Tray adaptive edge trimming device based on multi-axis robot

Abstract

This invention relates to the field of pallet edge cleaning technology, specifically to an adaptive pallet edge cleaning device based on a multi-axis robot. It includes a support assembly comprising a fixed block axially fixed to the lower side of a support plate. A toothed block is slidably disposed inside the fixed block, and an auxiliary wheel is rotatably connected to the lower side of the toothed block. A damper for supporting the toothed block is fixedly disposed on the lower side of the fixed plate. This invention uses the toothed block to drive the auxiliary wheel to gradually contact the pallet surface, assisting the trimming component in overcoming obstacles on the pallet surface. After overcoming the obstacle, the toothed block drives the auxiliary wheel to slowly return to its original position under the action of the damper. This prevents the trimming component from directly overcoming obstacles on the pallet surface, causing it to collide with the obstacles and damage the pallet or device. Simultaneously, it avoids the trimming component colliding with the pallet during the return process due to excessively rapid return speed of the auxiliary wheel, thus preventing secondary damage.

Description

Technical Field

[0001] This invention relates to the field of pallet edge cleaning technology, and more specifically, to a pallet adaptive edge cleaning device based on a multi-axis robot. Background Technology

[0002] Pallets serve as fundamental carriers in logistics warehousing and automated production lines, and their manufacturing precision directly impacts their positioning reliability during subsequent use. During pallet production, after injection molding or machining, burrs, flash, and other excess material often remain on the pallet edges. If these burrs are not thoroughly removed, they can cause pallet jamming, positioning deviations, or even damage to precision equipment during subsequent automated stacking or operation with positioning mechanisms. Therefore, pallets must undergo edge trimming before leaving the factory to remove burrs and ensure smooth, even edges.

[0003] Currently, automated edge cleaning of pallets typically employs multi-axis robots equipped with end effectors, which move along the pallet edge trajectory and remove burrs using scrapers or milling cutters. In actual production scenarios, to meet the positioning requirements of automated production lines, some pallet edges are often designed with raised positioning pins, anti-slip textures, or reinforcing ribs. When the robot carrying the edge cleaning tool operates along a preset path, these raised structures become obstacles in the edge cleaning process. Existing edge cleaning devices typically employ a spring-loaded floating scraper structure when handling the aforementioned obstacles, allowing the scraper to elastically yield within a certain range to conform to the edge contour. However, when the scraper reaches obvious protrusions such as locating pins, the linear yielding of the spring alone often results in insufficient travel, causing the scraper to directly impact the obstacle edge, leading to scraper chipping or damage to the locating pin. To address this issue, some devices attempt to increase the scraper's yielding stroke by increasing the spring compression, allowing the scraper to fully retract and pass over the obstacle. However, with such solutions, after the scraper passes the obstacle, the spring instantly releases its stored energy, driving the scraper to violently rebound and impact the pallet edge. This not only generates severe vibration and noise but also, because the impact force is concentrated in a localized area, causes new chipping or burrs on the pallet edge, thus worsening the edge cleaning quality. This can result in anything from requiring machine downtime for re-grinding to rendering the pallet unusable. Therefore, this invention proposes an adaptive pallet edge cleaning device based on a multi-axis robot. Summary of the Invention

[0004] The purpose of this invention is to provide a pallet adaptive edge clearing device based on a multi-axis robot, in order to solve the problem mentioned in the background art that when encountering protruding obstacles during pallet edge clearing operations, the existing spring floating scheme is prone to impact damage due to insufficient clearance stroke, while increasing the stroke causes secondary damage due to rebound impact, thus affecting the processing quality.

