Deburring robot and deburring system

Abstract

The utility model provides a deburring robot and a deburring system, and the deburring robot comprises a base and a mechanical arm arranged on the base; the clamping seat is fixedly connected to the end, away from the base, of the mechanical arm; the air cylinder is rotationally connected to the clamping seat; the cutter is connected to the air cylinder and used for removing burrs on the surface of the workpiece; the cylinder comprises a cylinder barrel, a guide seat, a limiting bolt and a floating seat; the guide seat is connected to the cylinder barrel in a sliding mode, the limiting bolts are annularly arranged on the peripheral side of the guide seat, one end of the floating seat is directly or indirectly fixedly connected with the cutter, and the other end of the floating seat is movably connected to the guide seat and abuts against the limiting bolts. The two sides of the floating seat are subjected to force of the guide seat and a machined workpiece respectively, when the two sides of the floating seat are changed and stress on the two sides of the floating seat is not uniform, the cutter can float in the axial direction relative to the limiting bolt along with the floating seat, the dimensional precision deviation and the positioning error of the workpiece can be made up, the deburring effect is improved, and the risk of cutter breakage is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing equipment technology, specifically relating to a deburring robot and a deburring system. Background Technology

[0002] In the field of machining, the deburring process involves removing burrs or flash that form at the intersection of surfaces of a part.

[0003] Currently, most factories in China, even large manufacturing companies, rely on manual methods for deburring workpieces, or use handheld pneumatic or electric tools for grinding, lapping, and filing. This approach easily leads to higher defect rates, is extremely inefficient, and results in uneven surface roughness on the finished workpieces. Some manufacturers have begun using robots equipped with electric or pneumatic tools for automated grinding. Compared to handheld grinding, robotic deburring effectively improves production efficiency, reduces costs, and increases workpiece yield.

[0004] However, since the robot's cutting tool is rigidly set to move along a preset route, but due to unavoidable dimensional errors in production, the dimensions of any two workpieces in the same batch cannot be completely identical. Combined with positioning errors and other factors, it is easy to cause tool breakage, incomplete grinding, or over-grinding, resulting in workpiece scrap. Utility Model Content

[0005] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this utility model is to provide a deburring robot and deburring system that can ensure proper grinding without over-grinding and reduce the risk of tool breakage.

[0006] The technical solution adopted by this utility model to solve its technical problem is:

[0007] In a first aspect, this utility model provides a deburring robot, comprising:

[0008] A base and a robotic arm mounted on the base;

[0009] A clamp is fixedly connected to the end of the robotic arm away from the base;

[0010] A cylinder, which is rotatably connected to the clamp;

[0011] A cutting tool, connected to the cylinder, is used to remove burrs from the surface of a workpiece;

[0012] The cylinder includes a cylinder barrel, a guide seat, a limiting bolt, and a floating seat;

[0013] The guide seat is slidably connected to the cylinder. Multiple limiting bolts are provided and arranged around the periphery of the guide seat. One end of the floating seat is directly or indirectly fixedly connected to the cutting tool, and the other end is movably connected to the guide seat and abuts against the limiting bolts.

[0014] In a preferred embodiment, the robotic arm includes a hinge that is rotatably connected to the base.

[0015] In a preferred embodiment, the tool holder is also included, with one end of the tool holder fixedly connected to the floating seat and the other end fixedly connected to the tool.

[0016] In a preferred embodiment, the cutting tool includes a cutting head and a limiting member. The limiting member is sleeved on the cutting head, the inner wall of the limiting member is fixedly connected to the cutting head, and the outer wall of the limiting member is used to abut against the workpiece.

[0017] In a preferred embodiment, the limiting member is configured as a bearing, the inner ring of the bearing is fixedly connected to the cutting head, and the outer ring of the bearing is used to abut against the workpiece.

[0018] In a preferred embodiment, the robotic arm includes an electronic control module, and a main arm and a secondary arm rotatably connected thereto. The electronic control module is used to drive the main arm to move relative to the secondary arm.

[0019] In a preferred embodiment, the cutting tool further includes a body, and the cutting head is rotatably connected to the body.

[0020] Secondly, this utility model provides a deburring system, including a deburring robot as described above and multiple worktables, wherein the multiple worktables are disposed around the base of the deburring robot.

[0021] In a preferred embodiment, the worktables are configured as three, arranged in an array around the base of the deburring robot as the central axis, with the included angle between any two adjacent worktables being the same.

