CN117340551A - Burr removing method and apparatus - Google Patents

Abstract

The application relates to a burr removing method and a burr removing device, wherein the burr removing method comprises the following steps: acquiring burr information on a workpiece to be deburred, wherein the burr information comprises burr type information, burr size information and burr position information; according to the burr information, dividing the burr information into at least linear burrs, sheet burrs and bulk burrs; selecting a deburring preset tool according to the burr information, wherein the preset tool at least comprises a first polishing tool, a second polishing tool and a third polishing tool which are respectively matched with different preset processing tracks; abutting a preset tool against the workpiece according to a preset gesture; acquiring the pressure generated by the preset tool at the position of abutting against the workpiece; and adjusting the pressure generated by the preset tool at the position abutting against the workpiece in real time to reach the preset pressure, and removing burrs from the workpiece according to the corresponding preset processing track. According to the burr removing method, different burr removing tools are selected according to different burrs to carry out burr removing operation, labor intensity is reduced, and production efficiency is improved.

Description

Burr removing method and apparatus

Technical Field

The application relates to the technical field of burr removal, in particular to a burr removal method and a burr removal device.

Background

In actual production, burrs on a workpiece are often required to be removed, and after the burrs on the workpiece are removed in a large area, the burrs which are not completely removed and cannot be removed are often present on the workpiece. At present, the workpiece subjected to large-area deburring is usually retested manually, and when burrs which are not completely removed and cannot be removed exist on the workpiece, different types of deburring tools are manually used for performing adaptive deburring operation on the workpiece. However, due to the variability of the type, the size and the position of the burrs, the manual operation intensity and the deburring difficulty are greatly increased, and even if the robot drives the tool to perform deburring operation, the deburring tool on the robot needs to be frequently replaced according to the different types, the sizes and the positions of the burrs, so that the manual operation intensity is greatly increased, and the production efficiency is influenced.

Disclosure of Invention

In view of the above, it is necessary to provide a burr removing method and a burr removing device, which can select different types of tools according to different types of burrs to perform the burr removing operation, thereby reducing the labor intensity of workers and improving the production efficiency.

The embodiment of the application provides a burr removal method, which comprises the following steps: acquiring burr information on a workpiece to be deburred, wherein the burr information comprises burr type information, burr size information and burr position information; dividing the burr information into at least linear burrs, sheet burrs and bulk burrs according to the burr information; selecting a predetermined tool for deburring according to the burr information, wherein the predetermined tool at least comprises a first polishing tool, a second polishing tool and a third polishing tool, and the first polishing tool, the second polishing tool and the third polishing tool are respectively matched with different preset processing tracks; abutting the preset tool against the workpiece according to a preset gesture; acquiring a pressure generated by the predetermined tool at the position of abutting the workpiece; and adjusting the pressure generated by the preset tool at the position abutting against the workpiece in real time to reach the preset pressure, and removing burrs of the workpiece according to the corresponding preset processing track.

The embodiment of the application simultaneously provides a burr removing device, which comprises a tool library, a robot, a vision mechanism and a controller; the tool library is used for placing predetermined tools for deburring, and the predetermined tools at least comprise a first polishing tool, a second polishing tool and a third polishing tool; the robot comprises a mechanical arm and a force sensor, wherein the mechanical arm is used for driving the preset tool to move, and the force sensor is used for detecting the pressure generated by the preset tool at the position of abutting against a workpiece to be deburred; the vision mechanism is used for acquiring burr information on the workpiece, and the burr information comprises burr type information, burr size information and burr position information; the controller is respectively coupled with the robot and the vision mechanism, and is used for receiving the burr information obtained by the vision mechanism, dividing the burr information into at least linear burrs, sheet burrs and bulk burrs according to the burr information, controlling the robot to select the preset tool for deburring according to the burr information, controlling the robot to abut the preset tool against the workpiece according to a preset gesture, receiving the pressure, which is obtained by the force sensor, of the preset tool and generated in real time at the position abutting the workpiece, and adjusting the pressure, which is generated by the preset tool against the workpiece, in real time to reach a preset pressure according to the pressure, and controlling the robot to drive the preset tool to remove burrs on the workpiece according to a preset processing track.

According to the burr removing method and the burr removing device, the corresponding burr removing preset tool is selected according to the burr information, the preset tool is abutted against the workpiece according to the preset gesture, the preset pressure is adjusted in real time according to the pressure generated by the preset tool at the abutted workpiece, the preset tool removes burrs on the workpiece according to the preset processing track, the burr removing operation is effectively carried out by selecting different types of burr removing tools according to different types of burrs and the preset processing track, the labor intensity is effectively reduced, and the production efficiency is improved.

Drawings

Fig. 1 is a schematic flow chart of a burr removal method according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a burr removing device provided in an embodiment of the present application.

Fig. 3 is a schematic view of a first grinding tool deburring a rim of a workpiece.

Fig. 4 is a schematic view of a second grinding tool deburring a stud of a workpiece.

Fig. 5 is a schematic view of a third grinding tool deburring a pin bore of a workpiece.

