CN110977661A - Automatic deburring device and manipulator of compensation - Google Patents

Automatic deburring device and manipulator of compensation Download PDF

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Publication number
CN110977661A
CN110977661A CN201911001343.9A CN201911001343A CN110977661A CN 110977661 A CN110977661 A CN 110977661A CN 201911001343 A CN201911001343 A CN 201911001343A CN 110977661 A CN110977661 A CN 110977661A
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CN
China
Prior art keywords
flat plate
position sensor
main body
bracket
contact
Prior art date
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Granted
Application number
CN201911001343.9A
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Chinese (zh)
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CN110977661B (en
Inventor
王汉翼
江文明
张志越
钱立
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Guangzhou Numerical Control Equipment Co Ltd
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Guangzhou Numerical Control Equipment Co Ltd
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Priority to CN201911001343.9A priority Critical patent/CN110977661B/en
Publication of CN110977661A publication Critical patent/CN110977661A/en
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Publication of CN110977661B publication Critical patent/CN110977661B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention relates to a deburring device with automatic compensation and a manipulator. The device comprises a clamping seat, a grinding wheel machine and a fixed bracket, wherein the fixed bracket is provided with a first flat plate part; the two fixing seats are arranged on the lower surface of the first flat plate part; a contact plate having a main body portion and a contact portion; a rotating shaft is arranged on the fixed seat, and a fixed part fixed with the main body part is arranged in the middle of the rotating shaft; at least one torsion spring sleeved with the rotating shaft is abutted between the upper side of the clamping seat and the first flat plate part; the swing rod bracket is arranged on the front side of the first flat plate part; the swing rod is pivoted with the swing rod bracket and is provided with a first extending part and a second extending part, the first extending part is abutted against the contact part, and the second extending part extends backwards; a sensor bracket is arranged at the rear end of the upper surface of the first flat plate part, and a first position sensor and a second position sensor are arranged on the sensor bracket; a spring bracket mounted on the first flat plate portion; an extension spring connects the spring support and the second extension. The device realizes timely compensation in the polishing process.

Description

Automatic deburring device and manipulator of compensation
Technical Field
The invention relates to a manipulator polishing and deburring technology, in particular to an automatic compensation deburring device and a manipulator.
Background
In the processes of casting, forging, cutting and the like, burrs are difficult to avoid, the assembly of a mechanical system, the reliability and the stability of equipment and the like can be influenced by the burrs, and most mechanical parts need to be deburred. The existing mechanical arm floating deburring main shaft is used for deburring by an electric tool in a grinding mode, and the defect that the product reject ratio is high due to the fact that the stability of the electric tool is low, the feed amount of a cutter is high and low, and the product is easily damaged or the condition that the grinding is uneven and not in place occurs. The detection and automatic compensation functions of the cutter are not provided, and the quality of the product can be seriously influenced if the cutter cannot be compensated in time after being worn.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic compensation deburring device and a manipulator with the deburring device.
The first object of the invention can be achieved by the following technical means:
an automatic compensation deburring device is used for being installed at the tail end of a manipulator and comprises a clamping seat and a grinding wheel machine, wherein the grinding wheel machine is fixedly arranged on the clamping seat, and a grinding wheel of the grinding wheel machine is positioned in front of the clamping seat; the two fixing seats are respectively arranged on the left side and the right side of the lower surface of the first flat plate part; the contact plate is provided with a main body part and a contact part, the main body part is fixedly arranged above the clamping seat, and the contact part extends forwards from the front end of the main body part; the left end and the right end of the rotating shaft are provided with pivoting parts which are rotatably arranged on the fixed seat, a fixed part is arranged in the middle of the rotating shaft, and the lower end of the fixed part is fixed with the main body part; the main body of the torsion spring is wound on the rotating shaft, one tail end of the torsion spring is respectively abutted against the front side above the clamping seat, and the other tail end of the torsion spring is fixed with the first flat plate part, so that the front side of the clamping seat has a tendency of moving away from the first flat plate part; the swing rod bracket is arranged on the front side of the first flat plate part; the swing rod is provided with a connecting part, a first extending part and a second extending part, the first extending part and the second extending part are positioned at two ends of the rotating part, the connecting part is rotatably connected with the swing rod bracket, the first extending part is abutted against the contact part, the second extending part extends backwards, and the length of the second extending part is greater than that of the first extending part; a sensor bracket is arranged at the rear end of the upper surface of the first flat plate part, a first position sensor and a second position sensor which are used for sensing the position of the rear end of the second extension part are arranged on the sensor bracket, and the second position sensor is positioned above the first position sensor; the spring support is arranged on the upper surface of the first flat plate part, is positioned on the front side of the sensor support and is positioned on the side edge of the second extension part; an extension spring connects the spring support and the second extension.
