Automatic conductor processing equipment and method

Abstract

The invention relates to conductor automatic processing equipment and method, and relates to the field of conductor automatic processing, and the conductor automatic processing equipment comprises a workbench, a transmission assembly for transmitting a conductor, a milling device for conductor processing, an image acquisition device for acquiring a conductor surface image, and a burr removing assembly; a sliding groove is formed in one end of the working table, the transmission assembly is fixedly connected with one end of the working table, and the transmission assembly comprises a transmission base, a lifting supporting column connected to the transmission base in a sliding mode and rolling wheels embedded in the lifting supporting column; the burr removing assembly is embedded in the sliding groove. The burr removing assembly comprises a burr removing base, a burr removing cylinder fixedly connected with the burr removing base, a burr removing lifting column slidably connected to the burr removing base, a burr removing rod fixedly connected with the burr removing lifting column and a burr pressing block fixedly connected with the burr removing rod. The method has the effect of solving the problem that burrs in the processing hole area of the conductor cannot be found and treated in time.

Description

Technical Field

[0001] This invention relates to the field of automated conductor processing, and more particularly to an automated conductor processing device and method. Background Technology

[0002] In fields such as power transmission, electronic equipment manufacturing, and communication engineering, conductors, as core conductive components, directly affect the operational stability and reliability of the overall equipment due to the precision of their structural processing. To meet functional requirements such as component assembly and positioning, wire connection, and heat dissipation and ventilation, conductors need to be machined (common processing methods include milling and drilling) to form conductor machining holes with preset diameters, depths, and positions on the conductor surface. Among these, milling is widely used in conductor machining processes due to its high processing precision and strong adaptability. However, during this process, burrs are easily generated on the inner wall of the conductor machining hole, the edge of the hole opening, and the inner sidewall of the conductor due to material plastic deformation and residual cutting stress.

[0003] Regarding the aforementioned technologies, after the conductor is drilled, burrs in the drilled hole area (inner wall and edge of the hole) cannot be detected and processed in a timely manner, resulting in defects in the conductor's quality and affecting the subsequent assembly accuracy and conductivity stability. Summary of the Invention

[0004] To address the problem of burrs in the machining hole area of ​​conductors not being detected and processed in a timely manner, this invention provides an automated conductor machining equipment and method.

[0005] In a first aspect, the present invention provides an automated conductor processing device, which adopts the following technical solution: An automated conductor processing device includes a worktable, a transmission assembly for transporting conductors, a milling device for conductor processing, an image acquisition device for acquiring images of the conductor surface, and a burr removal assembly. The workbench has a sliding groove at one end, and the transmission component is fixedly connected to the end of the workbench with the sliding groove. The transmission component includes a transmission base, a lifting column slidably connected to the transmission base, and rollers embedded in the lifting column. The burr removal assembly is embedded in the sliding groove. The burr removal assembly includes a burr removal base, a burr removal cylinder fixedly connected to the burr removal base, a burr removal lifting column slidably connected to the burr removal base, a burr removal rod fixedly connected to the burr removal lifting column, and a burr pressing block fixedly connected to the burr removal rod.

[0006] By adopting the above technical solution, an integrated process of conductor hole processing, real-time burr detection, and precise removal can be achieved, effectively solving the problems of difficult burr detection and incomplete removal in traditional processing. The transmission component adjusts the height of the rollers via the sliding of the lifting column, ensuring stable conductor transmission (precise positioning achieved through the cooperation of the rollers and conductor limiting grooves) while avoiding obstruction during burr removal. The burr removal component is embedded in the sliding groove and can move flexibly along it to adapt to the burr processing needs of different locations. The burr removal cylinder can rub against the outer diameter of the conductor to remove external burrs (hole edges, outer peripheral surfaces), while the burr pressing block moves up and down via the lifting column, precisely pressing and removing internal burrs from the inner wall of the conductor hole. The two components work together to cover the main burr areas. Simultaneously, with the image acquisition device collecting and analyzing images of the conductor surface, the location and state of burrs can be quickly located. Then, through the linkage of the transmission component and the burr removal component, automated and targeted burr removal is achieved, significantly improving the surface quality of the conductor hole and ensuring the subsequent assembly accuracy and conductivity stability of the conductor.

[0007] Optionally, it also includes a fixing component and a pushing component. The fixing component includes a fixed base fixedly connected to the worktable, a fixed lifting column slidably connected to the fixed base, and a limiting plate fixedly connected to the fixed lifting column. The pushing component includes a pushing base, a rotating device fixedly connected to the pushing base, and a pushing column whose outer diameter fits with the inner diameter of the conductor. The limiting plate and the fixed base form a conductor moving hole, and the size of the conductor moving hole changes as the fixed lifting column slides. The push base is fixedly connected to the worktable, the outer circumferential surface of the push column is threaded, the push column is threadedly connected to the rotating device, and the push column is used to clean the burrs on the inner sidewall of the conductor.

[0008] By adopting the above technical solution, the sliding of the fixed lifting column drives the movement of the limiting plate, which can flexibly adjust the size of the conductor moving hole, adapting to conductors of different outer diameters and greatly improving the versatility of the device. Simultaneously, when the conductor passes through the conductor moving hole, the limiting plate and the fixed base form a clamping and limiting mechanism for the conductor. Combined with the roller support of the transmission component, this effectively prevents axial displacement or radial swaying of the conductor during hole drilling and burr removal, ensuring the accuracy of the machining position and the stability of the burr removal operation. The outer diameter of the pushing column of the pushing component fits against the inner diameter of the conductor. Axial movement of the pushing column is achieved through the threaded transmission of the rotating device, allowing it to penetrate deep into the conductor and frictionally remove burrs from the inner wall of the conductor, further improving the comprehensiveness and reliability of burr removal.

[0009] Secondly, the present invention provides an automated conductor processing method, which adopts the following technical solution: An automated conductor processing method, comprising: Step S1: In response to the machining signal, control the transmission component to perform transmission operation; Step S2: Acquire real-time images of the conductor surface to obtain the locations of conductor processing marks; Step S3: Stop the transmission operation when the conductor processing mark position reaches the preset hole position, and perform the hole opening operation; Step S4: After the hole-opening operation is completed, continue the transmission operation and obtain the conductor processing position image; Step S5: Determine the conductor processing location features based on the conductor processing location image; Step S6: Analyze the characteristics of the conductor processing location to determine the state of the conductor burrs; Step S7: When burrs are present, determine the location of the conductor burrs; Step S8: Control the burr removal component to perform conductor burr removal operation based on the conductor burr location.

