Tail fin plate tailing removal device and tailing removal method

Abstract

The application relates to a tail fin plate tailing removal device and a tailing removal method. A fixed plate extends along the length direction of a box body and is installed on the inner side of a first side plate. More than three tailing removal racks are installed on the fixed plate along the length direction of the box body. A first tailing removal rack is installed at the middle part of the fixed plate. A second tailing removal rack and a third tailing removal rack are respectively arranged on the two sides of the first tailing removal rack. The width of the first tailing removal rack protruding from the fixed plate along the width direction of the box body is greater than the width of the second tailing removal rack and the third tailing removal rack protruding from the fixed plate along the width direction of the box body. An arc-shaped baffle is installed on the upper end of a second side plate. The upper arc surface of the arc-shaped baffle is matched with the lower surface of a tail fin plate to be processed. A mechanical arm is used for grabbing and moving the tail fin plate to be processed into a tailing removal box to remove tailing. The technical scheme of the application realizes the automatic operation of tailing removal of the tail fin plate to be processed through the cooperation of the mechanical arm and the tailing removal box, and improves the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automotive parts manufacturing technology, and in particular to a tail spoiler removal device and method. Background Technology

[0002] As an important aerodynamic component, the rear spoiler of an automobile is usually manufactured using processes such as injection molding and compression molding. After molding, excess flash and stubble (collectively referred to as "tail material") will remain at its edges, which need to be removed to obtain a precise final profile.

[0003] The existing manual waste removal method relies on operators using hand tools to cut and grind, which results in high labor intensity, poor product consistency, and low production efficiency. Summary of the Invention

[0004] Therefore, there is a need to provide a tail fin removal device and method to solve the technical problems of existing manual tail fin removal methods that rely on operators using hand tools for cutting and grinding, resulting in high labor intensity, poor product consistency and low production efficiency.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a tail fin exhaust material removal device, comprising:

[0006] The tailings removal box includes a box body, a tailings removal assembly, and an arc-shaped baffle. The top of the box body is provided with a feed inlet. The box body includes a first side plate and a second side plate arranged opposite to the first side plate. The tailings removal assembly includes a fixed plate and three or more tailings removal racks. The fixed plate extends along the length of the box body and is installed on the inner side of the first side plate. The three or more tailings removal racks are spaced along the length of the box body and are installed on the fixed plate, facing the second side plate. The three tailings removal racks are designated as a first tailings removal rack, a second tailings removal rack, and a third tailings removal rack. The first tailings removal rack is installed in the middle of the fixed plate. The second and third tailings removal racks are located on both sides of the first tailings removal rack. The width of the first tailings removal rack protruding from the fixed plate along the width of the box body is greater than the width of the second and third tailings removal racks protruding from the fixed plate along the width of the box body. The arc-shaped baffle is installed on the upper end of the second side plate. The upper arc surface of the arc-shaped baffle is adapted to the lower surface of the tail fin plate to be processed.

[0007] The robotic arm is used to grab and move the tail fin to be processed into the tail material removal box to remove the tail material.

[0008] Unlike existing technologies, the technical solution of this application achieves automated operation of removing tail material from the tail fin plate to be processed through the cooperation of a robotic arm and a tail material removal box, thereby improving production efficiency. The stepped arrangement of the first, second, and third tail material removal racks can initially remove tail material, and combined with the fine finishing of the arc-shaped baffle, the tail material can be removed thoroughly and smoothly, ensuring good consistency in the product contour quality.

[0009] Preferably, the tailings removal assembly further includes a fourth tailings removal rack and a fifth tailings removal rack, wherein the fourth tailings removal rack is located outside the second tailings removal rack and the fifth tailings removal rack is located outside the third tailings removal rack.

[0010] Among them, the width of the second tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the fourth tailing rack protruding from the fixed plate along the width direction of the box; the width of the third tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the fifth tailing rack protruding from the fixed plate along the width direction of the box.

[0011] Thus, five tail removal racks are set up according to actual usage needs. The five tail removal racks form five steps with progressively decreasing width from the center to both sides. Each tail removal rack can correspond to one tail piece on the tail fin plate to be processed, so that the tail removal rack can initially remove more tail pieces.

[0012] Preferably, the tailings removal assembly further includes a sixth tailings removal rack, a seventh tailings removal rack, an eighth tailings removal rack, and a ninth tailings removal rack. The sixth tailings removal rack is located outside the fourth tailings removal rack, the eighth tailings removal rack is located outside the sixth tailings removal rack, the seventh tailings removal rack is located outside the fifth tailings removal rack, and the ninth tailings removal rack is located outside the seventh tailings removal rack.

[0013] Among them, the width of the fourth tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the sixth tailing rack protruding from the fixed plate along the width direction of the box; the width of the sixth tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the eighth tailing rack protruding from the fixed plate along the width direction of the box; the width of the fifth tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the seventh tailing rack protruding from the fixed plate along the width direction of the box; and the width of the seventh tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the ninth tailing rack protruding from the fixed plate along the width direction of the box.

[0014] In this way, the nine tail removal racks, arranged in a multi-level stepped structure, can remove tail material more precisely and smoothly. This is especially suitable for large tail fin plates or those with thick tail material, effectively reducing instantaneous stress during the removal process and improving the flatness of the removed surface.

