Flexible machining and deburring production line and workpiece machining method

Abstract

The application is a flexible machining and deburring production line and a workpiece machining method, and belongs to the field of production line equipment. The production line comprises multiple machining devices arranged along a first direction, a ground rail and a mobile trolley arranged in front of the machining devices along the first direction, and unloading and loading tables, deburring devices and multiple temporary storage tables arranged in turn on the opposite sides of the ground rail. The machining tables, the unloading and loading tables and the temporary storage tables can be docked with the mobile trolley and are adapted to exchangeable pallets. The production line adopts integrated and compact layout, greatly shortens the workpiece transfer distance, makes the transportation time stable and controllable, and is convenient for production rhythm planning. The ground rail is used in cooperation with the pallet as the turnover basis, and is adapted to the machining requirements of heavy workpieces and multiple-specification workpieces. The deburring devices are integrated, avoiding subsequent additional transfer, and significantly improving the production efficiency. The application solves the problems of the existing flexible production line, such as dispersed layout, unstable AGV transfer time and inability to carry heavy loads, and has high process connection efficiency and high automation degree.

Description

Technical Field

[0001] This invention relates to the field of production line equipment, and in particular to a flexible processing and deburring production line and a workpiece processing method. Background Technology

[0002] Traditional production lines often adopt a fixed layout and a single process design. The processing equipment, loading and unloading devices and auxiliary equipment are arranged in a linear and rigid manner. The connection between each process relies on manual transfer or dedicated conveyor lines. They cannot flexibly adapt to the production needs of multiple categories and small batches. Moreover, the equipment idle rate is high, and the cost and cycle of production line transformation and expansion are high, making it difficult to respond to rapid market changes.

[0003] Flexible production lines, with their modular layout, automated transfer, and multi-process integration, have become a core solution for modern manufacturing. Through mobile carts, exchangeable pallets, and other equipment, they enable the flexible transfer of workpieces between different processing units, allowing for rapid switching of production tasks, adapting to the processing of multiple workpiece specifications, significantly improving equipment utilization and production efficiency, while reducing errors and safety hazards caused by manual intervention, thus laying the foundation for intelligent manufacturing.

[0004] However, existing flexible production lines still have certain problems: Flexible production lines are generally distributed throughout the workshop, with processing equipment, loading and unloading platforms, and temporary storage platforms arranged relatively dispersedly. Component transfer is achieved by AGV carts circulating throughout the workshop, using sensors to avoid obstacles. In this layout, the workpiece transportation time can vary significantly depending on the transportation distance, which is not conducive to planning the production cycle. If there are multiple carts, their workpiece transfer paths can easily interfere with each other. At the same time, AGV carts are limited by their own structural strength and mobility requirements, making it difficult to carry heavy workpieces. Moreover, subsequent auxiliary processes need to be transported to other locations. Summary of the Invention

[0005] This invention addresses the problems of current flexible production lines being scattered in layout, having unstable time for workpiece transfer via AGV carts, and being unsuitable for heavy loads. It provides a flexible processing and deburring production line that further integrates subsequent processes.

[0006] To solve the above problems, the technical solution adopted by the present invention is a flexible processing and deburring production line, comprising multiple processing devices arranged along a first direction. In a second direction, a ground rail is commonly provided in front of the multiple processing devices, the ground rail being arranged along the first direction, and a moving trolley is mounted on the ground rail. On the side of the ground rail facing away from the processing devices, there are loading / unloading platforms and multiple temporary storage platforms, arranged along the first direction. A deburring device is provided between the loading / unloading platforms and the temporary storage platforms. Each processing device includes a processing table, and the processing table, loading / unloading platform, and temporary storage platform can all dock with the moving trolley. Trays are interchangeably mounted on the moving trolley, the processing table, the loading / unloading platform, and the temporary storage platform. This solution employs multiple parallel processing machines, with a transverse floor rail positioned in front of each machine and a temporary storage platform on the opposite side, forming an integrated and compact layout. This significantly shortens the workpiece transfer distance, ensuring stable and controllable transport time and facilitating scientific planning of production cycles. The use of floor rails and pallets as the basis for component turnover better suits the heavy-duty turnover requirements of heavy workpieces. Pallets can be uniformly exchanged between different workstations, accommodating the processing of workpieces of various specifications. Furthermore, the integration of deburring equipment eliminates the need for additional transfer steps in subsequent processes, significantly improving overall production efficiency.

[0007] As a preferred implementation of a flexible processing and deburring production line, the mobile trolley includes a frame, with wheel mechanisms at both ends. Each wheel mechanism includes a trolley reducer, which is a dual-shaft reducer. The reducer is mounted at the center of both end faces of the frame. A trolley drive motor is installed at the input end of the reducer, and wheels are connected to both ends of the reducer's output shaft. Wheel seats are located at both ends of the frame's end faces, and the wheels are supported and fixed at the bottom of the wheel seats. The wheels roll in contact with the upper surface of the ground rail and can travel along the rail. The dual-shaft reducer drives the wheels at both ends to rotate synchronously. Combined with the stable support of the wheel seats, this effectively improves the structural strength and load-bearing capacity of the mobile trolley, enabling stable transport of heavy workpieces. The rolling contact between the wheels and the ground rail results in low running resistance and high stability, ensuring a smooth and reliable workpiece transport process.

[0008] As a preferred solution for a flexible processing and deburring production line, the production line's installation foundation is equipped with positioning cylinders corresponding to the positions of each processing machine, loading / unloading platform, and temporary storage platform. The bottom surface of the carriage has positioning holes. When the moving trolley reaches the set position, the cylinder rod of the positioning cylinder can be inserted into the positioning hole. The precise cooperation between the positioning cylinder and the positioning hole enables rapid and accurate positioning of the moving trolley at each platform, ensuring the accuracy requirements for pallet docking and workpiece transfer. This reduces the impact of positioning errors on processing quality, and the positioning method is simple, reliable, and effectively improves the efficiency of each process connection.

[0009] As a preferred implementation of a flexible processing and deburring production line, the mobile trolley is equipped with two sets of telescopic mechanisms. The telescopic ends of the two sets of mechanisms are arranged opposite each other along a second direction. Each telescopic end of the mechanism is equipped with a push-pull drive motor, and a drive gear is mounted on the output shaft of the motor. The bottom surface of the pallet is equipped with a rack, which is also arranged along the second direction and can mesh with the drive gear. The mobile trolley is also equipped with a trolley guide rail, and the bottom surface of the pallet is equipped with a guide groove. Rollers are mounted on the bottom surface of the guide groove, and the trolley guide rail connects to the guide groove. The rollers make rolling contact with the top surface of the trolley guide rail. The two sets of opposite telescopic mechanisms can respectively connect with processing equipment, loading / unloading platforms, or temporary storage platforms to complete bidirectional pallet transfer, effectively improving transfer efficiency. The gear and rack meshing transmission is precise and stable, and the guiding rolling of the guide rail and rollers reduces frictional resistance during pallet transfer. This ensures smooth pallet exchange during transfer and avoids damage to workpieces due to collisions.

