Deburring robot and automatic tool changing system

Abstract

The invention relates to the technical field of deburring robots, in particular to a deburring robot and an automatic tool changing system.The deburring robot comprises a base of a rectangular structure; the mechanical arm is fixedly mounted at the upper end of the base; the deburring unit is installed at the end of the mechanical arm, the mechanical arm can drive the deburring unit to conduct multi-degree-of-freedom adjustment, the deburring unit is used for removing burrs existing on the surface of a product, and the deburring unit comprises a fixing sleeve, a driving assembly, a clamping assembly, a cleaning tool and an installation sleeve; the driving assembly, the clamping assembly and the cleaning tool are combined to form a dynamic telescopic mechanism, the clamping assembly is pushed downwards along the sliding groove, so that the cleaning tool extends out of the mounting sleeve, and the grinding stroke of the tool is adjustable; a telescopic sleeve of the driving assembly follows up synchronously, so that the continuity of power transmission is kept; the cutter can go deep into the cavity, and the problem that a traditional fixed cutter cannot machine a narrow and deep structure is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deburring robots, in particular to a deburring robot and an automatic tool changing system. BACKGROUND

[0002] In the field of mechanical manufacturing, after the product goes through the processes of casting, stamping, machining, etc., burrs (such as metal flash, plastic overflow) are easily generated on the surface. These burrs not only affect the assembly accuracy and safety of the product, but also may accelerate the wear of the parts.

[0003] For example, a Chinese patent with the publication number CN119567287A and the title "A deburring robot workstation" discloses that the cutter can move relative to the guide seat along with the floating seat. When the cutter is subjected to an axial force from the workpiece during the deburring process, the floating seat on both sides is subjected to the force from the guide seat and the machining workpiece, the size of the two changes, and the floating seat on both sides is subjected to uneven force. When the cutter is subjected to a radial force during the deburring process, the cutter drives the floating seat and the guide seat to press tightly to one side of the cylinder, and the floating seat 74 can rotate relative to the limiting bolt to produce a floating effect in the radial direction. Thus, the deburring robot of the present application can compensate for the dimensional accuracy deviation and positioning error of the workpiece, improve the deburring effect, and reduce the risk of tool breakage.

[0004] The above-mentioned prior art can also achieve the function of deburring the workpiece product during use, but the cutter driving unit and the clamping mechanism of the above-mentioned prior art are rigidly fixed, which limits the extension and retraction stroke of the cutter and prevents it from being deeply inserted into the cavity. Secondly, when polishing different types of burrs, the cutter cannot be quickly replaced, the tool magazine is independent of the mechanical arm, the mechanical arm needs to be moved and positioned for a long distance during tool changing, the precision error is large, and there is a lack of dynamic locking mechanism for the cutter, which may cause the cutter to shake or even loosen during high-speed rotation, affecting the deburring effect of the product. Therefore, there is still room for improvement in the existing deburring robot and automatic tool changing system. SUMMARY

[0005] In order to solve the problems in the background art, the present application provides a deburring robot and an automatic tool changing system.

[0006] The deburring robot and the automatic tool changing system provided by the present application adopt the following technical solutions: A deburring robot, comprising a base, which is in a rectangular structure.

[0007] A mechanical arm, which is fixedly installed on the upper end of the base.

[0008] A deburring unit is installed at the end of a mechanical arm, the mechanical arm can drive the deburring unit to adjust in multiple degrees of freedom, and the deburring unit is used for removing burrs existing on the surface of a product.

[0009] The deburring unit comprises a fixed sleeve, a driving assembly, a clamping assembly, a cleaning tool and a mounting sleeve, the fixed sleeve is installed at the end of the mechanical arm through screws, the fixed sleeve has a cylindrical structure, an installation hole is formed in the upper end of the fixed sleeve, the driving assembly is slidably arranged in the installation hole, a sliding slot is formed in the middle of the fixed sleeve, the clamping assembly is installed in the sliding slot, the clamping assembly can move vertically up and down along the length direction of the sliding slot, the cleaning tool is detachably installed in the middle of the clamping assembly, a guide hole is installed at the lower end of the fixed sleeve, and the mounting sleeve is installed at the lower end of the fixed sleeve through threaded cooperation, when the clamping assembly moves downward, the cleaning tool is extended out of the guide hole and the inside of the mounting sleeve, and the driving assembly is used for driving the cleaning tool to rotate at high speed.

