Deburring device and deburring robot

Abstract

The utility model provides a deburring device and a deburring robot, relates to the technical field of cleaning robots, and aims to solve the problem of low efficiency caused by the fact that the existing deburring process depends on manual work. The deburring device comprises a fixing seat, a force sensor, a connecting seat, a rotary driving part and a grinding head, and the fixing seat is used for being fixedly connected with the tail end of a mechanical arm; the force sensor is located between the fixed seat and the connecting seat, an outer ring of the force sensor is fixedly connected with one of the fixed seat and the connecting seat, and an inner ring of the force sensor is fixedly connected with the other one of the fixed seat and the connecting seat; the rotary driving piece is installed on the connecting base, and the grinding head is installed at the rotary output end of the rotary driving piece. According to the deburring device, automatic deburring is achieved, manual intervention is basically not needed in the deburring process, and efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and more specifically, to a deburring device and a deburring robot. Background Art

[0002] At present, after raw materials are machined into products, burrs will inevitably be formed at the edge parts of the products. The existing burr removal processes all rely on manual labor, which not only takes a long time, resulting in low deburring efficiency, but also there will be a situation where burrs are not completely removed. Summary of the Utility Model

[0003] The first object of the utility model is to provide a deburring device to solve the technical problem that the existing burr removal processes all rely on manual labor, resulting in low efficiency.

[0004] The deburring device provided by the utility model is installed at the end of the robotic arm of a deburring robot. The deburring device includes a fixed seat, a force sensor, a connecting seat, a rotary driving member and a grinding head. Among them, the fixed seat is used for fixedly connecting with the end of the robotic arm; the force sensor is located between the fixed seat and the connecting seat, and the outer ring of the force sensor is fixedly connected with one of the fixed seat and the connecting seat, and the inner ring of the force sensor is fixedly connected with the other of the fixed seat and the connecting seat; the rotary driving member is installed on the connecting seat, and the grinding head is installed on the rotary output end of the rotary driving member.

[0005] Further, the rotary driving member includes an electric spindle, and the rotary output end of the electric spindle has a pneumatic tool changing structure, and the grinding head is installed on the pneumatic tool changing structure.

[0006] Further, the connecting seat includes a connecting plate and a connecting frame. Among them, the connecting plate is used for connecting with the inner ring, and the connecting plate is attached to the end face of the inner ring; the connecting frame includes a first plate and a second plate which are vertically connected. The first plate is attached to and fixedly connected with the connecting plate, and a receiving space is formed between the second plate and the first plate. The second plate is provided with a through hole, the electric spindle is located in the receiving space and installed on the second plate, and the rotary output end of the electric spindle extends out from the through hole to be connected with the grinding head.

[0007] Further, the first plate and the connecting plate are detachably and fixedly connected.

[0008] Further, a first connection hole is provided on the end face of the inner ring, a first flange hole corresponding to the position of the first connection hole is provided on the connecting plate, and the deburring device further includes a first connecting member, and the first connecting member passes through the first flange hole and is tightly connected to the first connection hole.

[0009] Furthermore, the fixed seat includes a fixing plate and a bracket. Among them, the fixing plate is used to connect with the outer ring, and the fixing plate is attached to the end face of the outer ring; the bracket is fixedly connected to the outer peripheral surface of the fixing plate, and the fixed seat is fixedly connected to the end of the robotic arm through the bracket.

[0010] Furthermore, a second connection hole is provided on the end face of the outer ring, the fixing plate is provided with a second flange hole corresponding to the position of the second connection hole, and the deburring device further includes a second connecting piece, and the second connecting piece passes through the second flange hole and is fixedly connected to the second connection hole.

[0011] Furthermore, a plurality of mounting positions are provided on the outer peripheral surface of the fixing plate, and the plurality of mounting positions are arranged at intervals along the circumferential direction of the fixing plate, and the bracket is alternatively mounted on one of the plurality of mounting positions.

[0012] Furthermore, the force sensor is a six-axis force sensor.