[0010] By adopting the above technical solution, the transmission component is activated in response to the processing signal to achieve automatic feeding and transmission of the conductor; real-time acquisition of conductor surface images and identification of processing mark positions ensure that the hole-opening operation is accurately positioned to the preset position, avoiding human positioning errors; after hole opening is completed, transmission continues and processing position images are acquired. Processing position features are extracted through image analysis to determine the presence and condition of burrs (e.g., external burrs, internal burrs), and then the burr position is precisely located; finally, based on the located burr position, the burr removal component is controlled to perform targeted removal operations. This achieves fully automated control of the entire conductor processing process, from transmission, positioning, hole opening to burr detection and removal.

[0011] Optionally, methods for performing conductor burr removal operations based on the location of conductor burrs include: Step S80: Based on the position of the conductor burr, control the burr removal component to perform a burr removal component movement operation; Step S81: When a conductor burr is present, stop the transmission operation and analyze the conductor burr position to determine the conductor burr position status; Step S810: When the burr position is in the external burr state, determine the sliding start position and sliding end position based on the conductor burr position; Step S811: Find the preset external burr removal parameters, form a burr removal scheme based on the sliding start position, sliding end position and external burr removal parameters, and control the burr removal component to perform conductor burr removal operation according to the burr removal scheme; Step S820: When the burr position is in the internal burr state, determine the burr pressing position based on the conductor burr position; Step S821: Locate the preset internal burr removal parameters, form a burr removal scheme based on the burr pressing position and the internal burr removal parameters, and control the burr removal component to perform conductor burr removal operation according to the burr removal scheme.

[0012] By adopting the above technical solution, and distinguishing the conductor burr location into external burr state and internal burr state, the burr removal solution can be differentiated, thereby improving the accuracy and efficiency of the removal operation.

[0013] Optionally, the method for controlling the movement of the burr removal component based on the conductor burr position includes: Step S800: Determine the current transmission component number based on the conductor burr location; Step S801: Obtain the position of the transmission component corresponding to the current transmission component number; Step S802: Obtain the location of the burr removal component; Step S803: Determine the lifting transmission component number based on the location of the burr removal component and the transmission component; Step S804: Control the transmission component corresponding to the lifting transmission component number to perform the lifting operation; Step S805: After the lifting operation is completed, the position of the burr removal component is obtained again, and steps S803 to S804 are executed.

[0014] By adopting the above technical solution, and by accurately locating the current transmission component number and its position, combined with the real-time position of the burr removal component, it is possible to intelligently identify and control the lifting transmission component that may obstruct the movement of the burr removal component to perform lifting operations, thereby achieving dynamic avoidance between the transmission component and the burr removal component.

[0015] Optionally, it also includes a method for outputting a preset signal indicating that glitch cannot be cleared, the method comprising: Step S806: When there is a sliding start position and a sliding end position, determine the sliding position range based on the sliding start position and the sliding end position; Step S807: When the position of the transmission component falls into the sliding position range, determine the number of the interfering transmission component based on the position of the transmission component and the sliding position range; Step S808: Obtain the number and quantity of interference transmission components; Step S809: If the number of interference transmission component numbers is 1, control the transmission component corresponding to the interference transmission component number to perform lifting operation; Step S810: If the number of interference transmission components is not 1, output a glitch that cannot be cleared signal.

[0016] By adopting the above technical solution, when there is only one interfering transmission component, its lifting operation can be controlled to avoid obstacles, ensuring that the burr removal component can smoothly enter the sliding position range to complete the removal of external burrs. However, when there is more than one interfering transmission component, it indicates that the layout of the transmission components or the current conductor transmission path creates multiple obstacles to the burr removal area. Even if some transmission components perform avoidance operations, the spatial interference of the remaining transmission components may still prevent the removal component from sliding along the preset path, or excessive avoidance operations may affect the stability of conductor transmission. In this case, an output burr removal failure signal can be output to promptly remind the operator to intervene manually, avoiding forced removal operations that could cause component collision damage or incomplete burr removal, thus ensuring the safety and reliability of the processing.

[0017] Optionally, it also includes a method for not outputting a glitch-unremovable signal when the number of interference transmission components is not 1, the method comprising: Step S8100: Obtain the location of the interference transmission component corresponding to the interference transmission component number; Step S8101: Determine the transmission parameters based on the position of the interference transmission component and the sliding position range; Step S8102: Perform transmission operation based on transmission parameters; Step S8103: When transmission parameters, sliding start position and sliding end position exist, determine the corrected sliding start position based on the transmission parameters and sliding start position; Step S8104: When a corrected sliding start position exists, determine the corrected sliding end position based on the transmission parameters and the sliding end position; Step S8105: Based on the corrected sliding start position, the corrected sliding end position and the external burr removal parameters, a burr removal scheme is formed, and the burr removal component is controlled to perform the corrected conductor burr removal operation according to the burr removal scheme.

[0018] By adopting the above technical solution, when the number of interfering transmission components is not one, the system does not directly output an unremovable signal. Instead, it dynamically adjusts the transmission parameters to avoid multiple obstacles. First, the specific positions of all interfering transmission components are obtained. Combined with sliding position range analysis, the transmission position of the conductor on the worktable is fine-tuned to offset the positions of multiple interfering transmission components that originally fell into the sliding range from the corrected sliding range. Then, based on the new transmission parameters, the transmission components are controlled to move the conductor to the corrected position. The sliding start and end positions are then recalculated based on the corrected position, forming a burr removal scheme adapted to the current transmission state. Finally, the burr removal components are controlled to perform the removal operation according to the new scheme.

[0019] Optionally, the method for forming a burr removal scheme based on the burr pressing position and internal burr removal parameters, and controlling the burr removal component to perform conductor burr removal operation according to the burr removal scheme, includes: Step S8210: When there is a burr pressing position, obtain the size of the burr removal component; Step S8211: Determine the burr pressing coverage area based on the size of the burr removal component and the burr pressing position; Step S8212: When the position of the transmission component falls into the burr pressing coverage area, determine the transmission parameters based on the position of the transmission component and the burr pressing coverage area; Step S8213: Perform transmission operation based on transmission parameters; Step S8214: When transmission parameters and burr pressing positions exist, determine the corrected burr pressing position; Step S8215: Based on the corrected burr pressing position and internal burr removal parameters, a burr removal scheme is formed, and the burr removal component is controlled to perform the corrected conductor burr removal operation according to the burr removal scheme; Step S8216: When there are no transmission parameters, a burr removal scheme is formed based on the burr pressing position and internal burr removal parameters, and the burr removal component is controlled to perform conductor burr removal operation according to the burr removal scheme.