[0010] Further, the driving assembly comprises a sliding sleeve, a telescopic sleeve and a driving end, the sliding sleeve is slidably arranged in the installation hole, the sliding sleeve has a cylindrical hollow structure, the lower end of the sliding sleeve is fixedly connected with the clamping assembly, the telescopic sleeve is slidably arranged in the sliding sleeve, and the driving end is installed at the lower end of the telescopic sleeve, the telescopic sleeve can drive the driving end to be connected or separated with the cleaning tool.

[0011] Further, the clamping assembly comprises a fixed frame, a sliding frame, a clamping plate and a pressing mechanism, the fixed frame is slidably arranged in the sliding slot, the middle of the fixed frame is a hollow structure, the upper end of the fixed frame is provided with a through hole in communication with the inside of the sliding sleeve, the lower end of the fixed frame is provided with an arc-shaped opening, the sliding frame is slidably arranged in the fixed frame, the clamping plates are symmetrically installed at the end of the sliding frame, the number of the clamping plates is four, the clamping plates are provided with a clamping interval therebetween, and the pressing mechanism is installed on the clamping plates.

[0012] Further, the pressing mechanism comprises a pressing frame and a guide groove, the clamping plate is provided with a counterbore, the pressing frame is slidably arranged in the counterbore, the inner side surface of the pressing frame is a rough surface, a guide rod is installed on the outer side of the pressing frame, the guide groove is formed in the inner wall of the fixed frame, and the end of the guide rod is slidably arranged in the guide groove.

[0013] Further, the depth of the guide groove gradually increases when the guide groove extends from the middle of the fixed frame to the end.

[0014] Further, the sliding frame is installed with a plug-in frame, and the cleaning tool is provided with a plug hole matched with the plug-in frame.

[0015] Further, the cleaning tool comprises a mounting frame, a rotating shaft and a tool head, the mounting frame is located inside the clamping area, the rotating shaft is mounted in the middle of the mounting frame through a bearing, the upper end of the rotating shaft is provided with a mounting seat, the mounting seat is inserted and matched with the driving end, the lower end of the rotating shaft is provided with the tool head, and the tool head is one of a rotary file, a grinding wheel, a grinding head and a brush.

[0016] In addition, the application also provides an automatic tool changing system of the deburring robot, the automatic tool changing system comprises a connecting frame, a shell frame and a tool changing unit, the connecting frame is fixedly installed on the outside of the fixed sleeve, the lower end of the connecting frame is provided with the shell frame, the shell frame is sleeved on the outside of the fixed sleeve, the shell frame is internally provided with the tool changing unit, and the tool changing unit can automatically adjust and change the cleaning tool in the clamping assembly.

[0017] Further, the tool changing unit comprises a rotating cylinder and a placing frame, the shell frame is internally provided with the rotating cylinder, the rotating cylinder can intermittently rotate in the shell frame, the placing frame is installed on the upper end of the inner side wall of the rotating cylinder, the placing frame has a circular ring structure, the placing frame is uniformly provided with placing grooves, and the placing grooves are matched with the cleaning tool.

[0018] Further, the cleaning tool is provided with an insertion rod, the insertion rod is provided with a rubber protrusion, and the placing frame is provided with an insertion hole matched with the insertion rod.

[0019] Beneficial effects Compared with the prior art, the application provides a deburring robot and an automatic tool changing system, which has the following beneficial effects: 1. The mechanical arm can realize full-surface and dead-angle-free machining, the multi-degree-of-freedom mechanical arm cooperatively controls to realize spatial omnidirectional pose adjustment, can accurately fit complex curved surface profiles (such as turbine blades and multi-cavity bodies), eliminates blind areas caused by manual polishing, and improves the burr removal rate.

[0020] 2. The driving assembly, the clamping assembly and the cleaning tool are combined to form a dynamic telescopic mechanism, the clamping assembly is pushed downward along the sliding groove, so that the cleaning tool is stretched out of the mounting sleeve, and the polishing stroke of the tool can be adjusted; the telescopic sleeve of the driving assembly is synchronously followed, so that the continuity of power transmission is maintained; the tool can be deeply inserted into the cavity, and the pain point that the traditional fixed tool cannot machine narrow and deep structures is solved.