[0015] Preferably, the tail fin desizing device further includes a placement seat, which includes a base and three or more support columns mounted on the base. The three support columns are designated as a first support column, a second support column, and a third support column. The first support column is installed in the middle of the base, and the second and third support columns are located on both sides of the first support column. The height of the first support column along the height direction of the housing is higher than the height of the second and third support columns along the height direction of the housing.

[0016] The robotic arm is used to place the finished tail fin on the placement seat.

[0017] In this way, the three support columns form a support structure that is high in the middle and low on both sides, which matches the shape of the finished tail fin plate and can stably support the product, preventing it from deforming due to suspension or uneven stress.

[0018] Preferably, the tailing rack includes a mounting base plate and a tailing plate. The mounting base plate is parallel to the width direction of the housing. One side of the mounting base plate is mounted on a fixed plate, and the other side of the mounting base plate faces the second side plate and is connected to the tailing plate. The tailing plate and the mounting base plate are inclined.

[0019] In this way, the tailing plate and the mounting base are set at an angle to form a sharp cutting edge structure, which is conducive to cutting into the tailing material, reducing resistance, making the tailing material separation smoother and the cut neater.

[0020] Preferably, the tail fin plate tail material removal device also includes a waste conveying mechanism and a collection bin. The bottom of the box is provided with a discharge port. The waste conveying mechanism extends along the length of the box and is installed below the discharge port. The waste conveying mechanism is used to transport tail material. The collection bin is located at the discharge end of the waste conveying mechanism and is used to collect the tail material conveyed from the waste conveying mechanism.

[0021] In this way, through the coordinated work of the waste conveying mechanism and the collection bin, the entire process of waste management, from removal and conveying to centralized storage, is automated, maintaining the cleanliness of the work area and facilitating the recycling and processing of tailings.

[0022] Preferably, the tailings bin further includes a first guide plate, which is installed at the bottom of the bin body and located above the waste conveying mechanism. The first guide plate is inclined toward the waste conveying mechanism and is used to guide the tailings to the waste conveying mechanism.

[0023] Thus, by setting up the first guide plate, the falling tail material can be quickly guided to the waste conveying mechanism.

[0024] Preferably, the tailings bin further includes a second guide plate, which is inclinedly disposed on the top of the fixed plate. The top of the second guide plate connects to the top of the first side plate, and the bottom of the second guide plate extends to the side of the fixed plate near the second side plate. The second guide plate is used to prevent tailings from accumulating above the fixed plate and to guide them into the waste conveying mechanism.

[0025] In this way, the second guide plate can effectively prevent a small amount of tail material from accumulating on the surface of the fixed plate, and at the same time facilitate the guidance of tail material to the waste conveying mechanism.

[0026] Preferably, the robotic arm includes a robotic arm body, a negative pressure adsorption component, and a vision detection component. The output end of the robotic arm body is connected to the negative pressure adsorption component, which vacuum adsorbs the tail fin to be processed. The vision detection component is installed at the bottom of the negative pressure adsorption component to monitor the tail fin's waste removal process and the quality of the finished product in real time.

[0027] In this way, the vacuum adsorption method for grasping the tail fin to be processed provides a large contact area and uniform force, effectively preventing damage to the product surface. The vision inspection component can be used to monitor the position and attitude of the tail fin to be processed during the tail material removal process, as well as the quality of the finished product after tail material removal, realizing real-time monitoring and quality feedback of the process, which is conducive to stable control and traceability of production quality.

[0028] To achieve the above objectives, in a second aspect, the inventor provides a method for removing tail fin material, comprising a tail fin material removal device as described in any of the above-mentioned inventions, and further comprising the following steps:

[0029] S01: The robotic arm grabs and moves the tail fin plate to be processed into the tail material bin;

[0030] S02: After the robotic arm controls the tail section of the tail fin to be processed to be positioned below the tail removal rack, it controls the tail fin to be processed to move upward along the height direction of the box, so that the tail section of the tail fin to be processed is initially removed by the fixing plate.

[0031] S03: The robotic arm controls the tail fin plate to be processed to move back and forth along the width direction of the box from inside the box to above the arc-shaped baffle until the tail material of the tail fin plate to be processed is completely removed by the arc-shaped baffle.

[0032] Unlike existing technologies, the technical solution of this application uses a robotic arm to control the tail fin to be processed to perform preliminary and fine removal of tail material in the tail material removal box, thereby realizing the automated operation of tail material removal for the tail fin and improving production efficiency and the consistency of the finished tail fin.

[0033] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0034] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0035] In the accompanying drawings of the instruction manual:

[0036] Figure 1 This is a schematic diagram of the tail fin desizing device in this application;

[0037] Figure 2 This is a schematic diagram of the tail fin desizing device in this application from another perspective.

[0038] Figure 3 This is a partial schematic diagram of the tail fin removal device in this application;

[0039] Figure 4 This is another partial schematic diagram of the tail fin desizing device in this application;

[0040] Figure 5 This is a schematic diagram of the tailings removal assembly in this application;

[0041] Figure 6 This is a schematic diagram of the structure for placing the base in this application;

[0042] Figure 7 This is another partial schematic diagram of the tail fin desizing device in this application;

[0043] Figure 8 This is a schematic diagram of the tail material removal rack in this application.