[0020] By adopting the above technical solution, before performing the internal burr removal operation, the specific dimensional parameters of the burr removal component are obtained. Combined with the determined burr pressing position, the spatial range that the burr pressing block needs to cover during the pressing operation is accurately calculated. If a transmission component happens to fall within this coverage area, it indicates that it may cause mechanical interference to the lifting and lowering movement of the burr pressing block. In this case, the transmission parameters need to be adjusted to drive the conductor to move, causing the transmission component to move out of the coverage area. This avoids collisions with the transmission component, further improving the safety of the device operation and the success rate of burr removal.

[0021] Optionally, it also includes a method for performing a limit plate descent operation when performing a conductor burr removal operation or a correction of a conductor burr removal operation, the method comprising: Step S8217: Obtain the height of the limiting plate and the height of the conductor; Step S8218: Determine the lowering height of the limiting plate based on the height of the limiting plate and the height of the conductor; Step S8219: Based on the lowering height of the limit plate, control the fixed lifting column to perform the lowering operation of the limit plate.

[0022] By adopting the above technical solution, before performing the burr removal operation, the current height of the limiting plate and the actual height of the conductor to be processed are obtained. The difference between the two is used to accurately calculate the specific height that the limiting plate needs to descend. Subsequently, the fixed lifting column of the control assembly drives the limiting plate to move downward according to the calculated descent height, so that the limiting plate is tightly fitted with the upper surface of the conductor. Combined with the support and limitation formed by the fixed base from below the conductor, the conductor is firmly clamped in the vertical direction. This further ensures the stability of the burr removal operation and the conductor processing quality.

[0023] Optionally, it also includes a method for performing a pushing operation after performing a conductor burr removal operation or a corrective conductor burr removal operation, the method comprising: Step S8220: Obtain the location for burr removal; Step S8221: Determine the pushing parameters based on the location of the burr removal; Step S8222: Control the push column to perform the push operation based on the push parameters.

[0024] By adopting the above technical solution, after removing burrs from the inner and outer surfaces of the conductor machining hole, the required axial movement distance of the push post is calculated by obtaining the specific location of the removed burrs. Since the outer diameter of the push post is in close contact with the inner diameter of the conductor, its outer circumferential surface will generate sufficient friction with the inner wall of the conductor during the movement of the push post, thereby thoroughly cleaning the fine burrs remaining on the inner wall of the conductor or the debris that may have been generated by the previous cleaning operation, further improving the smoothness of the inner wall of the conductor machining hole, and ensuring the conductivity and assembly compatibility of the conductor.

[0025] In summary, the present invention has at least one of the following beneficial technical effects: The entire process of conductor hole processing, real-time burr detection and precise removal is fully automated: the image acquisition device acquires images of the conductor processing position in real time, and the processing characteristics are analyzed and burrs are located by combining image recognition algorithms. Then, the burr removal component is driven to remove internal or external burrs in a targeted manner. This solves the problems of lag in burr detection and manual removal with poor effect in traditional processes, and greatly improves the surface quality of conductor processing holes. The versatility and comprehensiveness of the lifting device in burr removal: The fixed component can be adapted to conductors of different specifications by adjusting the size of the conductor moving hole, the transmission component has a lifting and avoidance mechanism to avoid interfering with the burr removal operation, and the pushing component is specifically for cleaning burrs on the inner side wall of the conductor, filling the gap in the cleaning range of traditional devices and realizing burr cleaning of the outer side wall, processing hole area and inner side wall of the conductor. To ensure the stability and success rate of burr removal operations: By adjusting transmission parameters to correct the removal position when there are too many interference transmission components, and fixing the conductor during removal to prevent displacement, thus avoiding conductor tilting and falling or equipment collision damage, the problem of burr removal cannot be solved under interference from multiple transmission components, while also ensuring processing accuracy and operational safety, and improving the reliability of the overall processing flow. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of an automated conductor processing device according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a burr removal component according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a pushing component in an embodiment of this application; Figure 4 This is a schematic diagram of the conductor processing hole in an embodiment of this application; Figure 5 This is a schematic diagram of the conductor limiting groove in the embodiments of this application; Figure 6 This is a flowchart of an automated conductor processing method according to an embodiment of this application.

[0027] The parts referred to by the numbers in the above attached figures are as follows: 1. Worktable; 11. Sliding groove; 2. Transmission assembly; 21. Transmission base; 22. Lifting column; 23. Roller; 3. Milling device; 4. Image acquisition device; 5. Deburring assembly; 51. Deburring base; 52. Deburring cylinder; 53. Deburring lifting column; 54. Deburring rod; 55. Deburring pressing block; 6. Fixing assembly; 61. Fixing base; 62. Fixing lifting column; 63. Limiting plate; 7. Pushing assembly; 71. Pushing base; 72. Rotating device; 73. Pushing column; 8. Conductor; 81. Conductor machining hole; 82. Limiting groove. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] This invention discloses an automated conductor processing device. (Refer to...) Figure 1 , Figure 2 and Figure 3 An automated conductor processing device includes a worktable 1, a fixing component 6, a transmission component 2, a milling device 3, an image acquisition device 4, a burr removal component 5, and a pushing component 7.

[0030] Reference Figure 1The fixing component 6 includes a fixing base 61, a fixing lifting column 62, and a limiting plate 63. One end of the fixing base 61 is fixedly connected to one end of the worktable 1. One end of the fixing lifting column 62 passes through the fixing base 61 and is slidably connected to the fixing base 61, while the other end of the fixing lifting column 62 is fixedly connected to one end of the limiting plate 63. The fixing base 61, the fixing lifting column 62, and the limiting plate 63 form a conductor moving hole for the conductor 8 to pass through. As the fixing lifting column 62 moves, it drives the limiting plate 63 to move, thereby expanding and shrinking the size of the conductor moving hole.

[0031] Reference Figure 1 Several transmission components 2 are arranged along the length of the worktable 1 and fixedly installed at one end of the worktable 1 near the fixed component 6. Each transmission component 2 includes a transmission base 21, a lifting support column 22, and rollers 23. One end of the transmission base 21 is fixedly connected to the end of the worktable 1 near the fixed component 6. One end of the lifting support column 22 passes through the transmission base 21 and is slidably connected to it. The end of the lifting support column 22 away from the transmission base 21 is rotatably connected to the rollers 23.