Description of the main reference signs

Burr removing device 100

Tool magazine 10

Rack 11

Robot 20

Mechanical arm 21

Force sensor 23

Connecting sleeve 25

Quick-change master disk 27

Quick-change male disk 29

Vision mechanism 30

Controller 40

Work platform 50

Calibration mechanism 60

Calibration sensor 61

Support base 63

Code sweeping mechanism 70

Code scanner 71

Connecting rod rest 73

Feeding and discharging mechanism 80

Loading level 801

Deburring bit 803

Transfer assembly 81

Sliding table 83

Rotating assembly 85

Bearing table 87

Positioning assembly 88

Negative pressure assembly 89

Shaping mechanism 90

Bracket 91

Housing 93

Opening 931

Friction wheel 95

Drive member 97

Dust collection assembly 99

First grinding tool 201

Second grinding tool 203

Third grinding tool 205

Workpiece 300

Frame 301

Post 303

Aperture 305

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "orientation" or "positional relationship" as used herein are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, it is to be noted that the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" should be construed broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; the connection may be mechanical connection, electrical connection or communication, direct connection, indirect connection via an intermediate medium, communication between two elements or interaction relationship between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present application provides a burr removing method, which is used for removing burrs on a workpiece, and selecting different types of tools according to different types of burrs to perform burr removing operation, so as to reduce labor intensity and improve production efficiency. For the equipment needing to perform the burr removal, the burr removal function provided by the burr removal method can be directly integrated on the equipment, or a client for realizing the burr removal method can be arranged. For another example, the burr removing method provided in the embodiment of the present application may also be run on a device in the form of a software development kit (SDK, software Development Kit), an interface for providing the burr removing function in the form of an SDK, and a processor or other devices may implement the burr removing function through the provided interface.

Referring to fig. 1, the burr removing method provided in the embodiment of the present application includes the following steps S10 to S60.

Step S10, burr information on the workpiece to be deburred is obtained, wherein the burr information comprises burr type information, burr size information and burr position information.

In the embodiment of the present application, referring to fig. 3, a workpiece 300 is taken as an example of a middle frame of an electronic product, such as a mobile phone, and it is obvious that this is not a limitation of the embodiment of the present application. The middle frame generally includes a frame 301, a protrusion 303 located inside the frame 301, and a small hole 305 penetrating the frame 301, where burrs exist after CNC processing, and the burrs are distributed in the frame 301, the protrusion 303, and the small hole 305. After the middle frame is processed, polishing and deburring operations with large area can be performed, burrs on the frame 301 can be removed approximately after polishing and deburring operations with large area, burrs which are not completely removed may exist on the frame 301, for example, burrs existing in the convex columns 303 and the small holes 305 cannot be removed.

Specifically, the obtaining of the burr information on the workpiece 300 to be deburred may be achieved by shooting the workpiece 300 to be deburred, so as to obtain an image of the workpiece 300, and the image is analyzed to obtain the burr information on the workpiece 300, where the burr type information at least includes that the burrs are linear, that the burrs are sheet-shaped and that the burrs are bulk, that the burr size information is the area size occupied by the current type of burrs on the workpiece 300, and that the burr position information is the specific position of the current type of burrs on the workpiece 300. For example, the burr information is: the burr is linear/sheet/bulk, the area of the burr is a calculated value, the burr is located in a coordinate or a coordinate area determined by a reference point of the workpiece 300, wherein the reference point of the workpiece 300 can be understood as a center point of the workpiece 300, and a three-dimensional coordinate system is established by the center point, so that a coordinate or a coordinate area corresponding to any position or any area on the workpiece 300 is determined. It will be appreciated that the burr type information may also include at least bright lines, which are color differences on the workpiece 300 that may be removed by grinding.

And S20, dividing the burr information into at least linear burrs, sheet burrs and bulk burrs according to the burr information.

Specifically, according to the acquired burr information and according to the burr type information, the burr information is divided into linear burrs, sheet burrs and bulk burrs, and it is understood that the linear burrs, the sheet burrs and the bulk burrs all contain the type information, the size information and the position information of the burrs, and the information is related to the linear burrs, the sheet burrs and the bulk burrs. It will be appreciated that the glitch information may also be divided into bright line glitches.

In step S30, predetermined tools for deburring are selected according to the deburring information, and the predetermined tools include at least a first polishing tool 201 (see fig. 3), a second polishing tool 203 (see fig. 4), and a third polishing tool 205 (see fig. 5), and the first polishing tool 201, the second polishing tool 203, and the third polishing tool 205 are respectively matched with different predetermined processing tracks.

Specifically, after the burrs on the workpiece 300 to be deburred are classified according to the burr information, a corresponding predetermined tool is selected according to the burr classification, for example, when the burr information is a linear burr, the first polishing tool 201 is selected, when the burr information is a sheet burr, the second polishing tool 203 is selected, when the burr information is a bulk burr, the third polishing tool 205 is selected, wherein the first polishing tool 201, the second polishing tool 203 and the third polishing tool 205 are respectively matched with different preset processing tracks, that is, the processing tracks of the first polishing tool 201, the second polishing tool 203 and the third polishing tool 205 when the burr removal operation is performed are different, and the burr removal method can be matched with different processing tracks according to different predetermined tools.

Step S40, abutting the predetermined tool against the workpiece 300 according to the preset posture.

Specifically, after the corresponding predetermined tool is selected according to the burr information, the predetermined tool is abutted against the workpiece 300 according to the preset posture, for example, when the first polishing tool 201 is selected according to the burr information as the linear burr, the first polishing tool 201 is abutted against the frame 301 according to the preset posture, when the second polishing tool 203 is selected according to the burr information as the sheet burr, the second polishing tool 203 is abutted against the boss 303 of the workpiece 300 according to the preset posture, and when the third polishing tool 205 is selected according to the burr information as the bulk burr, the third polishing tool 205 is inserted into the small hole 305 of the workpiece 300 and abutted against the hole wall.

