CN108312245A - The application method of intelligent deburring robot - Google Patents
The application method of intelligent deburring robot Download PDFInfo
- Publication number
- CN108312245A CN108312245A CN201810080728.8A CN201810080728A CN108312245A CN 108312245 A CN108312245 A CN 108312245A CN 201810080728 A CN201810080728 A CN 201810080728A CN 108312245 A CN108312245 A CN 108312245A
- Authority
- CN
- China
- Prior art keywords
- slab
- cutting
- sucker
- controller
- vacuum sucker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B19/00—Other reciprocating saws with power drive; Fret-saws
- B27B19/10—Fret-saws, i.e. with bilaterally chucked saw blade in a manually-guided bow
- B27B19/12—Fret-saws, i.e. with bilaterally chucked saw blade in a manually-guided bow with power drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/547—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a wire-like cutting member
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B29/00—Gripping, clamping, or holding devices for the trunk or log in saw mills or sawing machines; Travelling trunk or log carriages
Abstract
The application method of intelligent deburring robot, the intelligent deburring robot include to follow cutting manipulator, rotating suction disc device, sucker manipulator, rack and controller；To follow cutting manipulator include fixed column, swing arm, follows wheel, resets electric pushrod, cutting rack, cutting motor, cutting steel wire and lifting electric pull rod；When use, after slab is drawn onto and is sucked on rotatory vacuum sucker by controller control sucker manipulator, it controls rotatory vacuum sucker and drives slab rotation, follow wheel that slab is followed to rotate using gravity pendulous device, the burr of slab is cut off using the cutting steel wire of cutting manipulator, when cutting steel wire cuts the burr of the edges of boards of slab, electronic tie rod draws cutting rack and swings, the cutting steel wire on cutting rack is set to be located at the optimum position on cutting plate blanket side, after the burr excision of slab, slab finished product is drawn onto on finished product box by control sucker manipulator, implement the unmanned processing of slab deburring, improve the efficiency of slab deburring.
Description
Technical field
The present invention relates to a kind of application method of the trimmer of slab, more particularly to a kind of intelligence of rectangular slab deburring is repaiied
The application method of side robot.
Background technology
Currently, many wooden slabs or hide are in process of production, there are burrs at the edge of slab, repair by hand
A kind of less efficient, application method of intelligence deburring robot, it has also become the needs of slab deburring efficiency improve in enterprise on side.
Invention content
The purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of application method of intelligent deburring robot, use
In the production efficiency for improving slab deburring.
The present invention's is adopted the technical scheme that：Intelligent deburring robot includes that cutting manipulator, rotation is followed to inhale
Disk device, sucker manipulator, rack and controller；It includes gravity pendulous device and smart-cut to follow cutting manipulator
Device, gravity swing following device and include fixed column, swing arm, follow wheel and reset electric pushrod, and fixed column is solid with rack
Fixed connection, swing arm is column articulated by axle sleeve and fixation, and wheel is followed to follow wheel shaft to be fixedly connected with swing arm by it, and fixed column is non-
Plumbness enables swing arm in the friction force effect lower swing of its gravity and axle sleeve and fixed column；Reset the outer of electric pushrod
Shell is fixedly connected with rack, and the push rod cup for resetting electric pushrod is located on the track of swing arm swing, for blocking swing arm, limitation pendulum
The amplitude of arm swing；Smart-cut device includes cutting rack, cutting motor, driving wheel, follower, cutting steel wire, lifting electricity
Dynamic pull rod and distance measuring sensor, swing arm are equipped with articulated shaft, and the articulated shaft and cutting rack of swing arm are hinged, the engine base of cutting motor with
Cutting rack is fixedly connected, and the motor shaft of cutting motor is fixedly connected with driving wheel, the cutting steel wire and quilt that driving wheel passes through annular
Driving wheel connects, and driving wheel is connect by its drive sprocket axle with cutting rack, and follower is connect by its passive wheel shaft with cutting rack, rises
Shell and the swing arm for dropping electronic tie rod are hinged, and the powered lift bar of lifting electric pull rod is hinged by its lifting shaft and cutting rack；
For driving cutting steel wire to rotate by driving wheel and follower using cutting motor, to reach the cutting steel wire using rotation
Cut the purpose of the edges of boards burr of slab；Distance measuring sensor is installed on rack, is located at the lower section of processed slab, for detecting
The change in location data of processed slab rotation, are supplied to swing of the controller for controlling cutting rack, in favor of cutting of steel
The edges of boards burr of silk cutting slab；Rotating suction disc device includes rotatory vacuum sucker, speed regulating motor, rotary joint, vacuum pump
And first vacuum solenoid；The engine base of speed regulating motor is fixedly connected with rack, the drive shaft of speed regulating motor and rotary joint
Axis connection is rotated, the rotary shaft of rotary joint is connect with rotatory vacuum sucker, the shell of rotary joint and the shell of speed regulating motor
It is fixedly connected；Vacuum pump is connected to by the first vacuum solenoid with the air guide cavity of rotary joint, air guide cavity and rotary shaft
Venthole is connected to, and venthole is connected to the evacuation passageway of rotatory vacuum sucker；Sucker machinery hand includes having mechanical arm and shifting
Dynamic vacuum cup, Mobile vacuum sucker are installed on mechanical arm, and the engine base of sucker manipulator is connect with rack, Mobile vacuum sucker
It is connect with vacuum pump by the second vacuum solenoid；Controller is equipped with slab sensor, cutting sensor, sucker sensor, pendulum
Arm sensor, starting switch and shutdown switch, slab sensor are set to the side of rotatory vacuum sucker, and cutting sensor is set to
Beside distance measuring sensor, sucker sensor is equipped on Mobile vacuum sucker, and oscillating arm sensor is installed in rack, oscillating arm sensor
Positioned at the side for resetting electric pushrod；Controller by control line and cutting motor, reset electric pushrod, lifting electric pull rod,
Speed regulating motor, vacuum pump, the first vacuum solenoid, the second vacuum solenoid, distance measuring sensor, slab sensor, sucker sensing
Device and oscillating arm sensor connection.
