Automatic equipment with machine vision for cleaning burrs of blade pressed blank through mechanical arm

Abstract

The utility model relates to the technical field of cutter processing, in particular to automatic equipment with a machine vision mechanical arm for cleaning burrs of a blade pressed blank. Comprising a cleaning protection shell, a cleaning mechanism is installed at the top end in the cleaning protection shell, the cleaning mechanism comprises a fixing table, a mechanical arm, a dust collector, a first conveying belt, an air cylinder, a feeding conveying belt, a discharging conveying belt and a height supporting frame, and the fixing table is fixed to one side in the cleaning protection shell. According to the automatic equipment with the machine vision mechanical arm for cleaning the burrs of the blade pressed blank, through cooperation of the cleaning mechanism, the positioning shell and the storage frame, the blade needing to be cleaned can be conveyed to the top of the feeding conveying belt through the positioning shell; and the mechanical arm works to drive the visual camera to conduct visual monitoring on the blade, meanwhile, the cleaning brush works to clean burrs, and after cleaning is finished, the blades enter the inner side of the storage frame through the discharging conveying belt and the positioning shell.

Description

TECHNICAL FIELD

[0001] The utility model relates to tool processing technical field especially relates to a kind of automatic equipment with machine vision's mechanical arm cleaning blade compacting burr. BACKGROUND

[0002] Tool is praised as "industrial tooth", and occupies extremely important position in the history of human development.Hard alloy cutter has multiple excellent performance, such as high strength, high hardness, heat resistance, wear resistance, corrosion resistance etc., is widely used in electronic information, automobile parts and aerospace military industry etc.Machining field, and with the development of manufacturing, the demand for tool will be more and more.At present, numerical control cutting machining has the characteristics of high speed and high efficiency, compared with traditional cutting machining, numerical control cutting machining has higher requirement for blade, but burr has great influence on the life and performance of tool, and it is difficult to remove, so the requirement for blade compacting burr removing process is higher and higher.

[0003] Mold pressing forming is an indispensable process in the production process of numerical control blade, due to the gap between the mould, resulting in burr on the blade compacting produced by pressing, the different gap between the mould leads to the different width of compacting burr, in addition, the different shape of blade slot and the different pressed grade make the burr strength and height have great difference, so the actual produced burr has great difference in form, which increases the difficulty of removing blade compacting burr.

[0004] At present, the blade compacting produced by powder metallurgy forming press is mostly manually brushed by brush similar to paint brush, the quality of blade compacting brushed by this way is difficult to guarantee, not only the quality of burr removing is uneven, but also human factors have great influence.Each person holds brush in different gesture, different gesture leads to different angle of burr brushing of each person, and the force of burr brushing of each person is also different, some workers brush burr with heavy force, some workers brush burr with light force, some workers may shake hands during brushing burr, etc., these factors increase the probability of waste blade compacting produced by brushing, cause defects such as blade edge gap, blade edge round edge or burr residue of blade compacting, directly affect the blade edge quality of sintered compact, increase the difficulty of passivation process operation and blade edge roundness value uniformity control.

[0005] With the development of manufacturing industry, the share of tool in manufacturing industry is also increasingly indispensable, but from the import and export unit price and domestic sales unit price of blade in recent years, it can be seen that the current domestic blade is still mainly medium and low-end products.In high-end field, especially in the aspect of providing long life and high stability under extreme cutting conditions, imported blade still occupies a large share, and domestic blade has a long way to go.

[0006] At present, the generation of blade compacting burr is still one of the important problems hindering the development of cutters, and the burr not only affects the service life of the cutter, but also seriously affects the machining quality of the cutter, causing the generation of waste products.

[0007] Therefore, an automatic equipment for cleaning blade compacting burr by mechanical arm with machine vision is designed to provide another technical solution for the above technical problems. Content of the utility model

[0008] Therefore, it is necessary to provide an automatic equipment for cleaning blade compacting burr by mechanical arm with machine vision to solve the technical problems in the background art.