[0005] To address the aforementioned issues, a pallet adaptive edge cleaning device based on a multi-axis robot is provided, comprising a robotic arm, a mechanical housing fixedly mounted at one end of the robotic arm, an edge cleaning component disposed inside the mechanical housing, the edge cleaning component including a fixed plate fixedly mounted inside the mechanical housing, a support plate slidably mounted on the lower side of the fixed plate, and a trimming component and a support component disposed on the lower side of the support plate. The support assembly includes a fixing block axially fixed to the lower side of the support plate, and a toothed block is slidably disposed inside the fixing block; The toothed block is slidably inserted in the middle of the support plate, and the inside of the fixed block is provided with a slide rail that matches the toothed block. An auxiliary wheel is rotatably connected to the lower side of the toothed block, which is used to contact the tray and lift the trimming assembly when crossing obstacles; A damper for supporting the tooth block is fixedly installed on the lower side of the fixed plate, and the end of the piston rod of the damper is fixedly connected to the top of the tooth block.

[0006] When encountering a protrusion on the pallet surface, the auxiliary wheel slides downwards and gradually contacts the pallet surface, assisting the trimming component in overcoming the obstacle on the pallet surface. After overcoming the obstacle, the toothed block, under the action of the damper, drives the auxiliary wheel to slowly reset, preventing the trimming component from directly overcoming the obstacle on the pallet surface and causing it to collide with the obstacle, resulting in damage to the pallet or device. At the same time, it avoids the trimming component from colliding with the pallet during the reset process due to the excessively fast reset speed of the auxiliary wheel, causing secondary damage.

[0007] As a further improvement to this technical solution, each corner of the upper side of the support plate is fixedly provided with a support spring for supporting it, and the other end of each support spring is fixedly connected to the fixed plate. The trimming assembly includes a vertical rod axially fixed to the lower side of the support plate, and a connecting rod rotatably provided on the lower side of the vertical rod; A cutting head for cutting burrs on the edge of the tray is fixedly installed on the lower side of the connecting rod.

[0008] After the tray is fixed, the robotic arm is used to move the cutter head to the edge of the tray and cut off the burrs along the edge of the tray. When the cutter head comes into contact with the protrusions on the tray, the connecting rod is rotated due to the obstruction of the protrusions.

[0009] As a further improvement to this technical solution, a gear is provided on one side of the connecting rod, and the gear meshes with the tooth block; A return spring is symmetrically fixed on the side of the connecting rod away from the gear, and the other end of the return spring is fixedly connected to the support plate.

[0010] As the cutter head moves across the flat surface of the tray, the return spring presses against the connecting rod, keeping it vertical and ensuring that the cutter head remains in contact with the edge of the tray, thus guaranteeing the cutting stability of the cutter head.

[0011] As a further improvement to this technical solution, a ratchet is fixedly provided on the side of the connecting rod near the gear, and a pawl is engaged with the ratchet. The pawl is rotatably disposed on one side of the gear, and the gear and the ratchet are coaxially arranged.

[0012] Under the action of the ratchet and pawl, the connecting rod can only drive the gear to rotate in one direction. In other words, the connecting rod will not drive the gear to rotate during the reset process, nor will it affect the reset speed of the tooth block. This ensures that the cutter head can quickly return to normal after overcoming the obstacle, while avoiding the synchronous and rapid reset of the auxiliary wheel.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this multi-axis robot-based adaptive edge-cleaning device for pallets, when encountering a protrusion on the pallet surface, the toothed block slides downwards and drives the auxiliary wheel to gradually contact the pallet surface, assisting the trimming component to overcome the obstacle on the pallet surface. After overcoming the obstacle, under the action of the damper, the toothed block drives the auxiliary wheel to slowly reset, preventing the trimming component from directly overcoming the obstacle on the pallet surface and causing it to collide with the obstacle, resulting in damage to the pallet or device. At the same time, it avoids the trimming component from colliding with the pallet during the reset process due to the excessively fast reset speed of the auxiliary wheel, thus ensuring the processing quality of the pallet.

