Automatic deburring machine

Abstract

The utility model discloses an automatic deburring machine which comprises a machine frame, the automatic deburring machine comprises a feeding device, a feeding conveying line, a material pushing device, a material carrying device and a deburring assembly, the feeding device is used for providing workpieces for the feeding conveying line, the material pushing device is located at the discharging end of the feeding device, and the material carrying device is located at the discharging end of the deburring assembly. The material pushing device is used for pushing workpieces from the feeding device to the feeding conveying line, the material carrying device is used for carrying the workpieces from the feeding conveying line, and the burr removing assembly is located in the carrying range of the material carrying device and used for polishing and deburring the workpieces carried by the material carrying device. Automatic feeding is achieved through cooperation of the feeding device and the feeding conveying line, a pushing plate of the pushing device accurately pushes workpieces to a machining station, a mechanical arm of the carrying device is matched with the first rotary driving part and the second rotary driving part to achieve multi-angle positioning of the workpieces, and automatic double-end grinding is completed in combination with a grinding head of the deburring assembly. And full automation of deburring operation of the tubular workpiece is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to deburring technical field, especially an automatic deburring machine. BACKGROUND

[0002] In the production and processing of tubular products, especially after cutting or forming process, the end edge often produces metal burrs or sharp protrusions. These burrs not only cause surface scratches due to mutual friction during subsequent transportation, reducing product appearance quality, but also cause significant safety hazards when the operator directly contacts the pipe port during installation. Currently, the industry generally uses manual handheld angle grinder or electric polishing tool to deburr the pipe port. Although this method can achieve basic finishing function, it exposes multiple drawbacks in actual operation: the operator needs to maintain close contact with the high-speed rotating polishing equipment for a long time, the flying metal debris may cause eye injury, and tool slipping or material rebound may directly threaten the safety of operation; at the same time, the quality stability of manual operation is poor, which may cause uneven polishing, resulting in pipe port ovality out-of-tolerance or irregular chamfer, affecting the assembly accuracy in the later period; in addition, for mass production scenes, traditional manual polishing is low in efficiency and high in labor intensity, which is difficult to meet the rhythm demand of modern production line. Therefore, we provide an automatic deburring machine to solve the above problems. SUMMARY

[0003] The utility model aims at overcoming the shortcomings of prior art, providing an automatic deburring machine.

[0004] The utility model discloses a technical scheme that achieves the above-mentioned purpose.

[0005] An automatic deburring machine has a rack, and the automatic deburring machine comprises:

[0006] A feeding device;

[0007] A feeding conveying line is located on one side of the feeding device, and the feeding device is used to provide workpieces for the feeding conveying line;

[0008] A pushing device is located at the discharging end of the feeding device, and the pushing device is used to push the workpieces from the feeding device to the feeding conveying line;

[0009] A carrying device is located on one side of the end of the feeding conveying line, and the carrying device is used to carry the workpieces from the feeding conveying line;

[0010] A deburring assembly is located within the carrying range of the carrying device, and the deburring assembly is used to polish and remove the burrs of the workpieces carried by the carrying device.

[0011] Preferably, a guide plate is provided between the feeding device and the feeding conveyor line.

[0012] Preferably, the feeding device includes a feeder, the discharge end of the feeder is provided with a feeding conveyor line, and the end of the feeding conveyor line away from the discharge end of the feeder is provided with a first sensor.

[0013] Preferably, the feeding device includes a first linear module, and a pusher plate is fixedly installed on the moving end of the first linear module.

[0014] Preferably, the discharge end of the feeding conveyor line is provided with a sensing component, the sensing component including a vertical plate fixedly installed on the frame, and a second sensor fixedly installed on the vertical plate.

[0015] Preferably, the material handling device includes a robotic arm, a first rotary drive component is fixedly installed on the moving end of the robotic arm, a second rotary drive component is installed on the rotating end of the first rotary drive component, the first rotary drive component drives the second rotary drive component to rotate along a first plane, a clamping component is installed on the rotating end of the second rotary drive component, the second rotary drive component is used to drive the clamping component to rotate along a second plane, and a gripper is installed on the clamping end of the clamping component.