The application method of intelligent deburring robot is：In use, controlling vacuum pump work using controller；Vacuum pump work
Afterwards, slab suction rectangular in slab case is put on rotatory vacuum sucker by controller control sucker manipulator；Slab, which is inhaled, to be put into
After on rotatory vacuum sucker, slab is close to the slab sensor beside rotatory vacuum sucker, and slab sensor is by its signal transmission
To controller, controller controls rotatory vacuum sucker by the first vacuum solenoid and sucks slab on rotatory vacuum sucker；
Slab is sucked after on rotatory vacuum sucker, and the push rod cup that controller control resets electric pushrod is retracted, the pendulum of following device
Arm follows the retraction of push rod cup and swings in the presence of its gravity, follows wheel to be contacted with the lower edge of slab when following device
When, swing arm is blocked by the lower edge of slab, and swing arm stops swinging；When the lower edge of wheel and slab being followed to contact, smart-cut dress
The cutting steel wire set is moved to the cutting position of the edges of boards of slab；Meanwhile following wheel close to cutting sensor, cutting sensor will
To controller, controller controls cutting motor and drives cutting steel wire rotation by driving wheel and follower its signal transmission；Together
When, reset electric pushrod push rod cup retract in place after, push rod cup is close to oscillating arm sensor, and oscillating arm sensor is by its signal transmission
To controller, controller controls speed regulating motor and drives the rotation of rotatory vacuum sucker by rotary joint, is sucked in rotatory vacuum
The slab of sucker follows rotatory vacuum sucker to rotate, and follows wheel to follow the rotation of slab and rotate, swing arm follows the rotation of slab
And swing, the burr of the edges of boards of slab is cut using the cutting steel wire of rotation；After slab follows rotatory vacuum sucker to rotate, ranging
The position data that slab rotates constantly is transferred to controller by sensor, and controller detects what slab rotated according to distance measuring sensor
Position data controls the work of lifting electric pull rod, is swung using electronic tie rod traction cutting rack, makes the cutting steel wire on cutting rack
Positioned at the optimum position of the burr on cutting plate blanket side；After the burr of the edges of boards of slab is enclosed by cutting steel wire cutting one, slab
The burr of edges of boards is clean by cutting, and the push rod cup that controller control resets electric pushrod is released, push rod cup pushing arm negative direction pendulum
It is dynamic, make that wheel is followed to leave slab, the cutting steel wire of smart-cut device is made to leave the edges of boards of slab；Cutting steel wire leaves slab
After edges of boards, controller, which controls speed regulating motor, to be stopped, and rotatory vacuum sucker stops operating；After rotatory vacuum sucker stops operating, control
Device processed controls the first vacuum solenoid and closes, and air imports rotatory vacuum sucker, rotatory vacuum through closing the first vacuum solenoid
The slab fixed on sucker loosens；After the slab fixed on rotatory vacuum sucker loosens, controller, which will control sucker manipulator, to be revolved
Turn the slab fixed on vacuum cup suction to be put on finished product box.
The beneficial effects of the invention are as follows：The application method of intelligent deburring robot, the intelligent deburring robot include
Follow cutting manipulator, rotating suction disc device, sucker manipulator, rack and controller；The cutting manipulator is followed to include
Power swings following device and smart-cut device, and gravity swings following device and includes fixed column, swing arm, follows wheel and answer
Position electric pushrod, smart-cut device includes cutting rack, cutting motor, driving wheel, follower, cutting steel wire, lifting electric
Pull rod and distance measuring sensor；In use, the slab of slab case is drawn onto rotatory vacuum sucker by controller control sucker manipulator
On suck after, control rotatory vacuum sucker drive slab rotation, then using gravity pendulous device follow wheel follow slab turn
It is dynamic, the burr of slab is cut off using the cutting steel wire of cutting manipulator, when cutting steel wire cuts the burr of the edges of boards of slab, electricity
Dynamic pull rod traction cutting rack is swung, and the cutting steel wire on cutting rack is made to be located at the optimum position of the burr on cutting plate blanket side, plate
After the burr excision of base, controller controls sucker manipulator and the slab finished product after cutting off burr is moved on finished product box, so
Constantly cycle；The unmanned processing for implementing slab deburring process, improves the production efficiency of slab deburring.
Description of the drawings
Fig. 1 is the structural schematic diagram of intelligent deburring robot；
Fig. 2 is the vertical view of Fig. 1.
Specific implementation mode
The present invention is further detailed with specific embodiment below in conjunction with the accompanying drawings：
The structural schematic diagram of intelligent deburring robot as shown in Figure 1 and the vertical view of Fig. 1 shown in Fig. 2, intelligent trimmer
Device people includes to follow cutting manipulator 1, rotating suction disc device 2, sucker manipulator 3, rack 4 and controller 5, controller 5
It is connect by control line with cutting manipulator 1, rotating suction disc device 2, sucker manipulator 3 is followed；The cutting manipulator 1 is followed to include
There are gravity pendulous device 6 and smart-cut device 7, gravity to swing following device 6 and include fixed column 8, swing arm 9, follow wheel
10 and electric pushrod 11 is resetted, fixed column 8 is fixedly connected with rack 4, and swing arm 9 is hinged by axle sleeve 12 and fixed column 8, is followed
Wheel 10 follows wheel shaft 13 to be fixedly connected with swing arm 9 by it, and fixed column 8 is non-perpendicular state, enable swing arm 9 in its gravity and
The friction force effect lower swing of axle sleeve 12 and fixed column 8；The shell for resetting electric pushrod 11 is fixedly connected with rack 4, resets electricity
The push rod cup 14 of dynamic push rod 11 is located on the track of the swing of swing arm 9, for blocking swing arm 9, the amplitude that limitation swing arm 9 is swung；Intelligence
Energy cutter device 7 includes cutting rack 15, cutting motor 16, driving wheel 17, follower 18, cutting steel wire 19, lifting electric drawing