[0014] 2. In this pallet adaptive edge clearing device based on a multi-axis robot, after overcoming an obstacle, the return spring continuously presses on the connecting rod and quickly resets it, ensuring that the cutter head can quickly return to normal operation after overcoming the obstacle. During the reset process, the connecting rod cannot drive the gear to rotate under the action of the ratchet and pawl, thus avoiding the gear speed from being too slow due to the slow reset speed of the tooth block, which would affect the normal reset of the cutter head, thereby ensuring the processing efficiency of the device. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the fixed component structure of the present invention; Figure 3 This is a bottom view of the fixed component structure of the present invention; Figure 4 This is a bottom view of the mechanical box structure of the present invention; Figure 5 This is a cross-sectional view of the mechanical box structure of the present invention; Figure 6 This is a cross-sectional view of the fixing plate structure of the present invention; Figure 7This is a bottom view of the structure of the trimming component and support component of the present invention; Figure 8 This is a schematic diagram of a portion of the trimming component of the present invention; Figure 9 This is a schematic diagram of the dust collection component structure of the present invention.

[0016] The meanings of the labels in the diagram are as follows: 1. Robotic arm; 2. Machine housing; 3. Edge trimming assembly; 31. Fixing plate; 32. Support plate; 33. Trimming assembly; 331. Vertical rod; 332. Connecting rod; 333. Cutting head; 334. Gear; 335. Return spring; 336. Ratchet; 337. Pawl; 34. Support assembly; 341. Fixing block; 342. Toothed block; 343. Auxiliary wheel; 344. Damper; 35. Support spring; 4. Vacuuming assembly; 41. Vacuum chamber; 42. Brush; 43. Dust collection tube; 44. Connecting plate; 45. Electronic actuator No. 1; 5. Processing table; 6. Fixing components; 61. Base plate; 62. Fixing baffle; 63. Sliding baffle; 64. Connecting block; 65. No. 2 electronic push rod. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Example 1 First, please refer to Figures 1-3As shown, the purpose of this embodiment is to provide a pallet adaptive edge clearing device based on a multi-axis robot, including a robotic arm 1, a mechanical box 2 fixedly installed at one end of the robotic arm 1, and the height and position of the mechanical box 2 can be freely adjusted during operation. As the robotic arm 1 is a common existing technology, its structure and function will not be described in this solution. A processing table 5 is provided on the lower side of the mechanical box 2, and a fixing component 6 for fixing the pallet is fixedly installed on the upper side of the processing table 5. The fixing component 6 includes a base plate 61 fixedly installed on the upper side of the processing table 5. Fixed baffles 62 are fixedly installed on the edges of two adjacent sides of the upper side of the base plate 61, and sliding baffles 63 are slidably installed on the edges of the other two sides. When the pallet is completed, the pallet is placed on the upper side of the base plate 61 by operating the transport device, and the two sides of the pallet are attached to the two fixed baffles 62. To ensure the pallet is securely fixed to the upper side of the base plate 61, a connecting block 64 is fixedly installed on the lower side of the sliding baffle 63. The connecting block 64 is slidably installed on the lower side of the base plate 61, and a track adapted to the connecting block 64 is provided on the base plate 61. A second electronic push rod 65 is symmetrically arranged on one side of the connecting block 64 to drive the connecting block 64 to slide. The second electronic push rod 65 is fixedly installed on the lower side of the base plate 61. After the pallet is placed, the second electronic push rod 65 is controlled to drive the corresponding connecting block 64 to slide, and simultaneously drive the two sliding baffles 63 to fit against the other two sides of the pallet until the pallet is clamped and fixed on the upper side of the base plate 61, so as to facilitate the smooth progress of subsequent edge cleaning work.