As a further preferable scheme, the fixing bracket further comprises a second flat plate part, the second flat plate part is connected with the tail end of the first flat plate part and extends downwards for connecting the tail end of the manipulator; at least one reinforcing plate is arranged between the first flat plate part and the first flat plate part.
Preferably, a contact bearing is provided at a distal end of the first extension portion, and the contact bearing abuts against the contact portion.
As a further preferable scheme, the sensor bracket is provided with a U-shaped seat which is opened downwards, the first position sensor and the second position sensor are installed on the side wall of the U-shaped seat, and the tail end of the second extending part is positioned between the two side walls of the U-shaped seat.
As a further preferable scheme, the clamping seat comprises an upper clamping plate and a lower clamping plate, the upper side of the upper clamping plate is provided with a base part and two downward-recessed step parts positioned on the left side and the right side of the base part, the base part is locked with the main body part, the left side and the right side are both provided with the downward-recessed step parts, and one tail end of the torsion spring abuts against the step parts.
Preferably, a recess is formed in the middle of the fixing portion of the rotating shaft, the recess receives the base, the recess is provided with a mounting plane, and the main body portion of the contact plate is locked with the mounting plane.
As a further preferable scheme, the clamping device comprises a front limiting bolt and a rear limiting bolt which are arranged in a front-back opposite mode and used for limiting the swing amplitude of the clamping seat, wherein the front limiting bolt corresponds to the front side of the main body part, and the rear limiting bolt corresponds to the rear side of the main body part.
As a further preferable scheme, the first flat plate portion is provided with a torsion spring limiting block for clamping the tail end of the torsion spring.
The other purpose of the invention can be realized by the following technical means:
the manipulator comprises the automatic compensation deburring device, a fixing support of the automatic compensation deburring device is connected with the tail end of the manipulator, and a first position sensor and a second position sensor are in signal connection with the manipulator.
Compared with the prior art, the invention has the following beneficial effects:
1. the deburring device with automatic compensation is simple in structure and exquisite in design, and the positions of the swing rods are sensed by the position sensors spaced up and down on the fixed support to detect the swing deviation of the grinding wheel machine. The manipulator receives signals of the swing rod measured by the first position sensor and the second position sensor and then adjusts the feeding amount of the deburring device, so that timely compensation in the polishing process is realized, the reliability and stability of the machining process of the polishing deburring device are improved, and the machining quality of products is improved.
2. The lever principle is utilized ingeniously, the length of the second extension part of the swing rod is larger than that of the first extension part, the swing distance of the grinding machine is enlarged through the swing rod, compensation precision of a lifting device is facilitated, a manipulator can quickly react, and accordingly the deburring effect of a product is guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a deburring device with automatic compensation;
FIG. 2 is a side view of the self-compensating de-burring apparatus;
FIG. 3 is a cross-sectional view of the self-compensating deburring apparatus;
FIG. 4 is a top view of the self-compensating de-burring apparatus;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a schematic structural view of a rotating shaft according to the present invention;
in the figure, 1 a manipulator connecting plate, 2 a fixing bracket, 201 a first flat plate part, 202 a second flat plate part, 203 a reinforcing plate, 3 a sensor bracket, 4 a first position sensor, 5 a second position sensor, 6U-shaped seats, 7 a detection block, 8 a sensor bracket, 9 a swing link, 91 a first extending part, 92 a connecting part, 93 a second extending part, 10 a rear limiting bolt, 11 a rear limiting nut, 12 a front limiting bolt, 13 a front limiting nut, 14 a swing link bracket, 15 a contact bearing, 16 a contact plate, 161 a main body part, 162 a contact part, 17 a bearing seat, 19 a swing link rotating shaft, 20 a contact bearing rotating shaft, 21 a fixed seat, 22 a copper sleeve, 23 a torsion spring, 24 a set screw, 25 a rotating shaft, 26 an upper clamping plate, 261 a base part, 262 a step part, 27 a lower clamping plate, 28 a tension spring, 29 a spring bracket, 30 a torsion spring limiting block, 31 a reinforcing.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1-2, the present invention provides an automatic compensation deburring apparatus, which includes a clamping base, a grinder 32, a contact plate 16, a fixing bracket 2, a pair of fixing bases 21, a swing link bracket 14, a swing link 9, a sensor bracket 8, and a spring bracket 29. The device is suitable for being installed at the tail end of a manipulator and is used for polishing a workpiece with burrs.