[0044] The reference numerals used in the above figures are explained as follows:

[0045] 100 - Tail fin removal device; 200 - Tail fin to be processed; 300 - Finished tail fin; 1 - Removal box; 11 - Box body; 111 - Inlet; 112 - First side plate; 113 - Second side plate; 114 - Third side plate; 1141 - Clearance opening; 115 - Fourth side plate; 116 - Outlet; 117 - Inlet; 12 - Removal assembly; 121 - Fixing plate; 122 - Removal rack; 1221 - Mounting base plate; 1222 - Removal plate; 1231 - First removal rack; 1232 - Second removal rack; 1233 - Third removal rack; 1234 - Fourth removal rack; 1235 - Fifth 1236 - Sixth tailing rack; 1237 - Seventh tailing rack; 1238 - Eighth tailing rack; 1239 - Ninth tailing rack; 13 - Arc-shaped baffle; 14 - First guide plate; 15 - Second guide plate; 16 - Third guide plate; 17 - Protective plate; 2 - Robotic arm; 21 - Robotic arm body; 22 - Negative pressure adsorption component; 3 - Placement seat; 31 - Base; 32 - Support column; 321 - First support column; 322 - Second support column; 323 - Third support column; 4 - Waste conveying mechanism; X - Length direction of the box; Y - Width direction of the box; Z - Height direction of the box; a - Inclination angle. Detailed Implementation

[0046] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0047] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0048] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0049] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0050] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0051] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0052] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0053] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0054] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0055] For ease of explanation, such as Figure 1 , Figure 3 , Figure 5 and Figure 8 As shown, the direction of arrow X is the length direction of the box, the direction of arrow Y is the width direction of the box, and the direction of arrow Z is the height direction of the box.

[0056] According to some embodiments of this application, please refer to Figures 1 to 8 This invention provides a tail fin scrap removal device 100, including a scrap removal box 1 and a robotic arm 2. The scrap removal box 1 includes a box body 11, a scrap removal assembly 12, and an arc-shaped baffle 13. The top of the box body 11 is provided with a feed inlet 111. The box body 11 includes a first side plate 112 and a second side plate 113 disposed opposite to the first side plate 112. The scrap removal assembly 12 includes a fixing plate 121 and three or more scrap removal racks 122. The fixing plate 121 extends along the length direction X of the box body and is installed on the inner side of the first side plate 112. The three or more scrap removal racks 122 are spaced apart along the length direction X of the box body and are facing the second side plate 113. The three scrap removal racks 122 are respectively the first scrap removal racks 123. 1. A second tailing rack 1232 and a third tailing rack 1233. The first tailing rack 1231 is installed in the middle of the fixed plate 121. The second tailing rack 1232 and the third tailing rack 1233 are located on both sides of the first tailing rack 1231. The width of the first tailing rack 1231 protruding from the fixed plate 121 along the width direction Y of the box is greater than the width of the second tailing rack 1232 and the third tailing rack 1233 protruding from the fixed plate 121 along the width direction Y of the box. An arc-shaped baffle 13 is installed on the upper end of the second side plate 113. The upper arc surface of the arc-shaped baffle 13 is adapted to the lower surface of the tail wing plate 200 to be processed. The robotic arm 2 is used to grab and move the tail wing plate 200 to be processed into the tailing box 1 to remove the tailing material.

[0057] The frame of the housing 11 is composed of multiple crossbeams and longitudinal beams (not shown in the figure) connected together to form a stable framework. A side panel is installed on each of the four sides of this framework, and each side panel is preferably detachably connected to the frame by bolts. The first side panel 112 and the second side panel 113 are positioned opposite each other, with a third side panel 114 and a fourth side panel 115 installed between them. Optionally, a triangular bracket can be added at the connection point of adjacent side panels to enhance the overall structural strength.

[0058] A fixing plate 121 extends along the length direction X of the housing and is installed on the inner side of the first side plate 112 (i.e., the side facing the second side plate 113). Multiple tail removal racks 122 are installed on the fixing plate 121 at certain intervals, preferably corresponding to the distribution of tail material to be removed on the tail fin plate 200 to be processed. In some embodiments, the fixing plate 121 has multiple mounting holes spaced along the width direction Y of the housing 11, which are connected to the tail removal racks 122 by bolts. This allows for fine-tuning of the width of each tail removal rack 122 protruding from the fixing plate 121, thereby adapting to different process requirements. The arrangement of the first tail removal rack 1231, the second tail removal rack 1232, and the third tail removal rack 1233 is designed to match the arcuate contour of the tail fin plate 200 to be processed, achieving graded and gradual removal of tail material through a stepped height difference with the widest central protrusion and the next largest on both sides.

[0059] The arc-shaped baffle 13 extends along the length X of the housing 11 and is bolted to the upper end of the second side plate 113. In this embodiment, as... Figure 3 and Figure 4 As shown, the arc-shaped baffle 13 is located on the upper end of the outer side of the second side plate 113 (i.e., the side facing away from the first side plate 112). The arc shape of its upper surface is precisely designed so that the radius of curvature is consistent with the radius of curvature of the area to be removed on the lower surface of the tail fin plate 200. This allows it to provide contour support for the tail fin plate in subsequent finishing processes and ensure that the tail material is removed cleanly and accurately.

[0060] like Figure 3 As shown, an inlet 117 is provided in the middle of the upper end of the second side plate 113, and its position corresponds to the space above the fixed plate 121. This inlet 117 is used to allow the output end of the robotic arm 2 to extend into the housing 11 for operation.