Bar 20 and distance measuring sensor 21, swing arm 9 are equipped with articulated shaft 22, and the articulated shaft 22 and cutting rack 15 of swing arm 9 are hinged, cutting motor
16 engine base is fixedly connected with cutting rack 15, and the motor shaft of cutting motor 16 is fixedly connected with driving wheel 17, and driving wheel 17 passes through
The cutting steel wire 19 of annular is connect with follower 18, and driving wheel 17 is connect by its drive sprocket axle 23 with cutting rack 15, follower
18 are connect by its passive wheel shaft 24 with cutting rack 15, and the shell of lifting electric pull rod 20 and swing arm 9 are hinged, lifting electric pull rod
20 powered lift bar 25 is hinged by its lifting shaft 26 and cutting rack 15；For using cutting motor 16 by driving wheel 17 with
And follower 18 drives cutting steel wire 19 to rotate, to reach 28 burr of edges of boards for cutting slab 27 using the cutting steel wire 19 of rotation
Purpose；Distance measuring sensor 21 is installed on rack 4, is located at the lower section of processed slab 27, for detecting processed slab
The change in location data of 27 rotations are supplied to swing of the controller 5 for controlling cutting rack 15, so that cutting steel wire 19 is cut
28 burr of edges of boards of slab 27；Rotating suction disc device 2 includes rotatory vacuum sucker 29, speed regulating motor 30, rotary joint 31, true
Sky pump 32 and the first vacuum solenoid 33；The engine base of speed regulating motor 30 is fixedly connected with rack 4, the drive shaft of speed regulating motor 30
34 connect with the rotary shaft 35 of rotary joint 31, and the rotary shaft 35 of rotary joint 31 is connect with rotatory vacuum sucker 29, and rotation connects
First 31 shell 36 is fixedly connected with the shell of speed regulating motor 30；Vacuum pump 32 passes through the first vacuum solenoid 33 and rotary joint
31 air guide cavity 37 is connected to, and air guide cavity 37 is connected to the venthole 38 of rotary shaft 35, venthole 38 and rotatory vacuum sucker
29 evacuation passageway 39 is connected to；Sucker manipulator 3 includes mechanical arm 40 and Mobile vacuum sucker 41, Mobile vacuum sucker
41 are installed on mechanical arm 40, and the engine base of sucker manipulator 3 is connect with rack 4, and Mobile vacuum sucker 41 passes through the second vacuum electric
Magnet valve 42 is connect with vacuum pump 32；Controller 5 is equipped with slab sensor 43, cutting sensor 44, sucker sensor 45, swing arm biography
Sensor 46, starting switch 47 and shutdown switch 48, slab sensor 43 are set to the side of rotatory vacuum sucker 29, cutting sensing
Device 44 is set to 21 side of distance measuring sensor, and sucker sensor 45 is equipped on Mobile vacuum sucker 41, and oscillating arm sensor 46 is installed on
In rack 4, oscillating arm sensor 46 is located at the side for resetting electric pushrod 11；Controller 5 passes through control line and cutting motor 16, multiple
Position electric pushrod 11, lifting electric pull rod 20, speed regulating motor 30, vacuum pump 32, the first vacuum solenoid 33, the second vacuum electromagnetic
Valve 42, distance measuring sensor 21, slab sensor 43, sucker sensor 45 and oscillating arm sensor 46 connect.
It is good to obtain in order to implement the cutting steel wire 19 for adjusting smart-cut device 7 and the angle for being edged slab 20
Cutting effect, the articulated shaft 22 of swing arm 9 is located between the passive wheel shaft 24 of follower 18 and the drive sprocket axle 23 of driving wheel 17；
Cutting rack 15 is drawn by lifting electric pull rod 20 to swing, and cutting steel wire 19 is adjusted by cutting rack 15 and is edged slab 20
Angle；The axis of the articulated shaft 22 of swing arm 9 is identical as the axis of drive sprocket axle 23 and cutting motor 16, follower 18 it is passive
Wheel shaft 24 is located at the right of drive sprocket axle 23, and cutting steel wire 19 is located at the right of lifting shaft 26.
It is flapped toward the slab 27 being edged automatically in the presence of its gravity in order to implement swing arm 9, the axis of fixed column 8 is same
On one vertical plane, axis and the horizontal plane of fixed column 8 tilt, and rotatory vacuum sucker 29 is located at the right of fixed column 8；Fixed column 8
The top center of circle 47 in the front upper place in the bottom end center of circle 48 of fixed column 8, the axis of fixed column 8 turns forward, pendulum column fixed column 8
The angle of axis and horizontal plane is 65 ° of angles to 85 ° of angles；Following the original state of cutting manipulator 1 is：Reset electric pushrod 11
Push rod cup 14 is in stretching state, and push rod cup 14 is contacted with swing arm 9, and push rod cup 14 blocks swing arm 9, make smart-cut device 7 with
And follow wheel 10 leave slab 27 follow rotatory vacuum sucker 29 rotate in the range of；When the push rod cup 14 for resetting electric pushrod 11
When in retracted mode, swing arm 9, follow the axle sleeve 12 of wheel 10, the synthesis gravity of smart-cut device 7 and swing arm 9 with it is solid
Under the action of the frictional force of fixed column 8, swing arm 9 is swung by the direction for the slab 27 being flapped toward on rotatory vacuum sucker 29；It resets electronic
When the push rod cup 14 of push rod 11 stretches out, the push rod cup 14 for resetting electric pushrod 11 leaves oscillating arm sensor 46, resets electric pushrod
When 11 push rod cup 14 is retracted in place, the push rod cup 14 of electric pushrod 11 is resetted close to oscillating arm sensor 46；The top of fixed column 8
The center of circle 63 turns forward in the front upper place in the bottom end center of circle 64 of fixed column 8, the axis of fixed column 8, the axis of pendulum column fixed column 8 with
The angle of horizontal plane is 65 ° of angles to 85 ° of angles.
In order to the slab 27 of non-deburring is drawn onto rotatory vacuum sucker 29 using sucker manipulator 3, and utilize sucker machine
The slab 27 for fixing side is sucked away from rotatory vacuum sucker 29 by tool hand 3, sucker manipulator 3 be equipped with the first station 49, second station 50,
3rd station 51, slab case 52 and finished product box 53, slab case 52 is for placing unprocessed slab 27, and finished product box 53 is for putting
27 finished product of slab processed is set, the first station 49 is set to the left side of rotatory vacuum sucker 29, and it is true that second station 50 is set to rotation
The right of suction disk 29,3rd station 52 are set on rotatory vacuum sucker 29, and slab case 52 is positioned over the first station 49, finished product box
53 are positioned over second station 50；The original state of sucker manipulator 3 is：The Mobile vacuum sucker 41 of sucker manipulator 3 is located at the
The top of one station 50.
