Full-automatic deburring equipment

Abstract

The invention relates to full-automatic deburring equipment which comprises a machine table, a loading device, a feeding device, a feeding device and a grinding machine. The feeding device is arranged on the working surface; the feeding device is arranged on the working surface and is opposite to the loading device; the feeding device is arranged on the working face and opposite to the feeding device, the feeding device comprises a linear module and a clamping mechanism, and the clamping mechanism is arranged at the output end of the linear module; the grinding machine is arranged on the working face and is opposite to the clamping mechanism. Through cooperation of the loading device, the feeding device, the feeding device and the grinding machine, automatic part grinding can be achieved, manual participation is not needed, the working efficiency is improved, and the probability of safety accidents is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shaft parts processing, and in particular to a full-automatic deburring device. Background Art

[0002] The application range of shaft parts is very wide. Usually after rough machining, the parts need to be fine-machined to reduce friction resistance and extend service life.

[0003] At present, the grinding process is done by manually holding the parts in front of the grinding wheel of the grinder; however, manual hand-held part grinding has low production efficiency and high labor intensity; and repeated holding of parts will also cause visual fatigue, and safety accidents or part damage may occur if you are not careful; Summary of the invention Based on the above description, the present invention provides a fully automatic deburring device, which aims to solve the problem of low production efficiency of existing manual hand-held parts grinding.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: A fully automatic deburring device, comprising: A machine table having a work surface; A feeding device, arranged on the working surface; A feeding device, disposed on the working surface and arranged opposite to the loading device; A feeding device is arranged on the working surface and opposite to the feeding device, wherein the feeding device comprises a linear module and a clamping mechanism, and the clamping mechanism is arranged at the output end of the linear module; The grinder is arranged on the working surface and opposite to the clamping mechanism.

[0005] Based on the above technical solution, the present invention can also be improved as follows.

[0006] Further, the feeding device includes a feeding assembly, a carrying plate and a lifting assembly, the carrying plate is arranged at the output end of the feeding assembly, the carrying plate has a first side wall and a second side wall, the first side wall is arranged opposite to the feeding device, the second side wall and the first side wall are arranged perpendicular to each other, and a stop seat is provided on the first side wall, the lifting assembly includes a first fixed plate, a first linear drive and a lifting rod, the first fixed plate is connected to the second side wall, the first linear drive is installed on the first fixed plate, and the lifting rod is arranged at the output end of the first linear drive.

[0007] Furthermore, the loading assembly includes a base, a feed plate and a baffle plate, the feed plate is arranged on the base, the feed plate is constructed to be arranged inclined toward the feeding device, the baffle plate is arranged on the feed plate, the supporting plate is arranged at one end of the feed plate close to the feeding device, and the supporting plate is constructed in an arc shape.

[0008] Furthermore, the feeding device includes a material stopping assembly, which includes a second fixed plate, a second linear driving member and a material stopping pin, the second fixed plate is arranged on the feed plate, the second linear driving member is installed on the second fixed plate, and the material stopping pin is arranged at the output end of the second linear driving member.

[0009] Furthermore, the feeding device comprises a moving mechanism and a clamp, and the clamp is arranged at the output end of the moving mechanism.

[0010] Furthermore, the clamping mechanism includes a transmission box, a first drive motor, a rotating shaft, a third linear drive member and a first clamping rod, the output end of the first drive motor is connected to the input end of the transmission box, the rotating shaft is connected to the output end of the transmission box, the third linear drive member is arranged opposite to the rotating shaft, and the first clamping rod is rotatably disposed at the output end of the third linear drive member.

[0011] Furthermore, it includes a notch grinding device, which is arranged on the output end of the linear module. The notch grinding device includes a support arm, a second drive motor, a flip arm and a grinding rod. The second drive motor is installed at the mounting end of the support arm, one end of the flip arm is arranged opposite to the mounting end, one end of the flip arm is connected to the output end of the second drive motor, the grinding rod is arranged opposite to the other end of the flip arm, a third drive motor is provided in the flip arm, the third drive motor is located at the other end of the flip arm, a connecting hole is provided at the other end of the flip arm corresponding to the output end of the third drive motor, and the output end of the third drive motor passes through the connecting hole and is connected to the grinding rod.

[0012] Furthermore, the carrying plate has a third side wall opposite to the second side wall, the deburring equipment includes a flipping device, the flipping device includes a box body, a first pressing and flipping mechanism, a second pressing and flipping mechanism and a lifting mechanism, the box body is formed by the first side plate, the second side plate, the third side plate, the fourth side plate and the bottom plate, the first side plate and the second side plate are both provided with stepped holes, the two stepped holes are constructed to be coaxially arranged, the stepped holes include a receiving groove and a first through hole arranged in sequence from the inside to the outside, the second side plate is connected to the third side wall, the third side plate is constructed to be a right-angled trapezoid, at least two second through holes parallel to each other are opened on the bottom plate, and the first side plate or the second side plate is provided with a stepped hole The first pressing and flipping mechanism corresponds to the second side plate or the first side plate without the connecting sleeve, and the second pressing and flipping mechanism corresponds to the first side plate or the second side plate with the connecting sleeve. The first pressing and flipping mechanism includes a first support frame, a fourth linear drive member and a first pressing and flipping plate. The fourth linear drive member is installed on the first support frame, and the first pressing and flipping plate is arranged in the accommodating groove. The output end of the fourth linear drive member passes through the first through hole and is plugged into the connecting end of the first pressing and flipping plate. The second pressing and flipping mechanism includes a second support frame, a pressing and flipping assembly and a driving assembly. The second pressing and flipping assembly includes a fifth linear drive member, a shaft sleeve and a second pressing and flipping plate. The flip plate, the fifth linear drive member is installed on the second support frame, the shaft sleeve is sleeved on the output end of the fifth linear drive member, the shaft sleeve is provided with a plurality of sliding protrusions arranged at intervals along the circumferential direction, the second clamping flip plate is arranged in the accommodating groove, the end of the shaft sleeve away from the fifth linear drive member passes through the first through hole and is plugged into the connecting end of the second clamping flip plate, the driving assembly comprises a fourth driving motor, a first transmission part, a second transmission part and a connecting part, the fourth driving motor is installed on the second support frame, the fourth driving motor is arranged opposite to the fifth linear drive member, the first transmission part is sleeved on the output end of the fourth driving motor, the second transmission part is sleeved on the shaft sleeve, the second The transmission part defines a sliding groove corresponding to each of the sliding protrusions, and the sliding protrusions are slidably matched with the sliding grooves. The second transmission part defines an installation groove corresponding to the connecting sleeve, and the end of the connecting sleeve facing away from the box body is inserted into the installation groove. The first transmission part and the second transmission part are connected through the connecting part. The lifting mechanism includes a third support frame and a lifting assembly. The third support frame is connected to the bottom plate. The number of the lifting assemblies is associated with the number of the second through holes. The lifting assemblies are arranged one by one with the second through holes. The lifting assembly includes a sixth linear drive and a support seat. The sixth linear drive is installed on the third support frame, and the support seat is arranged at the output end of the sixth linear drive.One end of the support base facing away from the sixth linear drive member is inserted into the second through hole.

