Deburring Robot Workstation

Abstract

A deburring robot workstation includes a base, a deburring robot, a first workstation, a second workstation and a tool magazine; the deburring robot, the first workstation, the second workstation and the tool magazine are respectively arranged on the base; the tool magazine is configured to accommodate a plurality of tools; the deburring robot is located between the first workstation and the second workstation; the first workstation is used to receive a first target part, and the second workstation is used to receive a second target part; the deburring robot is configured to select a target tool from the tool magazine to deburr the second target part during the period when the first target part is placed in the first workstation and leaves the first workstation; and to select a target tool from the tool magazine to deburr the first target part during the period when the second target part is placed in the second workstation and leaves the second workstation. The workstation improves the work efficiency of the deburring robot workstation by having the robot deburr another target part during the process of loading and unloading a target part at one of the workstations.

Description

Technical Field

[0001] The present application relates to the field of mechanical processing technology, and in particular to a deburring robot workstation. Background Art

[0002] A deburring robot workstation usually refers to a workstation composed of a series of equipment used to remove burrs on a target part. For example, a workstation that grinds burrs on a car shell to improve its smoothness.

[0003] The general workflow of the current deburring robot workstation is as follows: the robot arm places the target part on the workstation, and the deburring robot in the deburring robot workstation selects the target tool from the tool library according to the specific process requirements and automatically installs the target tool. Then, the deburring robot removes the burrs on the target part according to the preset deburring program.

[0004] However, regarding the current deburring robot workstation, since it takes a certain amount of time for the robot arm to grab the target part and place the target part on the workstation, the deburring robot cannot deburr the target part during the period when the target part is not placed on the workstation. Therefore, the deburring robot is idle. In other words, the deburring robot is not fully utilized. In other words, the working efficiency of the current deburring robot workstation needs to be improved. Summary of the invention

[0005] The purpose of the present application is to provide a deburring robot workstation, which is configured with two workstations, and in the process of loading and unloading target parts at one of the workstations, the deburring robot deburrs the target parts on the other workstation, thereby making full use of the deburring robot and ultimately improving the working efficiency of the deburring robot workstation.

[0006] The present application provides a deburring robot workstation, comprising a base, a deburring robot, a first workstation, a second workstation and a tool magazine; the deburring robot, the first workstation, the second workstation and the tool magazine are respectively arranged on the base; the tool magazine is configured to accommodate a plurality of tools; the deburring robot is located between the first workstation and the second workstation; the first workstation is used to receive a first target part, and the second workstation is used to receive a second target part; the deburring robot is configured to select a target tool from the tool magazine to deburr the second target part during the period when the first target part is placed in the first workstation and leaves the first workstation; and to select a target tool from the tool magazine to deburr the first target part during the period when the second target part is placed in the second workstation and leaves the second workstation.

[0007] The above-mentioned deburring robot workstation is configured with two workstations, and while the target parts are being loaded and unloaded at one of the workstations, the deburring robot deburrs the target parts on the other workstation, so that the working rhythm of the robotic arm and other devices used to grasp the target parts is basically consistent with that of the deburring robot, thereby avoiding the idleness of the deburring robot and the peripheral equipment of the deburring robot workstation as much as possible, thereby improving the working efficiency of the deburring robot workstation.

[0008] Optionally, the distance between the deburring robot and the first workstation is equal to the distance between the deburring robot and the second workstation.

[0009] The above-mentioned deburring robot workstation has equal distances from the deburring robot to the first workstation and the second workstation, so that when the deburring robot performs deburring treatment on the target parts at the two workstations, the expansion or contraction state and posture of the transmission mechanism on the deburring robot are the same, thereby further enabling the deburring robot to perform deburring treatment on the first target part and the second target part respectively in a mirror-image relationship. Accordingly, the time for the deburring robot to perform deburring treatment on the first target part and the second target part is closer, thereby further enabling the working rhythm of the mechanical arm and other devices used to grasp the target parts to be basically consistent with the working rhythm of the deburring robot. Finally, the working efficiency of the deburring robot workstation is further improved.

[0010] Optionally, the tool magazine includes a first tool magazine and a second tool magazine; the first tool magazine is configured to accommodate a number of tools required for deburring the first target part; the second tool magazine is configured to accommodate a number of tools required for deburring the second target part.

[0011] The above-mentioned deburring robot workstation is configured with two tool magazines corresponding to the first workstation and the second workstation respectively, so that the deburring robot can select tools from the two tool magazines to deburr the first target part and the second target part respectively during the work process. The mirroring of the deburring robot workstation configuration is further improved, and the deburring robot's processing of the first target part and the processing of the second target part are correspondingly more mirrored. Thereby further improving the working efficiency of the deburring robot workstation.