[0022] In a preferred embodiment, the included angle between any two adjacent worktables is 90°.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] The cutting tool can move relative to the guide seat following the floating seat. During deburring, when the cutting tool is subjected to axial force from the workpiece, the floating seat is subjected to forces from the guide seat and the workpiece on both sides. When the magnitudes of these forces change and the forces on both sides of the floating seat are uneven, the cutting tool can float axially relative to the limiting bolt. When the cutting tool is subjected to radial force during deburring, the cutting tool drives the floating seat and the guide seat to press against one side of the cylinder. The floating seat 74 can rotate relative to the limiting bolt, generating a radial floating effect. Thus, the deburring robot of this invention can compensate for the dimensional accuracy deviation and positioning error of the workpiece through axial and radial floating, improve the deburring effect, and reduce the risk of tool breakage. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of the deburring robot according to an embodiment of the present invention;

[0027] Figure 2 This is an exploded perspective view of the cylinder and cutting tool components in an embodiment of this utility model;

[0028] Figure 3 This is a three-dimensional structural view of some components such as cylinders and cutting tools in an embodiment of this utility model;

[0029] Figure 4 This is a three-dimensional structural diagram of components such as cylinders and cutting tools according to an embodiment of this utility model;

[0030] Figure 5 This is a three-dimensional structural diagram of the deburring system according to an embodiment of the present invention.

[0031] in:

[0032] 1-Base; 2-Hinge; 3-Secondary arm; 4-Electrical control module; 5-Main arm; 6-Clamping seat; 7-Cylinder; 71-Cylinder barrel; 72-Guide seat; 73-Limit bolt; 74-Floating seat; 8-Tool holder; 9-Fixed frame; 10-Tool; 101-Main body; 102-Tool head; 103-Limiting component;

[0033] 100 - First workbench; 200 - Second workbench; 300 - Third workbench. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of this utility model, it will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of this utility model; the described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0036] Please refer to the following: Figures 1 to 3 This utility model discloses a deburring robot, including: a base 1 and a robotic arm mounted on the base 1; a clamp 6, which is fixedly connected to the end of the robotic arm away from the base 1; a cylinder 7, which is rotatably connected to the clamp 6; and a cutter 10, which is connected to the cylinder 7 and used to remove burrs from the surface of the workpiece. The cylinder 7 includes a cylinder barrel 71, a guide seat 72, a limiting bolt 73, and a floating seat 74. The guide seat 72 is slidably connected to the cylinder barrel 71. Multiple limiting bolts 73 are provided and arranged around the periphery of the guide seat 72. One end of the floating seat 74 is directly or indirectly fixedly connected to the cutter 10, and the other end is movably connected to the guide seat 72 and abuts against the limiting bolt 73.

[0037] Specifically, the robotic arm in this embodiment is a five-axis robotic arm. It is understood that a six-axis robotic arm or other multi-axis robotic arms can also be used. The robotic arm includes a hinge 2, a secondary arm 3, and a main arm 5. The hinge 2 is rotatably connected to the base 1 in the horizontal direction and to the secondary arm 3 in the vertical direction. The secondary arm 3 is rotatably connected to the main arm 5. The robotic arm also includes an electronic control module 4, which drives the main arm 5 to move relative to the secondary arm 3. A clamping seat 6 is fixedly connected to the end of the main arm 5 away from the secondary arm 3. A cylinder 7 is rotatably connected to the clamping seat 6. The deburring robot also includes a tool holder 8, one end of which is fixedly connected to a floating seat 74, and the other end is fixedly connected to a tool 10. Figure 2 and Figure 3As shown, the cutting tool 10 includes a main body 101, a cutting head 102, and a limiting member 103. The cutting head 102 is rotatably connected to the main body 101, and the limiting member 103 is sleeved on the cutting head 102. The inner wall of the limiting member 103 is fixedly connected to the cutting head 102, and the outer wall of the limiting member 103 is used to abut against the workpiece. The size information of the workpiece is pre-input into the electronic control module 4. The electronic control module 4 controls the main arm 5, thereby controlling the cutting tool 10 to move along the periphery of the workpiece. During the movement of the cutting head 102 along the trajectory of the workpiece periphery, a deburring grinding process is performed on the workpiece. However, due to unavoidable dimensional errors in production, the sizes of any two workpieces in the same batch cannot be completely identical. If the size of a certain workpiece is larger than the preset size, the limiting member 103 abuts against the periphery of the workpiece, and at the same time, the cutting head 102 performs grinding. Figure 4 As shown, when the limiting member 103 is subjected to an axial force from the workpiece, the floating seat 74 is subjected to the force of the guide seat 72 and the workpiece on both sides respectively. When the magnitudes of the two forces change and the force on both sides of the floating seat 74 is uneven, the tool 10 can follow the floating seat 74 to produce a floating effect in the axial direction relative to the limiting bolt 73. When the tool 10 is subjected to a radial force, the tool 10 drives the floating seat 74 and the guide seat 72 to press against the cylinder 71. The floating seat 74 can rotate relative to the limiting bolt 73 and produce a floating effect in the radial direction. Thus, the deburring robot of this utility model can compensate for the dimensional accuracy deviation and positioning error of the workpiece through axial floating and radial floating, improve the deburring effect, and reduce the risk of tool breakage. Similarly, if the size of a workpiece is smaller than the preset size, the electronic control module 4 will control the thrust distribution of the cylinder 7 on the floating seat 74 to ensure that the limiting member 103 always abuts against the periphery of the workpiece, while the tool head 102 performs grinding operations to prevent incomplete grinding.