[0013] Further, a third through hole is formed in the third side plate, a support tube is arranged on one side of the third side plate close to the bearing plate corresponding to the third through hole, the turning device includes a rotating mechanism and a pressing and rotating plate, the rotating mechanism includes a cylinder body, a seventh linear drive member, a second pressing rod, a fourth support frame, a fifth driving motor and a transmission component, the cylinder body is rotatably arranged on the support tube, the seventh linear drive member is installed in the cylinder body, and the output end of the seventh linear drive member extends into the second through hole, the second pressing rod is arranged at the output end of the seventh linear drive member, the fourth support frame is arranged opposite to the cylinder body, the fifth driving motor is installed on the fourth support frame, the transmission component is connected to the cylinder body and the output end of the fifth driving motor, and the pressing and rotating plate is rotatably arranged on the box body relative to the fourth side plate.

[0014] Further, a positioning device is included, the positioning device includes a turntable and a conductive mechanism, the turntable is sleeved on the output end of the third driving motor, two positioning protrusions are arranged on the turntable at intervals along the circumferential direction, the conductive mechanism is arranged opposite to the turntable, the conductive mechanism includes a shell, a connecting rod, an elastic member, a first conductive sheet and a second conductive sheet, a receiving channel is arranged in the shell, the receiving channel has a first receiving cavity and a second receiving cavity, the connecting rod is configured in a shape of "tu", the connecting rod has a first flange and a second flange, the connecting rod is arranged in the receiving channel, the first flange and the second flange are arranged in one-to-one correspondence with the first receiving cavity and the second receiving cavity, one end of the connecting rod close to the turntable extends out of the receiving channel, the elastic member is sleeved on the connecting rod, one end of the elastic member abuts against the first flange, the other end of the elastic member abuts against the wall surface of the first receiving cavity relative to the first flange, the first conductive sheet and the second conductive sheet are both arranged in the second receiving cavity, the first conductive sheet is arranged at one end of the connecting rod with the second flange, and the second conductive sheet is arranged opposite to the first conductive sheet.

[0015] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects: (1) The cooperation of the feeding device, the feeding device, the feeding device and the grinding machine in the present application can realize automatic grinding of parts without manual participation, which not only improves the work efficiency, but also reduces the probability of safety accidents.

[0016] (2) During the grinding in the present application, the clamping mechanism is slowly pushed towards the grinding machine by the linear module, so that the burrs on the surface of the parts can be removed more thoroughly, ensuring the smooth surface of the parts, thereby improving the yield rate of the parts.

[0017] (3) The present application uses a notch grinding device to grind the notch of a part, thereby reducing the grinding blind area and removing burrs on the surface of the part as much as possible.

[0018] (4) The present application uses a flipping device to reverse the direction of the parts before the transfer device clamps the parts, ensuring that the direction of the parts is consistent with the processing direction of the processing equipment.

[0019] (5) The present application uses a rotating mechanism to adjust the position of the notch of the parts in the box in advance, so that when the parts are clamped on the clamping mechanism, the notch of the parts is always facing upwards, so as to facilitate the notch grinding device to perform grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a general assembly diagram of a fully automatic deburring device provided in an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of a feeding device in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a material ejecting rod in an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a material blocking assembly in an embodiment of the present invention; Figure 5 It is a schematic structural diagram of a feeding device in an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a grinding machine in an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a notch grinding device in an embodiment of the present invention; Figure 8 It is a schematic diagram of the structure of the turning device in the embodiment of the present invention; Fig. 9 A partial cross-sectional view of a box body in an embodiment of the present invention; Fig.10 for Fig.10 A partial enlarged view of the middle part; Fig.11 It is a vertical cross-sectional view of the box body in the embodiment of the present invention; Fig.12 It is a structural schematic diagram of the first pressing and flipping mechanism in an embodiment of the present invention; Fig.13 It is a structural schematic diagram of the second pressing and turning mechanism in an embodiment of the present invention; Fig.14 is a schematic structural diagram of a second transmission part in an embodiment of the present invention; Fig.15 It is a structural schematic diagram of a jacking assembly in an embodiment of the present invention; Fig.16It is a structural schematic diagram of a rotating mechanism in an embodiment of the present invention; Fig.17 It is a schematic diagram of the structure of the turntable in the embodiment of the present invention; Fig.18 is a cross-sectional view of a conductive mechanism in an embodiment of the present invention; Fig.19 is a vertical cross-sectional view of a housing in an embodiment of the present invention; Fig. 20 It is a partial structural schematic diagram of the conductive mechanism in an embodiment of the present invention; Fig.21 It is a schematic diagram of the structure of parts in an embodiment of the present invention.