The application method of intelligent deburring robot is：It works in use, controlling vacuum pump 32 using controller 5；Vacuum pump
After 32 work, controller 5 controls sucker manipulator 3 and the inner rectangular suction of slab 27 of slab case 52 is put into rotatory vacuum sucker 29
On；After slab 27 is put by suction on rotatory vacuum sucker 29, slab sensor of the slab 27 close to 29 side of rotatory vacuum sucker
43, for slab sensor 43 by its signal transmission to controller 5, controller 5 controls rotatory vacuum by the first vacuum solenoid 33
Sucker 29 sucks slab 27 on rotatory vacuum sucker 29；Slab 27 is sucked after on rotatory vacuum sucker 29, controller 5
The push rod cup 14 that control resets electric pushrod 11 is retracted, and the swing arm 9 of following device 6 follows push rod cup 14 in the presence of its gravity
Retraction and swing, when following device 6 is when following wheel 10 to be contacted with the lower edge 54 of slab 27, swing arm 9 is by under slab 27
Edge 54 blocks, and swing arm 9 stops swinging；When wheel 10 and the lower edge 54 of slab 27 being followed to contact, the cutting of smart-cut device 7
Steel wire 19 is moved to the cutting position of the edges of boards 28 of slab 27；Meanwhile following wheel 10 close to cutting sensor 44, cut sensor
44 by its signal transmission to controller 5, controller 5 controls that cutting motor 16 passes through driving wheel 17 and follower 18 drives cutting
Steel wire 19 rotates；Meanwhile after the push rod cup 14 for resetting electric pushrod 11 is retracted in place, push rod cup 14 close to oscillating arm sensor 46,
By its signal transmission to controller 5, controller 5 controls speed regulating motor 30 and driven by rotary joint 31 to be rotated oscillating arm sensor 46
Vacuum cup 29 rotates, and follows rotatory vacuum sucker 29 to rotate by the slab 27 for sucking in rotatory vacuum sucker 29, follows wheel 10
It follows the rotation of slab 27 and rotates, swing arm 9 follows the rotation of slab 27 and swings, and utilizes 19 cutting plate of cutting steel wire of rotation
The burr of the edges of boards 28 of base 27；After slab 27 follows rotatory vacuum sucker 29 to rotate, distance measuring sensor 21 is constantly by 27 turns of slab
Dynamic position data is transferred to controller 5, and controller 5 detects the position data that slab 27 rotates according to distance measuring sensor 21 and controls
Lifting electric pull rod 20 works, and drawing cutting rack 15 using electronic tie rod 20 swings, and makes the cutting steel wire 19 on cutting rack 15
In the optimum position of the burr of cutting 27 edges of boards 28 of slab；The burr of the edges of boards 28 of slab 27 is by one circle of the cutting of cutting steel wire 19
Afterwards, the burr of the edges of boards 28 of slab 27 is clean by cutting, and the push rod cup 14 that the control of controller 5 resets electric pushrod 11 is released, and is pushed away
14 pushing arm of head, 9 negative direction is swung, and makes that wheel 10 is followed to leave slab 27, the cutting steel wire 19 of smart-cut device 7 is made to leave
The edges of boards 28 of slab 27；After cutting steel wire 19 leaves the edges of boards 28 of slab 27, controller 5, which controls speed regulating motor 30, to be stopped, rotation
Vacuum cup 29 stops operating；After rotatory vacuum sucker 29 stops operating, controller 5 controls the first vacuum solenoid 33 and closes,
Air imports rotatory vacuum sucker 29 through closing the first vacuum solenoid 33,27 pine of slab fixed on rotatory vacuum sucker 29
It is dynamic；After the slab 27 fixed on rotatory vacuum sucker 29 loosens, controller 5 controls sucker manipulator 3 by rotatory vacuum sucker 29
On fix slab 27 suction be put on finished product box 53.
Due to the deformation of slab 27, sucked in slab 27 on rotatory vacuum sucker 29 during rotation, slab 27
Edges of boards 28 have rise have drop, the cutting steel wire 19 in order to implement smart-cut device 7 follows the lifting of the edges of boards 28 of slab 27
It cuts the burr of edges of boards 28 and is set to slab when the cutting steel wire 19 of smart-cut device 7 cuts the burr of the edges of boards 28 of slab 27
Distance measuring sensor 21 below 27 cutting trim positions is constantly by the distance between slab 27 and distance measuring sensor 21 data transmission
To controller 5, the push rod cup 14 of 5 lifting electric pull rod 20 of controller rises or declines, and controls the cutting of steel on cutting rack 15
Silk 19 follows the lifting of 28 cutting position of edges of boards of slab 27 and lifts, and cutting steel wire 19 is made to be in good cutting position.
In order to make the cutting steel wire 19 of smart-cut device 7 be in the better position of cutting 27 edges of boards 28 of slab, intelligently cut
Cut device 7 cutting steel wire 19 cut slab 27 edges of boards 28 burr when, when between slab 27 and distance measuring sensor 21 away from
From hour is become, the edges of boards 28 of slab 27, which cut trim position, to be reduced, and controller 5 controls on the push rod cup 14 of lifting electric pull rod 20
It rises, push rod cup 14 pushes away cutting rack 15 and swings in the direction of the clock, and the cutting steel wire 19 on cutting rack 15 follows cutting rack 15 not
Break and reduce, so that cutting steel wire 19 is followed the reduction of the cutting trim position of 27 edges of boards 28 of slab and is reduced, make cutting steel wire 19
In good cutting position；When the distance between slab 27 and distance measuring sensor 21 become larger, the edges of boards 28 of slab 27 are cut
Trim position increases, and the push rod cup 14 that controller 5 controls lifting electric pull rod 20 declines, and push rod cup 14 draws cutting rack 15 to press the inverse time
Needle direction is swung, and the cutting steel wire 19 on cutting rack 15 follows the continuous of cutting rack 15 and rises, and cutting steel wire 19 is made to follow plate
The rising of the cutting trim position of 27 edges of boards 28 of base and rise, so that cutting steel wire 19 is in good cutting position.
In order to ensure cutting steel wire 19 cut 27 edges of boards 28 of slab burr quality, according to the burr of edges of boards 28 how much come
The speed that slab 27 rotates is controlled, controller 5 is equipped with current sensor 55, and current sensor 55 is set to speed regulating motor 30, is used for
Detect the load of speed regulating motor 30；When the cutting steel wire 19 of smart-cut device 7 cuts the burr of the edges of boards 28 of slab 27, work as plate
When 28 burr of edges of boards of base 27 increases, the resistance that rotatory vacuum sucker 29 rotates increases, and the load of speed regulating motor 30 increases, and works as tune
When the load of speed motor 30 increases above setting value, by its signal transmission to controller 5, controller 5 controls current sensor 55
Speed regulating motor 30 slows down；When the burr of the edges of boards 28 of slab 27 is reduced, when the load of speed regulating motor 30 decreases below setting value,
By its signal transmission to controller 5, controller 5 controls speed regulating motor 30 and accelerates current sensor 55, by turning for speed regulating motor 30
Speed control is in the range of setting.