Step S50, the pressure generated by the predetermined tool at the abutment against the workpiece 300 is acquired.

Specifically, in order to effectively remove burrs, the predetermined tool needs to be abutted against the workpiece 300, a pressure is generated when the predetermined tool abuts against the workpiece 300, and the pressure generated by the predetermined tool at the abutting tool can be detected by the force sensor.

Step S60, adjusting the pressure of the predetermined tool at the position abutting the workpiece 300 in real time to reach the preset pressure, and removing burrs from the workpiece 300 according to the preset processing track.

Specifically, when the pressure generated by the predetermined tool at the position of abutting against the workpiece 300 is small, the predetermined tool cannot effectively remove burrs on the workpiece 300, so that the burr removing effect is poor, when the pressure generated by the predetermined tool at the position of abutting against the workpiece 300 is large, the predetermined tool scratches the workpiece 300, so that the workpiece 300 is bad, the workpiece 300 is scrapped, corresponding pressures can be set for different predetermined tools, when the pressure generated by the predetermined tool at the position of abutting against the workpiece 300 is adjusted to reach the preset pressure in real time, the predetermined tool performs the burr removing on the workpiece 300 according to the preset processing track, wherein the predetermined tool is slowly abutted against the workpiece 300 when abutting against the workpiece 300, and the pressure generated by the abutting is continuously increased until the pressure generated by the real-time adjustment of abutting against reaches the preset pressure. By slowly abutting the work 300, it is possible to avoid damage to the predetermined tool and the work 300 due to strong collision between the predetermined tool and the work 300.

In this way, by executing step S10-step S60, the corresponding predetermined tool for deburring is selected according to the burr information, the predetermined tool is abutted against the workpiece 300 according to the preset gesture, the pressure generated by the predetermined tool abutted against the workpiece 300 is adjusted in real time to reach the preset pressure, the predetermined tool performs deburring on the workpiece 300 according to the preset processing track, effective deburring operation is performed by selecting different types of tools for deburring and the preset processing track according to different types of burrs, labor intensity of workers is effectively reduced, and production efficiency is improved.

In some embodiments, the burr removal method may further perform the following step S35 after performing step S30.

And step S35, calibrating the selected preset tool to determine the current reference of the selected preset tool.

Specifically, after the predetermined tool, such as the first polishing tool 201, performs the corresponding deburring operation on the workpiece 300 for a long period of time, the predetermined tool may wear, so that the predetermined tool cannot effectively abut against the workpiece 300 and perform the deburring operation according to the preset machining track on the basis of the previous reference, which may be understood as the reference coordinates when the predetermined tool moves, such as by being driven by the mechanical arm. After the corresponding predetermined tool is selected, the selected predetermined tool may be calibrated to determine a current reference for the selected predetermined tool to enable the predetermined tool to effectively abut the workpiece 300 and perform a deburring operation according to a preset machining trajectory.

In some embodiments, please refer to fig. 3 in combination, when the burr information is a linear burr, for example, when the burr is distributed on the intersecting arc surface of the frame 301, the burr removing method specifically performs the following steps S102-S108.

In step S102, a first polishing tool 201 is selected according to the burr information being a linear burr, the first polishing tool 201 including oilstone.

Specifically, when the burr information is a line type burr, the corresponding first grinding tool 201 is selected, for example, oilstone is selected. In the embodiment of the application, the roughness range of the oilstone is 400-600 meshes, so that the oilstone can effectively remove linear burrs.

In step S104, the first grinding tool 201 is abutted against the workpiece 300 in a posture of a preset angle with respect to the workpiece 300.

Specifically, after the first grinding tool 201, such as the whetstone, is selected, the whetstone is abutted against the rim 301 of the workpiece 300 in a posture that is at a preset angle with respect to the rim 301 of the workpiece 300, in this embodiment, the whetstone is in an angle range of 15 ° to 30 ° with respect to the rim 301 of the workpiece 300 when abutted against the workpiece 300, so that the whetstone can be effectively abutted against the workpiece 300.

In step S106, the pressure generated by the first grinding tool 201 at the abutment against the workpiece 300 is acquired.

Specifically, in the embodiment of the present application, the pressure generated by the oilstone at the abutment against the workpiece 300 ranges from 0.3kg to 0.5kg, so that the oilstone can effectively remove the linear burrs.

In step S108, the pressure generated by the first polishing tool 201 abutting against the workpiece 300 is adjusted in real time to reach the preset pressure, and the first polishing tool 201 performs deburring on the workpiece 300 according to a first track, wherein the first track is a first distance repeatedly advancing and a second distance retreating, and the first distance is greater than or equal to the second distance.

Specifically, when the pressure generated by the first polishing tool 201 abutting against the workpiece 300 is adjusted in real time to reach a preset pressure, for example, when the pressure generated by the whetstone abutting against the frame 301 of the workpiece 300 reaches 0.4kg, the whetstone repeatedly rubs against the frame 301 of the workpiece 300 according to a track repeatedly advancing a first distance, for example, 2mm, and retracting a second distance, for example, 1mm, until the burr is terminated. It will be appreciated that when the size of the burr is relatively small, for example less than 5mm, the whetstone may be repeatedly rubbed against the rim 301 of the workpiece 300 by a first trajectory that repeatedly advances a first distance and retreats a second distance, where the first distance may be 5mm and the second distance may be 5mm.