[0032] Reference Figure 1 The milling device 3 is fixedly connected to the end of the worktable 1 near the transmission component 2, and is used to perform hole drilling operations on the conductor 8. The image acquisition device 4 is fixedly connected to the end of the worktable 1 near the transmission component 2, and is used to acquire images of the conductor surface.

[0033] Reference Figure 2 The workbench 1 has a sliding groove 11 at one end near the transmission assembly 2. The deburring assembly 5 includes a deburring base 51, a deburring cylinder 52, a deburring lifting column 53, a deburring rod 54, and a deburring pressing block 55. One end of the deburring base 51 is embedded in the sliding groove 11 and moves along the length of the sliding groove 11. One side of the deburring base 51 is fixedly connected to the deburring cylinder 52. One end of the deburring lifting column 53 is slidably connected to the end of the deburring base 51 away from the sliding groove 11. The deburring rod 54 has a fixing hole. The end of the deburring lifting column 53 away from the deburring base 51 is fixedly connected to the deburring rod 54 through the fixing hole. The end of the burr removal rod 54 furthest from the fixing hole is fixedly connected to the burr pressing block 55. The burr pressing block 55 moves up and down by the burr removal lifting column 53, thereby driving the burr removal rod 54 to move up and down, and is used to remove burrs attached to the hole wall of the conductor processing hole 81. The burr removal cylinder 52 has a pressing hole for the burr pressing block 55 to pass through, and the inner diameter of the burr removal cylinder 52 fits against the outer diameter of the conductor 8 to remove burrs from the outer wall of the conductor 8.

[0034] Reference Figure 3The pushing assembly 7 includes a pushing base 71, a rotating device 72, and a pushing column 73. One end of the pushing base 71 is fixedly connected to the end of the worktable 1 with a sliding groove 11. A pushing column sliding hole is provided on one side of the pushing base 71 for the pushing column 73 to pass through. One end of the rotating device 72 is fixedly connected to the side of the pushing base 71 away from the burr removal assembly 5. The surface of the pushing column 73 is provided with an external thread that matches the internal thread of the rotating device 72, and the pushing column 73 is moved by the rotating device 72. The outer diameter of the pushing column 73 matches the inner diameter of the conductor 8 to remove burrs from the inner wall of the conductor 8.

[0035] Reference Figure 4 The conductor machining hole 81 is obtained by machining the first side of the conductor 8 through the milling device 3.

[0036] Reference Figure 5 The second side of the conductor 8 has a limiting groove 82, and the conductor 8 is connected to the roller 23 through the limiting groove 82. The second side of the conductor 8 is opposite in direction to the first side of the conductor 8.

[0037] Based on the same inventive concept, embodiments of the present invention provide an automated conductor processing method.

[0038] Reference Figure 6 An automated conductor processing method, comprising: Step S1: In response to the machining signal, control the transmission component 2 to perform transmission operation.

[0039] The processing signal is a command signal that can be manually triggered by the operator or obtained through the weight sensors built into the fixed base 61 and the transmission base 21. When a change in gravity is detected, it can be determined that the conductor has been positioned, and thus a processing signal is output. The transmission operation refers to the operation in which the roller 23, which is connected to the limiting groove 82 of the conductor 8, rotates clockwise, driving the conductor 8 to move. Upon receiving the processing signal, the transmission assembly 2 starts working, transmitting the conductor 8 to the designated processing position.

[0040] Step S2: Acquire real-time images of the conductor surface to obtain the location of conductor processing marks.

[0041] The conductor surface image refers to the image information of the side of the conductor from which the machining hole 81 needs to be processed. The machining mark position refers to the markings pre-marked on the conductor 8 to determine the position of the machining hole; in this case, these are line marks, not shown in the figure. Acquiring the conductor surface image is achieved through the image acquisition device 4.

[0042] Step S3: Stop the transmission operation when the conductor processing mark position reaches the preset hole position, and perform the hole opening operation.

[0043] The hole-opening position refers to the position aligned with the milling cutter of the milling device 3, which is preset by the operator when installing the milling device 3. The hole-opening operation refers to the operation of starting the milling cutter of the milling device 3 to process the required conductor machining hole 81 on the conductor 8 according to the preset hole diameter and depth requirements. When the machining mark position on the conductor 8 moves to correspond to the position of the milling cutter, it indicates that the conductor 8 has accurately reached the position where the hole needs to be opened, so the transmission operation is stopped and the hole-opening operation is performed.

[0044] Step S4: After the hole-opening operation is completed, continue the transmission operation and obtain the conductor processing position image.

[0045] The conductor processing position image refers to the image information of the completed conductor processing hole 81 and its surrounding area. The image acquisition device 4 then acquires images of the conductor 8 again.

[0046] Step S5: Determine the conductor processing location features based on the conductor processing location image.

[0047] Conductor processing location characteristics refer to various features generated during the processing of conductor 8. These include the presence of burrs on the hole surface, the surface roughness of the hole, and whether the diameter and depth of the hole meet the preset requirements. Based on these characteristics, the quality of conductor 8 processing can be further judged. Burrs can affect the tightness of the connection between conductor 8 and other components and the conductivity. It should be added here that conductor processing location characteristics also include the roundness characteristics of the hole; roundness deviation will affect the adaptability of conductor 8 in subsequent assembly.

[0048] Step S6: Analyze the characteristics of the conductor processing location to determine the state of the conductor burrs.

[0049] The conductor burr condition refers to the presence, size, location, and distribution of burrs on the surface of conductor 8. When analyzing the characteristics of the conductor processing location, an image recognition algorithm is used to compare the acquired images of the conductor processing location with pre-stored standard images to determine whether burrs exist on conductor 8.

[0050] Step S7: When burrs are present, determine the location of the conductor burrs.

[0051] The location of a conductor burr refers to the specific orientation, area, or precise coordinates of the burr appearing in the region of the conductor processing hole 81 (including the inner wall and the edge of the hole) and on the surface of the conductor 8 surrounding the hole. Specifically, it can be divided into internal burr locations (the location of the burr on the inner wall of the conductor processing hole 81) and external burr locations (the location of the burr on the edge of the hole and the surface of the conductor 8 surrounding the hole). It should be further clarified here that the internal burr location refers to the hole wall of the conductor processing hole 81, not the inner wall of the conductor 8, because the inner wall of the conductor 8 cannot be captured by the image acquisition device 4, so the burr status at this location cannot be determined by image recognition.

[0052] Step S8: Control the burr removal component 5 to perform conductor burr removal operation based on the conductor burr location.