[0061] The technical solution of this application, through the cooperation of the robotic arm 2 and the tail material removal box 1, realizes the automated operation of removing tail material from the tail fin plate 200 to be processed, thereby improving production efficiency. The stepped arrangement of the first tail material removal rack 1231, the second tail material removal rack 1232, and the third tail material removal rack 1233 can initially remove tail material, and combined with the fine finishing of the arc-shaped baffle 13, the tail material can be removed thoroughly and smoothly, ensuring good consistency in the product contour quality.

[0062] like Figure 5 As shown, the tailings removal assembly 12 also includes a fourth tailings removal rack 1234 and a fifth tailings removal rack 1235. The fourth tailings removal rack 1234 is located outside the second tailings removal rack 1232, and the fifth tailings removal rack 1235 is located outside the third tailings removal rack 1233. The width of the second tailings removal rack 1232 protruding from the fixing plate 121 along the width direction Y of the box is greater than the width of the fourth tailings removal rack 1234 protruding from the fixing plate 121 along the width direction Y of the box. The width of the third tailings removal rack 1233 protruding from the fixing plate 121 along the width direction Y of the box is greater than the width of the fifth tailings removal rack 1235 protruding from the fixing plate 121 along the width direction Y of the box.

[0063] Thus, five tail material removal racks 122 are set according to actual usage requirements. The five tail material removal racks 122 form five steps with progressively decreasing widths from the center to both sides. Each tail material removal rack 122 can correspond to one tail material on the tail fin plate 200 to be processed, so that the tail material removal racks 122 can initially remove a larger number of tail materials.

[0064] like Figure 5 As shown, the tailings removal assembly 12 also includes a sixth tailings removal rack 1236, a seventh tailings removal rack 1237, an eighth tailings removal rack 1238, and a ninth tailings removal rack 1239. The sixth tailings removal rack 1236 is located outside the fourth tailings removal rack 1234, the eighth tailings removal rack 1238 is located outside the sixth tailings removal rack 1236, the seventh tailings removal rack 1237 is located outside the fifth tailings removal rack 1235, and the ninth tailings removal rack 1239 is located outside the seventh tailings removal rack 1237. The fourth tailings removal rack 1234 protrudes from the fixing plate 121 along the width direction Y of the housing by a greater width than the sixth tailings removal rack 1236. The width of the box body protrudes from the fixing plate 121 in the width direction Y. The width of the sixth tailing rack 1236 protruding from the fixing plate 121 in the width direction Y of the box body is greater than that of the eighth tailing rack 1238 protruding from the fixing plate 121 in the width direction Y of the box body. The width of the fifth tailing rack 1235 protruding from the fixing plate 121 in the width direction Y of the box body is greater than that of the seventh tailing rack 1237 protruding from the fixing plate 121 in the width direction Y of the box body. The width of the seventh tailing rack 1237 protruding from the fixing plate 121 in the width direction Y of the box body is greater than that of the ninth tailing rack 1239 protruding from the fixing plate 121 in the width direction Y of the box body.

[0065] Each tailing rack 122 corresponds to one tailing material from the tail fin plate 200 to be processed. Therefore, the number of tailing racks 122 can be set according to the number of tailing materials from the tail fin plate 200 to be processed. In this embodiment, nine tailing racks 122 are used as an example. They form a stepped structure with a distinct outline on the fixing plate 121. Specifically, the first tailing rack 1231, located at the very center, protrudes the widest from the fixing plate 121 along the width direction Y of the box. The second and third tailing racks 1232 and 1233 on both sides are next wide. The widths of the fourth, fifth, sixth, seventh, eighth, and ninth tailing racks 1234, 1235, 1236, 1237, 1238, and 1239 protruding from the fixing plate 121 along the width direction Y of the box decrease sequentially. In some embodiments, eleven or thirteen tail removal racks 122 may be set according to the amount of tail material to be processed in the tail fin plate 200, and their layout and width relationship follow strict mathematical rules: from the center to any side, the width of the tail removal rack 122 protruding from the fixing plate 121 along the width direction Y of the box body satisfies W_n>W_{n+2} (for example, W_second>W_fourth>W_sixth>W_eighth).

[0066] Thus, the modular design with expandable width gives the device strong adaptability, allowing for seamless switching between the production of tail fins of different sizes and models by quickly changing or adjusting the layout of the tail removal racks 122 on the fixed plate 121. The nine tail removal racks 122, arranged in a multi-level stepped structure, can remove tail material more precisely and smoothly, especially suitable for large or thick tail fins 200 to be processed, effectively reducing instantaneous stress during the removal process and improving the flatness of the removed surface.

[0067] like Figure 6 As shown, the tail fin removal device 100 also includes a placement seat 3. The placement seat 3 includes a base 31 and three or more support columns 32 installed on the base 31. The three support columns 32 are designated as a first support column 321, a second support column 322, and a third support column 323. The first support column 321 is installed in the middle of the base 31. The second support column 322 and the third support column 323 are located on both sides of the first support column 321. The height of the first support column 321 along the height direction Z of the box is higher than the height of the second support column 322 and the third support column 323 along the height direction Z of the box. The robotic arm 2 is used to place the finished tail fin 300 on the placement seat 3.

