CN113414369B

CN113414369B - Multi-manipulator collaborative deburring device capable of automatically distributing machining positions

Info

Publication number: CN113414369B
Application number: CN202110964793.9A
Authority: CN
Inventors: 蒋亮; 章明; 彭开宇; 柴林
Original assignee: Jiangsu Cascc Intelligent Industrial Equipment Co ltd
Current assignee: Jiangsu Cascc Intelligent Industrial Equipment Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-09
Anticipated expiration: 2041-08-23
Also published as: CN113414369A

Abstract

The invention discloses a multi-manipulator collaborative deburring device capable of automatically distributing machining positions, and belongs to the technical field of surface defect treatment. The cutter is placed in the cutter barrel, and during the processing die casting, the die casting is processed to the suitable cutter of selection according to the operation needs, simultaneously, according to the difference of processing position, replaces different cutters at any time, sets up the multiunit manipulator on the workstation, and multiunit manipulator mutually supports and handles the die casting surface, through the processing of every group manipulator to the die casting different positions to accelerate the treatment effeciency to the die casting.

Description

Multi-manipulator collaborative deburring device capable of automatically distributing machining positions

Technical Field

The invention relates to the technical field of surface defect treatment, in particular to a multi-manipulator collaborative deburring device capable of automatically distributing machining positions.

Background

After the die casting is accomplished in the casting, the overlap often can appear in its surperficial edge, burr scheduling problem, the processing mode to these surface defects includes mechanical operation and manual work, manual work efficiency is comparatively low, mechanical operation is though efficiency is higher, but need certain processing space, current mechanical operation equipment is single robotic arm and carries out the burring operation moreover, it is unsatisfactory to make burring efficiency, so we provide the many manipulators of an automatic allocation processing position in coordination with burring device, a problem for solve the aforesaid and propose.

Disclosure of Invention

The invention aims to provide a multi-manipulator collaborative deburring device capable of automatically distributing machining positions, and the device is used for solving the problems in the background technology.

In order to solve the technical problems, the invention provides the following technical scheme: a multi-manipulator collaborative deburring device capable of automatically distributing machining positions comprises a workbench, wherein at least one group of manipulators are arranged on the workbench, a bearing table is arranged on one side, located on each group of manipulators, of the workbench, a cutter cylinder is arranged on each group of manipulators, a die casting is placed on the bearing tables, and a plurality of groups of cutters are arranged in each group of cutter cylinders; the cutter is placed in the cutter barrel, and during the processing die casting, the die casting is processed to the suitable cutter of selection according to the operation needs, simultaneously, according to the difference of processing position, replaces different cutters at any time, sets up the multiunit manipulator on the workstation, and multiunit manipulator mutually supports and handles the die casting surface, through the processing of every group manipulator to the die casting different positions to accelerate the treatment effeciency to the die casting.

Every group the plummer all includes the cover shell, the middle part of cover shell upper end is provided with the loading board, and the die casting is placed on the loading board, the loading board can be retracted inside the cover shell, and the power positive pole is connected to the loading board, the inside electric field ring that sets up of cover shell, electric field ring intercommunication power negative pole. The die casting is placed on the loading board, and through loading board intercommunication power positive pole, make the die casting produce positive electric field, electric field ring intercommunication power negative pole in the cover shell, produce the negative electric field on the electric field ring, burr on the die casting is got rid of the back, the burr piece becomes mobilizable positive electric field one by one, the die casting repels the burr piece through positive electric field, electric field ring attracts the burr piece through negative electric field simultaneously, make burr and die casting separation and with electric field ring contact, electric field ring ground connection, after positive charge on the burr transmits to electric field ring, separate with electric field ring under the action of gravity, thereby realize the separation of burr and electric field ring and to the clastic clearance on the die casting.

