (11) via a coupling; and visual cameras (12) are fixed inside the motor tray (9) and at both ends of the cleaning brush (11).

3. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 1, characterized in that: Two rectangular grooves (20) are provided inside one end of the cleaning protective shell (1), the top rectangular groove (20) corresponds to the position of the loading conveyor belt (13), and the bottom rectangular groove (20) corresponds to the position of the unloading conveyor belt (14).

4. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 3 is characterized in that: A positioning shell (2) is installed at one end of the cleaning protective shell (1), and the positioning shell (2) includes a first shell (16), a first frame (17), a transmission rack (18), a second shell (19), a feeding conveyor belt (32) and a height adjustment component. The first frame (17) is fixed on both sides of the first shell (16), and the transmission racks (18) are fixed at both ends of the first frame (17) close to the first shell (16), one end of which is bolted to the cleaning protective shell (1), and the second shell (19) is fixed to the outer side of the first shell (16) and the first frame (17) away from the cleaning protective shell (1), and the second shell (19) is bolted to the transmission rack (18) at the other end. The first shell (16) is slidably connected to the feeding conveyor belt (32) at a position corresponding to the top rectangular groove (20), and the height adjustment component is installed at a position corresponding to the discharge trough (22) inside the first shell (16).

5. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 4, characterized in that: A feed trough (21) is provided inside the second shell (19) at a position corresponding to the feed conveyor belt (32), and a discharge trough (22) is provided inside the second shell (19) at the bottom of the feed trough (21).

6. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 4, characterized in that: The height adjustment assembly comprises a positioning frame (23), a transmission wheel (25), a U-shaped frame (26), an adjustment drive motor (27) and an adjustment gear (28); both sides of the two ends of the positioning frame (23) are rotatably connected with the transmission wheels (25); two transmission wheels (25) on the same side are connected by a first synchronous belt; both sides of the two ends of the positioning frame (23) are fixed with U-shaped frames (26); the U-shaped frame (26) is slidably connected to the first housing (16); an adjustment drive motor (27) is fixed on the inner side of the U-shaped frame (26); the output end of the adjustment drive motor (27) is connected with the adjustment gear (28); and the adjustment gear (28) is meshedly connected with the transmission rack (18).

7. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 6, characterized in that: One side of the positioning frame (23) is rotatably connected to an auxiliary wheel, the auxiliary wheel is located on the inner side of the first synchronous belt on one side, a motor frame (24) is fixed to the bottom of the positioning frame (23), a conveying drive motor is fixed to the inner side of the motor frame (24), and the output end of the conveying drive motor is connected to the auxiliary wheel via a second synchronous belt.

8. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 4, characterized in that: A storage rack (3) is arranged inside the end of the positioning shell (2) away from the cleaning protection shell (1), and the storage rack (3) comprises a second frame (29), a handle (30) and a placement plate (31). The second frame (29) is slidably connected to the discharge chute (22), the handles (30) are fixed on both sides of one end of the second frame (29), and the placement plates (31) are symmetrically fixed on both sides of the inner side of the second frame (29).

9. The automated equipment for cleaning burrs of blade blanks by a mechanical arm with machine vision according to claim 8, characterized in that: The bottom of the second frame (29) is provided with brakeable movable wheels.

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