[0068] The placement seat 3 is located on one side of the tail material box 1, forming an independent unloading station. The robotic arm 2 transfers the finished tail fin plate 300 (i.e., the tail fin plate 200 to be processed after tail material removal) to it and places it on the box for flow into the next process. In some embodiments, to enhance stability and prevent slippage, multiple sets of second support columns 322 and third support columns 323 can be symmetrically arranged on both sides of the first support column 321, one set for main support and the other set for auxiliary limiting. To further protect the product surface, protective pads made of soft materials (such as engineering plastics or rubber) can be installed on the top of all support columns 32 (such as the first support column 321) that directly contact the finished tail fin plate 300, effectively preventing scratches or wear on the lower surface of the finished tail fin plate 300 during the support process.

[0069] Thus, the three support columns 32 form a support structure that is high in the middle and low on both sides, which matches the shape of the finished tail fin 300 and can stably support the product, preventing it from deforming due to suspension or uneven stress.

[0070] like Figure 7 and Figure 8 As shown, the tailing rack 122 includes a mounting base plate 1221 and a tailing plate 1222. The mounting base plate 1221 is parallel to the width direction Y of the housing. One side of the mounting base plate 1221 is mounted on the fixing plate 121, and the other side of the mounting base plate 1221 faces the second side plate 113 and is connected to the tailing plate 1222. The tailing plate 1222 and the mounting base plate 1221 are inclined to each other.

[0071] The mounting base 1221 and the tailing plate 1222 are preferably integrally formed from high-strength alloy steel (such as Cr12MoV) by precision wire cutting. A large-radius arc transition is used at the connection point, which greatly optimizes stress distribution, effectively eliminates stress concentration points, and thus significantly improves the fatigue life and overall structural rigidity of the cutting edge structure under cyclic impact loads, avoiding the risk of fracture due to stress concentration. In some embodiments, to achieve better separation, a micro-serrated or specifically geometrically reinforced cutting edge line can be formed at the end of the tailing plate 1222 (i.e., the initial contact edge with the tailing material) by high-energy beam surface treatment technology (such as laser hardening) or by welding ultra-hard materials (such as cemented carbide cutting tips). This not only significantly reduces cutting resistance but also guides the tailing material along a predetermined path, like a precision cutting tool, to obtain a high-quality separation surface without burrs or wire runs. In other embodiments, the tailing rack 122 also includes a rotary motor, and the other side of the mounting base 1221 is connected to the tailing plate 1222 via the rotary motor. This design allows the tilt angle α of the tailstock plate 1222 to be dynamically and in real-time adjusted within a certain range (e.g., ±15°). Preferably, a rotary motor is configured to communicate with a robotic arm, intelligently adjusting the tilt angle α based on the actual shape of the tailstock fed back by the robotic arm or the cutting resistance sensed by a force sensor, to always maintain the optimal cutting state. This is significant for processing advanced composite material tailstock plates with complex three-dimensional curved surfaces or uneven materials, realizing a shift from passive scraping to active adaptive cutting.

[0072] The value of the tilt angle α directly affects the cutting resistance, separation effect, and cutting edge strength. In this embodiment, as... Figure 7 As shown, the preferred inclination angle α is a right angle (90°) to form the sharpest right-angle cutting edge, generating a pure shearing action during the ascent of the tail fin, which is beneficial for achieving a clean cross-section separation. In some embodiments, the inclination angle α can also be an obtuse angle (e.g., between 90° and 120°). Although the obtuse angle cutting edge is slightly less sharp, it has higher edge strength and stronger resistance to impact and chipping. Furthermore, tail removal racks 122 with different inclination angles α can be mixed according to the tail material thickness and stress conditions at different locations to achieve precise regional configuration of cutting characteristics.

[0073] Thus, through in-depth design and expansion of the tailings rack 122 in terms of structural mechanics, cutting edge geometry, material strengthening and intelligent drive, this device ensures the high efficiency, stability and high quality of the tailings separation process, and has the strong potential to meet more complex processing needs in the future.

[0074] like Figure 2As shown, the tail fin tail material removal device 100 also includes a waste conveying mechanism 4 and a collection bin 5. The bottom of the box 11 is provided with a discharge port 116. The waste conveying mechanism 4 extends along the length direction X of the box and is installed below the discharge port 116. The waste conveying mechanism 4 is used to transport tail material. The collection bin 5 is located at the discharge end of the waste conveying mechanism 4 and is used to collect the tail material conveyed from the waste conveying mechanism 4.

[0075] The waste conveying mechanism 4 is located within the frame and extends along the length X of the box body, installed below the discharge port 116. The length of the waste conveying mechanism 4 along the length X of the box body is greater than the length of the box body, thereby conveying the tailings falling from the box body 11 to the external collection bin 5. The waste conveying mechanism 4 is an existing structure and can be a belt conveyor. The waste conveying mechanism 4 can include a drive assembly, a transmission assembly, and a conveyor belt. The drive assembly serves as the power source for the waste conveying mechanism 4 and includes a drive motor and a reducer. The output shaft of the drive motor is connected to the reducer through a coupling. The transmission assembly can be a roller drive. The conveyor belt is a flat, smooth, annular belt, and is installed on the transmission assembly.