In other embodiments, the first abrasive tool 201 may further include sandpaper having a roughness in the range of 2500 mesh to 3500 mesh, a pressure in the sandpaper generated against the workpiece 300 in the range of 0.3kg to 0.5kg, and an angle in the sandpaper in the range of 60 ° to 75 ° relative to the workpiece 300 when against the workpiece 300.

In some embodiments, referring to fig. 4 in combination, when the burr information is a sheet burr, for example, the burrs are distributed on the convex pillars 303 of the frame 301, it is understood that the burrs on the convex pillars 303 are formed after CNC processing, and the burr removing method specifically performs the following steps S202-S208.

Step S202, selecting a second grinding tool 203 according to the burr information, wherein the second grinding tool 203 comprises a file.

Specifically, when the burr information is a sheet-like burr, a corresponding second grinding tool 203, for example, a file is selected. In the embodiment of the application, the roughness range of the file is 60-200 meshes, so that the file can effectively remove the slice burrs.

In step S204, the second polishing tool 203 is abutted against the workpiece 300 at a preset angle with respect to the workpiece 300.

Specifically, after the second grinding tool 203, such as a file, is selected, the file is abutted against the stud 303 of the workpiece 300 in a posture of a preset angle with respect to the stud 303 of the workpiece 300, and in this embodiment, the angle range of the file with respect to the stud 303 of the workpiece 300 is 0 ° -30 ° when the file is abutted against the workpiece 300, so that the file can be effectively abutted against the workpiece 300.

In step S206, the pressure generated by the second polishing tool 203 at the abutment against the workpiece 300 is acquired.

Specifically, in the embodiment of the present application, the pressure generated by the file at the point of abutment against the workpiece 300 ranges from 0.5kg to 0.8kg, so that the file can effectively remove the chip-shaped burrs.

In step S208, the pressure generated by the second polishing tool 203 abutting against the workpiece 300 is adjusted in real time to reach the preset pressure, and the second polishing tool 203 performs deburring on the workpiece 300 according to a second track, wherein the second track is a third distance for repeating the forward and backward movement.

Specifically, when the pressure of the second grinding tool 203 at the position where it abuts against the workpiece 300 is adjusted in real time to reach a preset pressure, for example, when the pressure of the file at the position where it abuts against the stud 303 of the workpiece 300 reaches 0.6kg, the file repeatedly rubs against the stud 303 of the workpiece 300 in a trajectory in which the file repeatedly advances and retreats by a third distance until the deburring is completed.

In some embodiments, please refer to fig. 5 in combination, when the burr information is a cluster burr, for example, when the burr is distributed on the hole wall of the small hole 305 of the frame 301, the burr removing method specifically performs the following steps S302-S310.

In step S302, according to the burr information being a bulk burr, a third polishing tool 205 is selected, and the third polishing tool 205 includes a toothpick.

Specifically, when the burr information is a glob burr, a corresponding third grinding tool 205 is selected, such as a toothpick. It will be appreciated that toothpicks are elongate articles having a pointed end and are capable of being inserted into corresponding pin holes.

In step S304, the third grinding tool 205 is inserted into the workpiece 300 in a vertical posture with respect to the workpiece 300.

In step S306, according to the third polishing tool 205 being inserted into the workpiece 300, the third polishing tool 205 is abutted against the workpiece 300 in a posture at a preset angle with respect to the workpiece 300.

Specifically, after the third polishing tool 205, for example, a toothpick, is selected, the toothpick is first inserted into the aperture 305 of the frame 301 vertically, and then the toothpick is inclined so that the toothpick abuts against the aperture wall of the aperture 305 in a posture of a preset angle relative to the aperture wall of the aperture 305, in this embodiment, the angle range of the toothpick with respect to the aperture wall of the aperture 305 is 0 ° -30 ° when the toothpick abuts against the aperture wall of the aperture 305, so that the toothpick can effectively abut against burrs in the aperture 305.

In step S308, the pressure generated by the third grinding tool 205 at the abutment against the workpiece 300 is acquired.

Specifically, in the embodiment of the application, the pressure generated by the toothpick at the hole wall abutting the small hole 305 is in the range of 0.1kg-0.3kg, so that the toothpick can effectively pick out the bulk burrs from the small hole 305.

In step S310, the third polishing tool 205 picks out the burrs from the workpiece 300 in an arc or circular track according to the current posture according to the pressure generated by the third polishing tool 205 at the point of abutting against the workpiece 300 and adjusted in real time to reach the preset pressure.

Specifically, when the pressure generated by the third polishing tool 205 at the hole wall abutting against the small hole 305 is adjusted in real time to reach a preset pressure, for example, when the pressure generated by the toothpick at the hole wall abutting against the small hole 305 reaches 0.2kg, the toothpick picks out burrs from the small hole 305 in an arc-shaped or circular track according to the current gesture, and it can be understood that when the toothpick abuts against the bulk burrs, the toothpick rises in a spiral manner in an arc-shaped or circular track along the hole wall of the small hole 305, so as to pick out the bulk burrs in the small hole 305.