[0009] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0010] An automatic equipment for cleaning blade compacting burr by mechanical arm with machine vision, comprising a cleaning protective shell, a cleaning mechanism is installed at the top of the inside of the cleaning protective shell, the cleaning mechanism comprises a fixing table, a mechanical arm, a dust collector, a first conveying belt, a gas cylinder, a feeding conveying belt, a discharging conveying belt and a height support frame, one side of the inside of the cleaning protective shell is fixed with the fixing table, the top of the fixing table is bolted with the mechanical arm, two gas cylinders are fixed on one side of the inside of the cleaning protective shell and located at the fixing table, the push rod of the two gas cylinders is fixed with the first conveying belt, the inside of the cleaning protective shell and located at both sides of the first conveying belt are bolted with the dust collector, the feeding conveying belt and the discharging conveying belt are sequentially arranged from top to bottom at one end of the first conveying belt in the inside of the cleaning protective shell, the two sides of both ends of the feeding conveying belt and the discharging conveying belt are bolted with the height support frame, and the bottom of the height support frame is bolted with the cleaning protective shell.

[0011] As a preferred embodiment of the automatic equipment for cleaning blade compacting burr by mechanical arm with machine vision provided by the utility model, one end of the mechanical arm is fixed with a motor tray, the side away from the mechanical arm of the motor tray is rotatably connected with a cleaning brush, the inside of the motor tray is fixed with a servo motor, the output end of the servo motor is connected with the cleaning brush through a shaft coupling, and the inside of the motor tray and located at both ends of the cleaning brush are fixed with visual cameras.

[0012] As a preferred embodiment of the automatic equipment for cleaning blade compacting burr by mechanical arm with machine vision provided by the utility model, two rectangular grooves are formed in the inside of one end of the cleaning protective shell, the top rectangular groove corresponds to the position of the feeding conveying belt, and the bottom rectangular groove corresponds to the position of the discharging conveying belt.

[0013] As a preferred implementation form of the automatic equipment for cleaning the blade compacted blank burr through the mechanical arm with machine vision, one end of the cleaning protective shell is provided with a positioning shell, the positioning shell comprises a first shell, a first frame, a transmission rack, a second shell, a feeding conveyor belt and a height adjusting assembly, both sides of the first shell are fixedly provided with the first frame, both ends of the first frame close to the inside of the first shell are fixedly provided with the transmission rack, one end of the transmission rack is fixedly connected with the cleaning protective shell through bolts, the outer side of the first shell and the first frame away from the cleaning protective shell is fixedly provided with the second shell, the second shell is fixedly connected with the other end of the transmission rack through bolts, the inside of the first shell and the position corresponding to the rectangular groove on the top are slidably connected with the feeding conveyor belt, the inside of the first shell and the position corresponding to the discharge groove are provided with the height adjusting assembly.

[0014] As a preferred implementation form of the automatic equipment for cleaning the blade compacted blank burr through the mechanical arm with machine vision, the inside of the second shell and the position corresponding to the feeding conveyor belt are provided with a feeding groove, the inside of the second shell and the bottom of the feeding groove are provided with a discharge groove.

[0015] As a preferred implementation form of the automatic equipment for cleaning the blade compacted blank burr through the mechanical arm with machine vision, the height adjusting assembly comprises a positioning frame, a transmission wheel, a U-shaped frame, an adjusting driving motor and an adjusting gear, both sides of both ends of the positioning frame are rotatably connected with the transmission wheel, the two transmission wheels on the same side are connected through a first synchronous belt, both sides of both ends of the positioning frame are fixedly provided with the U-shaped frame, the U-shaped frame is slidably connected with the first shell, the inside of the U-shaped frame is fixedly provided with the adjusting driving motor, the output end of the adjusting driving motor is connected with the adjusting gear, and the adjusting gear is meshingly connected with the transmission rack.

[0016] As a preferred implementation form of the automatic equipment for cleaning the blade compacted blank burr through the mechanical arm with machine vision, one side of the positioning frame is rotatably connected with an auxiliary wheel, the auxiliary wheel is located on the inside of one side of the first synchronous belt, the bottom of the positioning frame is fixedly provided with a motor frame, the inside of the motor frame is fixedly provided with a conveying driving motor, and the output end of the conveying driving motor is connected with the auxiliary wheel through a second synchronous belt.