[0076] In some embodiments, to facilitate the smooth exit of tailings from the housing 11, a clearance opening 1141 is provided at the bottom of the third side plate 114 near its discharge end. This clearance opening 1141 is used to avoid tailings, allowing them to be conveyed to the collection bin 5 via the waste conveying mechanism 4. The clearance opening 1141 has a width greater than the width of the waste conveying mechanism 4 along the width direction Y of the housing, forming an unobstructed passage.

[0077] In this way, through the coordinated work of the waste conveying mechanism 4 and the collection bin 5, the entire process of waste management, from removal and conveying to centralized storage, is automated, maintaining the cleanliness of the work area and facilitating the recycling and processing of tailings.

[0078] like Figure 3 and Figure 7 As shown, the tailings bin 1 also includes a first guide plate 14. The first guide plate 14 is installed at the bottom of the bin body 11 and is located above the waste conveying mechanism 4. The first guide plate 14 is inclined toward the waste conveying mechanism 4 and is used to guide the tailings to the waste conveying mechanism 4.

[0079] The number and installation position of the first guide plates 14 can be flexibly configured. For example, one first guide plate 14 can be provided and installed at the bottom of the second side plate 113. In some embodiments, two first guide plates 14 can also be provided and installed at the bottom of the first side plate 112 and the second side plate 113, respectively. In other embodiments, four first guide plates 14 can also be provided and installed at the bottom of the first side plate 112, the second side plate 113, the third side plate 114 and the fourth side plate 115, respectively, so as to centrally guide the tail material to the waste conveying mechanism 4.

[0080] Thus, by setting the first guide plate 14, the falling tail material can be quickly guided to the waste conveying mechanism 4.

[0081] like Figure 3 and Figure 7 As shown, the tailings bin 1 also includes a second guide plate 15. The second guide plate 15 is inclinedly disposed on the top of the fixed plate 121. The top of the second guide plate 15 is connected to the top of the first side plate 112. The bottom of the second guide plate 15 extends to the side of the fixed plate 121 near the second side plate 113. The second guide plate 15 is used to prevent tailings from accumulating above the fixed plate 121 and to guide them into the waste conveying mechanism 4.

[0082] Considering that the first side plate 112 has an inlet 117, two second guide plates 15 can be symmetrically installed on both sides of it. In addition, a third guide plate 16 or even a fourth guide plate can be added to the top of the third side plate 114 and the fourth side plate 115 to form an all-round flow guiding network, ensuring that no matter where the tailing material is generated, it can be quickly introduced into the recycling system.

[0083] Thus, the second guide plate 15 can effectively prevent a small amount of tail material from accumulating on the surface of the fixed plate 121, and at the same time facilitates the guidance of tail material to the waste conveying mechanism 4.

[0084] like Figure 3 As shown, the tailings bin 1 also includes a protective plate 17, which is installed obliquely on the outside of the first side plate 112 to intercept and collect tailings that are accidentally splashed out of the bin 11.

[0085] During the process of the robotic arm 2 removing tail fin 200 from the tail material removal bin 1, some tail material may fall outside the bin 1. Therefore, a protective plate 17 is installed on the outside of the first side plate 112 to collect the tail material. In some embodiments, this protective device can be extended to all outer walls of the bin. For example, similar collection plates can be installed on the outside of the second side plate 113, the third side plate 114, and the fourth side plate 115, forming an external protection and collection system to maximize the cleanliness and safety of the working environment.

[0086] like Figure 1As shown, the robotic arm 2 includes a robotic arm body 21, a negative pressure adsorption component 22, and a vision detection component 23. The output end of the robotic arm body 21 is connected to the negative pressure adsorption component 22. The negative pressure adsorption component 22 vacuum adsorbs the tail fin plate 200 to be processed. The vision detection component 23 is installed at the bottom of the negative pressure adsorption component 22 and is used to monitor the tail fin plate 200 to be processed in real time for the tail material removal process and the quality of the finished product.

[0087] Both the robotic arm body 21 and the negative pressure adsorption assembly 22 are existing robotic arm 2 structures. Specifically, the robotic arm body 21 can be a six-axis vertical multi-joint industrial robot, simulating the movement pattern of a human arm, possessing six rotational degrees of freedom, thus enabling near-arbitrary position and posture adjustments in three-dimensional space. The negative pressure adsorption assembly 22 includes a vacuum support, a vacuum control valve, a vacuum tank, and a vacuum pump. The vacuum support has multiple vacuum suction cups, and the vacuum support is connected to the vacuum tank via the vacuum control valve, while the vacuum tank is connected to the vacuum pump. The negative pressure adsorption assembly 22 generates a vacuum negative pressure to adsorb the tail fin 200 to be processed, and then the robotic arm body 21 moves and performs its work.

[0088] The vision inspection component 23 (such as a high-resolution industrial camera and image processing unit) acts as the "intelligent eye." It not only monitors the precise position and posture of the tail fin 200 during the tailing process in real time, providing real-time feedback to the robotic arm 2 for fine-tuning, but also performs online quality inspection of the finished tail fin 300 immediately after processing (e.g., contour integrity, surface damage). This forms a complete "processing-inspection-feedback" closed-loop quality control system, greatly improving the stability and traceability of production quality.