[0053] The conductor burr removal operation refers to using different removal methods depending on the location of the burr. For external burr locations, the burr removal base 51 is moved along the length of the sliding groove 11 to the corresponding position, and the burr removal cylinder 52 moves back and forth to rub the external burrs on the outer peripheral surface of the conductor 8. For internal burr locations, the burr removal base 51 is moved along the length of the sliding groove 11 to the corresponding position, and the burr pressing block 55 presses down on the internal burrs of the conductor processing hole 81.

[0054] The method for performing conductor burr removal based on the location of the conductor burr includes: Step S80: Based on the position of the conductor burr, control the burr removal component 5 to perform the burr removal component movement operation.

[0055] The burr removal assembly movement operation refers to controlling the burr removal base 51 to move along the length of the sliding groove 11, so that the burr removal cylinder 52 and the burr pressing block 55 can reach the location of the burr on the conductor 8.

[0056] Step S81: When a conductor burr is present, stop the transmission operation and analyze the conductor burr position to determine the conductor burr position status.

[0057] The conductor burr position status refers to the burr classification based on the specific attachment area of ​​the burr on conductor 8 (in conjunction with the cleaning division of the device). When a conductor burr position status exists, it indicates that conductor 8 has moved to a suitable position for burr removal, and the transmission operation is stopped at this time.

[0058] Step S810: When the burr position is in the external burr state, determine the sliding start position and sliding end position based on the conductor burr position.

[0059] External burr state refers to the state where burrs are located at the edge of the conductor processing hole 81 and on the surface of the conductor 8 around the hole.

[0060] The sliding start position refers to the starting point where the burr removal cylinder 52 begins to rub and remove burrs from the outer peripheral surface of the conductor 8, and the sliding end position is the ending point where this operation ends. After determining these two positions, the burr removal base 51 is controlled to move along the sliding groove 11 from the sliding start position to the sliding end position. During this process, the burr removal cylinder 52 is in close contact with the outer peripheral surface of the conductor 8 and moves back and forth, using friction to remove the external burrs from the outer peripheral surface of the conductor 8.

[0061] Step S811: Find the preset external burr removal parameters, form a burr removal scheme based on the sliding start position, sliding end position and external burr removal parameters, and control the burr removal component 5 to perform conductor burr removal operation according to the burr removal scheme.

[0062] External burr removal parameters refer to a series of pre-set parameters related to the burr removal effect, including the speed and number of friction cycles of the burr removal cylinder 52. The burr removal scheme refers to a specific operating plan for different burr conditions. Here, it specifically refers to an operating plan formed by comprehensively considering the sliding start position, sliding end position, and external burr removal parameters. The burr removal component 5 is controlled to perform the operation according to this scheme, effectively removing external burrs from the outer peripheral surface of the conductor 8 between the sliding start position and the sliding end position at an appropriate speed and number of friction cycles.

[0063] Step S820: When the burr position is in the internal burr state, determine the burr pressing position based on the conductor burr position.

[0064] The internal burr state refers to the state in which the burr is located on the inner wall of the conductor processing hole 81. The burr pressing position refers to the specific position where the burr pressing block 55 presses the burr on the inner wall of the conductor processing hole 81.

[0065] Step S821: Locate the preset internal burr removal parameters, form a burr removal scheme based on the burr pressing position and the internal burr removal parameters, and control the burr removal component 5 to perform conductor burr removal operation according to the burr removal scheme.

[0066] The internal burr removal parameters refer to a series of pre-set parameters related to the internal burr removal effect, including the pressing force, number of presses, and pressing time of the burr pressing block 55. The burr removal scheme here is a specific operation plan formulated for the internal burr state, taking into account the burr pressing position and the internal burr removal parameters, and controlling the burr removal component 5 to perform the operation according to this scheme.

[0067] The method for controlling the movement of the burr removal component 5 based on the position of the conductor burr includes: Step S800: Determine the current transmission component number based on the conductor burr location.

[0068] The current transmission component number refers to the serial number of the transmission component 2 that identifies the roller 23 currently participating in the transmission of conductor 8 and connected to the conductor 8 limiting groove 82. In the entire device, there are several transmission components 2 arranged along the length of the worktable 1, and each transmission component 2 has a unique number.

[0069] Step S801: Obtain the position of the transmission component corresponding to the current transmission component number.

[0070] The position of the transmission component refers to the specific coordinate position of the transmission component 2 on the worktable 1. By pre-storing the mapping relationship between each transmission component number and its corresponding position in the system, its position can be accurately obtained based on the current transmission component number.

[0071] Step S802: Obtain the location of the burr removal component.

[0072] The position of the burr removal component refers to the specific coordinate position of the burr removal component 5 on the worktable 1. This position is obtained by a position sensor installed on the burr removal base 51. The position sensor can provide real-time feedback on the coordinates of the burr removal component 5 on the worktable 1.

[0073] Step S803: Determine the lifting transmission component number based on the location of the burr removal component and the transmission component.

[0074] The lifting transmission component number refers to the number of the transmission component that needs to perform the lifting operation. Because the burr removal cylinder 52 cannot rub the outer surface of the conductor 8 while the transmission component 2 and the conductor 8 are in contact, if the burr is in the middle of the conductor 8, the burr removal cylinder 52 will be obstructed by the transmission component 2 and unable to perform the conductor burr removal operation. Therefore, it is necessary to determine the lifting transmission component number to perform the lifting operation. The lifting operation refers to controlling the lifting support column 22 in the transmission component 2 to slide downwards within the transmission base 21, lowering the height of the roller 23, thereby allowing the burr removal cylinder 52 to move smoothly on the outer peripheral surface of the conductor 8 without being obstructed by the roller 23. Because there are several transmission components 2, when the lifting transmission component closest to the burr removal cylinder 52 performs the lifting operation, the conductor 8 will not fall off the transmission component 2.

[0075] Step S804: Control the transmission component 2 corresponding to the lifting transmission component number to perform the lifting operation; Step S805: After the lifting operation is completed, the position of the burr removal component is obtained again, and steps S803 to S804 are executed.

[0076] After the lifting and lowering operation is completed, it indicates that the moving environment of the burr removal component 5 has changed. Therefore, it is necessary to re-acquire the position of the burr removal component and determine, based on the new position of the burr removal component and the position of the transmission component, whether other transmission components 2 are needed to perform lifting and lowering operations. Steps S803 to S804 are repeated until it is determined that all transmission components 2 that are preventing the burr removal component 5 from moving to the conductor burr position have completed the lifting and lowering operation. After the burr removal cylinder 52 passes, the transmission components 2 that need to be restored to their initial height are determined based on the re-acquired position of the burr removal component.