Each group of cutter cylinders comprises a plurality of groups of cylinders, an upper plate positioned above the cylinders and a bottom plate positioned below the cylinders, and the upper end and the lower end of each group of cylinders are respectively provided with an upper strut and a lower strut;

the upper plate is provided with T-shaped expansion grooves corresponding to the positions of each group of upper struts, a rotating plate is arranged on the upper plate and positioned outside the expansion grooves, a rotating device is arranged in the upper plate and fixed with the rotating plate, one end of each group of upper struts penetrates through the rotating plate and is positioned in the expansion grooves, and the rotating plate is provided with arc-shaped plate grooves;

the bottom plate is provided with a T-shaped shifting groove corresponding to each group of lower support columns, and the lower support columns are located in the shifting grooves. The rotator upper end is fixed in the upper plate, the rotator other end is fixed with the commentaries on classics board, the rotator provides power for the rotation of changeing the board, every group barrel all installs on the upper plate through last pillar, the bottom plate is installed through lower pillar to the barrel, the end-to-end connection of upper plate and manipulator, the rotator is through rotating the commentaries on classics board, make every group barrel move in the expansion groove under the effect in curved board groove, thereby make the distance between a plurality of groups barrel pull open, make a cutter section of thick bamboo dispersion, through the rotator reversal, make a plurality of groups barrel be close to each other once more, make a cutter section of thick bamboo fold, form a whole once more.

The magnetic power tool is characterized in that each group of the cylinder body is provided with a station shaft, each group of the station shafts is sleeved with a shaft sleeve, each shaft sleeve is provided with a supporting plate, one end, close to an upper support, of each station shaft is provided with a base, each base is internally provided with a plurality of groups of coils, each group of the station shafts is internally provided with a driving magnetic block, the inner sides of the shaft sleeves are provided with follow-up magnetic blocks, the follow-up magnetic blocks are in sliding connection with the station shafts, and the driving magnetic blocks and the follow-up magnetic blocks respectively comprise N-pole magnetic blocks and S-pole magnetic blocks. The base provides the support for the installation of coil, the station axle is fixed with the coil lower extreme, the station axle is non-conductive, not isolated magnetic field, a plurality of groups of coils are connected with control circuit electricity, the coil attracts the initiative magnetic path, through the change of magnetic field on a plurality of groups of coils, make the initiative magnetic path rotate in the station axle under the attraction and the repulsion in magnetic field, the follow-up magnetic path is under the attraction of initiative magnetic path, it rotates to drive the axle sleeve in the station axle outside, and then drive the backup pad and rotate in the station axle outside, simultaneously, through the up-and-down motion of initiative magnetic path in the station axle, also make the follow-up magnetic path drive the axle sleeve and carry out the up-and-down motion in the station axle outside.

The coils form an annular structure, the inner diameter of the annular structure is smaller than that of the station shaft, the outer diameter of the annular structure is larger than that of the follow-up magnetic block, and the coils attract or repel the follow-up magnetic block. The coil generates a magnetic field after being electrified, the coil attracts the driving magnetic block and the follow-up magnetic block simultaneously, so that the follow-up magnetic block and the driving magnetic block move together, meanwhile, the driving magnetic block also attracts the follow-up magnetic block, and the follow-up magnetic block rotates on the outer side of the station shaft under the double attraction of the coil and the driving magnetic block, so that the load capacity of the shaft sleeve is improved, the shaft sleeve can still rotate on the outer side of the station shaft under the condition of bearing the supporting plate and a cutter, the supporting plate is installed on the outer side of the station shaft through the shaft sleeve, and the driving magnetic block and the follow-up magnetic block move up and down on the outer side of the station shaft.

The inner space of the base is communicated with the inner space of the station shaft, the driving magnetic block is in close contact with the inner wall of the station shaft, and a plurality of groups of bases in the cylinder are communicated with an external air pipeline. The air pipeline is by the fan, the pipeline, solenoid valve and control system constitute, air pipeline pours into the air to the inside instillation of base, make the air enter into the station axle through the coil, the air extrudes the initiative magnetic path, make the initiative magnetic path at the inside downstream of station axle, thereby make the follow-up magnetic path downstream under the attraction of initiative magnetic path, thereby make the backup pad downstream, air pipeline extracts the air in the base, make the initiative magnetic path upstream in the station axle, thereby make the backup pad reset under the drive of follow-up magnetic path.