As shown in fig. 1 and 2, the holder is fixed to the main body of the grinder 32, and the grinding wheel of the grinder is located in front of the holder, and is used for grinding burrs on the surface of a workpiece, with its rotation axis being substantially in the front-rear direction. The cartridge includes an upper clamp plate 26 and a lower clamp plate 27 for clamping and fixing the base of the grinder from the upper and lower sides. The upper side of the upper clamp plate has a base 261 and two downwardly recessed steps 262 on the left and right sides of the base.
As shown in fig. 1 and 2, the contact plate 16 may be made of hard metal or alloy, and has a main body 161 attached and fixed to the base of the upper plate, and a contact portion 162 extending forward from the front end of the main body and having a width smaller than that of the main body. The contact portion is located substantially directly above the axis of rotation of the grinder. When the grinder swings, the contact plate swings with the grinder.
As shown in fig. 1 and 2, the fixing bracket includes a first flat plate portion 201 disposed horizontally and a second flat plate portion 202 disposed vertically. The second flat plate part is connected with the rear end of the first flat plate part and is provided with a manipulator connecting plate 1 which can be connected with the tail end of a manipulator. In this embodiment, the second flat plate portion and the second flat plate portion are vertically disposed with the reinforcing plate 203 interposed therebetween. The strip-shaped reinforcing ribs 31 are installed above the first flat plate portion, and two reinforcing ribs are arranged in the embodiment and are respectively located at the left end and the right end above the first flat plate portion. To facilitate structural balance. Set up reinforcing plate and strengthening rib and can strengthen the bulk strength of fixed bolster, avoid polishing in-process first flat board portion warp because of the atress to hoisting device's intensity and stability.
The two fixing seats 21 are respectively installed on the left and right sides of the lower surface of the first flat plate portion. The fixed seat 21 is provided with a supporting copper sleeve 22, and the copper sleeve 22 is axially positioned on the fixed seat 21 by adopting a set screw 24. A rotating shaft 25 connecting the two fixing bases, which includes a pivot portion 253 at both ends, a fixing portion 251 in the middle, and a connecting portion 252 connecting the corresponding pivot portion and the fixing portion. The pivoting part is rotatably arranged on the mounting hole of the fixing seat in a penetrating way. A recess 254 is provided below the fixing portion, and receives the main body 161 of the contact plate and the base 261 of the upper plate. The recess 254 has a mounting surface to which the main body 161 of the contact plate is welded. And a torsion spring 23 is sleeved on the outer periphery of each combining part, one end part of the torsion spring abuts against the front half section of the step part of the upper clamping plate, and the other end part of the torsion spring extends upwards through the first flat plate part, so that the front side of the grinding wheel machine has the tendency of swinging away from the first flat plate part. The upper surface of the first flat plate part is provided with a torsional spring limiting block used for clamping the upper end part of the torsional spring.
Further, the deburring device further comprises a front limit bolt 12 and a rear limit bolt 10 which are mounted on the first flat plate portion. The bottom of the front limiting bolt is provided with a front limiting nut 13, and the front limiting nut corresponds to the front side of the contact plate main body part; the bottom of the rear limiting bolt is provided with a rear limiting nut 11, and the rear limiting nut corresponds to the rear side of the contact plate main body part. The front limiting bolt and the rear limiting bolt are used for limiting the swing angle of the grinding machine so as to be suitable for different workpieces and operation angles. The front and the rear limiting bolts can be adjusted up and down to adapt to different working conditions.