[0021] 3. The tool changing unit can be accurately matched with the deburring unit, the tool can be adjusted according to the use demand during deburring machining of the product, the air bag at the end of the insertion frame can be inflated to realize radial locking of the tool, so that the phenomenon of loosening is avoided, the rough surface of the pressing mechanism can press the surface of the tool, vibration caused by high-speed rotation is inhibited, and the deburring precision is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be further described below in conjunction with the drawings and examples.

[0023] Figure 1 is a schematic diagram of the stereoscopic structure of the application.

[0024] Figure 2 is a schematic diagram of the stereoscopic cut structure between the mechanical arm, the deburring unit, the connecting frame, the shell frame and the tool changing unit of the application.

[0025] Figure 3 is a schematic diagram of the stereoscopic structure between the deburring unit, the connecting frame and the shell frame of the application.

[0026] Figure 4 is an exploded view between the deburring unit, the connecting frame and the shell frame of the application.

[0027] Figure 5 is a sectional view between the deburring unit, the connecting frame and the shell frame of the application.

[0028] Figure 6 is a schematic diagram of the stereoscopic structure of the deburring unit of the application.

[0029] Figure 7 is a first schematic diagram of the stereoscopic cut structure of the deburring unit of the application.

[0030] Figure 8 is a second schematic diagram of the stereoscopic cut structure of the deburring unit of the application.

[0031] Figure 9 is a schematic diagram of the stereoscopic structure of the clamping assembly of the application.

[0032] Figure 10 is a schematic diagram of the sectional cut structure between the shell frame and the tool changing unit of the application.

[0033] Legend of reference signs: 1, base; 2, mechanical arm; 3, deburring unit; 31, fixed sleeve; 32, driving assembly; 321, sliding sleeve; 322, telescopic sleeve; 323, driving end; 33, clamping assembly; 331, fixed frame; 332, sliding frame; 3321, plug-in frame; 333, clamping plate; 334, pressing mechanism; 3341, pressing frame; 3342, guide groove; 34, cleaning tool; 341, mounting frame; 342, rotating shaft; 343, tool bit; 35, mounting sleeve; 4, connecting frame; 5, shell frame; 6, tool changing unit; 61, rotating cylinder; 62, placing frame. DETAILED DESCRIPTION

[0034] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present application.

[0035] Referring to Figures 1-10 The burr removing robot provided in the embodiments of the present application comprises a base 1 in a rectangular structure, a mechanical arm 2 fixedly installed on the upper end of the base 1, and a burr removing unit 3 installed on the end of the mechanical arm 2. The mechanical arm 2 can drive the burr removing unit 3 to adjust in multiple degrees of freedom, and the burr removing unit 3 is used for removing burrs existing on the surface of a product.

[0036] In the above technical solution, when the product is burr-removed, the burr removing unit 3 is moved along a preset path by the mechanical arm 2, and the burr removing unit 3 is ground by high-speed rotation to remove the burrs on the surface of the product.

[0037] The mechanical arm 2 comprises a rotating platform, an adjusting arm one, an adjusting arm two, a rotating platform, and a turnover platform. The rotating platform is installed on the upper end of the base 1, the adjusting arm one is installed on the upper end of the rotating platform, the rotating platform can drive the adjusting arm one to rotate around the Z axis, the adjusting arm two is installed on the upper end of the adjusting arm one, the adjusting arm one and the adjusting arm two can move arbitrarily in a vertical plane, the rotating platform is installed on the end of the adjusting arm two, the rotating platform can rotate around the X axis, the turnover platform is installed on the end of the rotating platform, the burr removing unit 3 is installed on the lower end of the turnover platform through a screw, and the turnover platform can drive the burr removing unit 3 to rotate around the Y axis, so that the burr removing unit 3 can adjust in multiple degrees of freedom, and grinding processing of the product in each angle is met.