[0010] As a preferred implementation of a flexible processing and deburring production line, the telescopic mechanism includes a slide and a telescopic cylinder. The cylinder body of the telescopic cylinder is fixedly mounted on the moving trolley, the slide is mounted on the cylinder rod of the telescopic cylinder, and the push-pull drive motor is mounted on the bottom surface of the slide. The output shaft of the push-pull drive motor passes through the slide and is equipped with the drive gear. The telescopic cylinder drives the slide to extend and retract smoothly, providing high transmission force and strong controllability, and can adapt to the pushing and pulling requirements of heavy-duty pallets. The drive motor is mounted on the bottom surface of the slide, resulting in a compact structure that avoids occupying the pallet's load-bearing space. It also protects the motor from debris generated during workpiece processing.

[0011] As a preferred implementation of a flexible processing and deburring production line, the processing table is equipped with a locking guide rail assembly. The locking guide rail assembly includes a guide rail base and a floating guide rail. Both the guide rail base and the floating guide rail are arranged along a second direction and can dock with the trolley guide rail. Multiple lifting cylinders are installed along the length of the guide rail base. The cylinder rods of the lifting cylinders are vertically upward, and the floating guide rail is installed at the upper end of the cylinder rods. The guide groove is a T-shaped groove, and the floating guide rail has a T-shaped cross-section and can cooperate with the guide groove. When the lifting cylinder rises, the rollers roll in contact with the top surface of the floating guide rail. When the lifting cylinder retracts, the floating guide rail and the guide rail base cooperate to clamp the two sides of the guide groove opening. The T-shaped guide rail and the groove cooperate to achieve precise guidance during pallet transfer and prevent the pallet from shifting during the transfer process. The lifting cylinder controls the raising and lowering of the floating guide rail, ensuring smooth rolling during pallet transfer. It can also firmly fix the pallet during processing through a clamping structure, preventing the pallet from shaking during processing and effectively improving processing accuracy and production safety.

[0012] As a preferred implementation of a flexible processing and deburring production line, the deburring equipment includes a first multi-degree-of-freedom (MDOF) manipulator. A grinding head is located at the end of the first MDOF manipulator. A processing turntable is located on one side of the first MDOF manipulator along a first direction. The processing turntable includes a fixed base, which is fixed to a mounting base. A turntable reducer is mounted on the fixed base. A rotary drive motor is installed at the input end of the turntable reducer. The output shaft of the turntable reducer is vertically arranged and mounted on the turntable body. Multiple electromagnetic chucks for fixing workpieces are provided on the turntable body. The MDOF manipulator, combined with the grinding head, can flexibly adapt to the burr positions of different workpieces, achieving good deburring effect and high operating efficiency. The processing turntable rotates intermittently driven by the motor and reducer, and in conjunction with the multiple electromagnetic chucks, enables rapid clamping and continuous processing of workpieces. This reduces the waiting time of workpieces in the deburring process and effectively improves the automation level of the deburring process.

[0013] As a preferred implementation of a flexible machining and deburring production line, the machining equipment includes a tool magazine module, which comprises a second multi-degree-of-freedom (MDOF) manipulator and a tool holder. The end of the second MDOF manipulator is equipped with two pneumatic fingers, which are angled together and located in the same plane. The tool holder is at least partially arranged around the second MDOF manipulator. The angled dual pneumatic fingers can stably grip different tools; one pneumatic finger removes a tool, and the other pneumatic finger installs a tool, completing the entire tool change process in a single action, with reliable and stable tool gripping. The tool holder's arrangement around the manipulator significantly shortens the tool change path, facilitating the flexible movement of the MDOF manipulator. This enables rapid automatic tool changing, reduces downtime, and effectively improves overall machining efficiency.

[0014] As a preferred implementation of a flexible machining and deburring production line, the tool holder surrounds both sides of the second multi-degree-of-freedom (MDOF) robot, the machining equipment is located on the third side of the second MDOF robot, and a door is provided on the fourth side of the second MDOF robot. The production line also includes a central tool magazine, which can transfer tools between the central tool magazine and each tool magazine module via AGV. The central tool magazine, in conjunction with AGV transfer, enables unified management and timely replenishment of tools from multiple machining devices. This improves the flexibility of tool scheduling and effectively reduces the cost of manual intervention.

[0015] On the other hand, the present invention also provides a workpiece processing method, employing the above-mentioned flexible processing and deburring production line, the method comprising the following steps:

[0016] S1. The operator uses a gantry crane to place the workpiece to be processed onto the pallet on the loading and unloading platform;

[0017] S2. The mobile trolley moves along the ground rail to the set position of the loading and unloading platform. The trolley reducer stops, the positioning cylinder is activated, and the cylinder rod of the positioning cylinder is inserted into the positioning hole at the bottom of the frame to fix the position of the mobile trolley. A set of telescopic mechanisms on the mobile trolley is activated. The telescopic cylinder of the telescopic mechanism drives the slide to extend towards the loading and unloading platform. The push-pull drive motor starts, and the drive gear on the output shaft of the push-pull drive motor rotates. The drive gear meshes with the rack on the bottom of the pallet, thereby pulling the pallet loaded with workpieces out of the loading and unloading platform. According to the preset program, the central control system instructs the mobile trolley to carry the pallet to the target processing equipment. If the processing table of the target processing equipment is free, the mobile trolley will run directly to the target processing equipment and accurately position itself. If the processing table of the target processing equipment is occupied, the central control system instructs the mobile trolley to transfer the pallet to the free temporary storage table for temporary storage. When the target processing equipment is ready, the mobile trolley will take the corresponding pallet from the temporary storage table and send it to the processing table.

[0018] S3. After the mobile trolley is positioned, another set of telescopic mechanisms on the mobile trolley moves towards the processing equipment, and the push-pull drive motor drives the drive gear to push the pallet from the mobile trolley to the processing table; the guide groove of the pallet connects with the floating guide rail of the processing table; multiple lifting cylinders on the processing table retract, and the floating guide rail and the guide rail base clamp the two sides of the guide groove opening together, firmly locking the pallet on the processing table for processing;

[0019] S4. After the workpiece is processed on the processing equipment, the locking guide rail assembly of the processing table releases the pallet. After the moving trolley is positioned, the pallet carrying the finished workpiece is pulled back from the processing table and transferred to the temporary storage table or loading / unloading table. The workpiece is transferred from the pallet to the electromagnetic chuck of the processing turntable and fixed by the gantry crane. The rotary drive motor drives the turntable body to rotate intermittently through the turntable reducer. The grinding head at the end of the first multi-degree-of-freedom manipulator performs deburring and grinding operations on the workpiece on the electromagnetic chuck.