[0012] Optionally, the first tool magazine is located between the deburring robot and the first workstation, close to the first workstation; the second tool magazine is located between the deburring robot and the second workstation, close to the second workstation.

[0013] The above-mentioned deburring robot workstation shortens the distance for changing the tool during the deburring process of the first target part by limiting the first tool magazine to be close to the first workstation and the second tool magazine to be close to the second workstation; similarly, shortens the distance for changing the tool during the deburring process of the second target part by limiting the first tool magazine to be close to the first workstation and the second tool magazine to be close to the second workstation. Thus, the time for changing the tool during the deburring process is reduced, and finally the working efficiency of the deburring robot workstation is further improved.

[0014] Optionally, the workstation also includes a side baffle and a top cover; the side baffle surrounds the base, and the lower edge of the side baffle is connected to the edge of the base; the first part of the edge of the top cover is connected to the first part of the upper edge of the side baffle to form a working space with the side baffle and the base; wherein the lower edge of the side baffle is the edge opposite to the upper edge of the side baffle; the second part of the edge of the top cover and the second part of the upper edge of the side baffle form an entrance and exit of the working space, and the entrance and exit are used for the first target part and the second target part to enter and exit the working space; wherein the second part of the edge of the top cover is the part not connected to the side baffle, and the second part of the upper edge of the side baffle is the part not connected to the top cover; the vertical projections of the entrance and exit on the base coincide with the first workstation and the second workstation respectively.

[0015] The above-mentioned deburring robot workstation surrounds the first workstation, the second workstation, the deburring robot and other parts on the base in the formed working space through the side baffles and the top cover, which plays a role in protecting the parts on the base and also prevents the waste processed from the first target part and the second target part from splashing to a certain extent. In addition, by setting the entrance and exit for the first target part and the second target part above the working space, the external equipment such as the robot arm can enter and exit from the entrance and exit above during the process of loading and unloading the target part. Compared with the method of opening the entrance and exit on the side baffle, the interference between the external equipment such as the robot arm and other equipment during the process of loading and unloading the target part is reduced.

[0016] Optionally, a flexible baffle is provided on the edge of the inlet and outlet; the flexible baffle is configured to cover or open the inlet and outlet by changing its covering shape.

[0017] The deburring robot workstation is provided with flexible baffles at the inlet and outlet to shield the corresponding inlet and outlet during the deburring process of the first target part and shield the corresponding inlet and outlet during the deburring process of the second target part, thereby further limiting the splashing of waste generated by the deburring process.

[0018] Optionally, the first workstation includes a first carrying mechanism, a first mounting mechanism and a first driving mechanism; the first mounting mechanism is arranged on the base; the first carrying mechanism is rotatably arranged on the first mounting mechanism, and is used to carry the first target part; the driving output end of the first driving mechanism is connected to the first carrying mechanism, and is used to drive the carrying mechanism to rotate; the second workstation includes a second carrying mechanism, a second mounting mechanism and a second driving mechanism; the second mounting mechanism is arranged on the base; the second carrying mechanism is rotatably arranged on the second mounting mechanism, and is used to carry the second target part; the driving output end of the second driving mechanism is connected to the second carrying mechanism, and is used to drive the carrying mechanism to rotate.

[0019] The above-mentioned deburring robot workstation, through the rotatable arrangement of the first supporting mechanism and the second supporting mechanism, enables the first target part to rotate together with the first supporting mechanism and the second target part to rotate together with the second supporting mechanism during the deburring process of the first target part and the second target part. During the deburring process, the first target part and the second target part are adaptively rotated to cooperate with the deburring process of the deburring robot, so that the deburring robot can change fewer posture changes to achieve more comprehensive deburring of the first target part and the second target part. In other words, the working efficiency of the deburring robot workstation is further improved.

[0020] Optionally, the rotation axis of the first supporting mechanism is perpendicular to the straight line defined by the deburring robot and the first workstation; the rotation axis of the second supporting mechanism is perpendicular to the straight line defined by the deburring robot and the second workstation.

[0021] In the above-mentioned deburring robot workstation, since the rotation axis of the first supporting mechanism is perpendicular to the straight line determined by the deburring robot and the first workstation, the first target part carried on the first supporting mechanism has a movement amplitude of a certain position to be cleaned on it from the closest to the deburring robot to the farthest from the deburring robot during the deburring process. Accordingly, when the position to be cleaned is farthest from the deburring robot, the position to be cleaned that is relatively set to the position is at the closest position to the deburring robot, so in the process of cleaning the latter, it is further convenient for the deburring robot to perform deburring. Similarly, the second supporting mechanism also has similar principles and beneficial effects.