[0038] Referring to Figures 6-8 As shown in the figure, the burr removing unit 3 comprises a fixed sleeve 31, a driving assembly 32, a clamping assembly 33, a cleaning tool 34, and a mounting sleeve 35. The fixed sleeve 31 is installed on the end of the mechanical arm 2 through a screw, and is in a cylindrical structure. An installation hole is formed in the upper end of the fixed sleeve 31, the driving assembly 32 is slidably arranged in the installation hole, a sliding slot is formed in the middle of the fixed sleeve 31, the clamping assembly 33 is installed in the sliding slot, the clamping assembly 33 can move vertically up and down along the length direction of the sliding slot, the cleaning tool 34 is detachably installed in the middle of the clamping assembly 33, a guide hole is formed in the lower end of the fixed sleeve 31, and the mounting sleeve 35 is installed on the lower end of the fixed sleeve 31 through a threaded cooperation. When the clamping assembly 33 moves downward, the cleaning tool 34 is extended from the guide hole and the inside of the mounting sleeve 35, and the driving assembly 32 is used for driving the cleaning tool 34 to rotate at high speed.

[0039] In the above technical solution, the fixed sleeve 31 is installed at the lower end of the turnover platform, the cleaning tool 34 is detachably installed inside the clamping assembly 33, when deburring processing of the product is needed, the clamping assembly 33 drives the cleaning tool 34 to move downward, so that the lower end of the cleaning tool 34 can extend out of the guide hole and the inside of the installation sleeve 35, the driving assembly 32 can move synchronously with the clamping assembly 33, and the lower end of the driving assembly 32 can be inserted and matched with the upper end of the cleaning tool 34, the driving assembly 32 can drive the cleaning tool 34 to rotate at high speed to remove burrs on the surface of the product.

[0040] The clamping assembly 33 can be pushed downward along the sliding groove, so that the cleaning tool 34 extends out of the lower end of the installation sleeve 31, so that the polishing stroke of the cleaning tool 34 can be adjusted, and the tool can be deeply inserted into the cavity to improve the adaptability of deburring.

[0041] When different types and characteristics of burrs need to be removed, the cleaning tool 34 needs to be disassembled and replaced, when the tool is replaced, the clamping assembly 33 is first reset to the initial position, and the driving assembly 32 is separated from the upper end of the cleaning tool 34, then the clamping assembly 33 pushes the cleaning tool 34 out along the width direction of the sliding groove, and then the replaced tool is installed inside the clamping assembly 33, so that the function of processing different types of burrs can be realized.

[0042] It should be noted that the clamping assembly 33 can move vertically up and down along the length direction of the sliding groove, when the clamping assembly 33 is adjusted up and down, an electric sliding rail (not shown in the figure) can be installed on the inner wall of the sliding groove to realize fast response and accurate adjustment of the clamping assembly 33.

[0043] Referring to Figures 7-8 As a preferred technical solution of the embodiment, the driving assembly 32 includes a sliding sleeve 321, a telescopic sleeve 322 and a driving end 323, the sliding sleeve 321 is slidably arranged inside the installation hole, the sliding sleeve 321 is in cylindrical hollow structure, the lower end of the sliding sleeve 321 is fixedly connected with the clamping assembly 33, the telescopic sleeve 322 is slidably arranged inside the sliding sleeve 321, the driving end 323 is installed at the lower end of the telescopic sleeve 322, the telescopic sleeve 322 can drive the driving end 323 to be connected or separated with the cleaning tool 34.

[0044] In the above technical solution, the lower end of the sliding sleeve 321 is fixedly installed on the clamping assembly 33, the sliding sleeve 321 can be synchronously adjusted up and down with the clamping assembly 33, when the cleaning tool 34 needs to be driven to rotate, the telescopic sleeve 322 drives the driving end 323 to move downward, so that the driving end 323 can be inserted and matched with the upper end of the cleaning tool 34, the driving end 323 can thus drive the cleaning tool 34 to rotate at high speed to complete the deburring processing purpose.

[0045] It should be noted that the telescopic sleeve 322 can slide up and down inside the sliding sleeve 321 to realize the butt joint or separation of the driving end head 323 and the cleaning cutter 34. When the telescopic sleeve 322 slides, an electric push rod (not shown in the figure) can be installed between the upper end of the telescopic sleeve 322 and the sliding sleeve 321 to realize the rapid adjustment of the driving end head 323.