[0020] For further details, please refer to Figures 1-7 As shown, the machine housing 2 is equipped with an edge-cleaning assembly 3. The edge-cleaning assembly 3 includes a fixing plate 31 fixedly installed inside the machine housing 2, a support plate 32 slidably installed on the lower side of the fixing plate 31, and a trimming assembly 33 and a support assembly 34 installed on the lower side of the support plate 32. Specifically: The trimming assembly 33 includes a vertical rod 331 axially fixed to the lower side of the support plate 32. A connecting rod 332 is rotatably provided on the lower side of the vertical rod 331. A cutting head 333 for cutting burrs on the edge of the tray is fixedly provided on the lower side of the connecting rod 332. After the tray is fixed, the cutting head 333 is driven to the edge of the tray by operating the robotic arm 1, and the cutting head 333 is driven to cut off the burrs along the edge of the tray. To ensure that the blade 333 fits snugly against the tray surface, thereby improving edge trimming efficiency, please refer to [link to relevant documentation]. Figures 5-7As shown, each corner of the upper side of the support plate 32 is fixedly provided with a support spring 35 for supporting it. The other end of each support spring 35 is fixedly connected to the fixed plate 31. Under the pressure of the support spring 35, the support plate 32, the vertical rod 331 and the connecting rod 332 transmit the pressure to the cutter head 333, so that it fits tightly against the edge of the tray, thereby improving the cleaning efficiency of the cutter head 333 on the edge of the tray. To prevent the cutting head 333 from shifting position due to the shaking of the connecting rod 332 when cutting burrs on the flat surface of the tray, a gear 334 is provided on one side of the connecting rod 332. A return spring 335 is symmetrically fixed on the side of the connecting rod 332 away from the gear 334. The other end of the return spring 335 is fixedly connected to the support plate 32. When the cutting head 333 moves on the flat surface of the tray, the return spring 335 applies pressure to the connecting rod 332, keeping it vertical and ensuring that the cutting head 333 always fits against the edge of the tray, thus guaranteeing the cutting stability of the cutting head 333.

[0021] When the cutter head 333 contacts the protrusion on the tray, the protrusion obstructs the movement and causes the connecting rod 332 to rotate. Please refer to... Figures 5-8 As shown, a ratchet 336 is fixedly installed on the side of the connecting rod 332 near the gear 334. A pawl 337 is engaged with the ratchet 336. The pawl 337 is rotatably mounted on one side of the gear 334, and the gear 334 and the ratchet 336 are coaxially arranged. The ratchet 336 and the pawl 337 are arranged to restrict the connecting rod 332 to drive the gear 334 to rotate in only one direction. As ratchet 336 and pawl 337 are common existing technologies, their structure and function will not be described in this solution. When the connecting rod 332 rotates, it drives the ratchet 336 to rotate, and simultaneously drives the pawl 337 and the gear 334 to rotate. The support assembly 34 includes a fixing block 341 axially fixed to the lower side of the support plate 32. A toothed block 342 is slidably disposed inside the fixing block 341. The toothed block 342 is slidably inserted in the middle of the support plate 32. A slide rail adapted to the toothed block 342 is opened inside the fixing block 341. A gear 334 meshes with the toothed block 342. When the gear 334 rotates, it drives the toothed block 342 to slide downward. An auxiliary wheel 343 is rotatably connected to the lower side of the toothed block 342 for contacting the tray and lifting the trimming assembly 33 when crossing obstacles. When the toothed block 342 slides downward, it drives the auxiliary wheel 343 to gradually contact the surface of the tray. After the auxiliary wheel 343 contacts the tray, it replaces the cutter head 333 to cross the obstacle on the tray. At this time, the connecting rod 332 and the cutter head 333 are in an inclined state and are in slight contact with the surface of the tray. A damper 344 for supporting the toothed block 342 is fixedly installed on the lower side of the fixing plate 31. The end of the piston rod of the damper 344 is fixedly connected to the top of the toothed block 342. Under the action of the damper 344, when the auxiliary wheel 343 crosses the obstacle, it will not rebound immediately, but will rise slowly. On the one hand, the cutter head 333 contacts the protrusion on the surface of the tray. When the object is in contact with the protrusion, the connecting rod 332 immediately rotates to prevent direct collision with the protrusion and damage to the device or tray. On the other hand, when the connecting rod 332 rotates, it drives the tooth block 342 to slide downward through the gear 334, and drives the auxiliary wheel 343 to contact the protrusion on the tray surface. The auxiliary wheel 343 replaces the cutter head 333 to walk on the protrusion on the tray surface. After passing the protrusion, the auxiliary wheel 343 slowly resets to prevent its reset speed from being too fast, which would cause the trimming component 33 to hit the tray during the reset process and cause secondary damage.