[0016] Preferably, the first rotary drive component includes a housing fixedly mounted on the moving end of the robotic arm. The housing has a clearance hole. A linear drive component is fixedly mounted on the top of the housing. A first rack is mounted on the telescopic end of the linear drive component. The first rack is slidably disposed in the clearance hole. A first gear is also rotatably disposed on the housing. The first gear meshes with the first rack. A driven plate is fixedly disposed on the outer peripheral surface of the first gear. The driven plate rotates synchronously with the first gear.

[0017] Preferably, at least one spacing adjustment component is provided on the conveying path of the feeding conveyor line. The spacing adjustment component includes two slide plates slidably disposed on the frame. Each slide plate is provided with a baffle on its top. A second rack is also fixedly installed on each slide plate. A drive component is provided on one side of each slide plate. The drive component is connected to the second rack for transmission. The drive component is used to drive the two slide plates to move closer to each other or away from each other.

[0018] Preferably, the drive assembly includes a mounting plate fixedly mounted on a frame, a rotating shaft rotatably mounted on the mounting plate, a second gear at the end of the rotating shaft meshing with two second racks, and a handwheel at the end of the rotating shaft away from the second gear; a positioning bolt is mounted on the outer surface of the mounting plate at the position of the rotating shaft, and the positioning bolt can rotate to abut against the circumference of the rotating shaft.

[0019] Preferably, a receiving box is provided on the frame at the location of the pushing device.

[0020] This utility model has the following advantages:

[0021] 1. This utility model achieves automatic feeding through the cooperation of a feeding device and a feeding conveyor line. The pusher plate of the pushing device accurately pushes the workpiece to the processing position. The robotic arm of the handling device, together with the first and second rotary drive components, achieves multi-angle positioning of the workpiece. Combined with the grinding head of the deburring component, it completes automatic grinding at both ends, effectively solving the problems of high safety hazards, unstable quality and low efficiency of manual operation, and realizing the full automation of deburring operation of tubular workpieces.

[0022] 2. This utility model sets up a guide plate between the feeding device and the loading conveyor line, and uses its U-shaped guide groove structure to realize the smooth transition of the workpiece from the feeding conveyor line to the loading conveyor line. This effectively prevents the workpiece from deviating or getting stuck during the pushing process, improves the accuracy and smoothness of the connection between the feeding device and the loading conveyor line, and ensures that the push plate of the subsequent pushing device can stably perform the pushing action.

[0023] 3. This utility model achieves automatic workpiece sorting and feeding through the feeder of the feeding device. In conjunction with the feeding conveyor line, the workpiece is accurately transported to the pushing station. The first sensor set at the end of the feeding conveyor line detects the workpiece's arrival status in real time, ensuring that the pusher plate of the pushing device only performs the pushing action when the workpiece arrives, effectively preventing empty pushing or workpiece accumulation, and significantly improving the collaborative operation accuracy and operational reliability of the feeding device and the feeding conveyor line. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the deburring machine of this utility model.

[0025] Figure 2 This is a schematic diagram of the feeding device of this utility model.

[0026] Figure 3 This is a structural diagram of the material feeding conveyor line, guide plate, and spacing adjustment component of this utility model in their assembled state.

[0027] Figure 4 This is a schematic diagram of one of the spacing adjustment components of this utility model.

[0028] Figure 5 This is a schematic diagram of another spacing adjustment component of this utility model.

[0029] Figure 6 This is a schematic diagram of the material handling device of this utility model.

[0030] Figure 7This is a schematic diagram of the structure of the first rotating drive component of this utility model in an exploded state.

[0031] Figure 8 This is a schematic diagram of the deburring component of this utility model.