[0046] Referring to Figures 7-8 As shown in the preferred technical solution of the embodiment, the clamping assembly 33 comprises a fixed frame 331, a sliding frame 332, clamping plates 333 and a pressing mechanism 334. The fixed frame 331 is slidably arranged inside the sliding groove. The middle part of the fixed frame 331 is a hollow structure. The upper end of the fixed frame 331 is provided with a through hole in communication with the inside of the sliding sleeve 321. The lower end of the fixed frame 331 is provided with an arc-shaped opening. The sliding frame 332 is slidably arranged inside the fixed frame 331. The end part of the sliding frame 332 is symmetrically provided with the clamping plates 333. The number of the clamping plates 333 is four. The clamping plates 333 are provided with clamping intervals therebetween. The clamping plates 333 are provided with the pressing mechanism 334.

[0047] In the above technical solution, when it is necessary to replace the cleaning cutter 34, the sliding frame 332 is first pushed out from the inside of the fixed frame 331. The pressing mechanism 334 is not tightly attached to the cleaning cutter 34, so that the cleaning cutter 34 can be withdrawn from the inside of the clamping interval between the clamping plates 333. The replaced cleaning cutter 34 is then put back. The sliding frame 332 returns to the inside of the fixed frame 331. The pressing mechanism 334 can gradually press the side wall of the cleaning cutter 34, so that the phenomenon of shaking of the cleaning cutter 34 during work can be avoided, and the deburring effect of the product is improved.

[0048] It should be noted that the sliding frame 332 can slide inside the fixed frame 331. When the sliding frame 332 slides, an electric sliding rail (not shown in the figure) can be installed on the inner wall of the fixed frame 331 to realize the rapid response and accurate adjustment of the sliding frame 332.

[0049] Referring to Figures 7-9 As shown in the preferred technical solution of the embodiment, the pressing mechanism 334 comprises a pressing frame 3341 and a guide groove 3342. The clamping plate 333 is provided with a counterbore. The pressing frame 3341 is slidably arranged inside the counterbore. The inner side surface of the pressing frame 3341 is a rough surface. The pressing frame 3341 is provided with a guide rod on the outer side. The guide groove 3342 is formed in the inner wall of the fixed frame 331. The end part of the guide rod is slidably arranged inside the guide groove 3342.

[0050] Referring to Figure 9As shown in the preferred technical solution of the embodiment, the depth of the guide groove 3342 gradually increases from the middle to the end of the fixed frame 331.

[0051] In the above technical solution, when the clamping plate 333 moves inward, the depth of the guide groove 3342 gradually decreases, so that the guide rod is gradually pushed out, and the guide rod drives the pressing frame 3341 to press and fix the side surface of the cleaning tool 34. The rough surface on the inner side of the pressing frame 3341 can further increase the friction and improve the stability of the cleaning tool 34.

[0052] Referring to Figure 8 As shown in the preferred technical solution of the embodiment, the sliding frame 332 is provided with a plug-in frame 3321, and the cleaning tool 34 is provided with a plug hole matched with the plug-in frame 3321.

[0053] In the above technical solution, the outer circumference of the plug-in frame 3321 is also provided with an air bag (not shown in the figure). When it is necessary to install the cleaning tool 34, the plug-in frame 3321 is inserted into the plug hole of the cleaning tool 34, and then the air bag is inflated to accurately fix the cleaning tool 34, so that the sliding frame 332 can accurately drive the cleaning tool 34 to move into the fixed frame 331. When it is necessary to disassemble the cleaning tool 34, the air in the air bag is discharged, so that there is no friction between the plug-in frame 3321 and the plug hole, and the cleaning tool 34 can be accurately removed and disassembled.

[0054] Referring to Figures 7-8 As shown in the preferred technical solution of the embodiment, the cleaning tool 34 comprises a mounting frame 341, a rotating shaft 342 and a tool head 343. The mounting frame 341 is located in the clamping interval, the rotating shaft 342 is installed in the middle of the mounting frame 341 through a bearing, the mounting seat is installed at the upper end of the rotating shaft 342, the mounting seat is inserted into the driving end 323, and the tool head 343 is installed at the lower end of the rotating shaft 342.

[0055] In the above technical solution, the mounting frame 341 is fixed in the clamping interval by the pressing mechanism 334. When it is necessary to deburr the product, the driving end 323 is moved downward, so that the driving end 323 can be inserted into the mounting seat, and the driving end 323 can drive the rotating shaft 342 and the tool head 343 to rotate at high speed, so that the tool head 343 can accurately grind the product to achieve the purpose of deburring.