Every group the barrel is close to the one end of bottom plate and has been seted up and be curved breach, and a plurality of groups barrel forms annular through-hole through the breach, and the one end that every group breach is close to the bottom plate all is provided with the ka tai, and a plurality of groups ka tai mutually support and form the through-hole of regular octagon, the draw-in groove that is regular octagon is seted up at the bottom plate middle part. The clamping groove is a passage for the cutter to extend out of the cutter barrel, and the cutter is fixed by the through hole and the clamping groove of the regular octagon, so that the cutter is prevented from rotating on the cutter barrel.

Every group the backup pad lower extreme all is provided with the blade holder that is regular octagon, be provided with the cutter on the blade holder. When the distance between the barrel when a plurality of groups barrel expansion promptly is when drawing big, the backup pad rotates at the station epaxially earlier, make cutter and blade holder just to the draw-in groove, afterwards, the backup pad drives the cutter toward draw-in groove direction motion, make the cutter stretch out a cutter section of thick bamboo through the draw-in groove, when the direction motion of draw-in groove is promptly down to the cutter, a plurality of groups barrel is drawn close to each other, make a cutter section of thick bamboo fold the shaping once more, after the barrel is close to each other, the barrel carries out the centre gripping to the blade holder through the ka tai, when preventing to carry out the operation through the cutter to the die casting, the cutter is concertina movement on a cutter section of thick bamboo.

The tool apron is communicated with the power supply electrode, and when the tool is completely operated and is retracted into the tool barrel, the tool apron enables the tool to be connected with the power supply electrode. The cutter is communicated with the positive pole or the negative pole of the power supply, when the cutter finishes burr treatment on a die casting, namely after the operation is finished, the cutter holder enables the cutter to be communicated with the power supply electrode, so that an electric field is generated on the cutter, and when debris remained on the cutter is also filled with electric charges, the cutter clears away the debris through the repulsion action of the electric field, thereby finishing the cleaning work of the cutter.

The utility model discloses a portable electronic device, including shell, supporting plate, telescopic part, transmission board, electrode post, power supply, casing lower extreme rotation is connected with the under casing, the middle part of under casing is provided with the telescopic part, the other end of telescopic part is provided with the transmission board, the transmission board is connected with the loading board through a plurality of groups pillar, the under casing upper end is provided with a plurality of groups electrode post in the outside of telescopic part, the inboard of casing, the electrode post is connected with the power positive pole. The extensible member makes the loading board shrink and advance inside the cover shell and stretch out inside the cover shell, the loading board shrink advances when the cover shell is inside, the die casting is also taken inside the cover shell, the die casting passes through the pillar, the transmission board is connected with the electrode post, make and produce the positive electric field on the die casting, transmission board and pillar conduct the electric current to the die casting on, the round hole has been seted up to the cover shell lower extreme, the electrode post contacts with the round hole inner wall, the cover shell is insulating non-conductive casing, a plurality of groups of electrode posts carry out the restriction in the position to the cover shell, prevent that the cover shell from taking place the offset on the under casing.

The bearing plate is of a filter screen structure, a cavity is formed in the bottom box, an air exhaust assembly and a rotating assembly are arranged in the bottom box, the air exhaust assembly is communicated with the cavity, a plurality of groups of airflow holes are formed in the lower end of the casing, the airflow holes enable the inner space of the casing to be communicated with the cavity, and the rotating assembly is rotatably connected with the casing. The filter screen structure is for the piece to fall into the inside passageway that provides of cover shell, rotating assembly makes the cover shell rotate on the under casing, the subassembly of bleeding draws the inside air of cover shell through air current hole and cavity, the rotation of cover shell drives the air current hole motion, the air current hole attracts the air, thereby make the inside air whirl that produces of cover shell, the air flows in the die casting outside, the surface of die casting is washed out to the air, the clastic dropping in die casting surface with higher speed, thereby reach the effect of die casting surface clearance with higher speed, the cavity is to entering into inside piece through air current hole and air current and be stored.