[0032] In the diagram, 100 is a feeding device; 110 is a feeder; 120 is a feeding conveyor line; 130 is a first sensor; 200 is a loading conveyor line; 300 is a pushing device; 310 is a first linear module; 320 is a push plate; 400 is a material handling device; 410 is a robotic arm; 420 is a first rotary drive component; 421 is a housing; 422 is a linear drive component; 4211 is a clearance hole; 423 is a first rack; 424 is a first gear; 425 is a driven plate; 426 is a limiting component; 4 30. Second rotary drive component; 440. Clamping component; 450. Gripper; 500. Deburring assembly; 510. Motor; 520. Grinding head; 600. Guide plate; 700. Spacing adjustment assembly; 710. Slide plate; 720. Baffle; 730. Second rack; 740. Drive assembly; 741. Mounting plate; 742. Second gear; 743. Handwheel; 744. Positioning bolt; 800. Sensing assembly; 810. Vertical plate; 820. Second sensor; 900. Receiving box. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0034] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] like Figure 1 — Figure 8 The example shown.

[0036] This application provides an automatic deburring machine, which has a frame and includes a feeding device 100, a feeding conveyor line 200, a pushing device 300, a handling device 400, and a deburring assembly 500.

[0037] In some specific embodiments, the feeding conveyor 200 is located on one side of the feeding device 100, which is used to provide workpieces to the feeding conveyor 200. The pushing device 300 is located at the discharge end of the feeding device 100 and is used to push the workpieces from the feeding device 100 onto the feeding conveyor 200. The handling device 400 is located on one side of the end of the feeding conveyor 200 and is used to handle the workpieces from the feeding conveyor 200. The deburring assembly 500 is located within the handling range of the handling device 400 and grinds and removes burrs from the workpieces handled by the handling device 400.

[0038] In this application, the ends of tubular workpieces are mainly ground to remove burrs. Of course, the ends of shaft-shaped workpieces can also be ground to remove burrs. In practice, the appropriate workpiece type can be selected according to actual needs. In this embodiment, the ends of tubular products are mainly ground.

[0039] See Figure 1 As shown, when the end of a workpiece needs to be ground, the workpiece is first fed by the feeding device 100, and then the pushing device 300 pushes the workpiece onto the feeding conveyor line 200. Next, the feeding conveyor line 200 transports the workpiece to the feeding position of the handling device 400. The handling device 400 clamps the workpiece transported by the feeding conveyor line 200 and moves it to the position of the deburring assembly 500. The deburring assembly 500 grinds the workpiece clamped by the handling device 400 to remove burrs.

[0040] Understandably, the process of deburring the ends of workpieces eliminates the need for manual feeding and grinding, greatly improving deburring efficiency and preventing the risk of injury that may result from manual grinding.

[0041] See Figure 8 As shown, the deburring assembly 500 mainly includes a motor 510 and a grinding head 520. The grinding head 520 is detachably connected to the rotating end of the motor 510, which facilitates the replacement of grinding heads 520 of different specifications.

[0042] In some specific embodiments, a guide plate 600 is provided between the feeding device 100 and the feeding conveyor line 200.

[0043] Please see Figure 1 as well as Figure 3As shown, in order to facilitate the pushing of workpieces from the feeding device 100 onto the feeding conveyor line 200 by the pushing device 300, a guide plate 600 is connected between the discharge end of the feeding device 100 and the inlet end of the feeding conveyor line 200. Furthermore, in this embodiment, the cross-section of the guide plate 600 is U-shaped, that is, the guide plate 600 has a U-shaped guide groove. The guide plate 600 serves as a guide to facilitate the movement and feeding of workpieces.

[0044] In some specific embodiments, the feeding device 100 includes a feeder 110, the discharge end of the feeder 110 is provided with a feeding conveyor line 120, and the end of the feeding conveyor line 120 away from the discharge end of the feeder 110 is provided with a first sensor 130.