Fig. 1 details the burr removal method of the present application. According to the deburring method, corresponding deburring preset tools are selected according to the deburring information, the preset tools are abutted against the workpiece 300 according to the preset postures, the preset pressure is adjusted in real time according to the pressure generated by the preset tools at the position of being abutted against the workpiece 300, the preset tools are used for deburring the workpiece 300 according to the preset processing track, the deburring tools of different types are selected according to the different types of burrs, and the preset processing track is used for carrying out effective deburring operation, so that the labor intensity of workers is effectively reduced, and the production efficiency is improved.

Referring to fig. 2, the present embodiment also provides a burr removal device 100. The burr removing device 100 is used for removing burrs on a workpiece 300, and selecting different types of tools according to different types of burrs to perform burr removing operation, so that the labor intensity of workers is reduced. The burr removing device 100 provided in the embodiment of the present application may also implement the burr removing method described above to remove burrs on the workpiece 300. The burr removal device 100 includes a tool library 10, a robot 20, a vision mechanism 30, and a controller 40.

The tool magazine 10 is used for placing predetermined tools for deburring, the predetermined tools including at least a first grinding tool 201, a second grinding tool 203 and a third grinding tool 205. The robot 20 includes a robot arm 21 and a force sensor 23, the force sensor 23 is provided on the robot arm 21, the robot arm 21 is used for connecting a predetermined tool and driving the predetermined tool and the force sensor 23 to move, and the force sensor 23 is used for detecting the pressure generated by the predetermined tool at a position abutting against a workpiece 300 to be deburred. The vision mechanism 30 is used to obtain burr information on the workpiece 300, which includes burr type information, burr size information, and burr position information. The controller 40 is coupled to the robot 20 and the vision mechanism 30, and the controller 40 is configured to receive the burr information acquired by the vision mechanism 30, divide the burr information into at least linear burrs, sheet burrs, and bulk burrs according to the burr information, control the robot 20 to select a predetermined tool for deburring according to the burr information, and control the robot 20 to abut the predetermined tool against the workpiece 300 according to a preset gesture, and receive the pressure generated by the predetermined tool abutting against the workpiece 300 and acquired by the force sensor 23, and adjust the pressure to reach the preset pressure in real time according to the pressure generated by the predetermined tool abutting against the workpiece 300, and control the robot 20 to drive the predetermined tool to perform deburring on the workpiece 300 according to a preset processing track.

According to the burr removing device 100, through the mutual matching among the robot 20, the vision mechanism 30 and the controller 40, the controller 40 controls the robot 20 to select a corresponding burr removing preset tool according to the burr information acquired by the vision mechanism 30, the controller 40 controls the robot 20 to abut against the workpiece 300 according to the preset gesture, the controller 40 adjusts the pressure generated by the preset tool abutting against the workpiece 300 according to the force sensor 23 in real time to reach the preset pressure, and the controller 40 controls the robot 20 to drive the preset tool to remove burrs on the workpiece 300 according to the preset processing track, so that the burr removing operation is effectively performed by selecting the burr removing tools of different types and the preset processing track according to the burrs of different types, the labor intensity of workers can be effectively reduced, and the production efficiency is improved. Wherein the first grinding tool 201, the second grinding tool 203 and the third grinding tool 205 are matched with different preset processing tracks respectively.

In the embodiment of the present application, the workpiece 300 is taken as a middle frame of an electronic product, such as a mobile phone, which is obviously not limited to the embodiment of the present application. The middle frame generally includes a frame 301, a protrusion 303 located inside the frame 301, and a small hole 305 penetrating the frame 301, where burrs exist after CNC processing, and the burrs are distributed in the frame 301, the protrusion 303, and the small hole 305. After the middle frame is processed, polishing and deburring operations can be performed in a large area, burrs on the frame 301 can be removed approximately after polishing and deburring operations are performed in a large area, burrs which are not completely removed can exist on the frame 301, and burrs existing in the convex columns 303 and the small holes 305 cannot be removed.

In the embodiment of the present application, the first grinding tool 201 includes an oilstone having a roughness range of 400 mesh to 600 mesh, an angle range of 15 ° to 30 ° with respect to the workpiece 300 when abutting the workpiece 300, a pressure range of 0.3kg to 0.5kg generated by the oilstone at the abutting the workpiece 300, a roughness range of 2500 mesh to 3500 mesh, a pressure range of 0.3kg to 0.5kg generated by the sandpaper at the abutting the workpiece 300, and an angle range of 60 ° to 75 ° with respect to the workpiece 300 when abutting the workpiece 300.

In this embodiment, the second abrasive tool 203 comprises a file having a roughness in the range of 60 mesh to 200 mesh, a pressure in the range of 0.5kg to 0.8kg generated by the file when abutting the stud 303 of the workpiece 300, and an angle in the range of 0 ° to 30 ° relative to the workpiece 300 when abutting the stud 303 of the workpiece 300.

In this embodiment, the third abrasive tool 205 comprises a toothpick which creates a pressure in the range of 0.1kg to 0.3kg against the walls of the aperture 305 of the workpiece 300, the toothpick having an angle in the range of 0 ° to 30 ° with respect to the walls of the aperture 305 when abutting the walls of the aperture 305 of the workpiece 300.