[0020] S5. After deburring, the workpiece is placed back into the pallet on the moving trolley. The moving trolley transports the pallet carrying the finished workpiece back to the loading and unloading platform, and the gantry crane lifts the workpiece out.

[0021] This method utilizes a gantry crane to achieve rapid loading and unloading of heavy workpieces, significantly reducing the labor intensity of manual handling and effectively improving loading and unloading efficiency and operational safety, thus meeting the actual needs of heavy-duty production. Precise pallet transfer is achieved through positioning cylinders and a rack and pinion mechanism, ensuring the accuracy requirements of the workpiece transfer process. A bidirectional telescopic mechanism enables seamless docking of the pallet from the moving trolley to the processing table, making the pallet transfer process smooth and efficient. The central control system performs intelligent scheduling, flexibly selecting direct processing or temporary storage based on the real-time status of the processing equipment, avoiding long waiting times for processing equipment, effectively improving the overall utilization rate of the production line, and achieving an orderly and efficient production process. The locking structure driven by the lifting cylinder ensures that the pallet is firmly fixed during processing, preventing processing vibration from affecting processing accuracy and effectively ensuring the processing quality of the workpiece. The processing and deburring processes are closely integrated, requiring no additional transfer equipment, significantly shortening the process flow time. The processing turntable and robotic arm work together to achieve automated continuous deburring operation, effectively improving the efficiency and effect of deburring and reducing errors caused by manual operation. The entire processing flow, from loading and unloading, processing to deburring, is seamlessly integrated, forming a complete closed-loop production process. This reduces manual intervention, ensures a high degree of automation in the production line, and guarantees stable production efficiency and product quality.

[0022] As can be seen from the above technical solutions, the beneficial effects of this invention are as follows: The compact layout combining processing equipment, ground rails, mobile trolleys, and integrated auxiliary tables significantly shortens the workpiece transfer distance, ensures stable and controllable transport time, and facilitates production cycle planning. Pallets can be uniformly exchanged between stations, adapting to the processing of multiple workpiece specifications, improving production line flexibility, and integrating deburring equipment avoids subsequent additional transfers, significantly improving overall production efficiency. A dual-axis reducer drives the synchronous rotation of the mobile trolley's two end wheels, with stable support from the wheel seats, enhancing structural strength and load-bearing capacity, and stably adapting to the transfer of heavy workpieces. The rolling contact between the wheels and the ground rails results in low running resistance and high stability, ensuring smooth transfer. Precise matching between the positioning cylinders and positioning holes enables rapid and accurate positioning of the mobile trolley at each station, ensuring accurate pallet docking and workpiece transfer, reducing the impact of positioning errors on processing quality, and providing a simple and reliable positioning method that improves process connection efficiency. Two sets of opposing telescopic mechanisms can be connected to processing equipment, loading / unloading platforms, or temporary storage platforms to complete bidirectional pallet transfer, improving transfer efficiency. The gear and rack meshing transmission is precise and stable, and the guide rails and rollers guide the rolling motion, reducing frictional resistance during pallet transfer and ensuring smooth pallet exchange, preventing workpiece collision damage. Telescopic hydraulic cylinders drive the slide to extend and retract smoothly, providing high transmission force and strong controllability, suitable for heavy-duty pallet pushing and pulling needs. The drive motor is mounted on the bottom surface of the slide, with a compact structure that avoids occupying pallet bearing space and protects the motor from processing debris. T-shaped guide rails and chutes work together to achieve precise pallet transfer guidance, preventing deviation. Lifting hydraulic cylinders control the raising and lowering of the floating guide rails, ensuring smooth pallet transfer and firmly fixing the pallet during processing, preventing shaking and improving processing accuracy and safety. A multi-degree-of-freedom robotic arm, paired with a grinding head, flexibly adapts to different workpiece burr locations, achieving good deburring effect and high efficiency. The processing turntable is driven intermittently by a motor and reducer, and with multiple electromagnetic chucks, it enables rapid workpiece clamping and continuous processing, reducing waiting time and improving the automation level of the deburring process. The dual pneumatic fingers, positioned at an angle, can stably grip different tools, completing tool changes in a single action. The reliable gripping and the tool holder's surrounding robotic arm layout shorten the tool-changing path, enabling rapid automatic tool changes, reducing equipment downtime, and improving processing efficiency. A central tool magazine, in conjunction with AGV transport, allows for unified management and replenishment of tools from multiple processing machines, enhancing scheduling flexibility and reducing manual intervention costs. In the workpiece processing method, a gantry crane enables rapid loading and unloading of heavy workpieces, reducing manual labor intensity, improving efficiency and safety, and adapting to heavy-load requirements. Positioning cylinders and rack and pinion mechanisms ensure precise pallet transfer, while a bidirectional telescopic mechanism achieves seamless docking. The central control system intelligently schedules operations, avoiding equipment waiting and improving production line utilization. A locking structure ensures pallet stability during processing, guaranteeing processing quality. The close integration of processing and deburring processes shortens turnaround time, enabling automated continuous operation, reducing human error, and ensuring seamless, closed-loop operation with a high degree of automation, guaranteeing stable production efficiency and product quality. Attached Figure Description

[0023] To more clearly illustrate the technical solution of this patent, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this patent. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a production line layout diagram for a specific embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the structure of the mobile vehicle in a specific embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram of the walking wheel mechanism in a specific embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the telescopic mechanism in a specific embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the positioning cylinder in a specific embodiment of the present invention.

[0029] Figure 6 This is a schematic diagram of the locking guide rail assembly in a specific embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of the deburring device in a specific embodiment of the present invention.

[0031] Figure 8 This is a schematic diagram of the processing turntable in a specific embodiment of the present invention.

[0032] Figure 9 This is a schematic diagram of the tool magazine module in a specific embodiment of the present invention.