[0017] As a preferred implementation form of the automatic equipment for cleaning the blade compacted blank burr through the mechanical arm with machine vision, the inside of the positioning shell away from the cleaning protective shell is provided with a storage rack, the storage rack comprises a second frame, a handle and a placing plate, the second frame is slidably connected with the discharge groove, both sides of one end of the second frame are fixedly provided with the handle, and both sides of the inside of the second frame are fixedly provided with the placing plate in a symmetrical manner.

[0018] As a preferred embodiment of the automatic equipment for cleaning the blade compacted blank burr by the mechanical arm with machine vision provided by the utility model, the bottom of the second frame is provided with brakeable moving wheels.

[0019] It can be seen without doubt that the above technical solutions of the application can solve the technical problems to be solved by the application.

[0020] Meanwhile, the above technical solutions have at least the following beneficial effects:

[0021] The automatic equipment for cleaning the blade compacted blank burr by the mechanical arm with machine vision provided by the utility model can convey the blade needing cleaning into the top of the feeding conveyor belt through the positioning shell, and drive the visual camera to monitor the blade through the work of the mechanical arm, clean the burr through the work of the cleaning brush, and then enter the inside of the storage rack through the discharging conveyor belt and the positioning shell after cleaning, thereby eliminating the influence of human factors on the burr cleaning effect, having strong engineering application value, and having a positive influence on the development of the manufacturing industry of China.

[0022] The hard alloy blade compacted blank deburring equipment can set the contact amount of the brush and the compacted blank and the rotating speed and angle of the brush according to the actual blade model requirement, has different databases for different models of blades, does not need to adjust the parameters again when replacing different models of blades to deburr, and can be directly called, thereby improving the deburring efficiency of the blade compacted blank.

[0023] Through the cooperation of the first shell, the first frame, the transmission rack and the adjusting gear, the blade with the cleaned burr is conveyed into the top of the positioning frame through the work of the discharging conveyor belt, and the adjusting gear is driven to ascend and descend on the meshed transmission rack through the work of the adjusting driving motor, so that the positioning frame drives the blade with the cleaned burr to ascend and descend to the corresponding height, and then the blade with the cleaned burr is driven into the inside of the storage rack through the rotation of the transmission wheel and the synchronous belt. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 It is a schematic view of the overall structure of the present application.

[0026] Figure 2 It is a schematic view of the extension of the feeding conveyor belt of the present application.

[0027] Figure 3 It is a schematic view of the structure of the cleaning protective shell of the present application.

[0028] Figure 4 It is a schematic view of the structure of the dust collector of the present application.

[0029] Figure 5 It is a schematic view of the structure of the air cylinder of the present application.

[0030] Figure 6 It is a schematic view of the structure of the motor tray of the present application.

[0031] Figure 7 It is a schematic view of the structure of the height support frame of the present application.

[0032] Figure 8 It is a schematic view of the structure of the second shell of the present application.

[0033] Figure 9 It is a schematic view of the structure of the positioning frame of the present application.

[0034] Figure 10 It is a schematic view of the structure of the storage rack of the present application.

[0035] In the drawings: 1, cleaning protective shell; 2, positioning shell; 3, storage rack; 4, fixed table; 5, mechanical arm; 6, dust collector; 7, first conveyor belt; 8, air cylinder; 9, motor tray; 10, servo motor; 11, cleaning brush; 12, visual camera; 13, feeding conveyor belt; 14, discharging conveyor belt; 15, height support frame; 16, first shell; 17, first frame; 18, transmission rack; 19, second shell; 20, rectangular groove; 21, feeding groove; 22, discharging groove; 23, positioning frame; 24, motor frame; 25, transmission wheel; 26, U-shaped frame; 27, adjusting driving motor; 28, adjusting gear; 29, second frame; 30, handle; 31, placing plate; 32, feeding conveyor belt. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model.

[0037] In order to make the person in the technical field better understand the utility model scheme, the technical scheme in the utility model example will be clearly and completely described below in combination with the drawings.

[0038] It should be noted that the examples in the utility model and the features and technical schemes in the examples can be combined with each other without conflict.