[0013] The beneficial effects brought by the deburring device of the present utility model are as follows:

[0014] By providing a deburring device mainly composed of a fixed seat, a force sensor, a connecting seat, a rotary driving member and a grinding head, when deburring a product is required, the above deburring device can be installed at the end of the robotic arm of the deburring robot, so that the rotary driving member outputs a rotary power to drive the grinding head to rotate, thereby realizing the grinding of the burrs and achieving the purpose of deburring. During the above deburring process, the force sensor monitors the magnitude of the acting force during deburring by the robotic arm in real time to prevent damage to the product during deburring.

[0015] It can be seen that the deburring device realizes the automatic removal of burrs, and the deburring process basically does not require manual intervention, thereby effectively solving the technical problems of long time consumption and low efficiency in manual deburring in the prior art. In addition, the setting of the force sensor also realizes the real-time monitoring of the acting force during the deburring process, effectively reducing the risk of product damage and playing a good protective role for the product.

[0016] The second object of the present utility model is to provide a deburring robot to solve the technical problem that the existing burr removal processes all rely on manual completion, resulting in low efficiency.

[0017] The deburring robot provided by the present utility model includes a humanoid robot body and the above deburring device, wherein the deburring device is detachably installed on a robotic arm of the humanoid robot body.

[0018] The beneficial effects brought by the deburring robot of the present utility model are as follows:

[0019] By setting the above deburring device in the deburring robot, correspondingly, the deburring robot has all the advantages of the above deburring device, which will not be elaborated here one by one. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0021] Figure 1 One of the structural schematic diagrams of the deburring device provided by the embodiment of the present invention;

[0022] Figure 2 Another structural schematic diagram of the deburring device provided by the embodiment of the present invention.

[0023] Description of the Reference Numerals:

[0024] 100 - Fixed seat; 200 - Force sensor; 300 - Connecting seat; 400 - Rotary drive member; 500 - Grinding head;

[0025] 110 - Fixed plate; 111 - Second flange hole; 112 - Installation position; 120 - Bracket;

[0026] 210 - Outer ring; 220 - Inner ring;

[0027] 310 - Connecting plate; 311 - First flange hole; 320 - Connecting frame; 321 - First plate; 322 - Second plate; 3221 - Through hole. Detailed Description of the Embodiments

[0028] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] This embodiment provides a deburring device, which is installed at the end of the robotic arm of a deburring robot.

[0030] Figure 1 One of the structural schematic diagrams of the deburring device provided by this embodiment, Figure 2 Another structural schematic diagram of the deburring device provided by this embodiment. As Figure 1 and Figure 2As shown in the figure, the deburring device includes a fixed seat 100, a force sensor 200, a connecting seat 300, a rotary driving member 400, and a grinding head 500. Among them, the fixed seat 100 is used for fixedly connecting with the end of the robotic arm; the force sensor 200 is located between the fixed seat 100 and the connecting seat 300, and the outer ring 210 of the force sensor 200 is fixedly connected with the fixed seat 100, and the inner ring 220 of the force sensor 200 is fixedly connected with the connecting seat 300; the rotary driving member 400 is installed on the connecting seat 300, and the grinding head 500 is installed on the rotary output end of the rotary driving member 400.

[0031] When deburring a product is required, the above-mentioned deburring device can be installed at the end of the robotic arm of the deburring robot, so that the rotary driving member 400 outputs rotary power to drive the grinding head 500 to rotate, thereby realizing the grinding of the burrs and achieving the purpose of deburring. During the above-mentioned deburring process, the force sensor 200 monitors the magnitude of the acting force during deburring by the robotic arm in real time to prevent damage to the product during deburring.

[0032] It can be seen that the deburring device realizes the automatic removal of burrs, and the deburring process basically requires no manual intervention, thus effectively solving the technical problems of long time-consuming and low efficiency in manual deburring in the prior art. In addition, the setting of the force sensor 200 also realizes the real-time monitoring of the acting force during the deburring process, effectively reducing the risk of product damage and playing a good protective role for the product.