[0038] Preferably, in this embodiment, the limiting member 103 is configured as a bearing, which is sleeved on the cutter head 102. The inner ring of the bearing is fixedly connected to the cutter head 102, and the outer ring of the bearing is used to abut against the workpiece. During the movement of the cutter head 102 relative to the workpiece, there is sliding friction between the outer ring of the bearing and the workpiece, which reduces resistance and reduces the probability of tool breakage.

[0039] Secondly, please refer to Figure 5 This utility model embodiment also provides a deburring system, including a deburring robot as described above and multiple worktables. The multiple worktables are movably disposed around the base 1 of the deburring robot. In this embodiment, three worktables are configured, respectively defined as a first worktable 100, a second worktable 200, and a third worktable 300. The three worktables are arranged in an array around the base 1 of the deburring robot as the central axis. Each worktable includes a fixed part and a movable part that are movably connected, such as... Figure 5As shown, one end of the fixed part is fixedly connected to the table body, and the other end is movably connected to the movable part. The movable part has a horizontal degree of freedom relative to the fixed part. The workpiece is fixedly clamped on the movable part. When the deburring robot performs grinding operations, the movable part drives the workpiece to move relative to the fixed part, so that the workpiece is always in contact with the limiting member 103 of the tool 10, ensuring sufficient grinding. Preferably, the included angle between any two adjacent worktables is the same; specifically, the included angle between any two adjacent worktables is 90°. It can be understood that the number of worktables can also be four, five, or more, and the shape and size of the workpieces processed on each worktable can be the same or different; in addition, the included angle between any two adjacent worktables can be 30°, 60°, etc., and such variations all fall within the protection scope of this utility model.

[0040] In summary, the deburring robot and system of this utility model have at least the following technical effects:

[0041] The cutting tool 10 can move relative to the guide seat 72 following the floating seat 74. During the deburring process, when the cutting tool 10 is subjected to axial force from the workpiece, the floating seat 74 is subjected to the force from the guide seat 72 and the workpiece on both sides. When the magnitudes of these forces change and the force on both sides of the floating seat 74 is uneven, the cutting tool 10 can float axially relative to the limiting bolt 73 following the floating seat 74. When the cutting tool 10 is subjected to radial force during the deburring process, the cutting tool 10 drives the floating seat 74 and the guide seat 72 to press against the cylinder 71. The floating seat 74 can rotate relative to the limiting bolt 73, generating a radial floating effect. Thus, the deburring robot of this invention can compensate for the dimensional accuracy deviation and positioning error of the workpiece through axial and radial floating, improve the deburring effect, and reduce the risk of tool breakage.

[0042] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A deburring robot, characterized in that, include: A base (1) and a robotic arm mounted on the base (1); A clamp (6) is fixedly connected to one end of the robotic arm away from the base (1); Cylinder (7), which is rotatably connected to the clamp (6); A cutting tool (10), which is connected to the cylinder (7), is used to remove burrs from the surface of the workpiece; The cylinder (7) includes a cylinder barrel (71), a guide seat (72), a limiting bolt (73), and a floating seat (74); The guide seat (72) is slidably connected to the cylinder (71). Multiple limiting bolts (73) are provided and are arranged around the periphery of the guide seat (72). One end of the floating seat (74) is directly or indirectly fixedly connected to the cutting tool (10), and the other end is movably connected to the guide seat (72) and abuts against the limiting bolts (73).

2. The deburring robot according to claim 1, characterized in that, The robotic arm includes a hinge (2) which is rotatably connected to the base (1).

3. The deburring robot according to claim 1, characterized in that, It also includes a tool holder (8), one end of which is fixedly connected to the floating seat (74), and the other end is fixedly connected to the tool (10).

4. The deburring robot according to claim 1, characterized in that, The cutting tool (10) includes a cutting head (102) and a limiting member (103). The limiting member (103) is sleeved on the cutting head (102). The inner wall of the limiting member (103) is fixedly connected to the cutting head (102), and the outer wall of the limiting member (103) is used to abut against the workpiece.

5. The deburring robot according to claim 4, characterized in that, The limiting member (103) is configured as a bearing, the inner ring of which is fixedly connected to the cutter head (102), and the outer ring of which is used to abut against the workpiece.

6. The deburring robot according to claim 1, characterized in that, The robotic arm includes an electronic control module (4), and a main arm (5) and a secondary arm (3) rotatably connected. The electronic control module (4) is used to drive the main arm (5) to move relative to the secondary arm (3).

7. The deburring robot according to claim 4, characterized in that, The cutting tool (10) also includes a body (101), and the cutting head (102) is rotatably connected to the body (101).

8. A deburring system, characterized in that, It includes a deburring robot as described in any one of claims 1-7 and a plurality of worktables, wherein the plurality of worktables are movably disposed around the base (1) of the deburring robot.

9. The deburring system according to claim 8, characterized in that, The worktables are configured as three, with the base (1) of the deburring robot as the central axis, and the three worktables are arranged in an array around the central axis, with the included angle between any two adjacent worktables being the same.

10. The deburring system according to claim 9, characterized in that, The included angle between any two adjacent worktables is 90°.

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