[0045] See Figure 2 As shown, when feeding is required, the disordered workpieces are first fed into the feeding conveyor line 120 by the feeder 110. Then, the feeding conveyor line 120 transports the workpieces to the feeding position of the pushing device 300. In order to realize automatic control of the pushing device 300, a first sensor 130 is installed at the outlet of the feeding conveyor line 120. The first sensor 130 senses whether there is a workpiece at the outlet of the feeding conveyor line 120. If there is, the controller can control the pushing device 300 to push the workpiece at the outlet to the feeding conveyor line 200 to complete the feeding.

[0046] It is understood that in this embodiment, the deburring machine should also include corresponding electronic components such as a processor and a memory. That is, the processor processes the signal sensed from the first sensor 130, and then the processor controls the pusher device 300 to push the workpiece, etc.

[0047] For example, the first sensor 130 can be a photoelectric sensor or a contact trigger sensor; the specific sensor type is not limited here.

[0048] In some specific embodiments, the feeding device 300 includes a first linear module 310, and a pusher plate 320 is fixedly installed on the moving end of the first linear module 310.

[0049] See Figure 1 and Figure 2 As shown, when there is a workpiece at the discharge position of the feeding conveyor line 120, the first linear module 310 drives the push plate 320 to move and push the workpiece at the discharge position onto the loading conveyor line 200 under the guidance of the guide plate 600. The loading conveyor line 200 then transports the pushed workpiece to the handling and loading position of the handling device 400, thereby realizing the loading of the handling device 400.

[0050] In some specific embodiments, the discharge end of the feeding conveyor line 200 is provided with a sensing component 800, which includes a vertical plate 810 fixedly installed on the frame, and a second sensor 820 fixedly installed on the vertical plate 810.

[0051] See Figure 3 As shown, in order to enable the material handling device 400 to automatically handle the workpieces from the feeding conveyor line 200, it is necessary to sense the workpieces at the discharge position of the feeding conveyor line 200. After the workpiece is sensed by the second sensor 820, the controller controls the material handling device 400 to handle the workpieces at the discharge position of the feeding conveyor line 200.

[0052] For example, the second sensor 820 can be a photoelectric sensor.

[0053] The material handling device 400 includes a robot arm 410. A first rotary drive 420 is fixedly installed on the moving end of the robot arm 410. A second rotary drive 430 is installed on the rotating end of the first rotary drive 420. The first rotary drive 420 drives the second rotary drive 430 to rotate along a first plane. A clamping member 440 is installed on the rotating end of the second rotary drive 430. The second rotary drive 430 is used to drive the clamping member 440 to rotate along a second plane. A gripper 450 is installed on the clamping end of the clamping member 440.

[0054] At the discharge position of the feeding conveyor line 200, the workpiece has two states: one is vertical and the other is horizontal.

[0055] Furthermore, in this embodiment, the first plane mentioned above is a vertical plane, that is, a plane composed of X and Z, and the first plane mentioned above is a horizontal plane, which is a plane composed of X and Y.

[0056] See Figure 1 and Figure 6 As shown, when handling and clamping a workpiece lying horizontally, the robot arm 410 first moves the two grippers 450 to both sides of the workpiece at the discharge port of the feeding conveyor line 200. Then, the clamping member 440 drives the two grippers 450 to move closer to each other to clamp the workpiece. Next, the robot arm 410 moves the clamped workpiece to the position of the deburring component 500. Under the linkage of the robot arm 410 and the deburring component 500, one end of the workpiece is deburred. When it is necessary to remove burrs from the other end of the workpiece, the second rotary drive member 430 simply drives the clamping member 440 to rotate 180 degrees in the horizontal direction, so that the other end is rotated to the position of the deburring component 500. Again, under the linkage of the robot arm 410 and the deburring component 500, the burrs on the other end of the workpiece are removed and polished.