[0077] This also includes a method for outputting a preset signal that glitch cannot be cleared, the method comprising: Step S806: When there is a sliding start position and a sliding end position, determine the sliding position range based on the sliding start position and the sliding end position.

[0078] The sliding position range refers to a continuous range of positions defined by the starting and ending positions of the sliding motion.

[0079] Step S807: When the position of the transmission component falls into the sliding position range, determine the number of the interfering transmission component based on the position of the transmission component and the sliding position range.

[0080] The interference transmission component number refers to the transmission component number whose position is within the sliding position range and may obstruct the movement of the burr removal cylinder 52 between the sliding start position and the sliding end position. When the position of the transmission component falls within the sliding position range, it means that the transmission component 2 is located on the movement path of the burr removal cylinder 52. If it is not dealt with, it will affect the normal progress of the burr removal operation, so the interference transmission component number must be determined.

[0081] Step S808: Obtain the number and quantity of interference transmission components.

[0082] The number of interference transmission components refers to the total number of interference transmission components within the sliding position range.

[0083] Step S809: If the number of interference transmission component numbers is 1, control the transmission component 2 corresponding to the interference transmission component number to perform lifting operation.

[0084] When the number of interference transmission components is 1, it means that only one transmission component 2 is located in the sliding position range. At this time, control the interference transmission component to perform a lifting operation, so that the height of its roller 23 is reduced, which can make room for the burr removal cylinder 52 to move smoothly from the sliding start position to the sliding end position, and complete the removal operation of external burrs.

[0085] Step S810: If the number of interference transmission components is not 1, output a glitch that cannot be cleared signal.

[0086] The "Unremovable Burr" signal is a warning signal used to notify the operator that the conductor 8 has external burrs that cannot be automatically removed. When the number of interfering transmission components is not 1, it indicates that there are multiple transmission components 2 within the sliding position range. If all of these transmission components 2 are raised or lowered, the number of transmission components 2 supporting the conductor 8 may be reduced too much, causing the conductor 8 to tilt or fall during transmission and become unstable in the processing and inspection position. Therefore, when the number of interfering transmission components is not 1, the system determines that the external burr removal operation cannot be safely and effectively performed, and outputs the "Unremovable Burr" signal.

[0087] This also includes a method for not outputting a glitch-unremovable signal when the number of interference transmission components is not 1, the method comprising: Step S8100: Obtain the location of the interference transmission component corresponding to the interference transmission component number.

[0088] The position of the interference transmission component refers to the specific coordinate position of the transmission component 2 corresponding to each interference transmission component number within the sliding position range on the worktable 1. By using the mapping relationship between transmission component numbers and positions stored in the system, the coordinates of the transmission component 2 corresponding to each interference transmission component number can be obtained one by one.

[0089] Step S8101: Determine the transmission parameters based on the position of the interference transmission component and the sliding position range.

[0090] The transmission parameters refer to the relevant parameters used to control the transmission component 2 to push the conductor 8, including the transmission direction and the transmission distance. The transmission direction is determined according to the relative relationship between the interfering transmission component position and the sliding position interval. If the interfering transmission component is located on the left side of the sliding position interval, the transmission direction is to the right; if it is located on the right side, the transmission direction is to the left. The transmission distance is determined according to the distance between the interfering transmission component position and the edge of the sliding position interval, ensuring that the burr area on the conductor 8 can be moved to a new position that is not blocked by the interfering transmission component through the transmission operation. For example, when the sliding position interval is [X1, X2], and the interfering transmission component is located at X0 (X1 < X0 < X2), the transmission direction is set to the right (for the convenience of explanation, the transmission direction is set to the right here, and it can also be to the left. It is optimized according to the position of X0 in the interval. When X0 is closer to X1, it is to the left, and when X0 is closer to X2, it is to the right), and the transmission distance is (X2 - X0 + a preset safety distance); after pushing the conductor 8 to move to the right by this distance through the transmission component 2, the original sliding interval [X1, X2] corresponding to the burr area will move to the new position [X1 + (X2 - X0 + safety distance), X2 + (X2 - X0 + safety distance)]. At this time, the interfering transmission component X0 is located on the left side of the new sliding interval and no longer obstructs the movement of the burr removal cylinder 52. The safety distance here refers to the minimum distance value reserved to avoid the conductor 8 from colliding with the interfering transmission component or other components during the movement process.

[0091] Step S8102: Perform a transmission operation based on the transmission parameters.

[0092] Step S8103: When there are transmission parameters, a sliding start position, and a sliding end position, determine a corrected sliding start position based on the transmission parameters and the sliding start position.

[0093] The corrected sliding start position is the new start position obtained by adjusting the original sliding start position based on the transmission distance in the transmission parameters. Specifically, the original sliding start position is added or subtracted by the transmission distance according to the transmission direction.

[0094] Step S8104: When there is a corrected sliding start position, determine a corrected sliding end position based on the transmission parameters and the sliding end position.

[0095] The corrected sliding end position refers to the new end position obtained by adjusting the original sliding end position based on the transmission distance in the transmission parameters. Specifically, the original sliding end position is added or subtracted by the transmission distance according to the transmission direction.

[0096] Step S8105: Form a burr removal plan based on the corrected sliding start position, the corrected sliding end position, and the external burr removal parameters, and control the burr removal component 5 to perform the corrected conductor burr removal operation according to the burr removal plan.

[0097] The conductor burr removal operation refers to the removal of external burr areas on conductor 8 that were originally interfered with by multiple transmission components 2 after the transmission parameters have been adjusted.

[0098] The method for forming a burr removal scheme based on the burr pressing position and internal burr removal parameters, and controlling the burr removal component 5 to perform conductor burr removal operation according to the burr removal scheme, includes: Step S8210: When there is a burr pressing position, obtain the size of the burr removal component.

[0099] The dimensions of the burr removal assembly refer to the structural parameters of the burr removal cylinder 52, specifically the length of the burr removal cylinder 52.

[0100] Step S8211: Determine the burr pressing coverage area based on the size of the burr removal component and the burr pressing position.

[0101] The burr pressing coverage area refers to the axial range covered by the burr pressing block 55 when it presses the burrs on the inner wall of the conductor processing hole 81, determined by the length of the burr removal cylinder 52 and the burr pressing position. Specifically, it is a continuous area extending a certain distance to both ends from the burr pressing position as the center, combined with the length of the burr removal cylinder 52.