[0021] Description of reference numerals: 1. Part; 2. First end; 3. Second end; 4. Inner cavity; 5. Notch; 6. Plane; 10. Machine; 11. Work surface; 20. Feeding device; 21. Feeding assembly; 211. Base; 212. Feeding plate; 213. Baffle plate; 22. Carrying plate; 221. Baffle seat; 2211. First proximity switch; 23. Ejecting assembly; 231. First fixed plate; 232. First linear drive member; 233. Ejecting rod; 24. Baffle plate; 25. Baffle assembly; 251. Second fixed plate; 252. Second linear drive member; 253. Baffle pin; 26. Second proximity switch; 30. Feeding device; 31. Moving mechanism; 32. Clamp; 40. Feeding device; 41. Linear module; 42. Clamping mechanism; 421. Transmission box; 422. First drive motor; 423. Rotating shaft; 424. Third linear drive member; 425. First clamping rod; 50. Grinding machine; 60. Notch grinding device; 61. Support arm; 611. Mounting end; 62. Second drive motor; 63. Flip arm; 64. Grinding rod; 70. Turning device; 71. Box; 711. First side plate; 712. Second side plate; 713. Third side plate; 714. Fourth side plate; 715. Bottom plate; 716. Step hole; 7161. Accommodating groove; 7162. First through hole; 71621. Connecting sleeve; 717. Second through hole; 718. Third through hole; 719. Support tube; 72. First pressing and turning mechanism; 721. First support frame; 722. Fourth linear drive member; 723. First pressing and turning plate; 7231. Positioning groove; 73. Second pressing and turning mechanism; 731. Second support frame; 732. Pressing and turning assembly; 7321. Fifth linear drive member; 7322. Bushing; 73221, sliding protrusion; 7323, second pressing flip plate; 733, driving assembly; 7331, fourth driving motor; 7332, first transmission part; 7333, second transmission part; 73331, sliding groove; 73332, mounting groove; 734, connecting part; 74, lifting mechanism; 741, third support frame; 742, lifting assembly; 7421, sixth linear driving member; 7422, supporting seat; 75, rotating mechanism; 751, cylinder; 752, seventh linear driving member; 753, second pressing rod; 754, fourth support frame; 755, fifth driving motor; 756, driving assembly; 76, pressing rotating plate; 77, camera; 80. Positioning device; 81. Turntable; 811. Positioning protrusion; 82. Conductive mechanism; 821. Shell; 8211. Accommodating channel; 82111. First accommodating cavity; 82112. Second accommodating cavity; 822. Connecting rod; 8221. First flange; 8222. Second flange; 823. Elastic member; 824. First conductive sheet; 825. Second conductive sheet. DETAILED DESCRIPTION

[0022] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0024] It will be appreciated that spatial relationship terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be appreciated that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0025] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0026] A fully automatic deburring device of the present invention is used to remove surface burrs of a part 1, wherein the part 1 has a first end 2 and a second end 3 opposite to each other, the part 1 has an inner cavity 4 extending from the second end 3 toward the first end 2, a notch 5 is provided on the surface of the part 1, and the part 1 has a plane 6 extending from the second end 3 toward the first end 2; wherein the plane 6 is used as a reference plane when the camera 77 recognizes it.

[0027] Reference Figures 1 to 6 As shown in Figure 21, the present invention provides a technical solution: a fully automatic deburring equipment, including a machine table 10, a loading device 20, a feeding device 30, a feeding device 40 and a grinder 50, the machine table 10 has a working surface 11; the loading device 20 is arranged on the working surface 11; the feeding device 30 is arranged on the working surface 11 and is arranged opposite to the loading device 20; the feeding device 40 is arranged on the working surface 11 and is arranged opposite to the loading device 20, the feeding device 40 includes a linear module 41 and a clamping mechanism 42, the clamping mechanism 42 is arranged at the output end of the linear module 41; the grinder 50 is arranged on the working surface 11 and is arranged opposite to the clamping mechanism 42.

[0028] Exemplarily, the loading device 20 may be a conveyor, etc. The feeding device 30 may be a robot, etc.

[0029] In this embodiment, the loading device 20 is used to convey the part 1, and the feeding device 30 transfers the part 1 to the clamping mechanism 42 for clamping. At the same time, the grinder 50 grinds the burrs on the surface of the part 1. As the grinding progresses, the linear module 41 pushes the clamping mechanism 42 to gradually move toward the grinder 50. Then, the burrs on the surface of the part 1 can be completely removed, so that the surface of the part 1 remains smooth. In this way, the part 1 can be automatically polished without manual intervention, which not only improves work efficiency but also reduces the probability of safety accidents.

[0030] Reference Figures 1 to 3 As shown, in some embodiments, the loading device 20 includes a loading component 21, a supporting plate 22 and a lifting component 23, the supporting plate 22 is arranged at the output end of the loading component 21, the supporting plate 22 has a first side wall and a second side wall, the first side wall is arranged opposite to the feeding device 30, the second side wall and the first side wall are arranged perpendicular to each other, and a blocking seat 221 is provided on the first side wall. The lifting component 23 includes a first fixed plate 231, a first linear driving member 232 and a lifting rod 233, the first fixed plate 231 is connected to the second side wall, the first linear driving member 232 is installed on the first fixed plate 231, and the lifting rod 233 is arranged at the output end of the first linear driving member 232.

[0031] Exemplarily, the ejector pin 233 may be configured in a stepped shape or the like.

[0032] In this embodiment, when the part 1 slides onto the carrier plate 22, the first linear drive member 232 drives the ejector rod 233 to be inserted into the inner cavity 4; at the same time, the first linear drive member 232 drives the ejector rod 233 to push the part 1 as a whole out of the carrier plate 22. The feeding device 30 clamps the part 1, and at the same time, the first linear drive member 232 drives the ejector rod 233 to withdraw from the inner cavity 4. At this time, the feeding device 30 transfers the part 1 to the clamping mechanism 42 for clamping.

[0033] Reference Figure 2 As shown, in some embodiments, a first proximity switch 2211 is provided on the blocking seat 221 .

[0034] According to this embodiment, when the first proximity switch 2211 detects that there is a part 1 on the carrying plate 22, the first linear driving member 232 can be caused to perform a corresponding action.

[0035] Reference Figures 1 to 3 As shown, in some embodiments, the loading assembly 21 includes a base 211, a feed plate 212 and a baffle plate 213. The feed plate 212 is disposed on the base 211, and the feed plate 212 is constructed to be inclined toward the feeding device 30. The baffle plate 213 is disposed on the feed plate 212, and the supporting plate 22 is disposed at one end of the feed plate 212 close to the feeding device 30, and the supporting plate 22 is constructed to be arc-shaped.

[0036] In this embodiment, the feed plate 212 is used to accommodate the parts 1, and the feed plate 212 is tilted. After each part 1 is pushed away by the ejector rod 233, the part 1 on the feed plate 212 will automatically slide to the carrier plate 22, thereby realizing automatic loading. In addition, during the loading process, the baffle plate 213 can ensure that the parts 1 are arranged in an orderly manner to prevent the parts 1 from falling due to the tilting factor.