It in order to improve the speed of 29 deburring of slab, while also to avoid that 29 corner of slab is caused to damage, implement cutting slab
Accelerate and cut the function of slowing down when the arm of angle of slab 27 when 27 straight flange；The cutting steel wire 19 of smart-cut device 7 is cut
When the burr of the edges of boards 28 of rectangular slab 27, wheel 10 is followed to follow rectangular slab at a distance from 29 axis of rotatory vacuum sucker
27 rotate and change；When wheel 10 and the centre of 27 straight flange of slab being followed to contact, wheel 10 and 29 axis of rotatory vacuum sucker are followed
Distance becomes smaller；When wheel 10 and the arm of angle of slab 27 being followed to contact, wheel 10 is followed to become larger at a distance from 29 axis of rotatory vacuum sucker；
When wheel 10 and the arm of angle of rectangular slab 27 being followed to contact, wheel 10 is followed to leave the detection range of cutting sensor 44, cutting passes
By its signal transmission to controller 5, controller 5 controls speed regulating motor 30 and slows down sensor 44, reduces rotatory vacuum sucker 29 and rotates
Speed, avoid cutting steel wire 19 damage slab 27 edges of boards 28；When wheel 10 and the straight flange of rectangular slab 27 being followed to contact, with
With wheel 10 close to cutting sensor 44, for cutting sensor 44 by its signal transmission to controller 5, controller 5 controls speed regulating motor
30 accelerate, and improve the speed of deburring.
In order to implement the auto-cycle process of intelligent deburring robot, intelligent deburring robot opens in use, pressing startup
47 are closed, controller 5 controls vacuum pump 32 and works, and after vacuum pump 32 works, controller 5 controls sucker manipulator 3 by slab case 52
First block of slab 27 suction be put on rotatory vacuum sucker 29；After first block of slab 27 is put into rotatory vacuum sucker 29 by suction, control
The control of device 5 processed follows cutting manipulator 1 and rotating suction disc device 2 to work, and the rotatory vacuum sucker 29 of rotating suction disc device 2 will
First block of slab 27 sucks, after first block of slab 27 is sucked by rotatory vacuum sucker 29, the cutting steel wire 19 of smart-cut device 7
It is clean that burr cutting in the edges of boards 28 of first block of slab 27 on the rotatory vacuum sucker 29 of rotation will be sucked；First block of slab 27
After the burr cutting of edges of boards 28, the control of controller 5 resets electric pushrod 11 and smart-cut device 7 is driven to leave first block of slab
27, after smart-cut device 7 leaves first block of slab 27, controller 5 controls the first vacuum solenoid 33 and closes, and rotatory vacuum is inhaled
After first block of slab 27 on disk 29 loosens, controller 5, which controls sucker manipulator 3, will fix the of side on rotatory vacuum sucker 29
One piece of suction of slab 27 is put on finished product box 53；After first piece of suction of slab 27 fixed is put on finished product box 53, sucker manipulator 3 will
Second block of slab 27 suction of slab case 52 is put on rotatory vacuum sucker 29, is so constantly recycled；Intelligent deburring robot needs
When stopping, shutdown switch 48 is pressed, controller 5, which controls cutting manipulator 1, rotating suction disc device 2 and sucker manipulator 3, to be stopped
Work.
In order to implement the intelligent work of sucker manipulator 3, controller 5 is equipped with sucker manipulator 3 by the slab of slab case 52
27 are drawn onto the operation procedure on rotatory vacuum sucker 29；For utilizing sucker manipulator 3 by the slab case of 42 position of the first station
52 slab 27 is drawn onto on the rotatory vacuum sucker 29 of 44 position of 3rd station；Controller 5, which is equipped with sucker manipulator 3, will rotate very
Slab 27 is drawn onto the operation procedure on finished product box 53 on suction disk 29；For utilizing sucker manipulator 3 by 44 position of 3rd station
27 finished product of slab on rotatory vacuum sucker 29 is drawn onto on the finished product box 53 of second station 43.
In order to reduce the impact for following slab 27 on 10 pairs of rotatory vacuum suckers 29 of wheel of cutting rack 15, following device is swung
6 swing arm 9 includes that swing set 56, pendulum column 57 and buffer spring 58, swing set 56 are fixedly connected with fixed column 8, and the one of pendulum column 57
End is located at the dynamic mating connection of swing set 56, buffer spring 58 in swing set 56, and the other end of pendulum column 57 is fixedly connected with cutting rack 15；
When following wheel 10 that swing arm 9 is followed to swing, when wheel 10 being followed to be contacted with the slab 27 on rotatory vacuum sucker 29, buffer spring is utilized
58 absorptions follow wheel 10 and 27 impact force of slab；In order to reduce impact of the swing arm 9 to reset electric pushrod 11, electric pushrod is resetted
11 push rod cup 14 is equipped with buffer 59, and the impact force of swing arm 9 and push rod cup 14 is absorbed using buffer 59.
In order to suck slab 27 on rotatory vacuum sucker 29, avoiding vacuum passage gas leakage, the shell of rotary joint 31
The first sealing ring 61, the shell 60 that rotary shaft 35 passes through the first sealing ring 61 and rotary joint 31 are equipped between 60 and rotary shaft 35
It is tightly connected, rotary shaft 35 and the dynamic mating connection of shell 60；The shell 60 of rotary joint 31 and the drive shaft 34 of speed regulating motor 30
Between be equipped with the second sealing ring 62, the shell 60 that drive shaft 34 passes through the second sealing ring 62 and rotary joint 31 is tightly connected, drives
Moving axis 34 and the dynamic mating connection of shell 60.