[0102] Step S8212: When the position of the transmission component falls within the burr pressing coverage area, determine the transmission parameters based on the position of the transmission component and the burr pressing coverage area.

[0103] When the position of the transmission component falls within the burr pressing coverage area, it indicates that the transmission component 2 is located within the coverage area of ​​the burr pressing block 55 pressing the inner wall of the conductor processing hole 81, hindering the normal pressing action of the burr pressing block 55. Since the burr pressing block 55 will affect the stability of the conductor 8 on the roller 23 when it performs pressing, the lifting operation of the transmission component 2 is not considered here. The problem of the transmission component falling within the burr pressing coverage area can only be solved by the transmission operation. Therefore, the transmission parameters are determined based on the position of the transmission component and the burr pressing coverage area.

[0104] Step S8213: Perform transmission operation based on transmission parameters.

[0105] Step S8214: When transmission parameters and burr pressing position exist, determine the corrected burr pressing position.

[0106] Correcting the burr pressing position refers to the new pressing position obtained by adjusting the original burr pressing position according to the transmission parameters after the transmission operation is performed. Specifically, the original burr pressing position will be corrected accordingly based on the transmission direction and transmission distance in the transmission parameters. If the transmission direction is to the right and the transmission distance is D, the corrected burr pressing position is the original burr pressing position plus D; if the transmission direction is to the left and the transmission distance is D, the corrected burr pressing position is the original burr pressing position minus D.

[0107] Step S8215: Based on the corrected burr pressing position and internal burr removal parameters, a burr removal scheme is formed, and the burr removal component 5 is controlled to perform the corrected conductor burr removal operation according to the burr removal scheme.

[0108] Step S8216: When there are no transmission parameters, a burr removal scheme is formed based on the burr pressing position and internal burr removal parameters, and the burr removal component 5 is controlled to perform conductor burr removal operation according to the burr removal scheme.

[0109] When there are no transmission parameters and no burr pressing position, it means that the position of the transmission component does not fall within the burr pressing coverage area. That is, the current transmission component 2 will not obstruct the pressing operation of the burr pressing block 55, and there is no need to perform transmission operation to adjust the conductor position. Therefore, the initially determined burr pressing position can be directly used, combined with the internal burr removal parameters, to generate a burr removal scheme. Then, the burr removal component 5 is controlled to perform a precise pressing and removal operation on the burrs on the inner wall of the conductor processing hole 81 according to the scheme.

[0110] This also includes a method for performing a limit plate descent operation when performing a conductor burr removal operation or a correction of a conductor burr removal operation, the method comprising: Step S8217: Obtain the height of the limiting plate and the height of the conductor.

[0111] The limit plate height refers to the vertical height of the limit plate 63 on the worktable 1, that is, the distance from the upper surface of the limit plate 63 to the surface of the worktable 1. It is measured in real time by a height sensor pre-installed in the fixed lifting column 62, and the height of the fixed lifting column 62 is converted into the limit plate height. The conductor height refers to the current vertical height of the conductor 8 on the worktable 1, which is a default value obtained by pre-stored worktable 1 height and conductor 8 outer diameter.

[0112] Step S8218: Determine the lowering height of the limiting plate based on the height of the limiting plate and the height of the conductor.

[0113] The descent height of the limiting plate refers to the vertical distance required for the limiting plate 63 to descend from its current height to contact the upper surface of the conductor 8 in order for the limiting plate 63 to effectively limit the conductor 8.

[0114] Step S8219: Based on the lowering height of the limit plate, control the fixed lifting column 62 to perform the lowering operation of the limit plate.

[0115] The lowering operation of the limiting plate refers to controlling the drive motor inside the fixed lifting column 62 to drive the limiting plate 63 to move downward in the vertical direction. The moving distance is the calculated lowering height of the limiting plate, until the lower surface of the limiting plate 63 is tightly attached to the upper surface of the conductor 8, thereby limiting the conductor 8 in the vertical direction and preventing the conductor 8 from jumping up and down or shifting due to external forces such as pressing or friction during the burr removal operation.

[0116] This also includes a method for performing a pushing operation after performing a conductor burr removal operation or a corrective conductor burr removal operation, the method comprising: Step S8220: Obtain the location for burr removal.

[0117] The burr removal location refers to the burr removal position obtained after completing or correcting the conductor burr removal operation. Since the aforementioned burr removal operation can only remove burrs on the inner wall and outer edge of the conductor machining hole 81, and cannot take into account the inner wall of the conductor 8, it is necessary to obtain the burr removal location in order to perform subsequent removal operations on the inner wall of the conductor 8.

[0118] Step S8221: Determine the driving parameters based on the location of the burr removal.

[0119] The pushing parameter refers to the pushing distance used to control the pushing column 73 to push. The pushing distance is calculated based on the initial position of the pushing component 7 on the worktable 1 and the position for deburring.

[0120] Step S8222: Control the push column 73 to perform the push operation based on the push parameters.

[0121] The pushing operation refers to controlling the pushing column 73 to move in a direction close to the conductor 8 in order to clean the burrs on the inner wall of the conductor 8.

[0122] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A conductor automated processing apparatus, characterized by: The transmission assembly (2) includes a workbench (1), a transmission conductor (8), a milling device (3) for processing the conductor (8), an image acquisition device (4) for acquiring the image of the conductor surface, and a burr removing assembly (5); One end of the workbench (1) is provided with a sliding groove (11), and the transmission assembly (2) is fixedly connected to one end of the workbench (1) provided with the sliding groove (11); the transmission assembly (2) comprises a transmission base (21), a lifting column (22) slidably connected to the transmission base (21), and a roller (23) embedded on the lifting column (22); The burr removing assembly (5) is embedded in the sliding groove (11), and the burr removing assembly (5) comprises a burr removing base (51), a burr removing cylinder (52) fixedly connected to the burr removing base (51), a burr removing lifting column (53) slidably connected to the burr removing base (51), a burr removing rod (54) fixedly connected to the burr removing lifting column (53), and a burr pressing block (55) fixedly connected to the burr removing rod (54).