[0022] Secondly, please refer to Figures 7-8 As shown, when the cutter head 333 crosses an obstacle, the return spring 335 always applies pressure to the connecting rod 332, ensuring that the cutter head 333 remains in contact with the tray surface. After the cutter head 333 crosses the obstacle, it immediately returns to its initial state under the action of the return spring 335. Simultaneously, under the action of the ratchet 336 and the pawl 337, the connecting rod 332 can only drive the gear 334 to rotate in one direction. In other words, the connecting rod 332 will not drive the gear 334 to rotate during the reset process, nor will it affect the reset speed of the tooth block 342. This ensures that the cutter head 333 can quickly return to its normal state after crossing the obstacle, while avoiding the synchronous and rapid reset of the auxiliary wheel 343. This ensures that the cutter head 333 can quickly return to its working state after crossing the obstacle without colliding with the tray.

[0023] To facilitate cleaning the pallet surface after edge trimming, please refer to [link / reference]. Figures 1-9 As shown, a dust collection component 4 is provided on one side of the machine box 2. After the edge cleaning is completed, the blade 333 is raised to the point of disconnection from the tray surface by operating the robotic arm 1. The dust collection component 4 includes a dust collection chamber 41 that is slidably disposed on one side of the machine box 2. A connecting plate 44 is fixedly disposed on one side of the dust collection chamber 41. The connecting plate 44 is slidably disposed inside the machine box 2. A sliding groove adapted to the connecting plate 44 is axially opened on the inner wall of the machine box 2. A first electronic push rod 45 is symmetrically disposed on the lower side of the connecting plate 44 to drive the connecting plate 44 to slide. The first electronic push rod 45 is fixedly disposed inside the machine box 2. By operating the first electronic push rod 45, the connecting plate 44 is pulled down and the dust collection chamber 41 is slid down to contact the tray surface. A brush 42 for cleaning the surface of the tray is fixedly installed on the lower side of the dust collection chamber 41. The brush 42 is moved to the surface of the tray by operating the robotic arm 1 to clean the impurities on the tray. A dust collection pipe 43 is fixedly connected between the dust collection chamber 41 and the machine box 2. The bottom of the dust collection chamber 41 is provided with a slot that matches the dust collection pipe 43. The inside of the machine box 2 is fixedly provided with an air suction device and an impurity storage device that match the dust collection pipe 43. While cleaning the impurities on the tray, the air suction device inside the machine box 2 is activated to collect the impurities on the surface of the tray through the dust collection pipe 43 and temporarily store them in the storage device inside the machine box 2 to ensure that there are no impurities accumulating on the surface of the tray after the edge cleaning is completed.

[0024] Therefore, based on the above, the working principle of the present invention can be summarized as follows: First, the tray is placed on the upper side of the base plate 61, and the tray is clamped by operating the second electronic push rod 65 to drive the corresponding sliding baffle 63. Then, the cutting head 333 is driven by the robotic arm 1 to remove the burrs on the edge of the tray. When passing the protrusion on the surface of the tray, the cutting head 333 and the connecting rod 332 rotate, driving the gear 334 to rotate. The gear 334 synchronously drives the tooth block 342 to slide downward, and drives the auxiliary wheel 343 to the protrusion on the surface of the tray to replace the cutting head 333 in crossing the obstacle, preventing the cutting head 333 from colliding with the surface of the tray. If the tray or device is damaged, the auxiliary wheel 343 slowly rises after passing the obstacle. At the same time, the cutter head 333 and the connecting rod 332 are quickly reset under the pressure of the reset spring 335. This ensures that the cutter head 333 can quickly return to normal operation while avoiding collision with the tray and secondary damage during the reset process. After the edge cleaning is completed, the cutter head 333 is lifted by operating the robotic arm 1. Then, the first electronic push rod 45 is operated to pull the brush 42 to fit against the tray, and the suction device inside the mechanical box 2 is activated to clean the impurities on the tray surface, preventing the accumulation of impurities on the tray surface after the edge cleaning is completed.

