CN115256097A - Deburring system based on intelligent robot - Google Patents
Deburring system based on intelligent robot Download PDFInfo
- Publication number
- CN115256097A CN115256097A CN202110484266.8A CN202110484266A CN115256097A CN 115256097 A CN115256097 A CN 115256097A CN 202110484266 A CN202110484266 A CN 202110484266A CN 115256097 A CN115256097 A CN 115256097A
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- CN
- China
- Prior art keywords
- robot
- deburring
- intelligent robot
- cutter
- unloading
- 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.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000011179 visual inspection Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Images
Classifications
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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
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B49/12—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 involving optical means
-
- 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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot-based deburring system which comprises a master control module, a robot deburring system, a workpiece block changing system and a robot loading and unloading system, wherein the robot deburring system comprises a robot main body and a mechanical arm arranged on the robot main body, the mechanical arm is provided with a central rotating shaft, a deburring tool is arranged on one side of the central rotating shaft, the deburring tool comprises a plurality of tool bits, a cutter shaft for fixing the tool bits and a cutter holder for fixing the cutter shaft, the cutter shaft is connected with the central rotating shaft through the cutter holder, a guide installation groove is formed in the tail end of the cutter holder, and a guide installation block matched with the guide installation groove is arranged at the tail end of the cutter shaft.
Description
Technical Field
The invention relates to the technical field of deburring processing, in particular to a deburring system based on an intelligent robot.
Background
At present, burrs are generated in the machining process of metal parts, the appearance of the parts is influenced by the existence of the burrs, and the subsequent use, assembly, performance and service life are also influenced, so the deburring work of the parts is very important; the existing deburring method mainly adopts the modes of manual operation, mechanical processing and the like. The traditional deburring methods have a plurality of defects, such as low efficiency, poor precision and unclean deburring.
Therefore, a deburring system based on an intelligent robot is needed to solve the problems existing in the prior art.
Disclosure of Invention
The invention aims to solve the problems of the prior art and provides a deburring system based on an intelligent robot.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a based on intelligent robot burring system, includes total accuse module, robot burring system, work piece system of trading and the last unloading system of robot, robot burring system includes the robot main part, installs robotic arm in the robot main part, robotic arm is provided with central pivot, burring instrument is installed to one side of center pivot, burring instrument includes a plurality of tool bits, is used for fixing a plurality of the arbor of tool bit and fixing the blade holder of arbor, the arbor passes through the blade holder with central pivot is connected, the blade holder end is equipped with the direction mounting groove, the arbor end be equipped with direction mounting groove complex direction installation piece.
The guide mounting block is of a dovetail structure.
The cutter shaft comprises a front section and a rear section, two cutter heads are symmetrically installed on two sides of the front section, and one cutter head is installed on the front end face of the front section.
The rear section is hollowed, and the guide mounting block is arranged at the rear section.
The cutter heads on two sides of the front section are provided with first inclined planes, and the cutter head at the front end of the front section is provided with two symmetrical second inclined planes.
The robot loading and unloading system comprises a loading and unloading robot and a visual unit arranged on the loading and unloading robot.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: by arranging the robot deburring system and using the robot main body to perform deburring operation, the positioning accuracy is high, burrs are thoroughly removed, and the deburring efficiency is improved; the direction installation piece is the forked tail structure, through setting up the forked tail structure, guarantees arbor installation convenience and steadiness.
Drawings
FIG. 1 is a schematic structural diagram of a deburring system based on an intelligent robot in the invention;
FIG. 2 is a schematic structural diagram of a robot deburring system of the present invention;
FIG. 3 is an enlarged schematic view of the area A in FIG. 2;
FIG. 4 is a schematic diagram of the visual inspection system of FIG. 1;
fig. 5 is a bottom view of the visual inspection system of fig. 4.
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 5, the invention relates to an intelligent robot-based deburring system, which comprises a general control module 10, a robot deburring system 20, a visual inspection system 30, a deburring grinding machine 40, a workpiece block exchanging system 50 and a robot loading and unloading system 60.
The master control module 10 comprises a robot deburring control module 11, a vision detection module 12, a workpiece quick-change control module 13 and a robot loading and unloading control module 14.