[0056] The tool head 343 is one of a rotary file, a grinding wheel, a grinding head, and a brush, and different types of tool heads can be replaced according to actual use requirements, such as using a high-speed rotating rotary file to directly cut and remove metal burrs, which is suitable for hard and large burrs (such as castings, machined steel parts, and stainless steel); using high-speed moving abrasive belts or abrasive materials on a rotating grinding wheel for grinding, which can remove burrs, perform large amount of grinding, rounding, surface roughing / polishing, and polishing; rotating grinding tools of various shapes (conical, cylindrical, spherical, etc.) made of abrasive cloth, nylon fiber, and ceramic abrasive; removing burrs and flash through grinding and polishing, and improving surface finish; removing burrs by scraping and grinding of bristles (metal wire, nylon, ceramic fiber, and pig bristles), which is especially good at processing small and cross-hole burrs, and simultaneously rounding edges, and performing surface texture processing and cleaning.

[0057] In addition, the application also provides an automatic tool changing system of the deburring robot, which comprises a connecting frame 4, a shell frame 5, and a tool changing unit 6. The connecting frame 4 is fixedly installed outside the fixed sleeve 31. The shell frame 5 is installed at the lower end of the connecting frame 4 and is sleeved outside the fixed sleeve 31. The tool changing unit 6 is installed inside the shell frame 5. The tool changing unit 6 can automatically adjust and replace the cleaning tool 34 inside the clamping assembly 33.

[0058] Referring to Figures 2-5 As shown in the preferred technical solution of the embodiment, the tool changing unit 6 comprises a rotating cylinder 61 and a placing frame 62. The rotating cylinder 61 is installed inside the shell frame 5 and can intermittently rotate inside the shell frame 5. The placing frame 62 is installed on the inner side wall of the rotating cylinder 61 and has a circular ring structure. The placing frame 62 is uniformly provided with placing grooves, which are matched with the cleaning tool 34.

[0059] In the above technical solution, in order to facilitate automatic replacement of the cleaning tool 34, the tool changing unit 6 is installed outside the fixed sleeve 31. When the cleaning tool 34 needs to be automatically replaced, first, the rotating cylinder 61 is rotated by a certain angle, so that the sliding frame 332 can correspond to the empty placing groove on the placing frame 62 when the sliding frame 332 is extended, and the used cleaning tool 34 can be placed in the placing groove. Then, the rotating cylinder 61 is rotated by a certain angle again, so that the to-be-used cleaning tool 34 moves to a position corresponding to the sliding frame 332. The plug-in frame 3321 on the sliding frame 332 can accurately match the plug hole on the cleaning tool 34, so as to fix the cleaning tool 34. When the sliding frame 332 returns with the cleaning tool 34, the function of automatically replacing the cleaning tool 34 is completed, without manual operation, thereby improving the deburring efficiency of the workpiece.

[0060] It should be noted that the distance between the two clamping plates 333 located on the same side of the sliding frame 332 is greater than the width of the placement rack 62, so that when the sliding frame 332 is extended outward to clamp and fix the cleaning tool 34, the clamping plates 333 can accurately wrap the upper end of the cleaning tool 34, facilitating the replacement of the cleaning tool 34.

[0061] Referring to Figure 10 As shown in the preferred technical solution of the embodiment, the cleaning tool 34 is provided with a plug rod, the plug rod is provided with a rubber protrusion, and the placement rack 62 is provided with a plug hole matched with the plug rod.

[0062] In the above technical solution, when the cleaning tool 34 needs to be replaced, in order to accurately fix the cleaning tool 34 on the placement rack 62, when the sliding frame 332 pushes out the cleaning tool 34, the cleaning tool 34 can be accurately clamped in the placement slot, and the plug rod on the cleaning tool 34 can be accurately plugged into the plug hole, and the rubber protrusion can increase the friction to prevent the cleaning tool 34 from falling off the placement rack 62.