[0037] Reference Figures 1 to 3 As shown, in some embodiments, the loading device 20 includes a baffle 24 , which is disposed on a side of the feed plate 212 away from the first linear drive member 232 , and a top block is disposed on the baffle 24 , which is arranged opposite to the ejection rod 233 .

[0038] In this embodiment, when the first linear drive member 232 drives the ejector rod 233 to push the component 1 as a whole out of the arc-shaped plate, the ejector block can not only play a limiting role, but also can better contact with the component 1.

[0039] Reference Figure 2 and 4 As shown, in some embodiments, the loading device 20 includes a material blocking assembly 25, the material blocking assembly 25 includes a second fixed plate 251, a second linear drive member 252 and a material blocking pin 253, the second fixed plate 251 is arranged on the feed plate 212, the second linear drive member 252 is installed on the second fixed plate 251, and the material blocking pin 253 is arranged at the output end of the second linear drive member 252.

[0040] In this embodiment, the material blocking assembly 25 can divide the feed plate 212 into upstream and downstream. When the parts 1 downstream of the feed plate 212 are sufficient, the second linear drive member 252 pushes the material blocking pin 253 to contact the feed plate 212, and can block the parts 1 upstream of the feed plate 212, preventing the parts 1 upstream of the feed plate 212 from entering the downstream of the feed plate 212. In this way, it is possible to avoid excessive parts 1 downstream of the feed plate 212, thereby reducing the friction force on the parts 1 on the curved plate.

[0041] Reference Figure 2 As shown, in some embodiments, the feeding device 20 includes a second proximity switch 26 , which is disposed on the feed plate 212 , and the second proximity switch 26 is located between the base 211 and the material blocking assembly 25 .

[0042] In this embodiment, the second proximity switch 26 can detect whether the parts 1 downstream of the feed plate 212 are full. That is, when the second proximity switch 26 detects that the length of time that the part 1 stays exceeds the preset time, the second linear drive member 252 can push the stopper pin 253 to contact the feed plate 212.

[0043] Reference Figure 1As shown, in some embodiments, the feeding device 30 includes a moving mechanism 31 and a clamp 32 , and the clamp 32 is disposed at the output end of the moving mechanism 31 .

[0044] For example, the moving mechanism 31 may be a two-axis moving platform or a three-axis moving platform, etc. The clamp 32 may be a pneumatic clamp or an electric clamp, etc.

[0045] In this embodiment, the moving mechanism 31 is used to drive the clamp 32 to move in multiple directions. The clamp 32 is used to clamp the part 1.

[0046] Reference Figure 1 and 5 As shown, in some embodiments, the clamping mechanism 42 includes a transmission box 421, a first drive motor 422, a rotating shaft 423, a third linear drive member 424 and a first clamping rod 425, the output end of the first drive motor 422 is connected to the input end of the transmission box 421, the rotating shaft 423 is connected to the output end of the transmission box 421, the third linear drive member 424 is arranged opposite to the rotating shaft 423, and the first clamping rod 425 is rotatably provided at the output end of the third linear drive member 424.

[0047] Exemplarily, the second pressing rod 753 and the third linear driving member 424 may be clearance-fitted or connected via a bearing.

[0048] In this embodiment, when there is no part 1 between the first clamping rod 425 and the rotating shaft 423, the first clamping rod 425 and the rotating shaft 423 maintain a certain distance. When the feeding device 30 conveys the part 1 between the first clamping rod 425 and the rotating shaft 423, the third linear drive member 424 drives the first clamping rod 425 to move toward the part 1, so that the first clamping rod 425 and the rotating shaft 423 cooperate to clamp the part 1. After the feeding device 30 leaves, the grinder 50 starts to grind the surface of the part 1; at the same time, the first drive motor 422 drives the rotating shaft 423 through the transmission box 421 to drive the part 1 to rotate, and the first clamping rod 425 rotates around the third linear drive member 424 under the influence of the force. By rotating the part 1, the grinding of the part 1 achieves full surface coverage, thereby reducing the defects on the surface of the part 1.

[0049] Reference Figure 5 and 7As shown, in some embodiments, a notch grinding device 60 is included, and the notch grinding device 60 is arranged on the output end of the linear module 41. The notch grinding device 60 includes a support arm 61, a second drive motor 62, a flip arm 63 and a grinding rod 64. The second drive motor 62 is installed on the mounting end 611 of the support arm 61, one end of the flip arm 63 is arranged opposite to the mounting end 611, one end of the flip arm 63 is connected to the output end of the second drive motor 62, the grinding rod 64 is arranged opposite to the other end of the flip arm 63, a third drive motor is provided in the flip arm 63, the third drive motor is located at the other end of the flip arm 63, a connecting hole is opened at the other end of the flip arm 63 corresponding to the output end of the third drive motor, and the output end of the third drive motor passes through the connecting hole and is connected to the grinding rod 64.

[0050] In this embodiment, the initial state of the flip arm 63 is to maintain the same straight line with the support arm 61. When there is a part 1 between the first clamping rod 425 and the rotating shaft 423, the second driving motor 62 drives the flip arm 63 to flip and move, so that the grinding rod 64 contacts the notch 5 of the part 1. Then, the third driving motor drives the grinding rod 64 to rotate to grind the notch 5 of the part 1.