Referring to fig. 2, the robot deburring system 20 includes a robot main body 21, and a robot arm 22 mounted on the robot main body 21, wherein the robot arm 22 is provided with a central rotation shaft 23, and a deburring tool 24 is mounted on one side of the central rotation shaft 23. The bottom installation of robot main part 21 is fixed with support base 25, sets up support base 25 and plays the effect of fixed stay, keeps stable in structure when using.
The robot main body 21 receives a work control signal of the robot deburring control module 11, automatically performs deburring work according to the control signal, and feeds back a signal to the robot deburring control module 11.
Referring to fig. 3, the deburring tool 24 includes a plurality of tool bits 241, a cutter shaft 242 for fixing the plurality of tool bits 241, and tool rests 243 for fixing the cutter shaft 242, the cutter shaft 242 is connected to the central rotating shaft 23 through the tool rests 243, guide mounting grooves 2421 are formed in the ends of the tool rests 243, guide mounting blocks 2422 matched with the guide mounting grooves 2421 are formed in the ends of the cutter shaft 242, the guide mounting blocks 2422 are dovetail structures, and the installation convenience and stability of the cutter shaft 242 are ensured by providing the dovetail structures.
The cutter shaft 242 comprises a front section 2411 and a rear section 2412, two cutter heads 241 are symmetrically arranged on two sides of the front section 2411, one cutter head 241 is arranged on the front end face of the front section 2411, and burrs are removed in multiple directions by arranging the cutter heads 241 on three sides of the cutter shaft 242. The rear section 2412 is hollowed to reduce the weight of the arbor 242, and a guide mounting block 2422 is provided on the rear section 2412.
Referring to fig. 3, the cutter head 241 on both sides of the front section 2411 is provided with a first inclined surface 2413, the cutter head 241 at the front end of the front section 2411 is provided with two symmetrical second inclined surfaces 2414, and the first inclined surface 2413 and the second inclined surface 2414 are used for processing burrs, so that the effect is better.
The vision inspection module 12 controls the vision inspection system 30 to adjust the timely adjustment position to obtain the best photographing position. Referring to fig. 4, the vision inspection system 30 includes an image acquisition module 31 and an image display and analysis module 32. Image acquisition module 31 is used for acquireing the image, including camera light source support 311, annular light source board 312 and the camera 313 of setting on camera light source support 311, is equipped with camera fixed bolster 3121 on the annular light source board 312, and camera 313 fixes on camera fixed bolster 3121, is equipped with spout 301 on the camera light source support 311, is equipped with slider 302 on the camera fixed bolster 3121, slider 302 and spout 301 sliding connection. The annular light source plate 312 and the camera 313 synchronously slide along the camera light source support 311, the relative positions of the annular light source plate 312 and the camera 313 are always kept unchanged while the camera moves, and the camera 313 can be guaranteed to take pictures under the best illumination.
Referring to fig. 5, the camera fixing bracket 3121 includes a cross frame 303 and a vertical frame 304 perpendicular to the cross frame 303, and a camera 313 is fixed at an intersection of the cross frame 303 and the vertical frame 304. The central line of the transverse frame 303 is parallel to the central line of the sliding groove 301, and the sliding block 302 is fixed on the vertical frame 304.
The image display and analysis module 32 is used for performing image processing on the data of the image acquisition module 31 and displaying the image processing result. The workpiece quick-change control module 13 provides signals for the workpiece quick-change system 50, and the workpiece block-change system 50 rapidly outputs the processed workpiece and fixes the new workpiece.
Referring to fig. 1, the robot loading and unloading system 60 includes a loading and unloading robot 61 and a vision unit 62 provided to the loading and unloading robot 61, and the vision unit 62 automatically recognizes a workpiece and provides reference position information of the workpiece to the loading and unloading robot 61.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a based on intelligent robot burring system which characterized in that: including total accuse module, robot burring system, work piece system of trading and the unloading system of going up of robot, robot burring system includes the robot main part, installs robotic arm in the robot main part, robotic arm is provided with central pivot, burring instrument is installed to one side of central pivot, burring instrument includes a plurality of tool bits, is used for fixed a plurality of the arbor of tool bit and fixed the blade holder of arbor, the arbor passes through the blade holder with central pivot is connected, the blade holder end is equipped with the direction mounting groove, the arbor end be equipped with direction mounting groove complex direction installation piece.