[0022] Optionally, the base includes a substrate and a waste storage mechanism; a hollow portion is provided on the substrate; the hollow portion respectively covers the vertical projections of the first workstation and the second workstation on the substrate; the waste storage mechanism is conical and has an upper opening and a lower opening; the upper opening and the lower opening are arranged opposite to each other, the upper opening is close to the substrate, and the lower opening is far away from the substrate.

[0023] The above-mentioned deburring robot workstation realizes the collection of waste in the working space and discharges it outside the working space by setting a hollow part on the base plate and configuring a corresponding waste storage mechanism. In addition, the conical waste storage mechanism also guides the waste, making it easier for the waste to move to the position of the downward opening, so as to be discharged outside the working space.

[0024] Optionally, the base further includes a waste carrying device; the waste carrying device is located on the side of the substrate facing away from the first workstation; the waste carrying device is configured to move to a position facing the lower opening to receive the waste and transport the waste out of the base.

[0025] The above-mentioned deburring robot workstation, by arranging a waste material carrying device under the base plate to carry the waste material discharged from the lower opening of the waste material storage mechanism, realizes the automatic cleaning of the waste material, thereby further improving the working efficiency and convenience of the deburring robot workstation.

[0026] In summary, the deburring robot workstation provided by the present application is configured with a double station, and in the process of loading and unloading the target part at one of the stations, the deburring robot deburrs the target part on the other station, thereby improving the work efficiency of the deburring robot workstation. By configuring two tool magazines corresponding to the first station and the second station respectively, the processing of the first target part and the processing of the second target part by the deburring robot are more mirrored, thereby further improving the work efficiency of the deburring robot workstation. Furthermore, by setting the first tool magazine close to the first station and the second tool magazine close to the second station, the distance for changing the tool in the middle of the deburring robot deburring process is shortened, further improving the work efficiency of the deburring robot workstation. The first station, the second station, the deburring robot and other parts on the base are surrounded in the formed working space by the side baffle and the top cover, which plays a role in protecting the parts on the base, and also prevents the waste processed from the first target part and the second target part from splashing to a certain extent. In addition, by setting the entrance and exit for the first target part and the second target part above the workspace, external equipment such as a robot arm can enter and exit from the entrance and exit above during the process of raising and lowering the target part, thereby reducing the interference between the robot arm and other peripheral equipment and other equipment during the process of raising and lowering the target part. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A first stereoscopic view of a deburring robot workstation provided in an embodiment of the present application;

[0029] Figure 2 A second stereoscopic view of the deburring robot workstation provided in an embodiment of the present application;

[0030] Figure 3 A third stereoscopic view of the deburring robot workstation provided in an embodiment of the present application;

[0031] Figure 4 A fourth stereoscopic view of the deburring robot workstation provided in an embodiment of the present application;

[0032] Figure 5 A three-dimensional diagram of the deburring robot workstation provided in an embodiment of the present application except for the waste storage mechanism;

[0033] Figure 6 A three-dimensional diagram of a waste storage mechanism in a deburring robot workstation provided in an embodiment of the present application;

[0034] Figure 7 This is a fifth stereoscopic view of the deburring robot workstation provided in an embodiment of the present application.

[0035] Icons: 100, deburring robot workstation; 110, base; 111, substrate; 112, waste storage mechanism; 1121, upper opening; 1122, lower opening; 113, hollow part; 114, waste carrying device; 120, deburring robot; 130, first workstation; 131, first bearing mechanism; 132, first mounting mechanism; 133, first driving mechanism; 140, second workstation; 141, second bearing mechanism; 142, second mounting mechanism; 143, second driving mechanism; 150, tool magazine; 151, first tool magazine; 152, second tool magazine; 160, side baffle; 170, top cover; 180, inlet and outlet; 190, flexible baffle; 210, first target part; 220, second target part. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0038] 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.

[0039] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0040] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0041] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] Please refer to Figure 1 , Figure 11 is a first stereogram of a deburring robot 120 workstation 100 provided in an embodiment of the present application. The deburring robot 120 workstation 100 provided in an embodiment of the present application may include a base 110, a deburring robot 120, a first station 130, a second station 140, and a tool magazine 150. The deburring robot 120, the first station 130, the second station 140, and the tool magazine 150 may be respectively arranged on the base 110. The tool magazine 150 may be configured to accommodate a plurality of tools. The deburring robot 120 may be located between the first station 130 and the second station 140. The first station 130 may be used to receive a first target part 210, and the second station 140 may be used to receive a second target part 220. The deburring robot 120 can be configured to select a target tool from the tool magazine 150 to deburr the second target part 220 during the period when the first target part 210 is placed in the first workstation 130 and leaves the first workstation 130; and to select a target tool from the tool magazine 150 to deburr the first target part 210 during the period when the second target part 220 is placed in the second workstation 140 and leaves the second workstation 140.