[0051] Reference Figures 8 to 15As shown, in some embodiments, the carrier plate 22 has a third side wall opposite to the second side wall, the deburring device includes a flipping device 70, the flipping device 70 includes a box body 71, a first pressing and flipping mechanism 72, a second pressing and flipping mechanism 73 and a lifting mechanism 74, the box body 71 is formed by a first side plate 711, a second side plate 712, a third side plate 713, a fourth side plate 714 and a bottom plate 715, the first side plate 711 and the second side plate 712 are both provided with a stepped hole 716, the two stepped holes 716 are configured to be coaxially arranged, the stepped hole 716 includes a receiving groove 7161 and a first through hole 7162 arranged in sequence from the inside to the outside, the second side plate 712 is connected to the third side wall, the third side plate 713 is configured to be a right-angled trapezoidal shape, and the bottom plate 715 is configured to be a right-angled trapezoidal shape. At least two second through holes 717 are provided on the first side plate 711 or the second side plate 712, which are parallel to each other. A connecting sleeve 71621 coaxial with the stepped hole 716 is provided on the first side plate 711 or the second side plate 712. The first pressing and flipping mechanism 72 corresponds to the second side plate 712 or the first side plate 711 without the connecting sleeve 71621. The second pressing and flipping mechanism 73 corresponds to the first side plate 711 or the second side plate 712 with the connecting sleeve 71621. The first pressing and flipping mechanism 72 includes a first support frame 721, a fourth linear drive member 722 and a first pressing and flipping plate 723. The fourth linear drive member 722 is installed on the first support frame 721. The first pressing and flipping plate 723 is arranged in the accommodating groove 7161. The output end of the fourth linear drive member 722 passes through the first through hole 716. The through hole 7162 is plugged into the connecting end of the first clamping flip plate 723. The second clamping flip mechanism 73 includes a second support frame 731, a clamping flip assembly 732 and a driving assembly 733. The second clamping flip assembly 732 includes a fifth linear drive member 7321, a sleeve 7322 and a second clamping flip plate 7323. The fifth linear drive member 7321 is installed on the second support frame 731. The sleeve 7322 is sleeved on the output end of the fifth linear drive member 7321. The sleeve 7322 is provided with a plurality of sliding protrusions 73221 arranged at intervals along the circumferential direction. The second clamping flip plate 7323 is arranged in the accommodating groove 7161. The end of the sleeve 7322 away from the fifth linear drive member 7321 passes through the first through hole 7162 and is plugged into the second The connecting end of the pressing flip plate 7323 is pressed, and the driving assembly 733 includes a fourth driving motor 7331, a first transmission part 7332, a second transmission part 7333 and a connecting part 734. The fourth driving motor 7331 is installed on the second supporting frame 731. The fourth driving motor 7331 is arranged opposite to the fifth linear driving member 7321. The first transmission part 7332 is sleeved on the output end of the fourth driving motor 7331. The second transmission part 7333 is sleeved on the shaft sleeve 7322. The second transmission part 7333 is provided with a sliding groove 73331 corresponding to each sliding protrusion 73221. The sliding protrusion 73221 is slidably matched with the sliding groove 73331. The second transmission part 7333 is provided with an installation groove 73332 corresponding to the corresponding connecting sleeve 71621.The end of the connecting sleeve 71621 away from the box body is inserted into the installation groove 73332, the first transmission part 7332 and the second transmission part 7333 are connected through the connecting part 734, the lifting mechanism 74 includes a third support frame 741 and a lifting assembly 742, the third support frame 741 is connected to the bottom plate 715, the number of the lifting assemblies 742 is associated with the number of the second through holes 717, the lifting assemblies 742 and the second through holes 717 are arranged one by one, the lifting assembly 742 includes a sixth linear drive 7421 and a support seat 7422, the sixth linear drive 7421 is installed on the third support frame 741, the support seat 7422 is arranged at the output end of the sixth linear drive 7421, and the end of the support seat 7422 away from the sixth linear drive 7421 is inserted into the second through hole 717.

[0052] Exemplarily, the connecting sleeve 71621 and the mounting groove 73332 may be clearance fit or bearing connection. When the connecting sleeve 71621 is located on the first side plate 711, the first pressing and flipping mechanism 72 corresponds to the second side plate 712, that is, the first support frame 721 is detachably connected to the second side plate 712, and the second pressing and flipping mechanism 73 corresponds to the first side plate 711, that is, the second support frame 731 is detachably connected to the first side plate 711; when the connecting sleeve 71621 is located on the second side plate 712, the first pressing and flipping mechanism 72 corresponds to the first side plate 711, that is, the first support frame 721 is detachably connected to the first side plate 711, and the second pressing and flipping mechanism 73 corresponds to the second side plate 712, that is, the second support frame 731 is detachably connected to the second side plate 712. The connecting end of the first pressing and flipping plate 723 and the output end of the fourth linear drive member 722 may be clearance fit or connected through a bearing. The sleeve 7322 is connected to the output end of the fifth linear drive member 7321 through a bearing. The connection end of the second pressing flip plate 7323 and the sleeve 7322 can be a transition fit or an interference fit, or can be a key connection. The first transmission part 7332 and the second transmission can be synchronous wheels or gears, etc., and the connection part 734 can be a synchronous belt or chain, etc.; when the first transmission part 7332 and the second transmission are synchronous wheels, the connection part 734 is a synchronous belt; when the first transmission part 7332 and the second transmission are gears, the connection part 734 is a chain.

[0053] According to this embodiment, when the part 1 needs to maintain a specific direction during the processing of the processing equipment, the part 1 needs to be reversed during loading, and then the part 1 is transferred to the processing equipment for processing. If the second end 3 faces the ejector rod 233, the ejector rod 233 can be directly inserted into the inner cavity 4, so that the part 1 can be directly transferred through the transfer device. If the first end 2 faces the ejector rod 233, the ejector rod 233 cannot be directly inserted into the inner cavity 4, and the part 1 needs to be reversed. During the reversal, since the first end 2 faces the ejector rod 233, the first linear drive member 232 drives the ejector rod 233 to push the part 1 to slide along the carrier plate 22 toward the box body 71. When reaching the box body 71, the part 1 slides along the third side plate 713 to the bottom plate 715. At this time, the sixth linear drive member 7421 drives the support seat 7422 to push the part 1 up to be flush with the first clamping flip plate 723 and the second clamping flip plate 7323. At the same time, the fourth linear drive 722 pushes the first clamping flip plate 723 to move toward the part 1, and the fifth linear drive 7321 pushes the sleeve 7322 and the second clamping flip plate 7323 to move toward the part 1; the first clamping flip plate 723 and the second clamping flip plate 7323 move toward the part 1 at the same time, so that the part 1 can be clamped. Before the reversal, the sixth linear drive 7421 first drives the support seat 7422 to reset. Then, the fourth drive motor 7331 provides the power of rotation, which is transmitted to the sleeve 7322 through the transmission unit composed of the first transmission part 7332, the second transmission part 7333 and the connecting part 734, so that the second clamping flip plate 7323 drives the part 1 to rotate, and the first clamping flip plate 723 cooperates to rotate around the output end of the fifth linear drive 7321, thereby realizing the reversal of the part 1. After the reversal, the sixth linear drive 7421 drives the support seat 7422 to move again, so that the part 1 is located on the support seat 7422; the fourth linear drive 722 and the fifth linear drive 7321 drive their respective first pressing flip plate 723 and second pressing flip plate 7323 to reset. Subsequently, the sixth linear drive 7421 continues to drive the support seat 7422 to move upward, so that the entire part 1 is completely exposed from the box body 71. Finally, the clamping claws of the clamp 32 extend between the two support seats 7422 to clamp the part 1, and then the moving mechanism 31 is moved.