Cutting steel wire 19 in order to implement smart-cut device 7 follows the edges of boards 28 of the rotation cutting slab 27 of slab 27,
Cutting rack 15 follow wheel 10 that slab 27 on rotatory vacuum sucker 29 is followed to rotate after, rotatory vacuum sucker 29 is by side counterclockwise
To rotation, slab 27 follows rotatory vacuum sucker 29 to rotate counterclockwise, and wheel 10 is followed to follow slab 27 by side clockwise
To rotation；When following wheel 10 that slab 27 is followed to move in the direction of the clock, follows the edges of boards 28 of wheel 10 and slab 27 to be maintained at and connect
Tactile state follows the edges of boards 28 that wheel 10 follows slab 27 at a distance from 29 center of circle of rotatory vacuum sucker to arrive rotatory vacuum sucker 29
The variation of the distance in the center of circle and change；When the edges of boards 28 of slab 27 on rotatory vacuum sucker 29 arrive 29 center of circle of rotatory vacuum sucker
Distance from large to small when, swing following device 6 swing arm 9 swing in the direction of the clock in the presence of its gravity；When rotation is true
When the distance to 29 center of circle of rotatory vacuum sucker of the edges of boards 28 of slab 27 is changed from small to big on suction disk 29, following device 6 is swung
Swing arm 9 swung counterclockwise under the promotion of slab 27, make to follow wheel 10 to be maintained at the edges of boards 28 of slab 27 and contact
State.
In order to implement that the slab 27 of the slab case 52 of the first station 42 is drawn onto to the rotatory vacuum sucker 29 of 3rd station 44
On, the slab 27 of the slab case 52 of 42 position of the first station is drawn onto the rotatory vacuum of 44 position of 3rd station by sucker manipulator 3
When on sucker 29, the Mobile vacuum sucker 41 of sucker manipulator 3 contacts the position vacuumized and plate with the slab 27 of slab case 52
The height and position that the slab 27 of base case 52 constantly reduces is directly proportional, and the slab 27 of slab case 52 is often sucked away one, sucker machinery
The Mobile vacuum sucker 41 of hand 3 just reduces the height of a slab 27；In order to implement 44 position of 3rd station and implement
27 finished product of slab on rotatory vacuum sucker 29 is drawn onto on the finished product box 53 of second station 43；Sucker manipulator 3 is by 3rd station
When 27 finished product of slab on the rotatory vacuum sucker 29 of 44 positions is drawn onto on the finished product box 53 of second station 43, sucker manipulator 3
Mobile vacuum sucker 41 slab 27 of position and finished product box 53 for stopping vacuumizing is contacted with 27 finished product of slab of finished product box 53
The height and position constantly risen is directly proportional, and the slab 27 of slab case 52 often increases by one, the Mobile vacuum sucker of sucker manipulator 3
41 just rise the height of a slab 27.
In order to implement the stabilization deburring of slab 27, follower 18 is located at the top of driving wheel 17；19 cutting plate of cutting steel wire
When the burr of the edges of boards 28 of base 27, cutting motor 16 drives driving wheel 17 to rotate counterclockwise, and driving wheel 17 drives cutting
It steel wire 19 and is rotated counterclockwise with follower 18, speed regulating motor 30 drives rotatory vacuum sucker 29 counterclockwise
Rotation.
Claims (10)
1. the application method of intelligent deburring robot, the intelligent deburring robot includes to follow cutting manipulator（1）, rotation
Turn Acetabula device（2）, sucker manipulator（3）, rack（4）And controller（5）；Follow cutting manipulator（1）Include gravity
Pendulous device（6）And smart-cut device（7）, gravity swing following device（6）It include fixed column（8）, swing arm（9）, with
With wheel（10）And reset electric pushrod（11）, fixed column（8）For non-perpendicular state；Reset electric pushrod（11）Shell and machine
Frame（4）Connection resets electric pushrod（11）Push rod cup（14）Positioned at swing arm（9）On the track of swing；Smart-cut device（7）
It include cutting rack（15）, cutting motor（16）, driving wheel（17）, follower（18）, cutting steel wire（19）, lifting electric pull rod
（20）And distance measuring sensor（21）, swing arm（9）Equipped with articulated shaft（22）, swing arm（9）Articulated shaft（22）With cutting rack（15）
It is hinged, cutting motor（16）Engine base and cutting rack（15）It is fixedly connected, cutting motor（16）With driving wheel（17）Connection, actively
Wheel（17）Pass through the cutting steel wire of annular（19）With follower（18）Connection, lifting electric pull rod（20）Shell and swing arm（9）
It is hinged, lifting electric pull rod（20）Powered lift bar（25）With cutting rack（15）It is hinged, distance measuring sensor（21）It is installed on machine
Frame（4）；Rotating suction disc device（2）It include rotatory vacuum sucker（29）, speed regulating motor（30）, rotary joint（31）, vacuum pump
（32）And first vacuum solenoid（33）；Speed regulating motor（30）Engine base and rack（4）It is fixedly connected, speed regulating motor（30）'s
Drive shaft（34）With rotary joint（31）Rotary shaft（35）Connection, rotary joint（31）Rotary shaft（35）It is inhaled with rotatory vacuum
Disk（29）Connection, rotary joint（31）Shell（36）With speed regulating motor（30）Cage connection；Sucker manipulator（3）Include
Mechanical arm（40）And Mobile vacuum sucker（41）, Mobile vacuum sucker（41）It is installed on mechanical arm（40）On, sucker manipulator
（3）Engine base and rack（4）Connection；Controller（5）Equipped with slab sensor（43）, cutting sensor（44）, sucker sensor
（45）, oscillating arm sensor（46）, starting switch（47）And shutdown switch（48）；It is characterized in that：The intelligent trimmer
The application method of device people is：In use, utilizing controller（5）Control vacuum pump（32）Work；Vacuum pump（32）After work, control
Device（5）Control sucker manipulator（3）By slab case（52）In rectangular slab（27）Suction is put into rotatory vacuum sucker（29）On；Plate
Base（27）Rotatory vacuum sucker is put by suction（29）After upper, slab（27）Close to rotatory vacuum sucker（29）The slab on side senses
Device（43）, slab sensor（43）By its signal transmission to controller（5）, controller（5）Pass through the first vacuum solenoid（33）