[0043] The first station 130 and the second station 140 may have the same structure. The tool library 150 may store a number of tools such as turning tools, milling cutters, file shutter blades, wire brushes, etc., so that the deburring robot 120 can select the corresponding target tool according to the actual working conditions. The first target part 210 and the second target part 220 may be the same target part, for example: a car shell.

[0044] A conveyor belt and a robotic arm and other equipment may be arranged around the deburring robot 120 workstation 100. The conveyor belt may be used to transport the first target part 210 and the second target part 220 to the working area of ​​the robotic arm, and the robotic arm may be used to grab the first target part 210 and the second target part 220 and place them at the first station 130 and the second station 140 respectively, and after the deburring process is completed, the first target part 210 and the second target part 220 are grabbed from the first station 130 and the second station 140 respectively and leave the station.

[0045] In the actual working process, the first target part 210 can be grabbed by the robot arm and placed in the first station 130, and then the deburring robot 120 selects the corresponding target tool to deburr the first target part 210. During the process of the deburring robot 120 deburring the first target part 210, the second target part 220 can be grabbed by the robot arm and placed in the second station 140. The deburring robot 120 is controlled by the preset deburring program, and the deburring robot 120 can just complete the deburring process of the first target part 210 at this time, then the robot arm can grab the first target part 210 from the first station 130 and leave the first station 130, and then grab the next first target part 210 and place it in the first station 130. Similarly, the deburring robot 120 is controlled by the preset deburring program, and the deburring robot 120 can just complete the deburring process of the second target part 220 at this time. Then the deburring robot 120 selects the corresponding target tool to deburr the first target part 210. During this process, the robot arm grabs the second target part 220 that has been deburred from the second station 140 and leaves, and then grabs the next second target part 220 and places it in the second station 140... This cycle repeats until the deburring robot 120 workstation 100 stops working.

[0046] During the above implementation process, through the configuration of double workstations, and in the process of loading and unloading the target parts at one of the workstations, the deburring robot 120 deburrs the target parts on the other workstation, so that the working rhythm of the robotic arm and other devices used to grasp the target parts is basically consistent with that of the deburring robot 120, thereby avoiding the idleness of the deburring robot 120 and the peripheral equipment of the deburring robot 120 workstation 100 as much as possible, thereby improving the working efficiency of the deburring robot 120 workstation 100.

[0047] Please continue to refer to Figure 1 In some optional embodiments, the distance between the deburring robot 120 and the first workstation 130 may be equal to the distance between the deburring robot 120 and the second workstation 140 .

[0048] The deburring robot 120, the first station 130 and the second station 140 may be collinearly distributed, and the deburring robot 120 may be located between the first station 130 and the second station 140. The deburring robot 120, the first station 130 and the second station 140 may also be non-collinearly distributed, that is, the three are distributed in an isosceles triangle.

[0049] In the above implementation process, the distances between the deburring robot 120 and the first workstation 130 and the second workstation 140 are equal, so that when the deburring robot 120 performs deburring processing on the target parts on the two workstations, the expansion or contraction state and posture of the transmission mechanism on the deburring robot 120 are the same, so that the deburring robot 120 can perform deburring processing on the first target part 210 and the second target part 220 respectively in a mirror-image relationship. Accordingly, the time for the deburring robot 120 to perform deburring processing on the first target part 210 and the second target part 220 is closer, so that the working rhythm of the mechanical arm and other devices used to grasp the target parts is basically consistent with that of the deburring robot 120. Finally, the working efficiency of the deburring robot 120 workstation 100 is further improved.

[0050] Please continue to refer to Figure 1 In some optional embodiments, the tool magazine 150 may include a first tool magazine 151 and a second tool magazine 152. The first tool magazine 151 may be configured to accommodate a plurality of tools required for deburring the first target part 210. The second tool magazine 152 may be configured to accommodate a plurality of tools required for deburring the second target part 220.

[0051] The first tool magazine 151 and the second tool magazine 152 may have the same structure, and the number and types of tools stored therein may also be the same.