[0033] Explanation of main figure symbols

[0034] 1. Processing equipment, 2. Ground rail, 3. Moving trolley, 4. Loading / unloading platform, 5. Temporary storage platform, 6. Deburring equipment, 7. Processing table, 8. Pallet, 9. Frame, 10. Trolley drive motor, 11. Trolley reducer, 12. Wheels, 13. Positioning cylinder, 14. Positioning hole, 15. Telescopic mechanism, 16. Push-pull drive motor, 17. Drive gear, 18. Rack, 19. Trolley guide rail, 20. Guide chute, 21. Roller, 22. Slide, 23. Telescopic cylinder, 24. Lift 25. Lowering cylinder, 26. Guide rail base, 27. Floating guide rail, 28. First multi-degree-of-freedom manipulator, 29. Grinding head, 30. Machining turntable, 31. Fixed base, 32. Turntable reducer, 33. Rotary drive motor, 34. Turntable body, 35. Electromagnetic chuck, 36. Second multi-degree-of-freedom manipulator, 37. Tool holder, 38. Pneumatic finger, 39. Opening and closing door, 40. Central tool magazine, 41. Traveling wheel base, 42. Equipment chip removal channel, 43. Main chip removal channel, 44. Rack and pinion receiving slot. Detailed Implementation

[0035] To make the objectives, features, and advantages of this patent more apparent and understandable, the technical solutions of this patent will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this patent, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0036] Example 1

[0037] like Figure 1As shown, a flexible processing and deburring production line includes multiple processing devices 1, which are arranged uniformly in a straight line along a first direction. A maintenance and operation gap is reserved between adjacent processing devices 1. A ground rail 2 is provided in front of the multiple processing devices 1 in a second direction perpendicular to the first direction. The ground rail 2 extends along the first direction and is parallel to the arrangement direction of the processing devices 1. The ground rail 2 is fastened to a concrete foundation in the workshop using expansion bolts. A mobile trolley 3 is slidably mounted on the ground rail 2, and the mobile trolley 3 can reciprocate along the length of the ground rail 2. On the side of the ground rail 2 facing away from the processing devices 1, a loading / unloading platform 4, a deburring device 6, and multiple temporary storage platforms 5 are arranged sequentially. The loading / unloading platform 4, the deburring device 6, and the multiple temporary storage platforms 5 are all arranged in a straight line along the first direction and are all fixed to the foundation using anchor bolts. The top surface bearing height of the loading / unloading platform 4 and the multiple temporary storage platforms 5 is consistent with the top surface bearing height of the mobile trolley 3. The processing equipment 1 is provided with a processing table 7 on the side near the ground rail 2. The processing table 7, the loading and unloading platform 4 and the multiple temporary storage platforms 5 are all provided with docking and positioning structures. The processing table 7, the loading and unloading platform 4 and the multiple temporary storage platforms 5 can all be precisely docked with the mobile trolley 3. The mobile trolley 3, the processing table 7, the loading and unloading platform 4 and the multiple temporary storage platforms 5 are interchangeably provided with trays 8, which are used to carry workpieces to be processed and workpieces that have already been processed. Multiple parallel processing devices 1, a horizontally arranged ground rail 2, a reciprocating mobile trolley 3, an integrated loading / unloading platform 4, a temporary storage platform 5, and a deburring device 6 form a compact integrated layout. This significantly shortens the workpiece transfer distance, makes workpiece transport time stable and controllable, and facilitates the scientific planning of the overall production line rhythm. The transfer method, using the ground rail 2 as the foundation and the pallet 8 as the transfer body, can adapt to the heavy-load turnover requirements of heavy workpieces. The pallet 8 can be uniformly exchanged between the processing platform 7, the loading / unloading platform 4, and the temporary storage platform 5, adapting to the processing of workpieces of various specifications. The deburring device 6 is integrated inside the production line, avoiding additional transfer links in subsequent workpiece processes and significantly improving the overall production efficiency of the production line. Figure 2-4As shown, the mobile trolley 3 includes a frame 9 welded from high-strength steel. The frame 9 is a rectangular rigid frame structure. Both ends of the frame 9 are respectively equipped with a traveling wheel mechanism. The traveling wheel mechanism includes a trolley reducer 11, which is a dual-shaft output reducer. The trolley reducer 11 is bolted to the middle of the end faces of both ends of the frame 9. The input end of the trolley reducer 11 is coaxially connected to a trolley drive motor 10 via a coupling. The trolley drive motor 10 is fixedly mounted on the end face of the frame 9 via a motor bracket. Traveling wheels 12 are respectively keyed to both ends of the output shaft of the trolley reducer 11. Traveling wheel seats 40 are welded to both ends of the end face of the frame 9. The wheels 12 are supported and fixed at the bottom of the wheel base 40 by axles and bearings. The outer circumferential surface of the wheels 12 rolls in contact with the upper surface of the ground rail 2. Under power drive, the wheels 12 can move smoothly along the ground rail 2. The trolley drive motor 10, in conjunction with the trolley reducer 11, can drive the wheels 12 at both ends to rotate synchronously. The wheel base 40 provides stable support for the wheels 12, effectively improving the overall structural strength and load-bearing capacity of the mobile trolley 3, and stably adapting to the transfer of heavy workpieces. The wheels 12 and the ground rail 2 adopt a rolling contact engagement, resulting in low running resistance and high walking stability, ensuring a smooth and reliable workpiece transfer process and preventing workpiece shaking and deviation during transfer. Figure 5 As shown, inside the concrete foundation of the production line, positioning cylinders 13 are pre-embedded at the corresponding positioning positions of each processing equipment 1, the loading / unloading platform 4, and each temporary storage platform 5. The cylinder body of the positioning cylinder 13 is fixed in the reserved installation groove of the foundation by a flange. The cylinder rod of the positioning cylinder 13 is vertically upward. The bottom surface of the frame 9 is machined with positioning holes 14. The inner diameter of the positioning hole 14 and the outer diameter of the cylinder rod of the positioning cylinder 13 form a clearance fit. When the moving trolley 3 moves to the set docking position, the positioning cylinder 13... The cylinder rod of the positioning cylinder 13 extends upward and inserts into the positioning hole 14 to achieve mechanical positioning and fixation of the moving trolley 3. The positioning cylinder 13 and the positioning hole 14 form a precise insertion fit, which can realize the rapid and accurate positioning of the moving trolley 3 at the corresponding positions of the processing table 7, the loading and unloading table 4, and the temporary storage table 5, ensuring the matching accuracy of the pallet 8 docking and workpiece transfer, reducing the negative impact of positioning errors on the workpiece processing quality. This mechanical positioning method has a simple structure and reliable operation, and can effectively improve the connection efficiency between various processes.

[0038] Each processing equipment is equipped with a chip removal channel 41, and multiple chip removal channels 41 are combined into a main chip removal channel 42.