[0033] It can be understood that in other embodiments, the outer ring 210 of the force sensor 200 can also be fixedly connected with the connecting seat 300, while the inner ring 220 of the force sensor 200 is fixedly connected with the fixed seat 100.

[0034] It should be noted that the internal structure of the force sensor 200 and how to use the force sensor 200 to monitor the acting force during the deburring process can be obtained by those skilled in the art according to the prior art. This embodiment does not make any improvements thereto, so it will not be elaborated herein.

[0035] Please continue to refer to Figure 1 and Figure 2 , in this embodiment, the rotary driving member 400 may include an electric spindle. Among them, the rotary output end of the electric spindle has a pneumatic tool changing structure, and the grinding head 500 is installed on the pneumatic tool changing structure.

[0036] When replacing the grinding head 500, the pneumatic tool changing structure can be ventilated to expand the chuck of the pneumatic tool changing structure to remove the original grinding head 500; after completing the replacement of the grinding head 500, the chuck of the pneumatic tool changing structure can be clamped by closing the air source to realize the installation of the grinding head 500.

[0037] By setting the rotary drive 400 in the form of an electric spindle, during the use of this deburring device, operators can replace different grinding heads 500 in a timely manner according to requirements, and can remove the grinding head 500 when maintenance is needed. The entire disassembly and assembly process takes a short time and has high efficiency.

[0038] It should be noted that the pneumatic tool change structure is the internal structure of a standard electric spindle, and its tool change function is a function inherent in the electric spindle itself. This embodiment does not make any improvements to it, so it will not be described in detail.

[0039] Please continue to refer to Figure 1 and Figure 2 , in this embodiment, the connecting seat 300 may include a connecting plate 310 and a connecting frame 320. Among them, the connecting plate 310 is used to connect with the inner ring 220, and the connecting plate 310 is attached to the end face of the inner ring 220; the connecting frame 320 includes a first plate 321 and a second plate 322 that are vertically connected. The first plate 321 is attached to and fixedly connected to the connecting plate 310. An accommodation space is formed between the second plate 322 and the first plate 321. The second plate 322 is provided with a through hole 3221. The electric spindle is located in the accommodation space and is installed on the second plate 322. The rotary output end of the electric spindle extends out through the through hole 3221 to connect with the grinding head 500.

[0040] This setting form of the connecting seat 300, on the one hand, realizes its reliable connection with the inner ring 220 of the force sensor 200, so that the acting force during the deburring process can be effectively transmitted to the force sensor 200. On the other hand, it also realizes the reliable installation of the rotary drive 400, ensuring the stability during the grinding process.

[0041] In this embodiment, the first plate 321 of the connecting frame 320 is detachably and fixedly connected to the connecting plate 310.

[0042] By setting the first plate 321 to be detachably and fixedly connected to the connecting plate 310, during maintenance operations, the first plate 321 can be removed from the connecting plate 310 to separate the connecting frame 320 from the connecting plate 310, thereby facilitating maintenance operations in an open space.

[0043] Please continue to refer to Figure 1 and Figure 2 , in this embodiment, the end face of the inner ring 220 is provided with a first connection hole, and the connecting plate 310 is provided with a first flange hole 311 corresponding to the position of the first connection hole. The deburring device may further include a first connecting member (not shown in the figure). Among them, the first connecting member passes through the first flange hole 311 and is tightly connected to the first connection hole.

[0044] This connection method between the connecting plate 310 and the inner ring 220 not only ensures the connection reliability, reduces the risk of the connecting plate 310 falling off, but also realizes the detachable fixed connection between the connecting plate 310 and the force sensor 200, facilitating maintenance operations.

[0045] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the fixed seat 100 may include a fixing plate 110 and a bracket 120. Among them, the fixing plate 110 is used to connect with the outer ring 210, and the fixing plate 110 is attached to the end face of the outer ring 210; the bracket 120 is fixedly connected to the outer peripheral surface of the fixing plate 110, and the fixed seat 100 is fixedly connected to the end of the robotic arm through the bracket 120.