Compared with the prior art, the invention has the following beneficial effects: a plurality of cutters are placed in the cutter barrel, and when the die casting is machined, suitable cutters can be selected or replaced according to different machining positions of operation requirements, the die casting is machined, a plurality of groups of mechanical arms are arranged on a workbench, the multiple groups of mechanical arms work in a labor-sharing mode, the multiple mechanical arms cooperate with one another to process the surface of the die casting, the multiple mechanical arms work in different positions of the die casting, and therefore the processing efficiency of surface defects of the die casting is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the construction of the knife cartridge of the present invention;

FIG. 3 is a schematic view of the internal structure of the knife cartridge of the present invention;

FIG. 4 is a top view of the internal structure of the upper plate of the present invention;

FIG. 5 is a top view of the floor structure of the present invention;

FIG. 6 is a top view of the interior of the knife cylinder of the present invention;

FIG. 7 is a schematic view of the support plate and station shaft connection of the present invention;

FIG. 8 is a schematic view of the internal structure of the station shaft of the present invention;

FIG. 9 is a top view of the internal structure of the base of the present invention;

FIG. 10 is a schematic view of the internal structure of the carrier stage of the present invention;

FIG. 11 is a top view of the carrier plate of the present invention.

In the figure: 1. a work table; 2. a manipulator; 3. a bearing table; 4. a cutter barrel; 5. die casting; 6. a cutter; 301. a housing; 302. a bottom box; 303. a carrier plate; 304. a telescoping member; 305. a transmission plate; 306. an electric field ring; 307. an electrode column; 401. a barrel; 402. an upper plate; 403. a base plate; 404. a station axis; 4011. an upper pillar; 4012. a lower pillar; 4013. a support plate; 4014. clamping a platform; 4015. a shaft sleeve; 4016. a follow-up magnetic block; 4017. a tool apron; 4021. a rotator; 4022. rotating the plate; 4023. a plate groove; 4031. a shifting groove; 4032. a card slot; 4041. a driving magnetic block; 4042. a base; 4043. and a coil.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 11, the present invention provides a technical solution: the utility model provides an automatic many manipulators of distribution processing position burring device in coordination, this burring device includes workstation 1, is provided with two sets of manipulators 2 on the workstation 1, and plummer 3 is all installed to one side that lies in every group manipulator 2 on the workstation 1, all installs a cutter section of thick bamboo 4 on every group manipulator 2, and die casting 5 is placed on plummer 3, all is provided with multiunit cutter 6 in every group cutter section of thick bamboo 4.

The deburring device further comprises a conveying mechanism (not shown in the figure), wherein the conveying mechanism conveys the die castings 5 on the bearing platforms 3, conveys the die castings 5 on one group of bearing platforms 3 to the other group of bearing platforms 3, or places the die castings 5 on the bearing platforms 3 outside the device.

Every group plummer 3 all includes shell 301, a plurality of groups air current hole have been seted up to shell 301 lower extreme, shell 301 lower extreme is connected with under casing 302, the inside cavity (not drawn in the picture) of having seted up of under casing 302, under casing 302 internally mounted has the subassembly of bleeding (not drawn in the picture) and runner assembly (not drawn in the picture), the subassembly and the cavity intercommunication bleed, the air current hole makes shell 301 inner space and cavity intercommunication, the subassembly of bleeding passes through air current hole and the inside air of cavity bleed shell 301, the runner assembly rotates with shell 301's lower extreme and is connected, runner assembly makes shell 301 rotate on under casing 302.

Casing 301 is insulating non-conductive casing, the round hole has been seted up to casing 301 lower extreme, be fixed with electric field ring 306 on the casing 301 inner wall, electric field ring 306 is connected with the power negative pole, the bottom case 302 upper end is in the outside of extensible member 304, a plurality of groups of electrode column 307 are installed to the inboard of casing 301 round hole, electrode column 307 is connected with the power positive pole, electrode column 307 and the contact of round hole inner wall, a plurality of groups of electrode column 307 carry out the restriction in position to casing 301, prevent that casing 301 from taking place offset on bottom case 302.