[0054] It should be noted that when the fifth linear drive member 7321 provides thrust, the second transmission part 7333 is affected by the connecting sleeve 71621, the second transmission part 7333 remains stationary, the shaft sleeve 7322 moves relative to the second transmission part 7333, and the sliding protrusion 73221 slides with the sliding groove 73331. When the fourth drive motor 7331 provides power, the second transmission part 7333 drives the shaft sleeve 7322 to rotate around the output end of the fifth linear drive member 7321, and the output end of the fifth linear drive member 7321 remains stationary.

[0055] Reference Figure 8 and 12 As shown in ~13, in some embodiments, the clamping surfaces of the first clamping flip plate 723 and the second clamping flip plate 7323 are both provided with a limiting groove 7231.

[0056] In this embodiment, when the part 1 changes direction, the limiting groove 7231 can prevent the part 1 from falling.

[0057] Reference Figures 8 and 9 As shown in Figures 11, in some embodiments, a third through hole 718 is provided on the third side plate 713, and a support tube 719 is provided on a side of the third side plate 713 close to the carrier plate 22 corresponding to the third through hole 718. The flipping device 70 includes a rotating mechanism 75 and a pressing rotating plate 76. The rotating mechanism 75 includes a cylinder 751, a seventh linear drive member 752, a second pressing rod 753, a fourth support frame 754, a fifth driving motor 755 and a transmission assembly 756. The cylinder 751 is rotatably provided on the support tube 719. The seventh linear drive member 752 is installed in the cylinder 751, and the output end of the seventh linear drive member 752 extends into the second through hole 717, the second clamping rod 753 is arranged at the output end of the seventh linear drive member 752, the fourth support frame 754 is arranged opposite to the cylinder 751, the fifth drive motor 755 is installed on the fourth support frame 754, the transmission assembly 756 is connected to the cylinder 751 and the output end of the fifth drive motor 755, and the clamping rotating plate 76 is rotatably arranged on the box body 71 relative to the fourth side plate 714.

[0058] Exemplarily, the transmission assembly 756 may be composed of two gears, two gears and a chain, or two synchronous wheels and a synchronous belt, etc. When the transmission assembly 756 is composed of two gears, one gear is sleeved on the cylinder 751, and the other gear is sleeved on the output end of the second drive motor 62; when the transmission assembly 756 is composed of two gears and a chain, one gear is sleeved on the cylinder 751, and the other gear is sleeved on the output end of the second drive motor 62, and the chain is connected to the two gears; when the transmission assembly 756 is composed of two synchronous wheels and a synchronous belt, one synchronous wheel is sleeved on the cylinder 751, and the other synchronous wheel is sleeved on the output end of the second drive motor 62, and the synchronous belt is connected to the two synchronous wheels.

[0059] According to this embodiment, after the part 1 is pushed into the box body 71, the notch 5 of the part 1 may tilt to one side. When the feeding device 30 is transported to the clamping mechanism 42, this will cause the notch 5 of the part 1 to not face upward, so that when the grinding rod 64 grinds the notch 5 of the part 1, the notch 5 of the part 1 will be damaged. Therefore, after the part 1 is reversed, the part 1 is first supported by the lifting assembly 742. At this time, there is a certain gap between the first end 2 of the part 1 and the clamping rotating plate 76. Then, the second clamping rod 753 is pushed by the seventh linear drive member 752 to be inserted into the inner cavity 4 of the part 1, and as the seventh linear drive member 752 continues to provide thrust, the second clamping rod 753 pushes the part 1 to contact the clamping rotating plate 76, so that the second clamping rod 753 and the clamping rotating plate 76 work together to clamp the part 1. Finally, the fifth drive motor 755 drives the cylinder 751 to rotate around the support tube 719 via the transmission assembly 756. Based on the seventh linear drive member 752 being fixed in the cylinder 751, the seventh linear drive member 752 and the first clamping rod 425 rotate, thereby causing the part 1 to rotate and driving the clamping plate to cooperate to adjust the position of the notch 5 of the part 1.

[0060] Reference Fig.11 As shown, in some embodiments, a camera 77 is provided on the base plate 715 .

[0061] In this embodiment, when adjusting the position of the notch 5 of the part 1, the reference plane of the part 1 is continuously identified by the camera 77; when the reference plane of the part 1 is not parallel to the bottom wall of the box body 71, the rotating mechanism 75 continuously fine-tunes the position of the notch 5 of the part 1 until the notch 5 of the part 1 can face directly upwards.

[0062] Reference Fig.11As shown, in some embodiments, it includes a positioning device 80. The positioning device 80 includes a turntable 81 and a conductive mechanism 82. The turntable 81 is sleeved on the output end of the third driving motor. There are two positioning protrusions 811 arranged at intervals along the circumferential direction on the turntable 81. The conductive mechanism 82 is arranged opposite to the turntable 81. The conductive mechanism 82 includes a housing 821, a connecting rod 822, an elastic member 823, a first conductive sheet 824 and a second conductive sheet 825. There is an accommodation channel 8211 in the housing 821. The accommodation channel 8211 has a first accommodation cavity 82111 and a second accommodation cavity 82112. The connecting rod 822 is configured in a "T" shape. The connecting rod 822 has a first flange 8221 and a second flange 8222. The connecting rod 822 is arranged in the accommodation channel 8211. The first flange 8221 and the second flange 8222 are arranged in one-to-one correspondence with the first accommodation cavity 82111 and the second accommodation cavity 82112. One end of the connecting rod 822 close to the turntable 81 extends out of the accommodation channel 8211. The elastic member 823 is sleeved on the connecting rod 822. One end of the elastic member 823 abuts against the first flange 8221, and the other end of the elastic member 823 abuts against the wall surface of the first accommodation cavity 82111 relative to the first flange 8221. Both the first conductive sheet 824 and the second conductive sheet 825 are arranged in the second accommodation cavity 82112. The first conductive sheet 824 is arranged at one end of the connecting rod 822 with the second flange 8222, and the second conductive sheet 825 is arranged opposite to the first conductive sheet 824.