[0039] The top surface of the mobile trolley 3 is equipped with two sets of telescopic mechanisms 15. The telescopic ends of the two telescopic mechanisms 15 are arranged opposite each other along the second direction, facing the processing equipment 1 and the loading / unloading platform 4 and the temporary storage platform 5 respectively. The telescopic ends of the telescopic mechanisms 15 are fixed with push-pull drive motors 16 by bolts. A drive gear 17 is fixedly installed on the output shaft of the push-pull drive motor 16 by a key connection. The bottom surface of the tray 8 is provided with a rack receiving groove 43. A rack 18 is welded and fixed in the rack receiving groove 43 along the second direction. The tooth profile of the rack 18 meshes with the tooth profile of the drive gear 17. The top surface of the mobile trolley 3 is also fixed with a trolley guide rail 19 by bolts. The bottom surface of the tray 8 is machined with a guide groove 20. The bottom surface of the guide groove 20... Multiple rollers 21 are evenly installed on the rotating shaft. The trolley guide rail 19 can precisely dock with the guide groove 20. The rollers 21 roll in contact with the top surface of the trolley guide rail 19. The two sets of telescopic mechanisms 15 arranged in opposite directions can respectively complete the docking operation with the processing equipment 1, the loading and unloading platform 4, and the temporary storage platform 5. The bidirectional transfer of the pallet 8 can be completed without adjusting the orientation of the moving trolley 3, which effectively improves the workpiece transfer efficiency. The meshing transmission form of the drive gear 17 and the rack 18 has high transmission accuracy and stable operation. The trolley guide rail 19, the guide groove 20 and the rollers 21 form a guiding rolling cooperation, which can reduce the frictional resistance during the transfer of the pallet 8, ensure the smooth exchange of the pallet 8 and avoid collision damage to the workpiece during the transfer process. The telescopic mechanism 15 includes a slide 22 and a telescopic cylinder 23. The cylinder body of the telescopic cylinder 23 is bolted to the internal mounting bracket of the mobile trolley 3. The slide 22 is bolted to the end of the cylinder rod of the telescopic cylinder 23. The push-pull drive motor 16 is bolted to the bottom surface of the slide 22. The output shaft of the push-pull drive motor 16 passes through a pre-reserved through hole in the slide 22. The drive gear 17 is fixedly installed at the end of the output shaft of the push-pull drive motor 16. The telescopic cylinder 23 can drive the slide 22 to extend and retract smoothly in a second direction. The overall transmission force is large and the action is highly controllable, which can adapt to the push-pull transfer needs of the heavy-duty pallet 8. The push-pull drive motor 16 is installed on the bottom surface of the slide 22. The overall structure is compact and does not occupy the load-bearing space of the pallet 8. At the same time, it can protect the push-pull drive motor 16 and prevent the accumulation of workpiece processing debris from damaging the push-pull drive motor 16. The processing table 7 is equipped with a locking guide rail assembly, such as... Figure 6As shown, the locking guide rail assembly includes a guide rail base 25 and a floating guide rail 26. The guide rail base 25 is fixedly installed on the top surface of the processing table 7 by bolts. Both the guide rail base 25 and the floating guide rail 26 extend along a second direction. Both the guide rail base 25 and the floating guide rail 26 can be precisely connected to the trolley guide rail 19. Multiple lifting cylinders 24 are evenly installed along the length of the guide rail base 25. The cylinder bodies of the multiple lifting cylinders 24 are fixed inside the guide rail base 25, and the cylinder rods of the multiple lifting cylinders 24 are vertically upward. The floating guide rail 26 is fixedly installed on the upper end of the cylinder rods of the multiple lifting cylinders 24. The guide groove 20 has a T-shaped groove structure, and the cross-section of the floating guide rail 26 has a T-shaped structure. The outer wall of the floating guide rail 26 can slide and cooperate with the inner wall of the guide groove 20. The lifting cylinders 24 are upward... When extended, the floating guide rail 26 rises synchronously, and the roller 21 rolls in contact with the top surface of the floating guide rail 26, ensuring smooth transfer of the pallet 8. When the lifting cylinder 24 retracts downward, the floating guide rail 26 and the guide rail base 25 cooperate to clamp the two end faces of the opening of the guide groove 20, locking the pallet 8 firmly to the top surface of the processing table 7. The T-shaped floating guide rail 26 and the T-shaped guide groove 20 cooperate to provide precise guidance for the transfer process of the pallet 8, preventing the pallet 8 from shifting laterally. Multiple lifting cylinders 24 drive the floating guide rail 26 to move up and down, which not only ensures the smooth rolling of the pallet 8 during transfer, but also firmly locks the pallet 8 during the workpiece processing stage, preventing the pallet 8 from shaking or shifting during processing, effectively improving the workpiece processing accuracy and the safety of the production line operation.

[0040] like Figure 7 , 8As shown, the deburring device 6 includes a first multi-degree-of-freedom manipulator 27, which is fixed to the mounting base by anchor bolts. A grinding head 28 is fixedly installed at the end of the first multi-degree-of-freedom manipulator 27. The grinding head 28 can be replaced and adapted according to the burr shape of the workpiece. Along the first direction, a processing turntable 29 is provided on one side of the first multi-degree-of-freedom manipulator 27. The processing turntable 29 includes a fixed base 30, which is fixed to the mounting base by expansion bolts. A turntable reducer 31 is fixedly installed on the top surface of the fixed base 30. The input end of the turntable reducer 31 is connected to a rotary drive motor 32 through a coupling. The output shaft of the turntable reducer 31 is arranged vertically upward. A turntable body 33 is fixedly mounted on the top of the output shaft of the reducer 31. Multiple electromagnetic chucks 34 are evenly mounted on the top surface of the turntable body 33 along the circumferential direction. These electromagnetic chucks 34 are used to adsorb and fix workpieces of different specifications to be deburred. The first multi-degree-of-freedom manipulator 27, in conjunction with the grinding head 28, can flexibly adapt to the deburring position of different workpieces, resulting in good deburring effect and high efficiency. The rotary drive motor 32, in conjunction with the turntable reducer 31, can drive the turntable body 33 to rotate intermittently. The multiple electromagnetic chucks 34 can achieve rapid clamping and positioning of the workpiece. Combined with the rotation of the turntable body 33, continuous deburring of the workpiece is achieved, reducing the waiting time for the workpiece in the deburring process and effectively improving the automation level of the deburring process. Figure 9As shown, the processing equipment 1 includes a tool magazine module, which includes a second multi-degree-of-freedom (MDOF) manipulator 35 and a tool holder 36. The second MDOF manipulator 35 is fixedly installed inside the frame of the processing equipment 1. Two pneumatic fingers 37 are fixedly installed at the end effector of the second MDOF manipulator 35. The two pneumatic fingers 37 are arranged at an angle and are in the same horizontal plane. Part of the structure of the tool holder 36 is arranged around the second MDOF manipulator 35. The tool holder 36 is fixedly installed on the frame of the processing equipment 1. The tool holder 36 is arranged around the left and right sides of the second MDOF manipulator 35 in the surrounding area. The processing spindle of the processing equipment 1 is located on the third side of the second MDOF manipulator 35. A switch door 38 is provided on the fourth side of the second MDOF manipulator 35. The switch door 38 is connected to the... The frame of processing equipment 1 is hinged. The production line is also equipped with a central tool magazine 39. An AGV passage is reserved between the central tool magazine 39 and each tool magazine module. The tool transfer operation between the central tool magazine 39 and each tool magazine module can be completed by AGV. The two pneumatic fingers 37 arranged at an angle can stably hold tools of different specifications. The tool gripping is firm and reliable. The tool holder 36 is arranged around the second multi-degree-of-freedom robot 35, which can significantly shorten the tool change path. With the flexible movement of the second multi-degree-of-freedom robot 35, the processing tools can be changed quickly and automatically, reducing the downtime of processing equipment 1 and improving the overall processing efficiency. The central tool magazine 39, together with the AGV to transfer tools, can realize the unified scheduling management and real-time replenishment of tools of multiple processing equipment 1, improve the flexibility of tool scheduling, and reduce the intervention cost and labor intensity of manual tool replacement and replenishment. In this embodiment, the trolley drive motor 10, the positioning cylinder 13, the telescopic cylinder 23, the lifting cylinder 24, the rotary drive motor 32, the first multi-degree-of-freedom manipulator 27, the second multi-degree-of-freedom manipulator 35, and the electromagnetic chuck 34 are all electrically connected to the central control system of the production line, and achieve coordinated automated operation through a preset control program.