The middle part of under casing 302 installs extensible member 304, extensible member 304 is located the downthehole circle, the upper end of extensible member 304 is fixed with transmission board 305, the transmission board 305 outside is fixed with a plurality of groups of pillars, the pillar upper end is fixed with loading board 303, loading board 303 is located the middle part of cover 301 upper end, loading board 303 is the filter screen structure, the filter screen structure falls into the inside passageway that provides of cover 301 for the piece, die casting 5 is placed on loading board 303, extensible member 304 makes loading board 303 shrink into inside cover 301 and stretch out inside cover 301.

When the surface defect treatment of the die casting 5 is partially completed or completely completed, the bearing plate 303 is contracted into the sleeve 301, the die casting 5 is also taken into the sleeve 301, when the die casting 5 is positioned inside the sleeve 301, the sleeve 301 starts to rotate, the rotation of the sleeve 301 drives the airflow holes to move, and the airflow holes attract air, so that air rotational flow is generated inside the sleeve 301, the air flows outside the die casting 5, the air scours the surface of the die casting 5, the falling of the scraps on the surface of the die casting 5 is accelerated, and the effect of accelerating the surface cleaning of the die casting is achieved.

When the die casting 5 is positioned inside the casing 301, the transmission plate 305 is in contact with the electrode column 307, the transmission plate 305 and the support column conduct current to the die casting 5, the die casting 5 is communicated with a power positive electrode, a positive electric field is generated by the die casting 5, a negative electric field is generated by the electric field ring 306 inside the casing 301, after burrs on the die casting 5 are removed by the cutter 6, the burrs become movable positive electric fields, the die casting 5 repels the burrs through the positive electric field, meanwhile, the electric field ring 306 attracts the burrs through the negative electric field, the burrs are separated from the die casting 5 and are in contact with the electric field ring 306, the electric field ring 306 is grounded, after positive charges on the burrs are transmitted to the casing 301, the burrs are separated from the casing 301 under the action of gravity and wind power, the separation of the burrs from the casing 301 and the cleaning of the burrs on the die casting 5 are realized, and the scraps enter the cavity along with the air flow through the air flow hole, the cavity stores debris.

Each group of cutter barrels 4 comprises a plurality of groups of barrels 401, an upper plate 402 positioned above the barrels 401 and a bottom plate 403 positioned below the barrels 401, upper support columns 4011 and lower support columns 4012 are respectively fixed at the upper end and the lower end of each group of barrels 401, and the upper plate 402 is connected with the tail end of the manipulator 2.

The expansion groove that is the T type has all been seted up to the position that corresponds pillar 4011 on every group on upper plate 402, the outside that lies in the expansion groove on upper plate 402 is rotated and is installed and change board 4022, upper plate 402 internally mounted has rotor 4021, rotor 4021 is for trunning into the equipment of mechanical energy with the electric energy, such as motor, motor etc., rotor 4021 is fixed with changeing board 4022, the one end of pillar 4011 on every group all passes changeing board 4022 and lies in the expansion groove, the position that corresponds pillar 4011 on each on changeing board 4022 has been seted up and has been arc board groove 4023.

The rotator 4021 rotates the rotating plate 4022, each group of cylinders 401 slides in the expansion groove under the action of the arc-shaped plate groove 4023 and the upper support 4011, so that the distances among the groups of cylinders 401 are pulled, the cutter cylinders 4 are dispersed and disintegrated, the rotator 4021 rotates reversely, the groups of cylinders 401 are close to each other, the cutter cylinders 4 are folded, and a whole is formed again.

A T-shaped displacement groove 4031 is formed in the position, corresponding to each group of lower support posts 4012, on the base plate 403, the lower support posts 4012 are located in the displacement grooves 4031, and one ends of the plurality of groups of cylinders 401 are connected together through the base plate 403.