[0089] In this way, the tail fin plate 200 to be processed is grasped by vacuum adsorption, resulting in a large contact area and uniform force, which can effectively prevent damage to the product surface. The vision inspection component 23 can be used to monitor the position and attitude of the tail fin plate 200 to be processed during the tail material removal process, as well as the quality of the finished product after tail material removal, realizing real-time monitoring and quality feedback of the process, which is conducive to stable control and traceability of production quality.

[0090] According to some embodiments of this application, the present invention also provides a method for removing tail fin material, including a tail fin material removal device 100, and further including the following steps:

[0091] S01: The robotic arm 2 grabs and moves the tail fin plate 200 to be processed into the tail material box 1;

[0092] S02: After the robotic arm 2 controls the tail material portion of the tail fin plate 200 to be processed to be located below the tail material removal rack 122, it controls the tail fin plate 200 to be processed to move upward along the height direction Z of the box, so that the tail material portion of the tail fin plate 200 to be processed is initially removed by the fixing plate 121.

[0093] S03: The robotic arm 2 controls the tail fin plate 200 to be processed to move back and forth along the width direction Y of the box body from inside the box body 11 to above the arc-shaped baffle 13 until the tail material of the tail fin plate 200 to be processed is completely removed by the arc-shaped baffle 13.

[0094] The specific method for removing tail fin material is as follows:

[0095] Step 1: Loading and Positioning. The robotic arm 21 uses the negative pressure adsorption component 22 to grasp the tail fin plate 200 to be processed and feeds it into the tailing waste bin 1 through the feed inlet 111. Next, the tail fin plate 200 is controlled to descend along the height Z direction of the bin until its tail portion falls into the gap between two adjacent tailing waste racks 122. This process is assisted in real-time positioning by the vision detection component 23. At this time, the output end of the robotic arm 21 is located at the inlet 117 of the second side plate 113.

[0096] Step 2: Preliminary tail material removal. The robotic arm 21 first controls the tail fin plate 200 to be processed to be finely adjusted along the length X of the box, so that each tail material is aligned with the tail material removal frame 122 with different protrusion widths. Then, the tail fin plate 200 to be processed is driven to move upward along the height Z of the box. During the upward movement, the tail material is cut off by the corresponding tail material removal frame 122, completing the preliminary separation.

[0097] Step 3: Fine-tuning and removing residual material. The robotic arm 21 lifts the tail fin plate 200 to be processed to a certain height (e.g., 3cm) above the arc-shaped baffle 13, and then controls it to move back and forth between the box 11 and the arc-shaped baffle 13 several times (e.g., twice) along the width direction Y of the box. During the movement, a gap is maintained between the tail fin plate 200 to be processed and the upper surface of the arc-shaped baffle 13. Using the arc surface of the arc-shaped baffle 13 that matches the lower surface of the tail fin plate 200 to be processed, the residual material remaining after the initial removal is completely scraped away.

[0098] Step 4: Waste disposal. All waste materials generated during the tailings removal process are guided by the first guide plate 14 and / or the second guide plate 15, or fall freely to the waste conveying mechanism 4, and are finally transported and collected in the collection bin 5.

[0099] Step 5: Unloading and Quality Inspection. The robotic arm 21 lifts the tail fin plate 200 to be processed to its original height (i.e., the initial height when entering the tail material bin 1). The vision inspection component 23 then performs a quality judgment: qualified finished products are transferred to the placement seat 3; unqualified products return to step 3 and the finishing process is repeated until the quality requirements are met.

[0100] The technical solution of this application uses a robotic arm 2 to control the tail fin plate 200 to be processed to perform preliminary removal and fine removal of tail material in the tail material removal box 1, thereby realizing the automated operation of tail material removal of the tail fin plate 200 to be processed, improving production efficiency and the consistency of the finished tail fin plate 300.

[0101] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.

Claims

1. A tail fin plate tail material removal device, characterized in that, include: A waste material removal box includes a box body, a waste material removal assembly, and an arc-shaped baffle. The box body has a feed inlet at its top. The box body includes a first side plate and a second side plate opposite to the first side plate. The waste material removal assembly includes a fixing plate and three or more waste material removal racks. The fixing plate extends along the length of the box body and is installed inside the first side plate. The three or more waste material removal racks are spaced apart along the length of the box body and face the second side plate. Each of the three waste material removal racks is designated as a first waste material removal rack. The system includes a first tailing rack, a second tailing rack, and a third tailing rack. The first tailing rack is installed in the middle of the fixed plate. The second and third tailing racks are located on both sides of the first tailing rack. The width of the first tailing rack protruding from the fixed plate along the width direction of the box is greater than the width of the second and third tailing racks protruding from the fixed plate along the width direction of the box. The arc-shaped baffle is installed on the upper end of the second side plate. The upper arc surface of the arc-shaped baffle is adapted to the lower surface of the tail fin plate to be processed. The arc-shaped baffle extends along the length of the box and is bolted to the upper end of the second side plate. The arc-shaped baffle is located at the upper end of the outer side of the second side plate. The arc shape of its upper surface is precisely designed, and the radius of curvature is consistent with the radius of curvature of the tail fin area to be removed on the lower surface of the tail fin. This allows it to provide contour support for the tail fin in the subsequent finishing process and ensure that the tail material is removed cleanly and accurately. A robotic arm is used to grasp and move the tail fin to be processed into the tail removal bin to remove tail material. The robotic arm includes a robotic arm body, a negative pressure adsorption component, and a vision detection component. The output end of the robotic arm body is connected to the negative pressure adsorption component, which vacuum adsorbs the tail fin to be processed. The vision detection component is installed at the bottom of the negative pressure adsorption component to monitor the tail removal process and the quality of the finished product of the tail fin in real time. The specific method for removing tail fin material is as follows: Step 1: Loading and positioning. The robotic arm grabs the tail fin plate to be processed through the negative pressure adsorption component and feeds it into the tail removal box through the feed port. Then, the tail fin plate to be processed is controlled to descend along the height of the box until its tail part falls into the gap between two adjacent tail removal racks. This process is assisted in positioning in real time by the vision detection component. At this time, the output end of the robotic arm is located at the inlet of the second side plate. Step 2: Preliminary tail material removal; The robotic arm first controls the tail fin plate to be processed to be finely adjusted along the length of the box, so that each tail material is aligned with the tail material removal rack with different protrusion widths; Then, the tail fin plate to be processed is driven to move upward along the height of the box, and the tail material is cut off by the corresponding tail material removal rack during the upward process, completing the preliminary separation. Step 3: Fine trimming and removal of tail material; The robotic arm lifts the tail fin to be processed to a certain height above the arc-shaped baffle, and then controls it to move back and forth between the arc-shaped baffle and the box several times along the width direction of the box; During the movement, a gap is maintained between the tail fin to be processed and the upper surface of the arc-shaped baffle; Using the arc surface that matches the lower surface of the arc-shaped baffle and the tail fin to be processed, the tail material remaining after the initial removal is completely scraped off.