[0063] In combination with the above structure, the deburring robot and the automatic tool changing system provided by the application are implemented according to the following steps when working: S1: device initialization and positioning The mechanical arm 2 drives the deburring unit 3 to reset to the initial position, the clamping assembly 33 is in the retracted state, and the cleaning tool 34 is completely withdrawn into the fixed sleeve 31; the driving end 323 of the driving assembly 32 is separated from the cleaning tool 34; the robot identifies the workpiece position through a preset program, and the joints (rotation platform, adjusting arm one / two, rotation / turning platform) of the mechanical arm cooperatively adjust the posture, so that the deburring unit 3 is accurately positioned to the starting point of machining.

[0064] S2: deburring processing execution The clamping assembly 33 vertically moves downward along the sliding groove, pushes the cleaning tool 34 to extend from the mounting sleeve 35 to contact the workpiece surface; the telescopic sleeve 322 drives the driving end 323 to move downward, and is inserted with the mounting seat of the cleaning tool 34, drives the tool head 343 to rotate at high speed (such as a rotating file / sanding wheel); the mechanical arm 2 moves in multiple degrees of freedom (rotation around XYZ axis and vertical adjustment) according to the preset path, so that the tool head 343 grinds the burrs on the workpiece surface.

[0065] S3: tool changing preparation and old tool unloading After processing, the clamping assembly 33 is reset by moving up, and the cleaning tool 34 is retracted into the fixed sleeve 31; the driving end 323 is separated from the tool; the mechanical arm moves to the tool changing unit 6 station, the sliding frame 332 is pushed out along the fixed frame 331; the guide rod of the pressing mechanism 334 slides along the guide groove 3342 (the groove depth increases), and the pressing on the tool is released; the air bag of the insertion frame 3321 is exhausted, and the insertion with the cleaning tool 34 is released; the sliding frame 332 pushes the old tool into the empty slot of the placing frame 62, and the insertion rod on the cleaning tool 34 is locked and fixed with the insertion hole, so as to prevent the cleaning tool 34 on the placing frame 62 from falling.

[0066] S4: New tool automatic replacement The rotating cylinder 61 of the tool changing unit 6 rotates intermittently, so that the target new tool is aligned with the clamping assembly 33, the sliding frame 332 is extended, and the clamping plate 333 wraps the new tool; the insertion frame 3321 is inserted into the tool insertion hole, and the air bag is inflated and locked; the sliding frame 332 is retracted into the fixed frame 331, and as the groove depth of the guide groove 3342 gradually decreases, the pressing frame 3341 is ejected through the guide rod, and the rough surface presses the side of the tool, thereby forming accurate pressing on the cleaning tool 34 and ensuring the stability of the cleaning tool 34 in subsequent work.

[0067] S5: Tool ready and cycle operation The clamping assembly 33 drives the new tool to move down, and the driving end 323 is inserted into the tool mounting seat to complete the power connection; the system returns to the S1 stage, and according to the type of the new tool (such as a brush / grinding head) and the processing program, the subsequent deburring task is executed, and full-automatic cycle processing is realized.

[0068] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and it is intended to encompass all changes falling within the meaning and range of equivalents of the elements of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. A deburring robot, characterized in that, include: The base (1) has a rectangular structure; A robotic arm (2) is fixedly mounted on the upper end of a base (1); A deburring unit (3) is installed at the end of a robotic arm (2). The robotic arm (2) can drive the deburring unit (3) to perform multi-degree-of-freedom adjustment. The deburring unit (3) is used to remove burrs on the surface of the product. The deburring unit (3) includes a fixed sleeve (31), a drive assembly (32), a clamping assembly (33), a cleaning tool (34), and a mounting sleeve (35). The fixed sleeve (31) is mounted on the end of the robotic arm (2) by screws. The fixed sleeve (31) has a cylindrical structure. An mounting hole is provided at the upper end of the fixed sleeve (31), and the drive assembly (32) is slidably arranged in the mounting hole. A groove is provided in the middle of the fixed sleeve (31), and the clamping assembly (33) is installed in the groove. The component (33) can move vertically up and down along the length of the slide. The cleaning tool (34) is detachably installed in the middle of the clamping assembly (33). A guide hole is installed at the lower end of the inside of the fixing sleeve (31). An installation sleeve (35) is installed at the lower end of the fixing sleeve (31) by means of thread engagement. When the clamping assembly (33) moves downward, it drives the cleaning tool (34) to extend out from the guide hole and the installation sleeve (35). The driving assembly (32) is used to drive the cleaning tool (34) to rotate at high speed.