[0039] It should be noted that: similar signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0040] Referring to Figures 1-10 An automatic device for cleaning blade compacting burrs by mechanical arm with machine vision, comprising a cleaning protective shell 1, a cleaning mechanism is installed at the top of the inside of the cleaning protective shell 1, and a storage groove is arranged at the bottom of the cleaning protective shell 1 for storing lines, the cleaning mechanism comprises a fixed table 4, a mechanical arm 5, a dust collector 6, a first conveying belt 7, a pneumatic cylinder 8, a feeding conveying belt 13, a discharging conveying belt 14 and a height support frame 15, a fixed table 4 is fixed on one side of the inside of the cleaning protective shell 1, and the top of the fixed table 4 is bolted with a mechanical arm 5, so that the mechanical arm 5 can realize plane rotation and angle rotation on the top of the fixed table 4;

[0041] In the embodiment, the mechanical arm 5 is an existing device, which can realize movement and angle adjustment of the object.

[0042] Two pneumatic cylinders 8 are symmetrically fixed on one side of the inside of the cleaning protective shell 1 and located at the fixed table 4, the push rod of the two pneumatic cylinders 8 is fixed with a first conveying belt 7, so that the work of the pneumatic cylinder 8 can drive the first conveying belt 7 to adjust the lifting, and the inside of the cleaning protective shell 1 and located at both sides of the first conveying belt 7 are bolted with a dust collector 6, so that the external air pump can collect the dust cleaned by the blade through the dust collector 6;

[0043] The inside of the cleaning protective shell 1 and one end of the first conveying belt 7 are sequentially provided with an upper feeding conveying belt 13 and a lower feeding conveying belt 14 from top to bottom, so that the work of the upper feeding conveying belt 13 can drive the top blade into the top of the first conveying belt 7, so that the work of the lower feeding conveying belt 14 can convey the blade on the first conveying belt 7 after the burr cleaning is completed, and at the same time, the work of the air cylinder 8 can drive the first conveying belt 7 to rise to the highest position, which corresponds to the height of the upper feeding conveying belt 13, and when the work of the air cylinder 8 drives the first conveying belt 7 to descend to the lowest position, it corresponds to the position of the lower feeding conveying belt 14; the two sides of the two ends of the upper feeding conveying belt 13 and the lower feeding conveying belt 14 are bolted with height support frames 15, and the bottom of the height support frame 15 is bolted with the cleaning protective shell 1, so as to support the height of the upper feeding conveying belt 13 and the lower feeding conveying belt 14 through the height support frame 15, and at the same time, the height support frame 15 does not affect the work of the upper feeding conveying belt 13 and the lower feeding conveying belt 14;

[0044] In the embodiment, the first conveying belt 7, the upper feeding conveying belt 13 and the lower feeding conveying belt 14 are all existing devices, which are used to drive the top object to transport.

[0045] One end of the mechanical arm 5 is fixed with a motor tray 9, so that the work of the mechanical arm 5 can drive the motor tray 9 to rotate or move at multiple angles, the side away from the mechanical arm 5 of the motor tray 9 is rotatably connected with a cleaning brush 11, the inner side of the motor tray 9 is fixed with a servo motor 10, the output end of the servo motor 10 is connected with the cleaning brush 11 through a shaft coupling, so that the rotation of the servo motor 10 drives the cleaning brush 11 to rotate through the shaft coupling, the burr on the blade is cleaned through the rotation of the cleaning brush 11, the inside of the motor tray 9 and both ends of the cleaning brush 11 are fixed with a visual camera 12, so as to realize visual monitoring through the irradiation of the visual camera 12 to the blade.

[0046] In the embodiment, the visual camera 12 is an existing machine, and in other embodiments, it can also be a small high-precision single-lens reflex imaging camera.

[0047] The one end of the cleaning protective shell 1 is provided with a positioning shell 2, and two rectangular grooves 20 are formed in the one end of the cleaning protective shell 1, the top rectangular groove 20 corresponds to the position of the feeding conveying belt 13, and the bottom rectangular groove 20 corresponds to the position of the discharging conveying belt 14, so that the blade needing to be cleaned of burrs enters the top of the feeding conveying belt 13 through the positioning shell 2 and the top rectangular groove 20, and the blade cleaned of burrs enters the inside of the positioning shell 2 through the discharging conveying belt 14 and the bottom rectangular groove 20, the positioning shell 2 comprises a first shell 16, a first frame 17, a transmission rack 18, a second shell 19, a feeding conveying belt 32 and a height adjusting assembly, the first frame 17 is fixed on the two sides of the first shell 16, the transmission rack 18 is fixed at the two ends of the inside of the side close to the first shell 16, one end of the transmission rack 18 is bolted with the cleaning protective shell 1, the second shell 19 is fixed on the outside of the end away from the cleaning protective shell 1 of the first shell 16 and the first frame 17, and the other end of the transmission rack 18 is bolted with the second shell 19, so that the top of the first shell 16 and the first frame 17 can be protected by the second shell 19;