[0052] In the actual working process, when the first target part 210 is placed on the first workstation 130, the deburring robot 120 can select a tool in the first tool magazine 151 as a target tool to deburr the first target part 210. When the second target part 220 is placed on the second workstation 140, the deburring robot 120 can select a tool in the second tool magazine 152 as a target tool to deburr the second target part 220.

[0053] In the above implementation process, by configuring two tool magazines 150 to correspond to the first workstation 130 and the second workstation 140 respectively, the deburring robot 120 can select tools from the two tool magazines 150 to perform deburring on the first target part 210 and the second target part 220 during operation. The mirroring of the configuration of the deburring robot 120 workstation 100 is further improved, and the processing of the first target part 210 and the processing of the second target part 220 by the deburring robot 120 are more mirrored accordingly. Thereby, the working efficiency of the deburring robot 120 workstation 100 is further improved.

[0054] Please continue to refer to Figure 1In some optional embodiments, the first tool magazine 151 may be located between the deburring robot 120 and the first workstation 130 , close to the first workstation 130 . The second tool magazine 152 may be located between the deburring robot 120 and the second workstation 140 , close to the second workstation 140 .

[0055] The distance between the first tool magazine 151 and the first station 130 may be equal to the distance between the second tool magazine 152 and the second station 140. Furthermore, the position of the first tool magazine 151 and the position of the second tool magazine 152 may be symmetrical with respect to the perpendicular midline between the two stations.

[0056] In the above implementation process, by limiting the first tool magazine 151 to be close to the first workstation 130 and the second tool magazine 152 to be close to the second workstation 140, the distance for replacing the tool during the deburring process of the deburring robot 120 on the first target part 210 is shortened; similarly, the distance for replacing the tool during the deburring process of the deburring robot 120 on the second target part 220 is shortened. Thus, the time for replacing the tool during the deburring process is reduced, and finally the working efficiency of the deburring robot 120 workstation 100 is further improved.

[0057] Please refer to Figure 2 , Figure 2 1 is a second stereoscopic view of the deburring robot 120 workstation 100 provided in an embodiment of the present application. In some optional embodiments, the deburring robot 120 workstation 100 provided in an embodiment of the present application may further include a side baffle 160 and a top cover 170. The side baffle 160 may surround the base 110, and the lower edge of the side baffle 160 may be connected to the edge of the base 110. The first portion of the edge of the top cover 170 may be connected to the first portion of the upper edge of the side baffle 160 to form a working space with the side baffle 160 and the base 110. Among them, the lower edge of the side baffle 160 may be an edge opposite to the upper edge of the side baffle 160. The second portion of the edge of the top cover 170 and the second portion of the upper edge of the side baffle 160 may form an inlet and outlet 180 of the working space, and the inlet and outlet 180 may be used for the first target part 210 and the second target part 220 to enter and exit the working space. The second portion of the edge of the top cover 170 may be a portion not connected to the side baffle 160, and the second portion of the upper edge of the side baffle 160 may be a portion not connected to the top cover 170. The vertical projection of the inlet and outlet 180 on the base 110 may overlap with the first station 130 and the second station 140, respectively.

[0058] That is, the deburring robot 120, the first station 130, the second station 140, the tool magazine 150 and other parts on the base 110 can be surrounded in the formed work space by the side baffle 160 and the top cover 170. The entrance and exit 180 of the work space is located at the top. In the process of raising and lowering the first target part 210 and the second target part 220, the first target part 210 and the second target part 220 can enter and exit the work space through the entrance and exit 180.

[0059] The number of the inlet and outlet 180 may be two. Accordingly, the first target part 210 and the second target part 220 enter and exit the workspace through the two inlet and outlet 180 respectively. The shape of the formed inlet and outlet 180 may be as follows: Figure 2 The square shown may also be a circle or other shapes.

[0060] In the above implementation process, the first workstation 130, the second workstation 140, the deburring robot 120 and other parts on the base 110 are surrounded in the formed working space by the side baffle 160 and the top cover 170, which plays a role in protecting the parts on the base 110 and also prevents the waste processed from the first target part 210 and the second target part 220 from splashing to a certain extent. In addition, by setting the inlet and outlet 180 for the first target part 210 and the second target part 220 to enter and exit above the working space, the external equipment such as the robot arm enters and exits from the upper inlet and outlet 180 during the process of loading and unloading the target parts. Compared with the method in which the inlet and outlet 180 is opened on the side baffle 160, the interference between the external equipment such as the robot arm and other equipment during the process of loading and unloading the target parts is reduced.