2. The intelligent robot-based deburring system of claim 1, wherein: the guide mounting block is of a dovetail structure.
3. The intelligent robot-based deburring system of claim 2, wherein: the cutter shaft comprises a front section and a rear section, two cutter heads are symmetrically arranged on two sides of the front section, and one cutter head is arranged on the front end face of the front section.
4. The intelligent robot-based deburring system of claim 3, wherein: the rear section is hollowed, and the guide mounting block is arranged at the rear section.
5. The intelligent robot-based deburring system of claim 4, wherein: the cutter head of anterior segment both sides is provided with first inclined plane, the cutter head of anterior segment front end is provided with the second inclined plane of two symmetries.
6. The intelligent robot-based deburring system of claim 1, wherein: the robot loading and unloading system comprises a loading and unloading robot and a visual unit arranged on the loading and unloading robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110484266.8A CN115256097A (en) | 2021-04-30 | 2021-04-30 | Deburring system based on intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110484266.8A CN115256097A (en) | 2021-04-30 | 2021-04-30 | Deburring system based on intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115256097A true CN115256097A (en) | 2022-11-01 |
Family
ID=83746065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110484266.8A Pending CN115256097A (en) | 2021-04-30 | 2021-04-30 | Deburring system based on intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115256097A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3710688A1 (en) * | 1987-03-31 | 1988-10-13 | Manutec Gmbh | Robot-guidable tool |
| CN101524769A (en) * | 2009-04-20 | 2009-09-09 | 刘新平 | Inner-cooling indexable step drill and method for fabricating step hole |
| CN103909307A (en) * | 2013-01-09 | 2014-07-09 | 广西玉柴机器股份有限公司 | Composite finish reaming tool of stepped deep holes |
| CN104972362A (en) * | 2014-04-14 | 2015-10-14 | 沈阳远大科技园有限公司 | Intelligent force control robot grinding system and method |
| CN106041948A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Robot deburring system and method through visual inspection |
| CN107717665A (en) * | 2017-11-08 | 2018-02-23 | 重庆因达贝斯智能科技有限公司 | Deburring work station and burr removing method based on intelligent robot |
| CN207087504U (en) * | 2017-08-10 | 2018-03-13 | 上海翊流机器人科技有限公司 | A kind of robot of deburring track correct |
| CN110948303A (en) * | 2019-12-19 | 2020-04-03 | 芜湖哈特机器人产业技术研究院有限公司 | Automobile wheel hub system of polishing |
| CN111421425A (en) * | 2020-03-11 | 2020-07-17 | 东北大学 | Metal surface grinding system based on industrial vision |
| CN211540720U (en) * | 2019-12-04 | 2020-09-22 | 广东罗庚机器人有限公司 | Robot polisher station |
-
2021
- 2021-04-30 CN CN202110484266.8A patent/CN115256097A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3710688A1 (en) * | 1987-03-31 | 1988-10-13 | Manutec Gmbh | Robot-guidable tool |
| CN101524769A (en) * | 2009-04-20 | 2009-09-09 | 刘新平 | Inner-cooling indexable step drill and method for fabricating step hole |
| CN103909307A (en) * | 2013-01-09 | 2014-07-09 | 广西玉柴机器股份有限公司 | Composite finish reaming tool of stepped deep holes |
| CN104972362A (en) * | 2014-04-14 | 2015-10-14 | 沈阳远大科技园有限公司 | Intelligent force control robot grinding system and method |
| CN106041948A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Robot deburring system and method through visual inspection |
| CN207087504U (en) * | 2017-08-10 | 2018-03-13 | 上海翊流机器人科技有限公司 | A kind of robot of deburring track correct |
| CN107717665A (en) * | 2017-11-08 | 2018-02-23 | 重庆因达贝斯智能科技有限公司 | Deburring work station and burr removing method based on intelligent robot |
| CN211540720U (en) * | 2019-12-04 | 2020-09-22 | 广东罗庚机器人有限公司 | Robot polisher station |
| CN110948303A (en) * | 2019-12-19 | 2020-04-03 | 芜湖哈特机器人产业技术研究院有限公司 | Automobile wheel hub system of polishing |
| CN111421425A (en) * | 2020-03-11 | 2020-07-17 | 东北大学 | Metal surface grinding system based on industrial vision |
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Application publication date: 20221101 |