[0025] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pallet adaptive edge cleaning device based on a multi-axis robot, comprising a robotic arm (1), one end of which is fixedly provided with a mechanical box (2), and an edge cleaning component (3) is provided inside the mechanical box (2), the edge cleaning component (3) comprising a fixing plate (31) fixedly provided inside the mechanical box (2), and a support plate (32) slidably provided on the lower side of the fixing plate (31), characterized in that: The lower side of the support plate (32) is provided with a trimming component (33) and a support component (34). The support assembly (34) includes a fixing block (341) axially fixed to the lower side of the support plate (32), and a toothed block (342) is slidably disposed inside the fixing block (341). The toothed block (342) slides through the middle of the support plate (32), and the fixed block (341) has a slide rail adapted to the toothed block (342) inside; The lower side of the toothed block (342) is rotatably connected to an auxiliary wheel (343), which is used to contact the tray and lift the trimming assembly (33) when crossing obstacles; A damper (344) for supporting the toothed block (342) is fixedly provided on the lower side of the fixed plate (31), and the end of the piston rod of the damper (344) is fixedly connected to the top of the toothed block (342).

2. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 1, characterized in that: Each corner of the upper side of the support plate (32) is fixedly provided with a support spring (35) for supporting it, and the other end of each support spring (35) is fixedly connected to the fixed plate (31). The trimming assembly (33) includes a vertical rod (331) axially fixed to the lower side of the support plate (32), and a connecting rod (332) is rotatably provided on the lower side of the vertical rod (331). A cutting head (333) for cutting burrs on the edge of the tray is fixedly provided on the lower side of the connecting rod (332).

3. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 2, characterized in that: A gear (334) is provided on one side of the connecting rod (332), and the gear (334) meshes with the tooth block (342); A return spring (335) is symmetrically fixed on the side of the connecting rod (332) away from the gear (334), and the other end of the return spring (335) is fixedly connected to the support plate (32).

4. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 3, characterized in that: A ratchet (336) is fixedly provided on the side of the connecting rod (332) near the gear (334). A pawl (337) is engaged on the ratchet (336). The pawl (337) is rotatably disposed on one side of the gear (334), and the gear (334) and the ratchet (336) are coaxially arranged.

5. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 1, characterized in that: A dust collection assembly (4) is provided on one side of the mechanical housing (2). The dust collection assembly (4) includes a dust collection chamber (41) that is slidably disposed on one side of the mechanical housing (2). A brush (42) for cleaning the surface of the tray is fixedly disposed on the lower side of the dust collection chamber (41).

6. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 5, characterized in that: A dust collection pipe (43) is fixedly connected between the dust collection chamber (41) and the mechanical box (2), and a slot adapted to the dust collection pipe (43) is opened at the bottom of the dust collection chamber (41). The mechanical box (2) is equipped with an air suction device and an impurity storage device that are compatible with the dust collection pipe (43).

7. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 6, characterized in that: A connecting plate (44) is fixedly provided on one side of the dust collection chamber (41). The connecting plate (44) is slidably disposed inside the mechanical box (2), and a sliding groove adapted to the connecting plate (44) is axially opened on the inner wall of the mechanical box (2). The lower side of the connecting plate (44) is symmetrically provided with a first electronic push rod (45) for driving the connecting plate (44) to slide. The first electronic push rod (45) is fixedly installed inside the mechanical box (2).

8. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 1, characterized in that: A processing table (5) is provided on the lower side of the machine box (2), and a fixing component (6) for fixing the pallet is fixedly provided on the upper side of the processing table (5).

9. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 8, characterized in that: The fixing component (6) includes a base plate (61) fixedly installed on the upper side of the processing table (5). A fixing baffle (62) is fixedly installed on the upper two adjacent edges of the base plate (61), and a sliding baffle (63) is slidably installed on the other two edges.

10. The pallet adaptive edge cleaning device based on a multi-axis robot according to claim 9, characterized in that: A connecting block (64) is fixedly provided on the lower side of the sliding baffle (63). The connecting block (64) is slidably provided on the lower side of the base plate (61), and a track adapted to the connecting block (64) is provided on the base plate (61). The connecting block (64) is symmetrically provided on one side for driving the connecting block (64) to slide. The second electronic push rod (65) is fixedly installed on the lower side of the base plate (61).

Images