[0048] The feeding conveying belt 32 is slidably connected to the inside of the first shell 16 and the position corresponding to the top rectangular groove 20, so that the feeding conveying belt 32 can convey the blade to be machined on the top to the feeding conveying belt 13 through the top rectangular groove 20, and the feeding groove 21 is formed in the inside of the second shell 19 and the position corresponding to the feeding conveying belt 32, so that the feeding conveying belt 32 can be pulled out of the inside of the feeding groove 21 through sliding, and the blade to be cleaned of burrs can be placed on the top of the feeding conveying belt 32;

[0049] In the embodiment, the pressure sensor is arranged on the conveying belt of the feeding conveying belt 32, and the pulley controlled by the stepping motor is arranged at the two ends of the bottom of the feeding conveying belt 32, so that the pulley slides in the inside of the first shell 16, the feeding conveying belt 32 can only slide in translation, and when the blade to be cleaned of burrs is placed on the top of the feeding conveying belt 32, the pressure sensor detects that the pressure exceeds the set threshold value, the pulley is controlled to rotate by the stepping motor, the feeding conveying belt 32 enters the inside of the first shell 16, and the blade to be cleaned of burrs is conveyed by the feeding conveying belt 13, when the blade to be cleaned of burrs enters the feeding conveying belt 13, the pressure sensor detects that the pressure is lower than the set threshold value, the pulley is controlled to rotate by the stepping motor, the feeding conveying belt 32 is pulled out of the first shell 16, and the next work is waited, so that the blade to be cleaned can be intelligently sensed and conveyed through the control of the pulley.

[0050] The interior of the second shell 19 and the bottom of the feeding groove 21 are provided with a discharging groove 22, and the interior of the first shell 16 and the position corresponding to the discharging groove 22 are provided with a height adjusting assembly, so that the height adjusting assembly can adjust the height of the finished blade conveyed by the discharging conveying belt 14 through the rectangular groove 20. The height adjusting assembly comprises a positioning frame 23, a transmission wheel 25, a U-shaped frame 26, an adjusting driving motor 27 and an adjusting gear 28. The two sides of the two ends of the positioning frame 23 are rotatably connected with the transmission wheels 25. The two transmission wheels 25 on the same side are connected through a first synchronous belt, so that the rotation of the transmission wheel 25 at the same end drives the rotation of the remaining transmission wheels 25 through the first synchronous belt. One side of the positioning frame 23 is rotatably connected with an auxiliary wheel, which is located inside one side of the first synchronous belt, so that the rotation of the auxiliary wheel can drive the rotation of the corresponding first synchronous belt. The bottom of the positioning frame 23 is fixedly provided with a motor bracket 24, and the inner side of the motor bracket 24 is fixedly provided with a conveying driving motor. The output end of the conveying driving motor is connected with the auxiliary wheel through a second synchronous belt, so that the working of the conveying driving motor drives the rotation of the auxiliary wheel through the second synchronous belt, and the rotation of the auxiliary wheel drives the rotation of the transmission wheel 25 through the bottom synchronous belt, so that the first synchronous belt can convey the top blade.

[0051] The two sides of the two ends of the positioning frame 23 are fixedly provided with the U-shaped frame 26, and the U-shaped frame 26 is slidably connected with the first shell 16, so that the U-shaped frame 26 can slide up and down in the interior of the first shell 16. The inner side of the U-shaped frame 26 is fixedly provided with the adjusting driving motor 27, and the output end of the adjusting driving motor 27 is connected with the adjusting gear 28. The adjusting gear 28 is meshingly connected with the transmission rack 18, so that the rotation of the adjusting gear 28 drives the rotation of the adjusting gear 28 and the U-shaped frame 26 to drive the positioning frame 23 to rise and fall through the fixing of the transmission rack 18.