[0046] This setting form of the fixed seat 100, on the one hand, realizes the reliable connection between it and the outer ring 210 of the force sensor 200, enabling the force sensor 200 to be reliably fixed between the fixed seat 100 and the connecting seat 300, ensuring the timely induction of the acting force. On the other hand, it also realizes the reliable installation of the deburring device at the end of the robotic arm, thus ensuring the stability during the grinding process.

[0047] Please continue to refer to Figure 2 In this embodiment, a second connection hole is provided on the end face of the outer ring 210, and the fixing plate 110 is provided with a second flange hole 111 corresponding to the position of the second connection hole. The deburring device may further include a second connecting member (not shown in the figure), and the second connecting member passes through the second flange hole 111 and is tightly connected to the second connection hole.

[0048] This connection method between the fixing plate 110 and the outer ring 210 not only ensures the connection reliability, reduces the risk of the fixing plate 110 falling off, but also realizes the detachable fixed connection between the fixing plate 110 and the force sensor 200, facilitating maintenance operations.

[0049] In this embodiment, the first connecting member and the second connecting member may be bolts.

[0050] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the bracket 120 is U-shaped. Among them, one side wall of the bracket 120 is fixedly connected to the fixing plate 110, and the other side wall of the bracket 120 is provided with a fixing hole for connecting with the end of the robotic arm. During assembly, the end of the robotic arm can be placed in the space in the middle of the bracket 120, and then the end of the robotic arm is limited and fixed in the above space by using the fixing hole.

[0051] The above setting can effectively prevent the deburring device from rotating relative to the robotic arm, thereby improving the stability during the deburring process.

[0052] Please continue to refer toFigure 1 and Figure 2 In this embodiment, a plurality of mounting positions 112 are provided on the outer peripheral surface of the fixing plate 110. Among them, the plurality of mounting positions 112 are arranged at intervals along the circumferential direction of the fixing plate 110, and the bracket 120 is alternatively mounted on one of the plurality of mounting positions 112.

[0053] With the above settings, when the deburring device needs to be installed at the end of the robotic arm, the bracket 120 can be selectively fixed to a suitable mounting position 112 according to the posture of the robotic arm and the grinding position, so as to ensure the smooth progress of the grinding operation. This setting improves the generalization of the deburring device in this embodiment, enabling it to meet various installation and operation requirements.

[0054] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the mounting position 112 may include two threaded holes arranged side by side. Correspondingly, an assembly hole corresponding thereto is provided on the side wall of the bracket 120 for connecting with the fixing plate 110, and the assembly connection between the bracket 120 and the fixing plate 110 can be realized by using threaded connectors.

[0055] In this embodiment, the force sensor 200 is a six-axis force sensor.

[0056] By setting the force sensor 200 as a six-axis force sensor, it can monitor the three-dimensional orthogonal forces and three-dimensional orthogonal torques in any spatial force system, so that the acting forces during the deburring process can be accurately sensed, reducing the measurement error and ensuring the measurement accuracy.

[0057] In addition, this embodiment also provides a deburring robot, including a humanoid robot body and the above-mentioned deburring device, wherein the deburring device is detachably mounted on a robotic arm of the humanoid robot body.

[0058] By setting the above-mentioned deburring device in the deburring robot, correspondingly, the deburring robot has all the advantages of the above-mentioned deburring device, which will not be elaborated here one by one.

[0059] When the deburring robot is in use, the above-mentioned deburring device can be installed on a robotic arm of the humanoid robot body, for example: installed on the right arm of the humanoid robot body; then, the left arm of the deburring robot clamps and takes away the product and moves it to the grinding station, while the right arm drives the above-mentioned deburring device to the grinding station, starts the rotary drive 400 to drive the grinding head 500 to rotate, and uses the grinding head 500 to move along the burr-edged part of the product. During this process, the force sensor 200 monitors the magnitude of the acting force in real time during deburring and outputs a force curve to prevent damage to the product due to excessive acting force during deburring; when the right arm drives the deburring device to complete grinding along the burr track, the left arm takes the product to the vision module for photographing, and judges whether the burrs are completely removed through vision detection. If they are removed completely, the product is placed on the tray for centralized collection. If not, the above operations are repeated until the burrs are completely removed.