All install station axle 404 on every group barrel 401, base 4042 is installed to the one end that every group station axle 404 is close to upper support 4011, and base 4042 is fixed with barrel 401 wall, all installs a plurality of groups coil 4043 in the base 4042, and station axle 404 is fixed with coil 4043 lower extreme, and station axle 404 is made by the material (like plastics) that do not conduct, do not insulate magnetic field, and a plurality of groups coil 4043 are connected with control circuit electricity.

All slidable mounting has drive magnetic block 4041 in every group of station axle 404, and drive magnetic block 4041 and station axle 404 inner wall in close contact with, all overlap on every group of station axle 404 and be equipped with axle sleeve 4015, and axle sleeve 4015 inboard is provided with follow-up magnetic block 4016, and follow-up magnetic block 4016 and station axle 404 sliding connection, drive magnetic block 4041 and follow-up magnetic block 4016 all include for N utmost point magnetic block and S utmost point magnetic block.

Install backup pad 4013 on the axle sleeve 4015, every group backup pad 4013 lower extreme all is provided with and is provided with cutter 6 on the blade holder 4017 of regular octagon, and blade holder 4017 intercommunication power electrode, after 6 operations of cutter are accomplished and are taken in inside of a cutter section of thick bamboo 4, blade holder 4017 makes cutter 6 be connected with the power electrode.

The cutter 6 is communicated with the positive pole or the negative pole of a power supply, when the cutter 6 finishes processing burrs on the die casting 5, namely after the operation is finished, the cutter base 4017 enables the cutter 6 to be communicated with the power supply electrode, so that an electric field is generated on the cutter 6, and when debris remained on the cutter 6 is also filled with electric charges, the cutter 6 clears the debris through the repulsion action of the electric field, so that the cleaning work of the cutter 6 is finished.

A plurality of groups of coils 4043 form an annular structure, the inner diameter of the annular structure is smaller than that of the station shaft 404, the outer diameter of the annular structure is larger than that of the follow-up magnetic block 4016, and the coils 4043 attract or repel the follow-up magnetic block 4016 through magnetic field change.

Coil 4043 produces the magnetic field after the circular telegram, and coil 4043 attracts driving magnetic piece 4041 and follow-up magnetic piece 4016, and through the change in magnetic field on a plurality of groups of coil 4043, make driving magnetic piece 4041 rotate in station axle 404 under the drive of magnetic field, and follow-up magnetic piece 4016 drives axle sleeve 4015 and rotates in station axle 404 outside under the attraction of coil 4043 and driving magnetic piece 4041, and then drives backup pad 4013 and rotates in station axle 404 outside.

The follow-up magnetic block 4016 rotates on the outer side of the station shaft 404 under the double attraction of the coil 4043 and the driving magnetic block 4041, so that the load capacity of the shaft sleeve 4015 is increased, the shaft sleeve 4015 can still rotate on the outer side of the station shaft 404 under the condition of bearing the support plate 4013 and the cutter 6, and the support plate 4013 is mounted on the outer side of the station shaft 404 through the shaft sleeve 4015.

The inner space of the base 4042 is communicated with the inner space of the station shaft 404, a plurality of groups of bases 4042 in the cylinder 401 are communicated with an external air pipeline (not shown in the figure), the air pipeline is composed of a fan, a pipeline, an electromagnetic valve and a control system, air is infused into the base 4042 through the air pipeline, the air enters the station shaft 404 through the coil 4043, the air extrudes the driving magnetic block 4041, the driving magnetic block 4041 moves downwards in the station shaft 404, the follow-up magnetic block 4016 moves downwards under the attraction of the driving magnetic block 4041, the supporting plate 4013 moves downwards outside the station shaft 404, the air pipeline extracts the air in the base 4042, the driving magnetic block 4014041 moves upwards in the station shaft 404, the supporting plate 3 is reset under the driving of the follow-up magnetic block 4016, the supporting plate 4013 moves upwards and downwards outside the station shaft 404 through the driving magnetic block 4041 and the follow-up magnetic block 4016, so that the knives 6 are extended out of the knife cylinder 4 or retracted into the knife cylinder 4.