In this embodiment of the present application, the vision mechanism 30 may include a CCD camera, the vision mechanism 30 photographs the workpiece 300 to obtain an image of the workpiece 300, and obtains, through analysis of the image, burr information on the workpiece 300, where the burr type information includes at least that the burr is linear, that the burr is sheet-shaped, and that the burr is bulk, that the burr size information is the area size occupied by the current type of burr on the workpiece 300, and that the burr position information is the specific position of the current type of burr on the workpiece 300. For example, the burr information is: the burr is linear/sheet/bulk, the area of the burr is a calculated value, the burr is located in a coordinate or a coordinate area determined by a reference point of the workpiece 300, wherein the reference point of the workpiece 300 can be understood as a center point of the workpiece 300, and a three-dimensional coordinate system is established by the center point, so that a coordinate or a coordinate area corresponding to any position or any area on the workpiece 300 is determined. It will be appreciated that the burr type information may also include at least bright lines, which are color differences on the workpiece 300 that may be removed by grinding.

In this embodiment, the burr removing device 100 further includes a working platform 50, wherein the tool library 10, the robot 20 and the controller 40 are all disposed on the working platform 50, and the vision mechanism 30 is disposed above the working platform 50, so as to realize modular arrangement of the burr removing device 100. It can be appreciated that the vision mechanism 30 may also be disposed outside the working platform 50, and the vision mechanism 30 may continuously detect the workpiece 300, so as to improve the detection efficiency of the vision mechanism 30.

In this embodiment, the tool magazine 10 includes a plurality of shelves 11, and a plurality of shelves 11 are disposed on the working platform 50 side by side, and are connected together between adjacent shelves 11, thereby improving the supporting stability of the tool magazine 10. It will be appreciated that each predetermined tool may be assembled on a connection sleeve 25, the connection sleeve 25 is provided with a quick-change master disc 27, each predetermined tool is placed on the placement frame 11 through the quick-change master disc 27, wherein the mechanical arm 21 is provided with a quick-change male disc 29, the force sensor 23 is located between the mechanical arm 21 and the quick-change male disc 29, the mechanical arm 21 is used for quickly replacing different types of predetermined tools through quick-change male discs 29 and quick-change master discs 27, and the efficiency of replacing the predetermined tools by the mechanical arm 21 is improved.

In this embodiment, the burr removing device 100 further includes a calibration mechanism 60, the calibration mechanism 60 is disposed on the working platform 50, the calibration mechanism 60 is disposed adjacent to the tool library 10 and coupled to the controller 40, and the calibration mechanism 60 is used for calibrating a predetermined tool selected by the robot 20. Specifically, the calibration mechanism 60 includes a calibration sensor 61, where the calibration sensor 61 is disposed on the working platform 50 through a support 63, and the calibration sensor 61 is used to detect a distance between a predetermined tool and the predetermined tool when the robot 20 drives the predetermined tool to approach, so as to determine a current reference of the selected predetermined tool, where the reference may be understood as a reference coordinate of the predetermined tool when the predetermined tool moves under the driving of the mechanical arm 21. In practical use, the calibration sensor 61 may be a correlation distance sensor, and the robot 20 first brings the predetermined tool to approach the calibration sensor 61 with the previous reference, and when the calibration sensor 61 can detect that the distance between the calibration sensor and the predetermined tool meets the predetermined distance, it indicates that the reference point of the current predetermined tool meets the requirement, and recalibration is not needed. When the calibration sensor 61 detects that the distance between the calibration sensor 61 and the predetermined tool does not meet the predetermined distance, the robot 20 drives the predetermined tool to continuously approach the calibration sensor 61 until the calibration sensor 61 detects that the distance between the calibration sensor 61 and the predetermined tool meets the predetermined distance, and the current position of the robot 20 is used as a new reference at this time, so that the calibration of the selected predetermined tool is realized, and the situation that the workpiece 300 cannot be effectively abutted and burrs are removed due to abrasion of the predetermined tool can be avoided.

In actual production, since the yield of the workpiece 300 is large, the number of the workpieces 300 with burrs is relatively large after the burrs are removed in a large area, the detection speed of the visual mechanism 30 on the workpiece 300 is often faster than the burr removal speed of the workpiece 300, which results in that some detected workpieces 300 without burrs are accumulated in actual production, or the visual mechanism 30 needs to wait until the last workpiece 300 is subjected to the burrs and then detect the next workpiece 300, in order to avoid that the visual mechanism 30 is in a state waiting for detection for a long time, in the embodiment of the application, the burr removal device 100 further comprises a code scanning mechanism 70, the code scanning mechanism 70 is arranged on the working platform 50, the code scanning mechanism 70 is arranged adjacent to the robot 20 and is coupled with the controller 40, and the code scanning mechanism 70 is used for scanning the workpiece 300 to acquire the information of the workpiece 300. Specifically, the code scanning mechanism 70 includes a code scanner 71 and a link frame 73, the code scanner 71 is disposed on the work platform 50 through the link frame 73, wherein the position of the code scanner 71 can be adjusted through the link frame 73, so that the code scanner 71 corresponds to different workpieces 300. Thus, by arranging the code scanning mechanism 70, after the vision mechanism 30 detects a plurality of workpieces 300, the vision mechanism 30 can correlate the detected burr information to the corresponding workpieces 300 and package the detected burr information and transmit the detected burr information to the controller 40, when the code scanning mechanism 70 acquires the information of the current workpiece 300, the controller 40 can acquire the burr information on the current workpiece 300 according to the information of the workpiece 300 acquired by the code scanning mechanism 70, so that the vision mechanism 30 can continuously detect the workpieces 300, the vision mechanism 30 is prevented from being in a state waiting for detection for a long time, and the production efficiency is improved.