[0061] Please refer to Figure 3 , Figure 3 This is a third stereogram of the deburring robot 120 workstation 100 provided in an embodiment of the present application. In some optional embodiments, a flexible baffle 190 may be provided on the edge of the inlet and outlet 180. The flexible baffle 190 may be configured to cover or open the inlet and outlet 180 by changing its covering form.

[0062] Figure 3 As shown in FIG. 1 , the left inlet and outlet 180 is in a blocked state, and the right inlet and outlet 180 is in an open state.

[0063] For example, the flexible baffle 190 may be a rolling door, and its covering state may refer to its unfolded state and rolled state. When the rolling door is unfolded, the entrance 180 can be covered; when the rolling door is rolled, the entrance 180 can be opened.

[0064] During the process of the deburring robot 120 deburring the first target part 210, the flexible baffle 190 can cover the inlet and outlet 180 corresponding to the first station 130 to further prevent the waste material on the first target part 210 from splashing. During this period, the inlet and outlet 180 corresponding to the second station 140 can be opened to allow the second target part 220 to enter the workspace. After the deburring process of the first target part 210 is completed, the flexible baffle 190 corresponding to the first station 130 can be opened to allow the first target part 210 to leave the first station 130 and the workspace. Accordingly, before the deburring process of the second target part 220 is started, the corresponding inlet and outlet 180 can be covered by the flexible baffle 190 corresponding to the second station 140.

[0065] In the above implementation process, the flexible baffle 190 is provided at the inlet and outlet 180 to shield the corresponding inlet and outlet 180 during the deburring process of the first target part 210 and shield the corresponding inlet and outlet 180 during the deburring process of the second target part 220, thereby further limiting the splashing of waste generated by the deburring process.

[0066] Please refer to Figure 4 , Figure 4 1 is a fourth stereogram of the deburring robot 120 workstation 100 provided in an embodiment of the present application. In some optional embodiments, the first station 130 may include a first bearing mechanism 131, a first mounting mechanism 132, and a first driving mechanism 133. The first mounting mechanism 132 may be disposed on the base 110. The first bearing mechanism 131 may be rotatably disposed on the first mounting mechanism 132, and may be used to carry the first target part 210. The driving output end of the first driving mechanism 133 may be connected to the first bearing mechanism 131, and may be used to drive the bearing mechanism to rotate. The second station 140 may include a second bearing mechanism 141, a second mounting mechanism 142, and a second driving mechanism 143. The second mounting mechanism 142 may be disposed on the base 110. The second bearing mechanism 141 may be rotatably disposed on the second mounting mechanism 142, and may be used to carry the second target part 220. The driving output end of the second driving mechanism 143 may be connected to the second bearing mechanism 141, and may be used to drive the bearing mechanism to rotate.

[0067] The first bearing mechanism 131 may be a bearing plate, and components such as fixing parts and limit parts are arranged on it to prevent the first target part 210 from being separated. The first mounting mechanism 132 may be a mounting frame arranged at a corresponding position on the base 110. The first bearing mechanism 131 may also include a rotating connecting pin or a rotating connecting shaft, and may be rotatably mounted on the mounting frame through the rotating connecting pin or the rotating connecting shaft. The first driving mechanism 133 may include a servo motor and a reducer, and its torque output shaft may serve as the driving output end of the entire first driving mechanism 133, and be connected to the rotating connecting pin or the rotating connecting shaft on the first bearing mechanism 131 to realize the driving of the first bearing mechanism 131.

[0068] Correspondingly, the second supporting mechanism 141 , the second mounting mechanism 142 , and the second driving mechanism 143 may respectively have the same structures as the first supporting mechanism 131 , the first mounting mechanism 132 , and the first driving mechanism 133 .

[0069] In the above implementation process, the first carrier mechanism 131 and the second carrier mechanism 141 are rotatably arranged, so that in the process of deburring the first target part 210 and the second target part 220, the first target part 210 can rotate together with the first carrier mechanism 131, and the second target part 220 can rotate together with the second carrier mechanism 141. In the process of deburring, the first target part 210 and the second target part 220 are adaptively rotated to cooperate with the deburring process of the deburring robot 120, so that the deburring robot 120 can change less posture changes to achieve more comprehensive deburring of the first target part 210 and the second target part 220. In other words, the working efficiency of the deburring robot 120 workstation 100 is further improved.

[0070] Please continue to refer to Figure 4 In some optional embodiments, the rotation axis of the first supporting mechanism 131 may be perpendicular to the straight line defined by the deburring robot 120 and the first workstation 130 . The rotation axis of the second supporting mechanism 141 may be perpendicular to the straight line defined by the deburring robot 120 and the second workstation 140 .