Control rotatory vacuum sucker（29）By slab（27）It sucks in rotatory vacuum sucker（29）On；Slab（27）It is sucked true in rotation
Suction disk（29）After upper, controller（5）Control resets electric pushrod（11）Push rod cup（14）It retracts, following device（6）Pendulum
Arm（9）Push rod cup is followed in the presence of its gravity（14）Retraction and swing, work as following device（6）Follow wheel（10）With plate
Base（27）Lower edge（54）When contact, swing arm（9）By slab（27）Lower edge（54）It blocks, swing arm（9）It stops swinging；With
With wheel（10）With slab（27）Lower edge（54）When contact, smart-cut device（7）Cutting steel wire（19）It is moved to slab
（27）Edges of boards（28）Cutting position；Meanwhile following wheel（10）Close to cutting sensor（44）, cut sensor（44）By its
Signal transmission is to controller（5）, controller（5）Control cutting motor（16）Pass through driving wheel（17）And follower（18）It drives
Cutting steel wire（19）Rotation；Meanwhile resetting electric pushrod（11）Push rod cup（14）After retracting in place, push rod cup（14）Close to pendulum
Arm sensor（46）, oscillating arm sensor（46）By its signal transmission to controller（5）, controller（5）Control speed regulating motor（30）
Pass through rotary joint（31）Drive rotatory vacuum sucker（29）Rotation, is sucked in rotatory vacuum sucker（29）Slab（27）With
With rotatory vacuum sucker（29）Rotation, follows wheel（10）Follow slab（27）Rotation and rotate, swing arm（9）Follow slab（27）
Rotation and swing, utilize the cutting steel wire of rotation（19）Cut slab（27）Edges of boards（28）Burr；Slab（27）It follows
Rotatory vacuum sucker（29）After rotation, distance measuring sensor（21）Constantly by slab（27）The position data of rotation is transferred to controller
（5）, controller（5）According to distance measuring sensor（21）Detect slab（27）The position data of rotation controls lifting electric pull rod（20）
Work, utilizes electronic tie rod（20）Draw cutting rack（15）It swings, makes cutting rack（15）On cutting steel wire（19）Positioned at cutting
Slab（27）Edges of boards（28）Burr optimum position；Slab（27）Edges of boards（28）Burr by cutting steel wire（19）Cutting one
After circle, slab（27）Edges of boards（28）Burr it is clean by cutting, controller（5）Control resets electric pushrod（11）Push rod cup
（14）It releases, push rod cup（14）Pushing arm（9）Negative direction is swung, and makes to follow wheel（10）Leave slab（27）, smart-cut is made to fill
It sets（7）Cutting steel wire（19）Leave slab（27）Edges of boards（28）；Cutting steel wire（19）Leave slab（27）Edges of boards（28）
Afterwards, controller（5）Control speed regulating motor（30）Stop, rotatory vacuum sucker（29）It stops operating；Rotatory vacuum sucker（29）Stop
After rotation stop is dynamic, controller（5）Control the first vacuum solenoid（33）It closes, air is through closing the first vacuum solenoid（33）It imports
Rotatory vacuum sucker（29）, rotatory vacuum sucker（29）On the slab fixed（27）It loosens；Rotatory vacuum sucker（29）On fix
Slab（27）After loosening, controller（5）Control sucker manipulator（3）By rotatory vacuum sucker（29）On the slab fixed（27）
Suction is put into finished product box（53）On.
2. the application method of intelligence deburring robot according to claim 1, it is characterised in that：The smart-cut dress
It sets（7）Cutting steel wire（19）Cut slab（27）Edges of boards（28）Burr when, due to slab（27）Deformation, sucked in
Rotatory vacuum sucker（29）Upper slab（27）During rotation, slab（27）Edges of boards（28）It has to rise and has drop, be set to plate
Base（27）Cut the distance measuring sensor below trim position（21）Constantly by slab（27）With distance measuring sensor（21）Between away from
It is transferred to controller from data（5）, controller（5）Lifting electric pull rod（20）Push rod cup（14）Rise or declines, control
Cutting rack（15）On cutting steel wire（19）Follow slab（27）Edges of boards（28）The lifting of cutting position and lift, make cutting of steel
Silk（19）In good cutting position.
3. the application method of intelligence deburring robot according to claim 2, it is characterised in that：The smart-cut dress
It sets（7）Cutting steel wire（19）Cut slab（27）Edges of boards（28）Burr when, work as slab（27）With distance measuring sensor（21）
The distance between become hour, slab（27）Edges of boards（28）Cutting trim position reduces, controller（5）Control lifting electric pull rod
（20）Push rod cup（14）Rise, push rod cup（14）Push away cutting rack（15）It swings in the direction of the clock, cutting rack（15）On cut
Cut steel wire（19）Follow cutting rack（15）It is continuous and reduce, make cutting steel wire（19）Follow slab（27）Edges of boards（28）Cutting
The reduction of trim position and reduce, make cutting steel wire（19）In good cutting position；Work as slab（27）With distance measuring sensor
（21）The distance between when becoming larger, slab（27）Edges of boards（28）It cuts trim position to increase, controller（5）Control lifting electric
Pull rod（20）Push rod cup（14）Decline, push rod cup（14）Draw cutting rack（15）It swings counterclockwise, cutting rack（15）On
Cutting steel wire（19）Follow cutting rack（15）It is continuous and rise, make cutting steel wire（19）Follow slab（27）Edges of boards（28）'s
It cuts the rising of trim position and rises, make cutting steel wire（19）In good cutting position.
4. the application method of intelligence deburring robot according to claim 3, it is characterised in that：The controller（5）
Equipped with current sensor（55）, current sensor（55）Set on speed regulating motor（30）, for detecting speed regulating motor（30）Load；
Smart-cut device（7）Cutting steel wire（19）Cut slab（27）Edges of boards（28）Burr when, work as slab（27）Edges of boards
（28）When burr increases, rotatory vacuum sucker（29）The resistance of rotation increases, speed regulating motor（30）Load increase, when speed governing electricity
Machine（30）Load when increasing above setting value, current sensor（55）By its signal transmission to controller（5）, controller（5）
Control speed regulating motor（30）Slow down；Work as slab（27）Edges of boards（28）Burr reduce when, speed regulating motor（30）Load reduce
When less than setting value, current sensor（55）By its signal transmission to controller（5）, controller（5）Control speed regulating motor（30）
Accelerate, by speed regulating motor（30）Rotating speed control in the range of setting.