The swing link bracket 14 is mounted on the front side of the first flat plate portion. The swing rod 9 is connected with one side of the head of the swing rod bracket. The projection of the swing rod in the vertical direction is coincided with the central axis of the grinding machine, and the swing rod is provided with a connecting part 92, a first extending part 91 and a second extending part 93 which are positioned at two ends of the connecting part. The connecting part is provided with a swing rod rotating shaft 19 which extends transversely and is arranged on a bearing seat 17 on the swing rod bracket. The first extension is bent downward, and a contact bearing 15 is mounted at the end thereof, and abuts against the contact portion by the outer peripheral surface of the contact bearing. The contact bearing is arranged, so that the contact between the first extension part and the contact plate can be converted into rolling friction, the abrasion is reduced, and the service life of the device is prolonged. The second extension portion is longer than the first extension portion and extends rearward to a position near the end of the first flat plate portion. The second extension is longer than the second extension. In the actual polishing process, the compensation amount of the grinding machine or the distance required to be supplemented is relatively small, and the position sensor is difficult to react quickly, so that the swing rod is arranged to amplify the swing distance of the grinding machine, and the sensor can detect and transmit the swing distance to the manipulator in time. The included angle of the second extending portion is preferably 100-150 °, and in the present embodiment, the included angle between the first extending portion and the second extending portion is substantially 135 °.
The sensor holder 8 is fixed to the rear end of the upper surface of the first flat plate portion, and is located on one side of the second extending portion. The sensor support side installs a U type seat 6 open downwards, the end of second extension is equipped with one and detects piece 7, detects the piece and is located between two lateral walls of U type seat. The first position sensor 4 and the second position sensor 5 are arranged on the side wall of the U-shaped seat at intervals, and the first position sensor is positioned below the second position sensor. The first position sensor and the second position sensor are in signal connection with the manipulator and used for sensing the position of the detection block so as to detect the movement condition of the swing rod. The limit sensor can be a proximity sensor, a photoelectric sensor or a laser sensor.
The spring support 29 is fixed on the upper side of the first flat plate, is arranged on the front side of the sensor support 3 and is located on the side of the second extending portion. The spring support is provided with a first connecting rod which is transversely arranged, and the second extending part is provided with a second connecting rod which transversely extends towards the transverse spring support and is close to the spring support. The first connecting rod and the second connecting rod are connected through an extension spring 28 to tension the second connecting rod upwards, and meanwhile, the deflection of the swing rod in the left-right direction can be reduced, and the stability of the device is improved. When the grinding wheel is not in contact with the workpiece, the second extending part swings upwards under the action of the torsion spring and the extension spring, the second position sensor senses a signal of the detection block, and at the moment, the mechanical arm compensates a certain feeding amount after receiving the signal, so that the contact between the grinding wheel and the workpiece is increased. If the grinding wheel contacts the workpiece too much, the front side of the grinding machine is close to the jacking contact part towards the first flat plate part, the second extending part of the swing rod swings downwards, the position of the detection block descends, the first position sensor senses a signal of the detection block, and at the moment, the feeding amount of the manipulator is reduced so as to reduce the contact with the surface of the workpiece. If the contact quantity is normal, the height position of the detection block is between the first position sensor and the second position sensor, and the first position sensor and the second position sensor have no signals.
The working principle of the automatic compensation deburring device is as follows:
the swing rod is arranged on the fixed support, and the swing amount of the grinding machine is amplified by the swing rod. And detecting the position movement condition of the swing rod by two position sensors which are arranged at intervals up and down. When the grinding wheel is not in contact with the workpiece, the second extending part swings upwards under the action of the torsion spring and the extension spring, the second position sensor senses a signal of the detection block, and at the moment, the mechanical arm compensates a certain feeding amount after receiving the signal, so that the contact between the grinding wheel and the workpiece is increased. If the abrasion loss is excessive, the front side of the grinding machine is close to the jacking contact part towards the first flat plate part, the second extending part of the swing rod swings downwards, the position of the detection block descends, the first position sensor senses a signal of the detection block, and at the moment, the feeding amount of the mechanical arm is reduced so as to reduce the contact with the surface of the workpiece. Thereby achieving the function of automatic compensation and keeping the grinding machine and the workpiece at the optimal distance to ensure the quality of the ground product.
Example 2
The embodiment provides a manipulator, this manipulator includes above self-compensating's burring device, and self-compensating's burring device's fixed bolster is connected the end of manipulator, first position sensor and second position sensor and manipulator signal connection.
The present invention can be better realized as described above, and the above embodiments are disclosed as the preferred embodiments of the present invention, and are not intended to limit the scope of the above invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.