[0041] Example 2

[0042] A workpiece processing method, using the flexible processing and deburring production line provided in Example 1, includes the following steps:

[0043] S1. Pre-processing and loading preparation: The operator uses a gantry crane to smoothly place the workpiece to be processed into the preset positioning area of ​​the pallet 8 of the loading and unloading platform 4. The bottom of the workpiece is in contact with the bearing surface of the pallet 8. The positioning boss of the pallet 8 is used to restrict the lateral displacement of the workpiece to ensure that the workpiece is placed stably. The guide groove 20 of the pallet 8 is precisely aligned with the guide rail structure of the loading and unloading platform 4 to prepare for subsequent transfer.

[0044] S2. Pallet Transfer and Scheduling: After the central control system issues a start command, the trolley drive motor 10 of the mobile trolley 3 starts, and drives the two end wheels 12 to run smoothly along the ground rail 2 towards the loading and unloading platform 4 through the trolley reducer 11; when the mobile trolley 3 runs to the set position corresponding to the loading and unloading platform 4, the trolley drive motor 10 stops running, the position signal of the mobile trolley 3 is fed back to the central control system, and the central control system commands the positioning cylinder 13 to act. The cylinder rod of the positioning cylinder 13 extends vertically upward and is precisely inserted into the positioning hole 14 at the bottom of the frame 9 to achieve mechanical locking and fixation of the mobile trolley 3. Subsequently, a set of telescopic mechanisms 15 on the side of the mobile trolley 3 facing the loading / unloading platform 4 is activated. The telescopic cylinder 23 of the telescopic mechanism 15 drives the slide 22 to extend smoothly towards the loading / unloading platform 4 until the drive gear 17 on the slide 22 aligns and meshes with the rack 18 on the bottom surface of the tray 8. The push-pull drive motor 16 is activated, and its output shaft drives the drive gear 17 to rotate. Through gear and rack meshing transmission, the tray 8 loaded with workpieces is smoothly pulled out from the loading / unloading platform 4. The rollers 21 on the bottom surface of the tray 8 roll along the trolley guide rail 19 of the mobile trolley 3 to reduce transfer friction resistance. After the tray 8 is fully pulled into the mobile trolley 3, the telescopic cylinder 23 drives the slide 22 to reset, the cylinder rod of the positioning cylinder 13 retracts, and the mobile trolley 3, according to the preset program of the central control system, carries the tray 8 to the target processing equipment 1. If the processing table 7 of the target processing equipment 1 is idle, the mobile trolley 3 will move directly to the front of the processing equipment 1 and be precisely positioned again by the positioning cylinder 13. If the processing table 7 of the target processing equipment 1 is performing processing operations, the central control system will instruct the mobile trolley 3 to move to the idle temporary storage table 5 and, according to the same positioning and pallet transfer logic, smoothly place the pallet 8 into the temporary storage table 5 for temporary storage. After the target processing equipment 1 completes the current processing and releases the processing table 7, the mobile trolley 3 will then take out the corresponding pallet 8 from the temporary storage table 5 and transfer it to the front of the target processing equipment 1.

[0045] S3. Workpiece Positioning and Processing: After the mobile trolley 3 is positioned and fixed in front of the target processing equipment 1, another set of telescopic mechanisms 15 on one side of the processing equipment 1 is activated. The telescopic cylinder 23 drives the slide 22 to extend towards the processing table 7, so that the trolley guide rail 19 of the mobile trolley 3 is seamlessly connected with the floating guide rail 26 of the processing table 7. The push-pull drive motor 16 is activated, and through the meshing transmission of the drive gear 17 and the rack 18, the pallet 8 is smoothly pushed from the mobile trolley 3 to the processing table 7 until the guide groove 20 of the pallet 8 is completely fitted onto the floating guide rail 26. The central control system commands the multiple lifting cylinders 24 on the processing table 7 to retract synchronously, driving the floating guide rail 26 to move downward. The floating guide rail 26 and the guide rail base 25 work together to form a clamping force from both sides of the opening of the guide groove 20, firmly locking the pallet 8 onto the processing table 7 to prevent shaking during processing. Subsequently, the processing equipment 1 starts the processing operation according to the preset processing program. During the processing, the central control system monitors the locking status and processing parameters of the lifting cylinder 24 in real time to ensure processing accuracy.

[0046] S4. Post-processing transfer and deburring: After the workpiece is processed, the central control system instructs the lifting cylinder 24 of the processing table 7 to rise synchronously, and the floating guide rail 26 to lift, releasing the locking of the pallet 8; the moving trolley 3 is then precisely positioned again by the positioning cylinder 13, and the telescopic mechanism 15 on one side of the processing table 7 moves to smoothly pull the pallet 8 carrying the finished workpiece back from the processing table 7 to the moving trolley 3. If the workpiece needs to be deburred directly, the moving trolley 3 transfers the pallet 8 to a preset position next to the loading / unloading platform 4 and positions it; the operator uses a gantry crane to lift the workpiece out of the pallet 8 and place it smoothly on the electromagnetic chuck 34 of the processing turntable 29. The central control system instructs the electromagnetic chuck 34 to be energized to generate an adsorption force, firmly fixing the workpiece. Subsequently, the rotary drive motor 32 starts and drives the turntable body 33 to rotate intermittently at a preset angle through the turntable reducer 31. At the same time, the first multi-degree-of-freedom manipulator 27 runs along a preset path according to the burr distribution of the workpiece, and the grinding head 28 at its end performs targeted deburring and grinding operations on the workpiece on the electromagnetic chuck 34 to ensure that the burrs are completely removed and the workpiece surface is not damaged.