[0060] Although the present utility model is disclosed as above, the present utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the scope defined by the claims.

[0061] Finally, it should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0062] In the above embodiments, descriptions of orientations such as "left", "right", "side", etc. are all based on the figures shown.

[0063] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A deburring device, characterized in that, Installed at the end of the robotic arm of the deburring robot, the deburring device includes a fixed seat (100), a force sensor (200), a connecting seat (300), a rotary driving member (400) and a grinding head (500). Among them, the fixed seat (100) is used for fixedly connecting with the end of the robotic arm; the force sensor (200) is located between the fixed seat (100) and the connecting seat (300), and the outer ring (210) of the force sensor (200) is fixedly connected with one of the fixed seat (100) and the connecting seat (300), and the inner ring (220) of the force sensor (200) is fixedly connected with the other of the fixed seat (100) and the connecting seat (300); the rotary driving member (400) is installed on the connecting seat (300), and the grinding head (500) is installed on the rotary output end of the rotary driving member (400).

2. The deburring device according to claim 1, characterized in that, The rotary driving member (400) includes an electric spindle, and the rotary output end of the electric spindle has a pneumatic tool changing structure, and the grinding head (500) is installed on the pneumatic tool changing structure.

3. The deburring device according to claim 2, characterized in that, The connecting seat (300) includes a connecting plate (310) and a connecting frame (320). Among them, the connecting plate (310) is used for connecting with the inner ring (220), and the connecting plate (310) is attached to the end face of the inner ring (220); the connecting frame (320) includes a first plate (321) and a second plate (322) which are vertically connected. The first plate (321) is attached to and fixedly connected with the connecting plate (310). An accommodating space is formed between the second plate (322) and the first plate (321). The second plate (322) is provided with a through hole (3221). The electric spindle is located in the accommodating space and is installed on the second plate (322). The rotary output end of the electric spindle extends out through the through hole (3221) to be connected with the grinding head (500).

4. The deburring device according to claim 3, wherein, The first plate (321) is detachably and fixedly connected with the connecting plate (310).

5. The deburring device according to claim 3, wherein, The end face of the inner ring (220) is provided with a first connecting hole, the connecting plate (310) is provided with a first flange hole (311) corresponding to the position of the first connecting hole, and the deburring device further includes a first connecting member, and the first connecting member passes through the first flange hole (311) and is fastened and connected to the first connecting hole.

6. The deburring device according to claim 1, wherein The fixed seat (100) includes a fixing plate (110) and a bracket (120). Among them, the fixing plate (110) is used for connecting with the outer ring (210), and the fixing plate (110) is attached to the end face of the outer ring (210); the bracket (120) is fixedly connected to the outer peripheral surface of the fixing plate (110), and the fixed seat (100) is fixedly connected with the end of the robotic arm through the bracket (120).

7. The deburring device according to claim 6, characterized in that, The end face of the outer ring (210) is provided with second connection holes, the fixing plate (110) is provided with second flange holes (111) corresponding to the positions of the second connection holes, and the deburring device further includes second connectors, and the second connectors pass through the second flange holes (111) and are fixedly connected to the second connection holes.

8. The deburring device according to claim 6, characterized in that, A plurality of mounting positions (112) are provided on the outer peripheral surface of the fixing plate (110), and the plurality of mounting positions (112) are arranged at intervals along the circumferential direction of the fixing plate (110), and the bracket (120) is alternatively mounted on one of the plurality of mounting positions (112).

9. The deburring device according to any one of claims 1-8, characterized in that, The force sensor (200) is a six-axis force sensor.

10. A deburring robot, characterized in that, It includes a humanoid robot body and the deburring device according to any one of claims 1-9, wherein the deburring device is detachably mounted on a robotic arm of the humanoid robot body.

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