Claims (9)

1. The utility model provides an automatic burring device of compensation for install at the manipulator end, including grip slipper and abrasive machine, the abrasive machine sets firmly on the grip slipper and the emery wheel of abrasive machine is located grip slipper the place ahead, its characterized in that: the fixing bracket is provided with a first flat plate part; the two fixing seats are respectively arranged on the left side and the right side of the lower surface of the first flat plate part; the contact plate is provided with a main body part and a contact part, the main body part is fixedly arranged above the clamping seat, and the contact part extends forwards from the front end of the main body part; the left end and the right end of the rotating shaft are provided with pivoting parts which are rotatably arranged on the fixed seat, a fixed part is arranged in the middle of the rotating shaft, and the lower end of the fixed part is fixed with the main body part; the main body of the torsion spring is wound around the rotating shaft, one tail end of the torsion spring is respectively abutted against the front side above the clamping seat, and the other tail end of the torsion spring is fixed with the first flat plate part; the swing rod bracket is arranged on the front side of the first flat plate part; the swing rod is provided with a connecting part, a first extending part and a second extending part, the first extending part and the second extending part are positioned at two ends of the rotating part, the connecting part is rotatably connected with the swing rod bracket, the first extending part is abutted against the contact part, the second extending part extends backwards, and the length of the second extending part is greater than that of the first extending part; a sensor bracket is arranged at the rear end of the upper surface of the first flat plate part, a first position sensor and a second position sensor which are used for sensing the position of the rear end of the second extension part are arranged on the sensor bracket, and the second position sensor is positioned above the first position sensor; the spring support is arranged on the upper surface of the first flat plate part, is positioned on the front side of the sensor support and is positioned on the side edge of the second extension part; an extension spring connects the spring support and the second extension.
2. An automatically compensating de-burring apparatus as claimed in claim 1, characterized in that: the fixed support further comprises a second flat plate part, and the second flat plate part is connected with the tail end of the first flat plate part, extends downwards and is used for connecting the tail end of the manipulator; at least one reinforcing plate is arranged between the first flat plate part and the first flat plate part.
3. An automatically compensating de-burring apparatus as claimed in claim 1, characterized in that: the tail end of the first extending part is provided with a contact bearing, and the contact bearing is abutted to the contact part.
4. An automatically compensating de-burring apparatus as claimed in claim 1, characterized in that: the sensor support is provided with a U-shaped seat which is open downwards, the first position sensor and the second position sensor are mounted on one side wall of the U-shaped seat, and the tail end of the second extending portion is located between the two side walls of the U-shaped seat.
5. An automatically compensating de-burring apparatus as claimed in claim 1, characterized in that: the grip slipper includes punch holder and lower plate, and the upside of punch holder has a basal portion and is located two undercut's steps portion on the basal portion left and right sides, and the basal portion locks with the main part, and the left and right sides all is equipped with undercut's steps portion, the terminal butt step portion of torsional spring.
6. An automatically compensating de-burring apparatus as claimed in claim 5, characterized in that: the middle of the fixing part of the rotating shaft is provided with a sunken part, the sunken part is used for accommodating the base part, the sunken part is provided with a mounting plane, and the main body part of the contact plate is locked with the mounting plane.
7. An automatically compensating de-burring apparatus as claimed in claim 5, characterized in that: the clamping device comprises a front limiting bolt and a rear limiting bolt which are oppositely arranged front and back, and is used for limiting the swing amplitude of the clamping seat, the front limiting bolt corresponds to the front side of the main body part, and the rear limiting bolt corresponds to the rear side of the main body part.
8. An automatically compensating de-burring apparatus as claimed in claim 1, characterized in that: the first flat plate part is provided with a torsion spring limiting block used for clamping the tail end of the torsion spring.
9. A robot comprising an automatically compensating de-burring apparatus as claimed in any of claims 1 to 8, wherein the fixed support of the automatically compensating de-burring apparatus is connected to the end of the robot, and wherein the first position sensor and the second position sensor are in signal connection with the robot.
CN201911001343.9A 2019-10-21 2019-10-21 Automatic compensating deburring device and manipulator Active CN110977661B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201911001343.9A CN110977661B (en) 2019-10-21 2019-10-21 Automatic compensating deburring device and manipulator

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CN110977661A true CN110977661A (en) 2020-04-10
CN110977661B CN110977661B (en) 2024-05-07

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