[0047] S5. Unloading and Resetting: After deburring is completed, the electromagnetic chuck 34 is de-energized and releases the workpiece. The operator uses a gantry crane to smoothly place the workpiece back into the tray 8 on the mobile trolley 3. The mobile trolley 3, carrying the completed workpiece, travels along the ground rail 2 back to the loading / unloading platform 4 and is precisely positioned. The positioning cylinder 13 actuates to fix the mobile trolley 3. Finally, the operator uses the gantry crane to lift the workpiece out of the tray 8, completing the unloading. The telescopic mechanism 15 of the mobile trolley 3 pushes the empty tray 8 back to the loading / unloading platform 4, the positioning cylinder 13 retracts, and the mobile trolley 3 returns to standby mode, awaiting the next processing instruction.

[0048] Throughout the entire processing, tool management is carried out simultaneously: the second multi-degree-of-freedom robot 35 flexibly moves to the side of the tool holder 36 according to the tool change command of the central control system. The two pneumatic fingers 37 set at an angle at its end work together to accurately grab the required tool from the tool holder 36, or put the used tool back to the corresponding tool position of the tool holder 36, realizing rapid automatic tool change; the central tool magazine 39 receives the tool inventory signal of each processing device 1 in real time. When the tools on the tool holder 36 are worn or insufficient in number, the AGV trolley transports the corresponding tool from the central tool magazine 39 along a preset path to replenish the tools to the tool holder 36 of each processing device 1, ensuring continuous processing.

[0049] This method achieves coordinated operation of various components through a central control system. It utilizes the precise transfer of the ground rail 2 and the mobile trolley 3, the reliable positioning of the positioning cylinder 13, and the stable clamping of the locking guide rail assembly to ensure the accuracy and stability of the workpiece processing and transfer process. The integrated deburring process and intelligent tool scheduling system significantly reduce the transfer time and manual intervention between processes, improve production efficiency, and adapt to the processing needs of heavy and multi-specification workpieces, ensuring consistent product quality.

[0050] As can be seen from the above embodiments, the advantages of the present invention are as follows: The integrated and compact structure, formed by arranging multiple processing equipment along the first direction, the horizontal layout of the ground rail, the integrated layout of the loading and unloading platforms, the deburring equipment, and the temporary storage platform, significantly shortens the workpiece transfer distance, making the transportation time stable and controllable. This effectively solves the technical pain points of existing flexible production lines, such as dispersed layout, unstable AGV operation, and inability to handle heavy loads. The transfer method, using the ground rail as the walking foundation and the pallet as the circumferential transfer body, combined with a high-strength frame and a dual-axis reducer-driven walking wheel mechanism, significantly improves the equipment's load-bearing capacity, stably adapting to the needs of heavy workpiece transfer. Furthermore, the pallets can be uniformly exchanged between different stations, accommodating the processing of multiple workpiece specifications. The precise matching of the positioning cylinder and positioning hole of the mobile trolley, the gear and rack meshing transmission of the telescopic mechanism, and the guide rail and roller guiding structure ensure accurate positioning and smooth operation during the transfer process, avoiding workpiece collision damage. The T-shaped floating guide rail and guide groove of the processing table, along with the lifting mechanism... The hydraulic cylinder-driven locking structure ensures secure fixation of the workpiece during processing, effectively improving processing accuracy and production safety. The integrated deburring equipment, through the collaborative operation of a multi-degree-of-freedom robotic arm and an intermittently rotating processing turntable, can selectively remove burrs from workpieces, avoiding subsequent additional transfer steps and improving overall production efficiency. The angled pneumatic fingers and wraparound tool holder design of the tool magazine module, combined with the tool transfer and replenishment system of the central tool magazine and AGV, achieves rapid automatic tool changing and unified tool management, reducing downtime of processing equipment and lowering manual intervention costs and labor intensity. The entire processing method achieves coordinated and automated operation of various components through a central control system. From pre-processing loading, intelligent pallet scheduling, and precise positioning processing to post-processing transfer, deburring, and unloading and resetting, the entire process is seamlessly connected, significantly reducing manual operation, ensuring product quality consistency, and improving the automation level, production efficiency, and operational stability of the production line, with broad industrial application prospects.

[0051] The above description of the disclosed embodiments enables those skilled in the art to implement or use this patent. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this patent. Therefore, this patent is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible processing and deburring production line, comprising multiple processing devices (1) arranged along a first direction, characterized in that, In the second direction, a ground rail (2) is provided in front of multiple processing equipment (1), the ground rail (2) is arranged along the first direction, and a moving trolley (3) is provided on the ground rail (2); a loading and unloading platform (4) and multiple temporary storage platforms (5) are provided on the side of the ground rail (2) facing away from the processing equipment (1), the loading and unloading platform (4) and the temporary storage platform (5) are arranged along the first direction, and a deburring device (6) is provided between the loading and unloading platform (4) and the temporary storage platform (5); the processing equipment (1) includes a processing table (7), the processing table (7), the loading and unloading platform (4) and the temporary storage platform (5) can all dock with the moving trolley (3), and pallets (8) are interchangeably provided on the moving trolley (3), the processing table (7), the loading and unloading platform (4) and the temporary storage platform (5); The mobile trolley (3) is provided with two sets of telescopic mechanisms (15). The telescopic ends of the two sets of telescopic mechanisms (15) are arranged opposite each other along the second direction. The telescopic ends of the telescopic mechanisms (15) are provided with push-pull drive motors (16). A drive gear (17) is installed on the output shaft of the push-pull drive motor (16). The bottom surface of the tray (8) is provided with a rack (18). The rack (18) is arranged along the second direction. The rack (18) can mesh with the drive gear (17). The mobile trolley (3) is also provided with a trolley guide rail (19). The bottom surface of the tray (8) is provided with a guide groove (20). The bottom surface of the guide groove (20) is provided with a roller (21). The trolley guide rail (19) is connected to the guide groove (20). The roller (21) is in rolling contact with the top surface of the trolley guide rail (19). The telescopic mechanism includes a slide (22) and a telescopic cylinder (23). The cylinder body of the telescopic cylinder (23) is fixedly installed on the mobile trolley (3). The slide (22) is installed on the cylinder rod of the telescopic cylinder (23). The push-pull drive motor (16) is installed on the bottom surface of the slide (22). The output shaft of the push-pull drive motor (16) passes through the slide (22) and is equipped with the drive gear (17). The processing table (7) is provided with a locking guide rail assembly, which includes a guide rail base (25) and a floating guide rail (26). The guide rail base (25) and the floating guide rail (26) are both arranged along the second direction and can be connected to the trolley guide rail (19). Multiple lifting cylinders (24) are installed in the guide rail base (25) along the length direction. The cylinder rod of the lifting cylinder (24) is set vertically upward. The floating guide rail (26) is installed at the upper end of the multiple cylinder rods. The guide groove (20) is a T-shaped groove. The cross section of the floating guide rail (26) is T-shaped and can cooperate with the guide groove (20). When the lifting cylinder (24) rises, the roller (21) rolls in contact with the top surface of the floating guide rail (26). When the lifting cylinder (24) retracts, the floating guide rail (26) cooperates with the guide rail base (25) to clamp the two sides of the opening of the guide groove (20).