2. The deburring robot according to claim 1, characterized in that: The drive assembly (32) includes a sliding sleeve (321), a telescopic sleeve (322), and a drive end (323). The sliding sleeve (321) is slidably disposed inside the mounting hole. The sliding sleeve (321) has a cylindrical hollow structure. The lower end of the sliding sleeve (321) is fixedly connected to the clamping assembly (33). The telescopic sleeve (322) is slidably disposed inside the sliding sleeve (321). The drive end (323) is installed at the lower end of the telescopic sleeve (322). The telescopic sleeve (322) can drive the drive end (323) to dock or separate from the cleaning tool (34).

3. The deburring robot according to claim 2, characterized in that: The clamping assembly (33) includes a fixed frame (331), a sliding frame (332), a clamping plate (333), and a pressing mechanism (334). The fixed frame (331) is slidably arranged inside the slide groove. The middle part of the fixed frame (331) is a hollow structure. The upper end of the fixed frame (331) is provided with a through hole communicating with the inside of the sliding sleeve (321). The lower end of the fixed frame (331) is provided with an arc-shaped opening. The sliding frame (332) is slidably arranged inside the fixed frame (331). The clamping plates (333) are symmetrically installed at the ends of the sliding frame (332). There are four sets of clamping plates (333). A clamping interval is provided between the clamping plates (333). The pressing mechanism (334) is installed on the clamping plate (333).

4. The deburring robot according to claim 3, characterized in that: The clamping mechanism (334) includes a clamping frame (3341) and a guide groove (3342). A countersunk hole is provided on the clamping plate (333), and the clamping frame (3341) is slidably arranged in the countersunk hole. The inner side of the clamping frame (3341) is rough, and a guide rod is installed on the outer side of the clamping frame (3341). A guide groove (3342) is provided on the inner wall of the fixing frame (331), and the end of the guide rod is slidably arranged inside the guide groove (3342).

5. A deburring robot according to claim 4, characterized in that: The depth of the guide groove (3342) gradually increases as it extends from the middle of the fixing frame (331) to the end.

6. A deburring robot according to claim 5, characterized in that: The sliding frame (332) is equipped with a plug-in bracket (3321), and the cleaning tool (34) has a plug hole that cooperates with the plug-in bracket (3321).

7. A deburring robot according to claim 6, characterized in that: The cleaning tool (34) includes a mounting bracket (341), a rotating shaft (342), and a cutting head (343). The mounting bracket (341) is located inside the clamping area. The rotating shaft (342) is mounted on the middle of the mounting bracket (341) via a bearing. A mounting seat is mounted on the upper end of the rotating shaft (342), and the mounting seat is inserted into the drive end (323). The cutting head (343) is mounted on the lower end of the rotating shaft (342). The cutting head (343) is one of a rotary file, a grinding wheel, a grinding head, or a brush.

8. An automatic tool changing system for a deburring robot, comprising a deburring robot as described in any one of claims 1-6, characterized in that, The automatic tool changing system includes a connecting frame (4), a housing frame (5), and a tool changing unit (6). The connecting frame (4) is fixedly installed on the outside of the fixed sleeve (31). The housing frame (5) is installed at the lower end of the connecting frame (4). The housing frame (5) is sleeved on the outside of the fixed sleeve (31). The tool changing unit (6) is installed inside the housing frame (5). The tool changing unit (6) can automatically adjust and replace the cleaning tool (34) inside the clamping assembly (33).

9. The automatic tool changing system for a deburring robot according to claim 8, characterized in that: The tool changing unit (6) includes a rotating cylinder (61) and a placement frame (62). The rotating cylinder (61) is installed inside the housing frame (5). The rotating cylinder (61) can rotate intermittently inside the housing frame (5). The placement frame (62) is installed on the upper end of the inner side wall of the rotating cylinder (61). The placement frame (62) has a circular structure and placement grooves are evenly arranged on the placement frame (62). The placement grooves cooperate with the cleaning tool (34).

10. The automatic tool changing system for a deburring robot according to claim 9, characterized in that: The cleaning tool (34) is equipped with a plug rod, which has rubber protrusions. The mounting bracket (62) is provided with a plug hole that mates with the plug rod.

Images