5. the application method of intelligence deburring robot according to claim 4, it is characterised in that：The smart-cut dress
It sets（7）Cutting steel wire（19）Cut rectangular slab（27）Edges of boards（28）Burr when, follow wheel（10）With rotatory vacuum
Sucker（29）The distance of axis follows rectangular slab（27）It rotates and changes；Follow wheel（10）With slab（27）The centre of straight flange
When contact, wheel is followed（10）With rotatory vacuum sucker（29）The distance of axis becomes smaller；Follow wheel（10）With slab（27）The arm of angle
When contact, wheel is followed（10）With rotatory vacuum sucker（29）The distance of axis becomes larger；Follow wheel（10）With rectangular slab（27）
The arm of angle contact when, follow wheel（10）Leave cutting sensor（44）Detection range, cut sensor（44）Its signal is passed
It is defeated by controller（5）, controller（5）Control speed regulating motor（30）Slow down, reduces rotatory vacuum sucker（29）The speed of rotation, keeps away
Exempt from cutting steel wire（19）Damage slab（27）Edges of boards（28）；Follow wheel（10）With rectangular slab（27）Straight flange contact when,
Follow wheel（10）Close to cutting sensor（44）, cut sensor（44）By its signal transmission to controller（5）, controller（5）
Control speed regulating motor（30）Accelerate, the speed of deburring is provided.
6. the application method of intelligence deburring robot according to claim 5, it is characterised in that：The intelligent trimmer
Device people is in use, press starting switch（47）, controller（5）Control vacuum pump（32）Work, vacuum pump（32）After work, control
Device（5）Control sucker manipulator（3）By slab case（52）First block of slab（27）Suction is put into rotatory vacuum sucker（29）On；The
One block of slab（27）Rotatory vacuum sucker is put by suction（29）Afterwards, controller（5）Control follows cutting manipulator（1）And rotation
Acetabula device（2）Work, rotating suction disc device（2）Rotatory vacuum sucker（29）By first block of slab（27）It sucks, first piece
Slab（27）By rotatory vacuum sucker（29）After sucking, smart-cut device（7）Cutting steel wire（19）It will suck in rotation
Rotatory vacuum sucker（29）Upper first block of slab（27）Edges of boards（28）Burr cutting it is clean；First block of slab（27）Edges of boards
（28）Burr cutting after, controller（5）Control resets electric pushrod（11）Drive smart-cut device（7）Leave first block of plate
Base（27）, smart-cut device（7）Leave first block of slab（27）Afterwards, controller（5）Control the first vacuum solenoid（33）It closes
It closes, rotatory vacuum sucker（29）On first block of slab（27）After loosening, controller（5）Control sucker manipulator（3）It will rotation
Vacuum cup（29）On fix first block of slab on side（27）Suction is put into finished product box（53）On；First block of slab fixed（27）It inhales
It is put into finished product box（53）After upper, sucker manipulator（3）By slab case（52）Second block of slab（27）Suction is put into rotatory vacuum suction
Disk（29）On, so constantly recycle；When intelligent deburring robot needs to stop, shutdown switch is pressed（48）, controller（5）Control
Cutting manipulator（1）, rotating suction disc device（2）And sucker manipulator（3）It is stopped.
7. the application method of intelligence deburring robot according to claim 6, it is characterised in that：The controller（5）
Equipped with sucker manipulator（3）By slab case（52）Slab（27）It is drawn onto rotatory vacuum sucker（29）On operation procedure；For
Utilize sucker manipulator（3）By the first station（42）The slab case of position（52）Slab（27）It is drawn onto 3rd station（44）Position
Rotatory vacuum sucker（29）On；Controller（5）Equipped with sucker manipulator（3）By rotatory vacuum sucker（29）Upper slab（27）It inhales
To finished product box（53）On operation procedure；For utilizing sucker manipulator（3）By 3rd station（44）Position rotatory vacuum sucker
（29）On slab（27）Finished product is drawn onto second station（43）Finished product box（53）On.
8. the application method of intelligence deburring robot according to claim 7, it is characterised in that：The cutting rack（15）
Follow wheel（10）Follow rotatory vacuum sucker（29）On slab（27）After rotation, rotatory vacuum sucker（29）By side counterclockwise
To rotation, slab（27）Follow rotatory vacuum sucker（29）It rotates counterclockwise, follows wheel（10）Follow slab（27）It presses
Rotationally clockwise.
9. the application method of intelligence deburring robot according to claim 8, it is characterised in that：Described follows wheel（10）
Follow slab（27）When moving in the direction of the clock, wheel is followed（10）With slab（27）Edges of boards（28）It is maintained at the shape of contact
State follows wheel（10）With rotatory vacuum sucker（29）The distance in the center of circle follows slab（27）Edges of boards（28）To rotatory vacuum sucker
（29）The variation of the distance in the center of circle and change；When rotatory vacuum sucker（29）Upper slab（27）Edges of boards（28）It is inhaled to rotatory vacuum
Disk（29）The distance in the center of circle from large to small when, swing following device（6）Swing arm（9）Side clockwise is pressed in the presence of its gravity
To swing；When rotatory vacuum sucker（29）Upper slab（27）Edges of boards（28）Arrive rotatory vacuum sucker（29）The distance in the center of circle by
It is small when becoming larger, swing following device（6）Swing arm（9）In slab（27）Promotion under swing counterclockwise, make to follow wheel
（10）With slab（27）Edges of boards（28）It is maintained at the state of contact.
10. the application method of intelligence deburring robot according to claim 9, it is characterised in that：The sucker machinery
Hand（3）By the first station（42）The slab case of position（52）Slab（27）It is drawn onto 3rd station（44）The rotatory vacuum of position is inhaled
Disk（29）When upper, sucker manipulator（3）Mobile vacuum sucker（41）With slab case（52）Slab（27）What contact vacuumized
Position and slab case（52）Slab（27）The height and position constantly reduced is directly proportional, slab case（52）Slab（27）Often inhaled
One is walked, sucker manipulator（3）Mobile vacuum sucker（41）With regard to reducing a slab（27）Height；Sucker manipulator（3）
By 3rd station（44）The rotatory vacuum sucker of position（29）On slab（27）Finished product is drawn onto second station（43）Finished product box
（53）When upper, sucker manipulator（3）Mobile vacuum sucker（41）With finished product box（53）Slab（27）Finished product contact stops taking out
The position of vacuum and finished product box（53）Slab（27）The height and position constantly risen is directly proportional, slab case（52）Slab（27）
Often increase by one, sucker manipulator（3）Mobile vacuum sucker（41）With regard to rising a slab（27）Height.
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| KR20070097760A (en) * | 2006-03-29 | 2007-10-05 | 주식회사 엔씨비네트웍스 | Variable grinding device |
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