In this embodiment, the burr removing device 100 further includes a loading and unloading mechanism 80, where the loading and unloading mechanism 80 is disposed on the working platform 50, the loading and unloading mechanism 80 is disposed adjacent to the robot 20 and coupled to the controller 40, and the loading and unloading mechanism 80 is used for conveying the workpiece 300 at the loading position 801 and the deburring position 803. The loading position 801 is used for loading the workpiece 300 to be deburred, and the deburring position 803 is used for deburring the workpiece 300. Thus, by providing the burr removing device 100, the workpiece 300 is automatically transferred, and the automation degree of the burr removing device 100 is improved. The code scanner 71 of the code scanner mechanism 70 is located above the feeding and discharging mechanism 80, and scans the workpieces 300 on the feeding and discharging mechanism 80 at the feeding position 801.

Specifically, the loading and unloading mechanism 80 includes a transfer component 81, a sliding table 83, a rotating component 85, a bearing table 87 and a positioning component 88, the transfer component 81 can be a linear module, the transfer component 81 is disposed on the working platform 50, the transfer component 81 is disposed adjacent to the robot 20, the sliding table 83 is connected with the transfer component 81 to be slidingly disposed on the transfer component 81, the sliding table 83 is driven by the transfer component 81 to transfer between the loading position 801 and the deburring position 803, and it can be understood that the sliding table 83 can be driven by the transfer component 81 to move to other positions. The rotating assembly 85 is arranged on the sliding table 83 and moves synchronously along with the sliding table 83, the bearing table 87 is connected with the rotating assembly 85 to rotate under the drive of the rotating assembly 85, the positioning assembly 88 is arranged on the bearing table 87, the bearing table 87 is used for adaptively bearing the workpiece 300, and the positioning assembly 88 is used for fixing the workpiece 300 on the bearing table 87. Wherein, the rotating assembly 85 may include a motor, the positioning assembly 88 may be composed of a cylinder disposed in multiple directions and a pressing block connected to the corresponding cylinder, the cylinder drives the corresponding pressing block to press the workpiece 300 to fix the workpiece 300 on the carrying table 87, it may be understood that the positioning assembly 88 may also be composed of a multi-head cylinder capable of being driven in multiple directions and a plurality of pressing blocks connected to the multi-head cylinder, the multi-head cylinder simultaneously drives the plurality of pressing blocks to press the workpiece 300 to fix the workpiece 300 on the carrying table 87. In this way, by setting the specific structure of the feeding and discharging mechanism 80, the effect of driving the workpiece 300 to move between the feeding position 801 and the deburring position 803 is achieved, and in addition, the position of the workpiece 300 can be adjusted by the rotating assembly 85, so that the deburring operation on the workpiece 300 is facilitated; the workpiece 300 can be positioned and fixed through the positioning assembly 88, so that the yield of burr removal is improved.

In order to avoid dust generated by deburring from flying upwards to pollute the working environment, in the embodiment of the present application, the loading and unloading mechanism 80 further includes a negative pressure assembly 89, and the negative pressure assembly 89 has functions of generating negative pressure and sucking dust, for example, an industrial dust collector. The negative pressure port of the negative pressure assembly 89 corresponds to the deburring place 803 and is communicated with the sliding table 83 moving to the deburring place 803 and is communicated with the bearing table 87 through the rotating assembly 85, and the negative pressure assembly 89 is used for sucking dust generated by deburring the workpiece 300. Wherein, a gap can be arranged on the bearing table 87 so as to suck away dust generated by removing burrs on the workpiece 300 through the gap; the rotating assembly 85 may be further provided with a slip ring (not shown), and a pipeline for communicating the sliding table 83 with the carrying table 87 may be provided inside the slip ring, so that the sliding table 83 is communicated with the carrying table 87 through the rotating assembly 85. Thus, through setting up foretell negative pressure assembly 89 to absorb the dust that the burr produced on the removal work piece 300, avoid taking place the circumstances of the pollution operation environment that the dust flies upward, ensure that the operating personnel's is healthy.

Because the predetermined tool may be passivated after the long-term burr removing operation, in order to improve the use rate of the predetermined tool and save the tool cost, in this embodiment, the burr removing apparatus 100 further includes a shaping mechanism 90, where the shaping mechanism 90 is disposed on the working platform 50 and adjacent to the tool library 10, and the shaping mechanism 90 is used to polish and shape the predetermined tool, so as to improve the use rate of the predetermined tool and save the tool cost.

Specifically, the shaping mechanism 90 includes a bracket 91, a housing 93, a friction wheel 95, a driving member 97 and a dust collection assembly 99, the bracket 91 is disposed on the working platform 50 and is adjacent to the tool magazine 10, the bracket 91 is generally L-shaped, the housing 93 is disposed on the bracket 91, the housing 93 is provided with an opening 931 facing upward, the friction wheel 95 is rotationally disposed in the housing 93 and penetrates through the opening 931 of the housing 93, the driving member 97 may be a motor, the driving member 97 is disposed on the bracket 91 and is away from the housing 93, an output end of the driving member 97 movably penetrates through the bracket 91 and the housing 93 and is connected with the friction wheel 95, the driving member 97 is used for driving the friction wheel 95 to rotate to polish and shape a predetermined tool, the dust collection assembly 99 has functions of generating negative pressure and absorbing dust, such as an industrial dust collector, a dust absorption port of the dust collection assembly 99 is connected with the lower portion of the housing 93 and is connected with the inner portion of the housing 93, and the dust collection assembly 99 is used for absorbing dust generated by polishing and shaping the predetermined tool. Thus, by providing the specific structure of the shaping mechanism 90, the polishing and shaping predetermined tool effect is achieved; in addition, the dust collection assembly 99 is arranged to absorb dust generated by grinding and shaping the scheduled workpiece 300, so that the condition that dust flies to pollute the working environment is avoided, and the health of operators is ensured.