2. The flexible processing and deburring production line according to claim 1, characterized in that, The mobile trolley (3) includes a frame (9), and two ends of the frame (9) are respectively provided with a walking wheel mechanism. The walking wheel mechanism includes a trolley reducer (11), which is a dual-shaft reducer. The trolley reducer (11) is installed in the middle of the end face of both ends of the frame. The input end of the trolley reducer (11) is equipped with a trolley drive motor (10). The output shaft of the trolley reducer (11) is respectively connected to the two ends of the walking wheel (12). The two ends of the end face of the frame are respectively provided with walking wheel seats (40). The walking wheel (12) is supported and fixed at the bottom of the walking wheel seat (40). The walking wheel (12) rolls in contact with the upper surface of the ground rail (2) and can travel along the ground rail (2).

3. The flexible processing and deburring production line according to claim 2, characterized in that, In the installation foundation of the production line, a positioning cylinder (13) is provided for each processing equipment (1), loading and unloading platform (4) and temporary storage platform (5). The bottom surface of the frame (9) is provided with a positioning hole (14). When the moving trolley (3) runs to the set position, the cylinder rod of the positioning cylinder (13) can be inserted into the positioning hole (14).

4. The flexible processing and deburring production line according to claim 3, characterized in that, The deburring equipment includes a first multi-degree-of-freedom manipulator (27), with a grinding head (28) at the end of the first multi-degree-of-freedom manipulator (27). Along a first direction, a processing turntable (29) is provided on one side of the first multi-degree-of-freedom manipulator (27). The processing turntable (29) includes a fixed base (30), which is fixed on a mounting base. A turntable reducer (31) is provided on the fixed base (30). A rotary drive motor (32) is installed at the input end of the turntable reducer (31). The output shaft of the turntable reducer (31) is vertically arranged and a turntable body (33) is installed on it. A plurality of electromagnetic chucks (34) for fixing workpieces are provided on the turntable body (33).

5. The flexible processing and deburring production line according to claim 4, characterized in that, The processing equipment (1) includes a tool magazine module, which includes a second multi-degree-of-freedom manipulator (35) and a tool holder (36). The end of the second multi-degree-of-freedom manipulator (35) is provided with two pneumatic fingers (37), which are arranged at an angle and located in the same plane. The tool holder (36) is arranged at least partially around the second multi-degree-of-freedom manipulator (35).

6. The flexible processing and deburring production line according to claim 5, characterized in that, The tool holder (36) surrounds the second multi-degree-of-freedom manipulator (35) on both sides. The processing equipment (1) is located on the third side of the second multi-degree-of-freedom manipulator (35). The fourth side of the second multi-degree-of-freedom manipulator (35) is provided with a switch door (38). The production line also includes a central tool magazine (39). The central tool magazine (39) and each tool magazine module can transfer tools via AGV.

7. A workpiece processing method, characterized in that, The flexible processing and deburring production line as described in any one of claims 4-6 includes the following steps: S1. The operator places the workpiece to be processed onto the pallet (8) of the loading and unloading platform (4) using a gantry crane; S2. The mobile trolley (3) runs along the ground rail (2) to the set position of the loading / unloading platform (4), the trolley reducer (11) stops, the positioning cylinder (13) is activated, the cylinder rod of the positioning cylinder (13) is inserted into the positioning hole (14) at the bottom of the frame (9) to fix the position of the mobile trolley (3); a set of telescopic mechanisms (15) on the mobile trolley (3) is activated, the telescopic cylinder (23) of the telescopic mechanism (15) drives the slide (22) to extend towards the loading / unloading platform (4), the push-pull drive motor (16) is started, the drive gear (17) on the output shaft of the push-pull drive motor (16) rotates, and the drive gear (17) meshes with the rack (18) on the bottom surface of the tray (8). The pallet (8) loaded with the workpiece is pulled out from the loading and unloading platform (4) according to the preset program. The central control system instructs the trolley (3) to carry the pallet (8) to the target processing equipment (1). If the processing table (7) of the target processing equipment (1) is free, the trolley (3) will run directly to the front of the target processing equipment (1) and position it precisely. If the processing table (7) of the target processing equipment (1) is occupied, the central control system instructs the trolley (3) to transfer the pallet (8) to the free temporary storage platform (5) for temporary storage. When the target processing equipment (1) is ready, the trolley (3) will take out the corresponding pallet (8) from the temporary storage platform (5) and send it to the processing table (7). S3. After the mobile trolley (3) is positioned, another set of telescopic mechanisms (15) on the mobile trolley (3) moves towards the processing equipment (1), and pushes and pulls the drive motor (16) to drive the drive gear (17), pushing the pallet (8) from the mobile trolley (3) to the processing table (7); the guide groove (20) of the pallet (8) is connected to the floating guide rail (26) of the processing table (7); multiple lifting cylinders (24) on the processing table (7) retract, and the floating guide rail (26) and the guide rail base (25) clamp the two sides of the opening of the guide groove (20), firmly locking the pallet (8) on the processing table (7) and processing it; S4. After the workpiece is processed on the processing equipment (1), the locking guide rail assembly of the processing table (7) releases the pallet (8). After the moving trolley (3) is positioned, the pallet (8) carrying the finished workpiece is pulled back from the processing table (7) and transferred to the temporary storage table or loading / unloading table. The workpiece is transferred from the pallet (8) to the electromagnetic chuck (34) of the processing turntable (29) and fixed by the gantry crane. The rotary drive motor (32) drives the turntable body (33) to rotate intermittently through the turntable reducer (31). The grinding head (28) at the end of the first multi-degree-of-freedom manipulator (27) performs deburring and grinding operations on the workpiece on the electromagnetic chuck (34). S5. After deburring is completed, the workpiece is put back into the pallet (8) on the moving trolley (3). The moving trolley (3) transports the pallet (8) carrying the finished workpiece back to the loading and unloading platform (4), and the gantry crane lifts the workpiece out.

Images