[0071] In the above implementation process, since the rotation axis of the first supporting mechanism 131 is perpendicular to the straight line determined by the deburring robot 120 and the first workstation 130, the first target part 210 carried by the first supporting mechanism 131 has a movement range of a certain position to be cleaned from the closest to the deburring robot 120 to the farthest from the deburring robot 120 during the deburring process. Accordingly, when the position to be cleaned is farthest from the deburring robot 120, the position to be cleaned that is relatively set relative to the position is at the position closest to the deburring robot 120, so in the process of cleaning the latter, it is further convenient for the deburring robot 120 to perform deburring. Similarly, the second supporting mechanism 141 also has a similar principle.

[0072] Please refer to Figures 5 to 7 , Figure 5 It is a three-dimensional diagram of the other parts of the deburring robot 120 workstation 100 except the waste storage mechanism 112 provided in the embodiment of the present application; Figure 6 is a three-dimensional diagram of a waste storage mechanism 112 in a workstation 100 of a deburring robot 120 provided in an embodiment of the present application; Figure 7 It is a fifth stereoscopic view of the deburring robot 120 workstation 100 provided in an embodiment of the present application. In some optional embodiments, the base 110 may include a substrate 111 and a waste storage mechanism 112. A hollow portion 113 may be provided on the substrate 111. The hollow portion 113 may respectively cover the vertical projections of the first station 130 and the second station 140 on the substrate 111. The waste storage mechanism 112 is conical and may have an upper opening 1121 and a lower opening 1122. The upper opening 1121 and the lower opening 1122 may be arranged opposite to each other, the upper opening 1121 may be close to the substrate 111, and the lower opening 1122 may be far away from the substrate 111.

[0073] That is to say, the substrate 111 has a certain height compared to the target ground where the deburring robot 120 workstation 100 is set. The waste can be discharged to the bottom of the substrate 111 through the accommodating mechanism, so as to achieve the elimination of the waste outside the working space. The number of hollow parts 113 can be two, and they correspond to the first station 130 and the second station 140 respectively. The accommodating mechanism can be a quadrangular pyramid or other shapes, for example: the shape of its upper opening 1121 is consistent with the hollow part 113. In the embodiment of the present application, the hollow part 113 is square, and the lower opening 1122 can be circular. The part between the upper opening 1121 and the lower opening 1122 can be a transition from a quadrangular pyramid to a cone from top to bottom.

[0074] In the above implementation process, the waste in the working space is collected and discharged out of the working space by setting the hollow portion 113 on the substrate 111 and configuring the corresponding waste storage mechanism 112. In addition, the conical waste storage mechanism 112 also guides the waste, making it easier for the waste to move toward the position of the lower opening 1122, so as to be discharged out of the working space.

[0075] Please continue to refer to Figure 7 In some optional embodiments, the base 110 may further include a waste carrier 114. The waste carrier 114 may be located on the side of the substrate 111 facing away from the first station 130. The waste carrier 114 may be configured to move to a position facing the lower opening 1122 to receive waste and transport the waste out of the base 110.

[0076] The waste carrier 114 may be a transport trolley and may be located below the base plate 111 to receive the waste removed from the lower opening 1122 of the waste storage mechanism 112. A guide rail adapted to the waste carrier 114 may also be provided on the target ground where the deburring robot 120 workstation 100 is set to guide the waste carrier 114 to transport the waste to a target location such as a waste collection station.

[0077] In the above implementation process, the waste carrying device 114 is arranged below the base plate 111 to carry the waste removed from the lower opening 1122 of the waste storage mechanism 112, thereby realizing automatic cleaning of the waste, thereby further improving the working efficiency and convenience of the deburring robot 120 workstation 100.

[0078] In summary, the deburring robot 120 workstation 100 provided in each embodiment of the present application is configured with a double station, and in the process of loading and unloading a target part at one station, the deburring robot 120 performs deburring processing on the target part at the other station, thereby improving the work efficiency of the deburring robot 120 workstation 100. By configuring two tool magazines 150 corresponding to the first station 130 and the second station 140 respectively, the processing of the first target part 210 and the processing of the second target part 220 by the deburring robot 120 are more mirrored, thereby further improving the work efficiency of the deburring robot 120 workstation 100. Furthermore, by setting the first tool magazine 151 close to the first station 130 and the second tool magazine 152 close to the second station 140, the distance for changing the tool in the middle of the deburring processing of the deburring robot 120 is shortened, further improving the work efficiency of the deburring robot 120 workstation 100. The first station 130, the second station 140, the deburring robot 120 and other parts on the base 110 are surrounded in the formed working space by the side baffle 160 and the top cover 170, which plays a role in protecting the parts on the base 110 and also prevents the waste processed from the first target part 210 and the second target part 220 from splashing to a certain extent. In addition, by setting the inlet and outlet 180 for the first target part 210 and the second target part 220 to enter and exit above the working space, the external equipment such as the robot arm can enter and exit from the upper inlet and outlet 180 during the process of loading and unloading the target parts, thereby reducing the interference between the external equipment such as the robot arm and other equipment during the process of loading and unloading the target parts.