[0052] The interior of the positioning shell 2 away from the cleaning protective shell 1 is provided with a storage frame 3, which comprises a second frame 29, a handle 30 and a placing plate 31. The second frame 29 is slidably connected with the discharging groove 22, so that the second frame 29 can contact with the height adjusting assembly through the inner side of the discharging groove 22. The bottom of the second frame 29 is provided with a brake movable wheel, so that the storage frame 3 can be moved to the corresponding position through the brake movable wheel. The two sides of one end of the second frame 29 are fixedly provided with the handle 30, so that the storage frame 3 can be moved by pushing the handle 30. The two sides of the inner side of the second frame 29 are fixedly provided with the placing plate 31 in a symmetrical manner. The shape of the placing plate 31 is L-shaped, so that two placing plates 31 at the same height can support one blade with burrs cleaned.

[0053] The use process of the automatic equipment for cleaning blade compacted blanks with machine vision provided by the utility model is as follows: during use, first, the blade compacted blank that needs to be deburred is placed on the top of the feeding conveyor belt 32, through the work of the feeding conveyor belt 32, the blade compacted blank that needs to be deburred enters the top of the feeding conveyor belt 13 through the top rectangular groove 20, through the work of the feeding conveyor belt 13, the blade compacted blank that needs to be deburred enters the top of the first conveyor belt 7, through the work of the mechanical arm 5, the vision camera 12 detects the image on the top of the blade compacted blank that needs to be deburred, and through the work of the servo motor 10, the cleaning brush 11 rotates to remove the burrs on the blade compacted blank, and at the same time, the dust collector 6 collects the removed powder;

[0054] The blade compacted blank that has been deburred is lowered synchronously through the work of the cylinder 8 and the first conveyor belt 7, the blade compacted blank that has been deburred is conveyed into the top of the discharging conveyor belt 14 through the work of the first conveyor belt 7, the blade compacted blank that has been deburred is conveyed into the top of the positioning frame 23 in the height adjusting assembly through the bottom rectangular groove 20 and the work of the discharging conveyor belt 14, through the work of the adjusting driving motor 27, the adjusting gear 28 rotates, and the adjusting gear 28 is meshed and connected with the transmission rack 18, so that the positioning frame 23 is adjusted in height through the rotation of the adjusting gear 28, after the positioning frame 23 is adjusted to the appropriate height, the blade compacted blank that has been deburred is conveyed to the placing plate 31 of the corresponding height through the rotation of the transmission wheel 25 and the first synchronous belt, then the blade compacted blank that has been processed can be temporarily stored on the storage rack 3, and when the storage rack 3 is full, the brake of the brakeable moving wheel at the bottom of the second frame 29 is cancelled, and the storage rack 3 is moved to the appropriate position through the pulling handle 30.

[0055] The preferred embodiments disclosed above are only used to help describe the utility model. The preferred embodiments do not describe all the details, and the utility model is not limited to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The embodiments are selected and described in the specification in order to better explain the principle and practical application of the utility model, so that the person skilled in the art can well understand and use the utility model. The utility model is limited by the claims and the whole scope and equivalents.

Claims

1. An automated apparatus for cleaning a green compact of a blade of a mechanical arm with machine vision, characterized by, The utility model provides a cleaning protective shell (1) inside the top end is equipped with cleaning mechanism, and the cleaning mechanism includes fixed platform (4), mechanical arm (5), dust collector (6), first conveying belt (7), pneumatic cylinder (8), feeding conveying belt (13), discharging conveying belt (14) and height support frame (15), one side inside the cleaning protective shell (1) is fixed with fixed platform (4), the top bolt connection of fixed platform (4) has mechanical arm (5), the inside of cleaning protective shell (1) and one side symmetry fixed with two pneumatic cylinder (8) of fixed platform (4), the push rod of two pneumatic cylinder (8) is fixed with first conveying belt (7), the inside of cleaning protective shell (1) and both sides of first conveying belt (7) are bolted with dust collector (6), the inside of cleaning protective shell (1) and the position of top rectangular groove (20) correspondence of first conveying belt (7) one end are sequentially provided with feeding conveying belt (13) and discharging conveying belt (14) from top to bottom, both sides of two ends of feeding conveying belt (13) and discharging conveying belt (14) are bolted with height support frame (15), and the bottom of height support frame (15) is bolted with cleaning protective shell (1).