[0057] Please continue reading. Figure 1and Figure 6 As shown, when a vertically positioned workpiece needs to be handled and clamped, the robot arm 410, the first rotary drive 420, and the second rotary drive 430 work together to position the two grippers 450 on both sides of the workpiece. The clamping member 440 drives the two grippers 450 to move closer to each other, thereby clamping the workpiece. Next, the robot arm 410 moves the workpiece to the deburring assembly 500, with one end of the workpiece facing the deburring assembly 500. The deburring assembly 500 deburrs the workpiece. After one end of the workpiece is deburred, the second rotary drive 430 rotates the workpiece held by the grippers 450 so that the other end (the end with unremoved burrs) faces the deburring assembly 500. The deburring assembly 500 then removes the burrs from the unremoved end, thus completing the deburring of both ends of the workpiece.

[0058] In this embodiment, the robotic arm 410 can move in at least two directions. The robotic arm 410 can be assembled from two or more linear modules. The linear modules can be selected from linear motors, linear motor modules, etc. The second rotary drive component 430 is a rotary cylinder, and the clamping component 440 is a clamping cylinder.

[0059] In some specific embodiments, the first rotary drive 420 includes a housing 421 fixedly mounted on the moving end of the robot 410. The housing 421 has a clearance hole 4211. A linear drive 422 is fixedly mounted on the top of the housing 421. A first rack 423 is mounted on the telescopic end of the linear drive 422. The first rack 423 is slidably disposed in the clearance hole 4211. A first gear 424 is also rotatably disposed on the housing 421. The first gear 424 meshes with the first rack 423. A driven plate 425 is fixedly disposed on the outer peripheral surface of the first gear 424. The driven plate 425 rotates synchronously with the first gear 424.

[0060] See Figure 7 As shown, when the workpiece needs to rotate along the first plane, the first rack 423 can be driven to move linearly by the linear drive 422. Since the first rack 423 meshes with the first gear 424 and the first gear 424 is rotatably connected to the housing 421 through the connecting shaft, the first rack 423 will drive the first gear 424 to rotate during the movement, which in turn drives the driven plate 425 and the second rotary drive 430 connected to it to rotate. Under the series of transmissions of the second rotary drive 430 and the clamping member 440, the clamped workpiece is driven to rotate along the first plane.

[0061] In this embodiment, in order to prevent the driven plate 425 from colliding with the housing 421, a limiting member 426 is installed at the bottom of the housing 421 to limit the position between the driven plate 425 and the housing 421.

[0062] In this embodiment, the linear drive component 422 is a linear drive cylinder, and the limiting component 426 can be a bolt.

[0063] In some specific embodiments, at least one spacing adjustment component 700 is provided on the conveying path of the feeding conveyor line 200. The spacing adjustment component 700 includes two slide plates 710 slidably disposed on the frame. A baffle 720 is provided on the top of each slide plate 710. A second rack 730 is also fixedly installed on each slide plate 710. A drive component 740 is provided on one side of the slide plate 710. The drive component 740 is connected to the second rack 730 in a transmission manner. The drive component 740 is used to drive the two slide plates 710 to move closer to each other or away from each other.

[0064] See Figure 4 and Figure 5 As shown, in order to guide and transport workpieces of different specifications, a spacing adjustment component 700 is set at the position of the feeding conveyor line 200. The spacing between the two baffles 720 of the spacing adjustment component 700 guides the workpieces of different specifications. It can be understood that the two baffles 720 accurately limit the workpieces transported by the feeding conveyor line 200, preventing the workpieces from shifting in position during the transport process and thus becoming unable to be clamped and transported by the material handling device 400.

[0065] Please continue reading. Figure 4 and Figure 5 As shown, when it is necessary to adjust the distance between the two baffles 720 to accommodate workpieces of different specifications, the drive assembly 740 first drives the two slide plates 710 to move closer to each other or away from each other through the two second racks 730, thereby causing the two baffles 720 to also move closer to each other or away from each other, so as to realize the position adjustment between the two baffles 720. It should be noted that the baffles 720 are located above the conveyor belt of the feeding conveyor line 200 to prevent the baffles 720 from colliding with the conveyor belt during the movement.