[0079] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A deburring robot workstation, characterized in that: It includes a base, a deburring robot, a first station, a second station and a tool magazine; The deburring robot, the first workstation, the second workstation and the tool magazine are respectively arranged on the base; The tool magazine is configured to accommodate a number of tools; The deburring robot is located between the first station and the second station; The first station is used to receive a first target part, and the second station is used to receive a second target part; The deburring robot is configured to select a target tool from the tool library to deburr the second target part during the period when the first target part is placed in the first workstation and leaves the first workstation; and to select a target tool from the tool library to deburr the first target part during the period when the second target part is placed in the second workstation and leaves the second workstation.

2. The deburring robot workstation according to claim 1, characterized in that: The distance between the deburring robot and the first workstation is equal to the distance between the deburring robot and the second workstation.

3. The deburring robot workstation according to claim 1, characterized in that: The tool library includes a first tool library and a second tool library; The first tool magazine is configured to accommodate a number of tools required for deburring the first target part; The second tool magazine is configured to accommodate a plurality of tools required for deburring the second target part.

4. The deburring robot workstation according to claim 3, characterized in that: The first tool magazine is located between the deburring robot and the first workstation and close to the first workstation; The second tool magazine is located between the deburring robot and the second workstation and close to the second workstation.

5. The deburring robot workstation according to claim 1, characterized in that: The workstation also includes side baffles and a top cover; The side baffle surrounds the base, and the lower edge of the side baffle is connected to the edge of the base; The first portion of the edge of the top cover is connected to the first portion of the upper edge of the side baffle to form a working space with the side baffle and the base; wherein the lower edge of the side baffle is an edge opposite to the upper edge of the side baffle; The second portion of the edge of the top cover and the second portion of the upper edge of the side baffle form an entrance and exit of the working space, and the entrance and exit are used for the first target part and the second target part to enter and exit the working space; wherein the second portion of the edge of the top cover is a portion not connected to the side baffle, and the second portion of the upper edge of the side baffle is a portion not connected to the top cover; The vertical projections of the inlet and outlet on the base coincide with the first workstation and the second workstation respectively.

6. The deburring robot workstation according to claim 5, characterized in that: A flexible baffle is provided on the edge of the inlet and outlet; The flexible baffle is configured to cover or open the inlet and outlet by changing its covering shape.

7. The deburring robot workstation according to claim 1, characterized in that: The first station includes a first carrying mechanism, a first mounting mechanism and a first driving mechanism; The first mounting mechanism is disposed on the base; The first carrying mechanism is rotatably disposed on the first mounting mechanism and is used to carry the first target component; The driving output end of the first driving mechanism is connected to the first supporting mechanism and is used to drive the supporting mechanism to rotate; The second station includes a second carrying mechanism, a second mounting mechanism and a second driving mechanism; The second mounting mechanism is disposed on the base; The second carrying mechanism is rotatably disposed on the second mounting mechanism and is used to carry the second target part; The driving output end of the second driving mechanism is connected to the second supporting mechanism and is used to drive the supporting mechanism to rotate.

8. The deburring robot workstation according to claim 7, characterized in that: The rotation axis of the first bearing mechanism is perpendicular to a straight line defined by the deburring robot and the first workstation; The rotation axis of the second supporting mechanism is perpendicular to a straight line defined by the deburring robot and the second workstation.

9. The deburring robot workstation according to claim 1, characterized in that: The base includes a substrate and a waste storage mechanism; The substrate is provided with a hollow portion; The hollowed-out portion covers vertical projections of the first station and the second station on the substrate respectively; The waste storage mechanism is conical and has an upper opening and a lower opening; the upper opening and the lower opening are arranged opposite to each other, the upper opening is close to the substrate, and the lower opening is far away from the substrate.

10. The deburring robot workstation according to claim 9, characterized in that: The base also includes a waste carrier; The waste carrying device is located on a side of the substrate facing away from the first station; The waste carrying device is configured to move to a position where the lower opening faces to receive the waste and transport the waste out of the base.

Images