2. The automated apparatus for cleaning the green compact burr with a mechanical arm having machine vision according to claim 1, wherein, One end of mechanical arm (5) is fixed with motor tray (9), one side of motor tray (9) away from mechanical arm (5) is rotatably connected with cleaning brush (11), the inside of motor tray (9) is fixed with servo motor (10), the output end of servo motor (10) is connected with cleaning brush (11) through shaft coupling, the inside of motor tray (9) and both ends of cleaning brush (11) are fixed with visual camera (12).

3. The automated apparatus for cleaning the green compact burr with a mechanical arm having machine vision according to claim 1, wherein, The inside of one end of cleaning protective shell (1) is provided with two rectangular grooves (20), and the top rectangular groove (20) corresponds to the position of feeding conveying belt (13), and the bottom rectangular groove (20) corresponds to the position of discharging conveying belt (14).

4. The automated apparatus for cleaning the flash of a green part using a robot with machine vision according to claim 3, wherein, One end of cleaning protective shell (1) is provided with positioning shell (2), positioning shell (2) includes first shell (16), first frame (17), transmission rack (18), second shell (19), feeding conveying belt (32) and height adjusting assembly, both sides of first shell (16) are fixed with first frame (17), both ends of the inside of first frame (17) close to first shell (16) side are fixed with transmission rack (18), one end transmission rack (18) is bolted with cleaning protective shell (1), the outside of one end of first shell (16) and first frame (17) away from cleaning protective shell (1) is fixed with second shell (19), the other end transmission rack (18) is bolted with second shell (19), the inside of first shell (16) and the position of top rectangular groove (20) correspondence is slidably connected with feeding conveying belt (32), the inside of first shell (16) and the position of discharge groove (22) correspondence is provided with height adjusting assembly.

5. The automated apparatus for cleaning the flash of a green part using a robotic arm with machine vision of claim 4, wherein, The second shell (19) is internally provided with a feeding groove (21) corresponding to the feeding conveyor belt (32), and the bottom of the feeding groove (21) is internally provided with a discharging groove (22).

6. The automated apparatus for cleaning the flash of a green part using a robotic arm with machine vision of claim 4, wherein, The height adjusting assembly comprises a positioning frame (23), transmission wheels (25), U-shaped frames (26), an adjusting driving motor (27) and an adjusting gear (28), both sides of the two ends of the positioning frame (23) are rotationally connected with the transmission wheels (25), the transmission wheels (25) on the same side are connected through a first synchronous belt, both sides of the two ends of the positioning frame (23) are fixedly connected with the U-shaped frames (26), the U-shaped frames (26) are slidably connected with the first shell (16), the inner side of the U-shaped frame (26) is fixedly connected with the adjusting driving motor (27), the output end of the adjusting driving motor (27) is connected with the adjusting gear (28), and the adjusting gear (28) is meshedly connected with the transmission rack (18).

7. The automated apparatus for cleaning the flash of a green part using a robotic arm with machine vision of claim 6, wherein, One side of the positioning frame (23) is rotationally connected with an auxiliary wheel, the auxiliary wheel is located on the inner side of one side of the first synchronous belt, the bottom of the positioning frame (23) is fixedly connected with a motor frame (24), the inner side of the motor frame (24) is fixedly connected with a conveying driving motor, and the output end of the conveying driving motor is connected with the auxiliary wheel through a second synchronous belt.

8. The automated apparatus for cleaning the green compact burr with a mechanical arm having machine vision according to claim 4, wherein, The inner side of the positioning shell (2) away from the cleaning protective shell (1) is provided with a storage frame (3), the storage frame (3) comprises a second frame (29), handles (30) and placing plates (31), the second frame (29) is slidably connected with the discharging groove (22), both sides of one end of the second frame (29) are fixedly connected with the handles (30), and both sides of the inner side of the second frame (29) are fixedly connected with the placing plates (31).

9. The automated apparatus for cleaning the flash of a green part using a robotic arm with machine vision of claim 8, wherein, The bottom of the second frame (29) is provided with a brakeable moving wheel.

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