The one end that every group barrel 401 is close to bottom plate 403 has been seted up and has been arc-shaped breach, and a plurality of groups barrel 401 forms annular through-hole through the breach, and the one end that every group breach is close to bottom plate 403 all is provided with card platform 4014, and a plurality of groups card platform 4014 mutually support the through-hole that forms regular octagon, and bottom plate 403 middle part is seted up and is the draw-in groove 4032 of regular octagon. The clamping groove 4032 is a passage for the cutter to extend out of the cutter barrel, and the cutter is fixed by the through hole of the regular octagon and the clamping groove 4032 to prevent the cutter from rotating on the cutter barrel.

When a plurality of groups barrel 401 expand when the distance between the barrel 401 is widened promptly, backup pad 4013 rotates on station axis 404 earlier, make cutter 6 and blade holder 4017 just to draw-in groove 4032, afterwards, backup pad 4013 drives cutter 6 toward draw-in groove 4032 direction motion, make cutter 6 stretch out cutter section of thick bamboo 4 through draw-in groove 4032, when cutter 6 moves down draw-in groove 4032's direction promptly, a plurality of groups barrel 401 draw close each other, make cutter section of thick bamboo 4 fold the shaping once more, after barrel 401 is close to each other, barrel 401 carries out the centre gripping through ka tai 4014 to blade holder 4017, when preventing to carry out the operation to the die casting through the cutter, the cutter is concertina movement on cutter section of thick bamboo.

The working principle is as follows:

place the die casting 5 of treating processing on loading board 303, a cutter section of thick bamboo 4 is installed on manipulator 2 through upper plate 402, rotator 4021 makes a cutter section of thick bamboo 4 dispersion through rotating, backup pad 4013 rotates on station axle 404 earlier, make cutter 6 and blade holder 4017 just to draw-in groove 4032, afterwards, backup pad 4013 drives cutter 6 and moves toward draw-in groove 4032 direction, make cutter 6 stretch out cutter section of thick bamboo 4 through draw-in groove 4032, when cutter 6 moves down the direction of draw-in groove 4032 promptly, a plurality of groups of barrel 401 draw close each other, make cutter section of thick bamboo 4 fold the shaping once more, after barrel 401 is close to each other, barrel 401 carries out the centre gripping to blade holder 4017 through ka tai 4014.

The multiple groups of mechanical arms 2 drive the cutters 6 to treat surface defects of the die castings 5, when the cutters 6 need to be replaced, the rotating device 4021 works again to enable the cutter barrel 4 to be disassembled, the originally extended cutters 6 are reset under the driving of the supporting plate 4013, then the cutters 6 needing to be replaced move to the upper portion of the clamping groove 4032 under the driving of the supporting plate 4013, then the cutters 6 extend out of the cutter barrel 4 under the driving of the supporting plate 4013, and then the cutter barrel 4 is folded and formed again under the action of the rotating device 4021.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic many manipulators of allocation processing position are burring device in coordination which characterized in that: the deburring device comprises a workbench (1), wherein at least two groups of mechanical arms (2) are arranged on the workbench (1), a bearing table (3) is arranged on one side, located on each group of mechanical arms (2), of the workbench (1), a cutter barrel (4) is arranged on each group of mechanical arms (2), a die casting is placed on the bearing table (3), and a plurality of groups of cutters (6) are arranged in each group of cutter barrel (4);

every group plummer (3) all include cover shell (301), the middle part of cover shell (301) upper end is provided with loading board (303), and the die casting is placed on loading board (303), loading board (303) can be retracted inside cover shell (301), and the positive pole of power is connected to loading board (303), cover shell (301) inside sets up electric field ring (306), electric field ring (306) intercommunication power negative pole.

2. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 1, wherein: each group of cutter cylinders (4) comprises a plurality of groups of cylinders (401), an upper plate (402) positioned above the cylinders (401), and a bottom plate (403) positioned below the cylinders (401), wherein the upper end and the lower end of each group of cylinders (401) are respectively provided with an upper support column (4011) and a lower support column (4012);

the upper plate (402) is provided with T-shaped expansion grooves corresponding to the positions of each group of upper struts (4011), a rotating plate (4022) is arranged on the upper plate (402) and positioned outside the expansion grooves, a rotating device (4021) is arranged inside the upper plate (402), the rotating device (4021) is fixed with the rotating plate (4022), one end of each group of upper struts (4011) penetrates through the rotating plate (4022) and is positioned in the expansion grooves, and the rotating plate (4022) is provided with arc-shaped plate grooves (4023);

the position that corresponds every group lower prop (4012) on bottom plate (403) all seted up and is shifted groove (4031) that is the T type, lower prop (4012) are located shift groove (4031).

3. The multi-robot cooperative deburring device automatically allocating machining positions as claimed in claim 2, wherein: every group all be provided with station axle (404) on barrel (401), every group all the cover is equipped with axle sleeve (4015) on station axle (404), be provided with backup pad (4013) on axle sleeve (4015), station axle (404) is close to the one end of last pillar (4011) and is provided with base (4042), all be provided with a plurality of groups coil (4043) in base (4042), every group all be provided with initiative magnetic path (4041) in station axle (404), axle sleeve (4015) inboard is provided with follow-up magnetic path (4016), follow-up magnetic path (4016) and station axle (404) sliding connection, initiative magnetic path (4041) and follow-up magnetic path (4016) all include for N utmost point magnetic path and S utmost point magnetic path.

4. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 3, wherein: the coil (4043) of a plurality of groups form an annular structure, the inner diameter of the annular structure is smaller than that of the station shaft (404), the outer diameter of the annular structure is larger than that of the follow-up magnetic block (4016), and the coil (4043) attracts or repels the follow-up magnetic block (4016).

5. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 4, wherein: the inner space of the base (4042) is communicated with the inner space of the station shaft (404), the driving magnetic block (4041) is in close contact with the inner wall of the station shaft (404), and a plurality of groups of bases (4042) in the cylinder (401) are communicated with an external air pipeline.

6. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 5, wherein: every group barrel (401) are close to the one end of bottom plate (403) and have been seted up and are curved breach, and a plurality of groups barrel (401) form annular through-hole through the breach, and the one end that every group breach is close to bottom plate (403) all is provided with ka tai (4014), and a plurality of groups ka tai (4014) mutually support the through-hole that forms regular octagon, draw-in groove (4032) that are regular octagon are seted up at bottom plate (403) middle part.

7. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 6, wherein: every group backup pad (4013) lower extreme all is provided with blade holder (4017) that are regular octagon, be provided with cutter (6) on blade holder (4017).

8. The multi-robot cooperative deburring device capable of automatically allocating machining positions as claimed in claim 7, wherein: the tool apron (4017) is communicated with a power supply electrode, and when the tool (6) finishes operation and is retracted into the tool barrel (4), the tool apron (4017) enables the tool (6) to be connected with the power supply electrode.

9. The multi-robot cooperative deburring device automatically assigning machining positions as claimed in claim 8, wherein: the utility model discloses a portable electronic device, including cover case (301), bottom case (302), expansion piece (304), transmission board (305), bearing board (303), bottom case (302) upper end, the bottom case (301) lower extreme rotates and is connected with bottom case (302), the middle part of bottom case (302) is provided with expansion piece (304), the other end of expansion piece (304) is provided with transmission board (305), transmission board (305) are connected with bearing board (303) through a plurality of groups of pillars, bottom case (302) upper end is provided with a plurality of groups of electrode posts (307) in the outside of expansion piece (304), the inboard of cover case (301), electrode post (307) are connected with the positive pole of power.

10. The multi-robot cooperative deburring device automatically assigning machining positions as claimed in claim 9, wherein: the bearing plate (303) is of a filter screen structure, a cavity is formed in the bottom box (302), an air exhaust assembly and a rotating assembly are arranged in the bottom box (302), the air exhaust assembly is communicated with the cavity, a plurality of groups of airflow holes are formed in the lower end of the casing (301), the airflow holes enable the inner space of the casing (301) to be communicated with the cavity, and the rotating assembly is rotatably connected with the casing (301).