[0063] Exemplarily, the elastic member 823 can be a spring or an elastic rubber ring, etc.

[0064] In this embodiment, when the fourth driving motor 7331 rotates, it will also drive the turntable 81 to rotate. When the part 1 is about to complete commutation, the positioning protrusion 811 of the turntable 81 contacts the connecting rod 822 and pushes the connecting rod 822 to move away from the turntable 81, causing the elastic member 823 to deform, and at the same time causing the contacts of the first conductive sheet 824 to contact the contacts of the second conductive sheet 825 for conduction. A signal can be fed back to the controller, and the driving motor can be immediately stopped to drive, so as to ensure the accurate positioning of the part 1.

[0065] In the above, the models of the first proximity switch 2211 and the second proximity switch 26 can be F12 - G12 - 0P6L, etc. The first linear driving member 232, the second linear driving member 252, the third linear driving member 424, the fourth linear driving member 722, the fifth linear driving member 7321, the sixth linear driving member 7421 and the seventh linear driving member 752 can be cylinders, hydraulic cylinders or linear motors, etc. The first driving motor 422, the second driving motor 62, the third driving motor, the fourth driving motor 7331 and the fifth driving motor 755 can all be servo motors, stepper motors or reduction motors, etc.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic deburring device, characterized in that: include: A machine platform (10) having a working surface (11); A loading device (20) is disposed on the working surface (11); A feeding device (30) is disposed on the working surface (11) and is arranged opposite to the loading device (20); A feeding device (40) is disposed on the working surface (11) and arranged opposite to the feeding device (20), the feeding device (40) comprising a linear module (41) and a clamping mechanism (42), the clamping mechanism (42) being disposed at an output end of the linear module (41); A grinder (50) is disposed on the working surface (11) and is arranged opposite to the clamping mechanism (42).

2. The fully automatic deburring equipment according to claim 1, characterized in that: The feeding device (20) comprises a feeding assembly (21), a carrying plate (22) and a ejecting assembly (23), wherein the carrying plate (22) is arranged at the output end of the feeding assembly (21), the carrying plate (22) has a first side wall and a second side wall, the first side wall is arranged opposite to the feeding device (30), the second side wall and the first side wall are arranged perpendicular to each other, a stopper (221) is provided on the first side wall, and the ejecting assembly (23) comprises a first fixed plate (231), a first linear driving member (232) and an ejecting rod (233), the first fixed plate (231) is connected to the second side wall, the first linear driving member (232) is installed on the first fixed plate (231), and the ejecting rod (233) is arranged at the output end of the first linear driving member (232).

3. The fully automatic deburring equipment according to claim 2, characterized in that: The loading assembly (21) comprises a base (211), a feed plate (212) and a baffle plate (213); the feed plate (212) is arranged on the base (211); the feed plate (212) is configured to be arranged tilted toward the feeding device (30); the baffle plate (213) is arranged on the feed plate (212); the supporting plate (22) is arranged at one end of the feed plate (212) close to the feeding device (30); and the supporting plate (22) is configured to be in an arc shape.

4. The fully automatic deburring equipment according to claim 3, characterized in that: The feeding device (20) comprises a material blocking assembly (25), wherein the material blocking assembly (25) comprises a second fixed plate (251), a second linear drive member (252) and a material blocking pin (253), wherein the second fixed plate (251) is arranged on the feeding plate (212), the second linear drive member (252) is installed on the second fixed plate (251), and the material blocking pin (253) is arranged at the output end of the second linear drive member (252).

5. The fully automatic deburring equipment according to claim 1, characterized in that: The feeding device (30) comprises a moving mechanism (31) and a clamp (32), wherein the clamp (32) is arranged at the output end of the moving mechanism (31).

6. The fully automatic deburring equipment according to claim 1, characterized in that: The clamping mechanism (42) comprises a transmission box (421), a first drive motor (422), a rotating shaft (423), a third linear drive member (424) and a first clamping rod (425); the output end of the first drive motor (422) is connected to the input end of the transmission box (421); the rotating shaft (423) is connected to the output end of the transmission box (421); the third linear drive member (424) is arranged opposite to the rotating shaft (423); and the first clamping rod (425) is rotatably arranged at the output end of the third linear drive member (424).

7. The fully automatic deburring equipment according to claim 2, characterized in that: The invention comprises a notch grinding device (60), wherein the notch grinding device (60) is arranged on the output end of the linear module (41), and comprises a support arm (61), a second drive motor (62), a flip arm (63) and a grinding rod (64). The second drive motor (62) is mounted on the mounting end (611) of the support arm (61), one end of the flip arm (63) is arranged opposite to the mounting end (611), one end of the flip arm (63) is connected to the output end of the second drive motor (62), the grinding rod (64) is arranged opposite to the other end of the flip arm (63), a third drive motor is arranged in the flip arm (63), the third drive motor is located at the other end of the flip arm (63), a connection hole is provided at the other end of the flip arm (63) corresponding to the output end of the third drive motor, and the output end of the third drive motor passes through the connection hole and is connected to the grinding rod (64).