2. A conductor automated processing apparatus according to claim 1, characterized by: It also comprises a fixing assembly (6) and a pushing assembly (7); the fixing assembly (6) comprises a fixing base (61) fixedly connected to the workbench (1), a fixing lifting column (62) slidably connected to the fixing base (61), and a limiting plate (63) fixedly connected to the fixing lifting column (62); the pushing assembly (7) comprises a pushing base (71), a rotating device (72) fixedly connected to the pushing base (71), and a pushing column (73) with an outer diameter matching the inner diameter of the conductor (8); The limiting plate (63) and the fixing base (61) form a conductor moving hole, and the size of the conductor moving hole changes with the sliding of the fixing lifting column (62); The pushing base (71) is fixedly connected to the workbench (1), the outer circumferential surface of the pushing column (73) is provided with threads, the pushing column (73) is threadedly connected to the rotating device (72), and the pushing column (73) is used for cleaning the burrs on the inner side wall of the conductor (8).

3. A method for automatically processing a conductor, applied to the apparatus for automatically processing a conductor according to any one of claims 1 to 2, characterized by, It comprises: Step S1: in response to a processing signal, controlling the transmission assembly (2) to perform a transmission operation; Step S2: acquiring the image of the conductor surface in real time to obtain the conductor processing mark position; Step S3: stopping the transmission operation when the conductor processing mark position reaches a preset opening position, and performing an opening operation; Step S4: continuing to perform the transmission operation after the opening operation is performed, and acquiring the conductor processing position image; Step S5: determining the conductor processing position feature based on the conductor processing position image; Step S6: analyzing the conductor processing position feature to determine the conductor burr state; Step S7: determining the conductor burr position when the conductor burr state exists; Step S8: controlling the burr removing assembly (5) to perform a conductor burr removing operation based on the conductor burr position.

4. The method of claim 3, wherein, The method for performing a conductor burr removing operation based on the conductor burr position comprises: Step S80: controlling the burr removing assembly (5) to perform a burr removing assembly moving operation based on the conductor burr position; Step S81: stopping the transmission operation when the conductor burr position exists, and analyzing the conductor burr position to determine the conductor burr position state; Step S810: when the burr position state is the external burr state, determining a sliding start position and a sliding end position based on the conductor burr position; Step S811: searching for preset external burr removal parameters, forming a burr removal scheme based on the sliding start position, the sliding end position and the external burr removal parameters, and controlling the burr removal assembly (5) to perform a conductor burr removal operation according to the burr removal scheme; Step S820: when the burr position state is the internal burr state, determining a burr pressing position based on the conductor burr position; Step S821: searching for preset internal burr removal parameters, forming a burr removal scheme based on the burr pressing position and the internal burr removal parameters, and controlling the burr removal assembly (5) to perform a conductor burr removal operation according to the burr removal scheme.

5. The method of claim 4, wherein, The method for controlling the burr removal assembly (5) to perform a burr removal assembly movement operation based on the conductor burr position comprises: Step S800: determining a current transmission assembly number based on the conductor burr position; Step S801: obtaining a transmission assembly position corresponding to the current transmission assembly number; Step S802: obtaining a burr removal assembly position; Step S803: determining a lifting transmission assembly number based on the burr removal assembly position and the transmission assembly position; Step S804: controlling a transmission assembly (2) corresponding to the lifting transmission assembly number to perform a lifting operation; Step S805: after the lifting operation is performed, re-obtaining the burr removal assembly position, and performing steps S803 to S804.

6. The method of claim 5, wherein, The method further comprises outputting a preset burr non-removal signal, which comprises: Step S806: when the sliding start position and the sliding end position exist, determining a sliding position interval based on the sliding start position and the sliding end position; Step S807: when the transmission assembly position falls within the sliding position interval, determining an interference transmission assembly number based on the transmission assembly position and the sliding position interval; Step S808: obtaining the number of interference transmission assembly numbers; Step S809: if the number of interference transmission assembly numbers is 1, controlling a transmission assembly (2) corresponding to the interference transmission assembly number to perform a lifting operation; Step S810: if the number of interference transmission assembly numbers is not 1, outputting the burr non-removal signal.

7. The method of claim 6, wherein, The method further comprises, when the number of interference transmission assembly numbers is not 1, not outputting the burr non-removal signal, which comprises: Step S8100: obtaining an interference transmission assembly position corresponding to the interference transmission assembly number; Step S8101: determining a transmission parameter based on the interference transmission assembly position and the sliding position interval; Step S8102: performing a transmission operation based on the transmission parameter; Step S8103: when the transmission parameter, the sliding start position and the sliding end position exist, determining a corrected sliding start position based on the transmission parameter and the sliding start position; Step S8104: when the corrected sliding start position exists, determining a corrected sliding end position based on the transmission parameter and the sliding end position; Step S8105: Form a burr removing scheme based on the corrected sliding start position, the corrected sliding end position and the external burr removing parameter, and control the burr removing assembly (5) to perform the corrected conductor burr removing operation according to the burr removing scheme.

8. The method of claim 7, wherein, The method for forming a burr removing scheme based on the burr pressing position and the internal burr removing parameter, and controlling the burr removing assembly (5) to perform the conductor burr removing operation according to the burr removing scheme includes: Step S8210: When the burr pressing position exists, obtain the burr removing assembly size; Step S8211: Determine the burr pressing coverage interval based on the burr removing assembly size and the burr pressing position; Step S8212: When the transmission assembly position falls into the burr pressing coverage interval, determine the transmission parameter based on the transmission assembly position and the burr pressing coverage interval; Step S8213: Perform the transmission operation based on the transmission parameter; Step S8214: When the transmission parameter and the burr pressing position exist, determine the corrected burr pressing position; Step S8215: Form a burr removing scheme based on the corrected burr pressing position and the internal burr removing parameter, and control the burr removing assembly (5) to perform the corrected conductor burr removing operation according to the burr removing scheme; Step S8216: When the transmission parameter does not exist, form a burr removing scheme based on the burr pressing position and the internal burr removing parameter, and control the burr removing assembly (5) to perform the conductor burr removing operation according to the burr removing scheme.

9. The method of claim 8, wherein, Further including a method for performing a limiting plate lowering operation when performing the conductor burr removing operation or the corrected conductor burr removing operation, the method includes: Step S8217: Obtain the limiting plate height and the conductor height; Step S8218: Determine the limiting plate lowering height based on the limiting plate height and the conductor height; Step S8219: Control the fixed lifting column (62) to perform the limiting plate lowering operation based on the limiting plate lowering height.

10. The method of claim 9, wherein, Further including a method for performing a pushing operation after performing the conductor burr removing operation or the corrected conductor burr removing operation, the method includes: Step S8220: Obtain the burr removing position; Step S8221: Determine the pushing parameter based on the burr removing position; Step S8222: Control the pushing column (73) to perform the pushing operation based on the pushing parameter.

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