2. The tail fin plate tail material removal device according to claim 1, characterized in that, The tailings removal assembly also includes a fourth tailings removal rack and a fifth tailings removal rack. The fourth tailings removal rack is located outside the second tailings removal rack, and the fifth tailings removal rack is located outside the third tailings removal rack. Wherein, the width of the second tailing rack protruding from the fixing plate along the width direction of the box body is greater than the width of the fourth tailing rack protruding from the fixing plate along the width direction of the box body; the width of the third tailing rack protruding from the fixing plate along the width direction of the box body is greater than the width of the fifth tailing rack protruding from the fixing plate along the width direction of the box body.

3. The tail fin plate tail material removal device according to claim 2, characterized in that, The tailings removal assembly further includes a sixth tailings removal rack, a seventh tailings removal rack, an eighth tailings removal rack, and a ninth tailings removal rack. The sixth tailings removal rack is located outside the fourth tailings removal rack, the eighth tailings removal rack is located outside the sixth tailings removal rack, the seventh tailings removal rack is located outside the fifth tailings removal rack, and the ninth tailings removal rack is located outside the seventh tailings removal rack. Specifically, the width of the fourth tailing rack protruding from the fixed plate along the width direction of the box body is greater than the width of the sixth tailing rack protruding from the fixed plate along the width direction of the box body; the width of the sixth tailing rack protruding from the fixed plate along the width direction of the box body is greater than the width of the eighth tailing rack protruding from the fixed plate along the width direction of the box body; the width of the fifth tailing rack protruding from the fixed plate along the width direction of the box body is greater than the width of the seventh tailing rack protruding from the fixed plate along the width direction of the box body; and the width of the seventh tailing rack protruding from the fixed plate along the width direction of the box body is greater than the width of the ninth tailing rack protruding from the fixed plate along the width direction of the box body.

4. The tail fin plate tail material removal device according to claim 1, characterized in that, The tail fin material removal device also includes a placement base, which includes a base and three or more support columns installed on the base. The three support columns are designated as a first support column, a second support column, and a third support column. The first support column is installed in the middle of the base, and the second and third support columns are located on both sides of the first support column. The height of the first support column along the height direction of the housing is higher than the height of the second and third support columns along the height direction of the housing. The robotic arm is used to place the finished tail fin plate onto the placement seat.

5. The tail fin plate tail material removal device according to claim 1, characterized in that, The tailing rack includes a mounting base plate and a tailing plate. The mounting base plate is parallel to the width direction of the housing. One side of the mounting base plate is mounted on the fixing plate, and the other side of the mounting base plate faces the second side plate and is connected to the tailing plate. The tailing plate is inclined to the mounting base plate.

6. The tail fin plate tail material removal device according to claim 1, characterized in that, The tail fin plate tail material removal device also includes a waste conveying mechanism and a collection bin. The bottom of the box is provided with a discharge port. The waste conveying mechanism extends along the length of the box and is installed below the discharge port. The waste conveying mechanism is used to transport tail material. The collection bin is located at the discharge end of the waste conveying mechanism and is used to collect the tail material conveyed by the waste conveying mechanism.

7. The tail fin plate tail material removal device according to claim 6, characterized in that, The tailings bin also includes a first guide plate, which is installed at the bottom of the bin and located above the waste conveying mechanism. The first guide plate is inclined toward the waste conveying mechanism and is used to guide the tailings to the waste conveying mechanism.

8. The tail fin plate tail material removal device according to claim 6, characterized in that, The tailings bin also includes a second guide plate, which is inclinedly disposed on the top of the fixed plate. The top of the second guide plate is connected to the top of the first side plate, and the bottom of the second guide plate extends to the side of the fixed plate near the second side plate. The second guide plate is used to prevent tailings from accumulating above the fixed plate and to guide them into the waste conveying mechanism.

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