[0066] In this embodiment, there are two spacing adjustment components 700 at position 200 of the feeding conveyor line. Figure 4 The spacing adjustment component 700 shown is located on the conveying path of the feeding conveyor line 200. Specifically, Figure 4 The spacing adjustment component 700 shown is located between the inlet and outlet of the feeding conveyor line 200, and it limits and guides the passing workpieces. Figure 5 The spacing adjustment component 700 shown is located at the unloading position of the feeding conveyor line 200, which blocks the workpiece and prevents it from being conveyed out of the feeding position of the material handling device 400. It is understood that... Figure 5 The end of the baffle 720 in the spacing adjustment assembly 700 shown has a material-stopping protrusion to block the workpiece and prevent it from continuing to be conveyed.

[0067] In some specific embodiments, the drive assembly 740 includes a mounting plate 741 fixedly mounted on a frame, a rotating shaft rotatably mounted on the mounting plate 741, a second gear 742 provided at the end of the rotating shaft, the second gear 742 meshing with two second racks 730, and a handwheel 743 provided at the end of the rotating shaft away from the second gear 742; a positioning bolt 744 is mounted on the outer surface of the mounting plate 741 at the position of the rotating shaft, and the positioning bolt 744 can rotate to abut against the circumferential surface of the rotating shaft.

[0068] Please continue reading. Figure 4 and Figure 5 As shown, in order to drive the two slide plates 710 to move closer to each other or away from each other, the two second racks 730 mesh with the second gear 742. The handwheel 743 drives the second gear 742 to rotate, thereby causing the two second racks 730 to move closer to each other or away from each other. This, in turn, drives the slide plates 710 on both sides and the baffles 720 on both sides to move closer to each other or away from each other, so as to realize the spacing adjustment for workpieces of different specifications.

[0069] Furthermore, after the spacing is adjusted, in order to prevent the positions of the two baffles 720 from moving, the positioning bolts 744 on the mounting plate 741 are tightened so that the ends of the positioning bolts 744 abut against the outer circumferential surface of the rotating shaft connected to the second gear 742. By abutting against the shaft, the rotation of the rotating shaft and the second gear 742 is prevented, thereby enabling the positions of the two second racks 730 and the slide plate 710 to move.

[0070] In some specific embodiments, a receiving box 900 is provided on the frame at the position of the pusher 300 to carry the workpiece after deburring.

[0071] The working process of this utility model is as follows: The feeding device 100, through the feeder 110, organizes the disordered workpieces and conveys them to the feeding conveyor line 120. When the first sensor 130 detects that the workpiece has reached the discharge end, the first linear module 310 of the pushing device 300 drives the pusher plate 320 to push the workpiece through the guide plate 600 to the loading conveyor line 200. The loading conveyor line 200 guides and positions the workpieces through the baffle 720 of the spacing adjustment component 700. The drive component 740 adjusts the second gear 742 to mesh with the second rack 730 through the handwheel 743, so that the two side slide plates 710 move synchronously to adapt to workpieces of different sizes, and locks the spacing through the positioning bolts 744. When the workpiece is conveyed to the end, the second sensor 820 of the sensing component 800 triggers the material handling device 400 to operate. The robot arm 410 drives the first rack 423 to mesh with the first gear 424 through the linear drive component 422 of the first rotary drive component 420, driving the driven plate 425 and the second rotary drive component 430 to rotate vertically. At the same time, the second rotary drive component 430 drives the clamping component 440 to rotate horizontally, so that the gripper 450 can accurately grasp the workpiece. The robot arm 410 transfers the workpiece to the deburring component 500 station. The motor 510 drives the grinding head 520 to grind one end of the workpiece. Then, the second rotary drive component 430 rotates the workpiece 180° and grinds the other end again. After the deburring is completed, 440 drives 450 to move and release the clamping of the workpiece, and the deburred workpiece is placed in the receiving box 900.