8. The fully automatic deburring equipment according to claim 7, characterized in that: The bearing plate (22) has a third side wall opposite to the second side wall. The deburring device includes a turning device (70). The turning device (70) includes a box body (71), a first pressing and turning mechanism (72), a second pressing and turning mechanism (73) and a lifting mechanism (74). The box body (71) is formed by enclosing a first side plate (711), a second side plate (712), a third side plate (713), a fourth side plate (714) and a bottom plate (715). The first side plate (711) and the second side plate (712) are both provided with a stepped hole (716). The two stepped holes (716) are coaxially arranged. The stepped hole (716) includes a plurality of receiving grooves (716) arranged in sequence from the inside to the outside. The second side plate (712) is connected to the third side wall, the third side plate (713) is constructed in a right-angled trapezoidal shape, the bottom plate (715) is provided with at least two second through holes (717) parallel to each other, the first side plate (711) or the second side plate (712) is provided with a connecting sleeve (71621) coaxial with the stepped hole (716), the first pressing and flipping mechanism (72) corresponds to the second side plate (712) or the first side plate (711) without the connecting sleeve (71621), and the second pressing and flipping mechanism (73) corresponds to the first side plate (712) with the connecting sleeve (71621). 1) or the second side plate (712), the first pressing and flipping mechanism (72) comprises a first support frame (721), a fourth linear driving member (722) and a first pressing and flipping plate (723), the fourth linear driving member (722) is mounted on the first support frame (721), the first pressing and flipping plate (723) is arranged in the accommodating groove (7161), the output end of the fourth linear driving member (722) passes through the first through hole (7162) and is plugged into the connecting end of the first pressing and flipping plate (723), the second pressing and flipping mechanism (73) comprises a second support frame (731), a pressing and flipping assembly (732) and a driving assembly (733), the second pressing and flipping assembly The component (732) comprises a fifth linear driving component (7321), a shaft sleeve (7322) and a second pressing flip plate (7323), wherein the fifth linear driving component (7321) is mounted on the second support frame (731), the shaft sleeve (7322) is sleeved on the output end of the fifth linear driving component (7321), the shaft sleeve (7322) is provided with a plurality of sliding protrusions (73221) arranged at intervals along the circumferential direction, the second pressing flip plate (7323) is arranged in the accommodating groove (7161), and an end of the shaft sleeve (7322) which is away from the fifth linear driving component (7321) passes through the first through hole (7162) and is plugged into the connecting end of the second pressing flip plate (7323),The driving assembly (733) comprises a fourth driving motor (7331), a first transmission part (7332), a second transmission part (7333) and a connecting part (734); the fourth driving motor (7331) is mounted on the second supporting frame (731); the fourth driving motor (7331) and the fifth linear driving member (7321) are arranged opposite to each other; the first transmission part (7332) is sleeved on the output end of the fourth driving motor (7331); the second transmission part (7333) and the connecting part (734) are connected to each other. The movable part (7333) is sleeved on the shaft sleeve (7322), the second transmission part (7333) is provided with a sliding groove (73331) corresponding to each of the sliding protrusions (73221), the sliding protrusions (73221) are slidably matched with the sliding grooves (73331), the second transmission part (7333) is provided with a mounting groove (73332) corresponding to the connecting sleeve (71621), and the end of the connecting sleeve (71621) facing away from the box body (71) The first transmission part (7332) and the second transmission part (7333) are connected via the connecting part (734); the lifting mechanism (74) comprises a third support frame (741) and a lifting assembly (742); the third support frame (741) is connected to the bottom plate (715); the number of the lifting assemblies (742) is associated with the number of the second through holes (717); and the lifting assemblies (742) and the third through holes (717) are connected to each other. The two through holes (717) are arranged in a one-to-one correspondence, the lifting assembly (742) comprises a sixth linear driving member (7421) and a support seat (7422), the sixth linear driving member (7421) is installed on the third support frame (741), the support seat (7422) is arranged at the output end of the sixth linear driving member (7421), and one end of the support seat (7422) away from the sixth linear driving member (7421) is inserted into the second through hole (717).

9. The fully automatic deburring equipment according to claim 8, characterized in that: The third side plate (713) is provided with a third through hole (718); a support tube (719) is provided on a side of the third side plate (713) close to the bearing plate (22) corresponding to the third through hole (718); the flipping device (70) comprises a rotating mechanism (75) and a pressing rotating plate (76); the rotating mechanism (75) comprises a cylinder (751), a seventh linear drive member (752), a second pressing rod (753), a fourth support frame (754), a fifth driving motor (755) and a transmission assembly (756); the cylinder (751) is rotatably provided on the support tube (719); the seventh linear drive member (752) is provided with a second pressing rod (753); a fourth support frame (754); a fifth driving motor (755) and a transmission assembly (756); the cylinder (751) is rotatably provided on the support tube (719); the seventh linear drive member (752) is provided with a second pressing rod (753 ... ) is installed in the cylinder (751), and the output end of the seventh linear drive member (752) extends into the second through hole (717), the second clamping rod (753) is arranged at the output end of the seventh linear drive member (752), the fourth support frame (754) is arranged opposite to the cylinder (751), the fifth drive motor (755) is installed on the fourth support frame (754), the transmission assembly (756) is connected to the cylinder (751) and the output end of the fifth drive motor (755), and the clamping rotating plate (76) is rotatably arranged on the box body (71) relative to the fourth side plate (714).

10. The fully automatic deburring equipment according to claim 9, characterized in that: Comprising a positioning device (80), the positioning device (80) includes a turntable (81) and a conductive mechanism (82). The turntable (81) is sleeved on the output end of the third drive motor. Two positioning protrusions (811) are arranged at intervals along the circumference on the turntable (81). The conductive mechanism (82) is arranged opposite to the turntable (81). The conductive mechanism (82) includes a housing (821), a connecting rod (822), an elastic member (823), a first conductive sheet (824) and a second conductive sheet (825). An accommodation channel (8211) is provided in the housing (821). The accommodation channel (8211) has a first accommodation cavity (82111) and a second accommodation cavity (82112). The connecting rod (822) is configured in a T-shape. The connecting rod (822) has a first flange (8221) and a second flange (8222). The connecting rod (822) is arranged in the accommodation channel (8211). The first flange (8221) and the second flange (8222) are arranged in one-to-one correspondence with the first accommodation cavity (82111) and the second accommodation cavity (82112). One end of the connecting rod (822) close to the turntable (81) extends out of the accommodation channel (8211). The elastic member (823) is sleeved on the connecting rod (822). One end of the elastic member (823) abuts against the first flange (8221), and the other end of the elastic member (823) abuts against the wall surface of the first accommodation cavity (82111) relative to the first flange (8221). Both the first conductive sheet (824) and the second conductive sheet (825) are arranged in the second accommodation cavity (82112). The first conductive sheet (824) is arranged at one end of the connecting rod (822) having the second flange (8222). The second conductive sheet (825) is arranged opposite to the first conductive sheet (824).

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