[0072] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic deburring machine, the deburring machine having a frame, characterized in that, include: Feeding device (100); A feeding conveyor line (200) is located on one side of the feeding device (100), and the feeding device (100) is used to provide workpieces to the feeding conveyor line (200); A pusher device (300) is located at the discharge end of the feeding device (100) and is used to push the workpiece from the feeding device (100) onto the loading conveyor line (200). Material handling device (400), the material handling device (400) is located on one side of the end of the feeding conveyor line (200), the material handling device (400) is used to handle workpieces from the feeding conveyor line (200); Deburring assembly (500) is located within the transport range of the material handling device (400) and deburrs are removed from the workpieces transported by the material handling device (400).

2. The automatic deburring machine according to claim 1, characterized in that: A guide plate (600) is provided between the feeding device (100) and the feeding conveyor line (200).

3. The automatic deburring machine according to claim 1, characterized in that: The feeding device (100) includes a feeder (110), and a feeding conveyor line (120) is provided at the discharge end of the feeder (110). A first sensor (130) is provided at the end of the feeding conveyor line (120) away from the discharge end of the feeder (110).

4. An automatic deburring machine according to claim 1, characterized in that: The feeding device (300) includes a first linear module (310), and a push plate (320) is fixedly installed on the moving end of the first linear module (310).

5. An automatic deburring machine according to claim 1, characterized in that: The feeding conveyor line (200) is equipped with a sensing component (800) at the discharge end. The sensing component (800) includes a vertical plate (810) fixedly installed on the frame, and a second sensor (820) is fixedly installed on the vertical plate (810).

6. An automatic deburring machine according to claim 5, characterized in that: The material handling device (400) includes a robot arm (410). A first rotary drive (420) is fixedly installed on the moving end of the robot arm (410). A second rotary drive (430) is installed on the rotating end of the first rotary drive (420). The first rotary drive (420) drives the second rotary drive (430) to rotate along a first plane. A clamping member (440) is installed on the rotating end of the second rotary drive (430). The second rotary drive (430) is used to drive the clamping member (440) to rotate along a second plane. A gripper (450) is installed on the clamping end of the clamping member (440).

7. An automatic deburring machine according to claim 6, characterized in that: The first rotary drive (420) includes a housing (421) fixedly mounted on the moving end of the robot (410). The housing (421) has a clearance hole (4211). A linear drive (422) is fixedly mounted on the top of the housing (421). A first rack (423) is mounted on the telescopic end of the linear drive (422). The first rack (423) is slidably disposed in the clearance hole (4211). A first gear (424) is also rotatably disposed on the housing (421). The first gear (424) meshes with the first rack (423). A driven plate (425) is fixedly disposed on the outer peripheral surface of the first gear (424). The driven plate (425) rotates synchronously with the first gear (424).

8. An automatic deburring machine according to claim 1, characterized in that: At least one spacing adjustment component (700) is provided on the conveying path of the feeding conveyor line (200). The spacing adjustment component (700) includes two slide plates (710) slidably disposed on the frame. Each slide plate (710) is provided with a baffle (720) on its top. A second rack (730) is also fixedly installed on each slide plate (710). A drive component (740) is provided on one side of each slide plate (710). The drive component (740) is connected to the second rack (730) in a transmission manner. The drive component (740) is used to drive the two slide plates (710) to move closer to each other or further apart.

9. An automatic deburring machine according to claim 8, characterized in that: The drive assembly (740) includes a mounting plate (741) fixedly mounted on a frame. A rotating shaft is rotatably mounted on the mounting plate (741). A second gear (742) is provided at the end of the rotating shaft. The second gear (742) meshes with two second racks (730). A handwheel (743) is provided at the end of the rotating shaft away from the second gear (742). A positioning bolt (744) is installed on the outer surface of the mounting plate (741) at the position of the rotating shaft. The positioning bolt (744) can rotate to abut against the circumferential surface of the rotating shaft.

10. An automatic deburring machine according to claim 1, characterized in that: A receiving box (900) is provided on the frame at the location of the pushing device (300).

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