According to the burr removing device 100 provided by the embodiment of the application, through the mutual coordination among the robot 20, the vision mechanism 30 and the controller 40, the controller 40 controls the robot 20 to select a corresponding burr removing preset tool according to the burr information acquired by the vision mechanism 30, the controller 40 controls the robot 20 to abut against the workpiece 300 according to the preset gesture, the controller 40 adjusts the pressure generated by the preset tool, which is acquired by the force sensor 23, at the position of abutting against the workpiece 300 in real time to reach the preset pressure, and the controller 40 controls the robot 20 to drive the preset tool to remove burrs on the workpiece 300 according to the preset processing track, so that the burr removing operation is carried out effectively according to the burr removing tools of different types and the preset processing track, the labor intensity of workers can be effectively lightened, and the production efficiency is improved.

The burr removing device 100 provided in the embodiment of the present application further performs calibration on the selected predetermined tool through the calibration mechanism 60, thereby realizing calibration on the selected predetermined tool, and avoiding the situation that the workpiece 300 cannot be effectively abutted and the burr is removed due to abrasion of the predetermined tool.

The burr removing device 100 provided by the embodiment of the application further scans the workpiece 300 through the code scanning mechanism 70, so that the visual mechanism 30 can continuously detect the workpiece 300, the visual mechanism 30 is prevented from being in a state waiting for detection for a long time, and the production efficiency is improved.

The burr removing device 100 provided in the embodiment of the application further conveys the workpiece 300 through the loading and unloading mechanism 80, and improves the automation degree of the burr removing device 100.

The burr removing device 100 provided by the embodiment of the application further polishes and shapes the preset tool through the shape modifying mechanism 90, so that the utilization rate of the preset tool is improved, and the tool cost is saved.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.

Claims (17)

1. A burr removal method, characterized in that the burr removal method comprises:

acquiring burr information on a workpiece to be deburred, wherein the burr information comprises burr type information, burr size information and burr position information;

dividing the burr information into at least linear burrs, sheet burrs and bulk burrs according to the burr information;

selecting a predetermined tool for deburring according to the burr information, wherein the predetermined tool at least comprises a first polishing tool, a second polishing tool and a third polishing tool, and the first polishing tool, the second polishing tool and the third polishing tool are respectively matched with different preset processing tracks;

abutting the preset tool against the workpiece according to a preset gesture;

acquiring a pressure generated by the predetermined tool at the position of abutting the workpiece;

and adjusting the pressure generated by the preset tool at the position abutting against the workpiece in real time to reach the preset pressure, and removing burrs of the workpiece according to the corresponding preset processing track.

2. The burr removal method of claim 1, wherein when the burr information is the line type burr, the burr removal method comprises:

Selecting the first grinding tool according to the burr information as the linear burr, wherein the first grinding tool comprises oilstone;

abutting the first grinding tool against the workpiece in a posture at a preset angle relative to the workpiece;

acquiring pressure generated by the first polishing tool at the position of abutting the workpiece;

and the first polishing tool carries out burr removal on the workpiece according to a first track, wherein the first track repeatedly advances for a first distance and retreats for a second distance, and the first distance is greater than or equal to the second distance.

3. The burr removal method of claim 2, wherein a roughness of said oilstone is in a range of 400 mesh to 600 mesh, an angle of said oilstone with respect to said workpiece when abutting said workpiece is in a range of 15 ° to 30 °, and a pressure generated by said oilstone when abutting said workpiece is in a range of 0.3kg to 0.5kg.

4. The burr removal method of claim 2, wherein said first grinding tool comprises sandpaper having a roughness in the range of 2500 mesh-3500 mesh, a pressure generated by said sandpaper when abutting said workpiece in the range of 0.3kg-0.5kg, and an angle of said sandpaper when abutting said workpiece in the range of 60 ° to 75 °.

5. The burr removal method according to claim 1, wherein when the burr information is the sheet-like burr, the burr removal method comprises:

selecting the second polishing tool according to the burr information as the sheet burr, wherein the second polishing tool comprises a file;

abutting the second grinding tool against the workpiece in a posture at a preset angle relative to the workpiece;

acquiring pressure generated by the second polishing tool at the position of abutting the workpiece;

and adjusting the pressure generated by the second polishing tool at the position abutting against the workpiece in real time to reach the preset pressure, wherein the second polishing tool removes burrs of the workpiece according to a second track, and the second track is repeatedly advanced and retreated by a third distance.

6. The burr removing method of claim 5, wherein the roughness of said rasp ranges from 60 mesh to 200 mesh, the pressure generated by said rasp when abutting said workpiece ranges from 0.5kg to 0.8kg, and the angle of said rasp when abutting said workpiece ranges from 0 ° to 30 °.

7. The burr removal method of claim 1, wherein when the burr information is the glob-shaped burr, the burr removal method comprises:

Selecting a third polishing tool according to the burr information as the bulk burrs, wherein the third polishing tool comprises a toothpick;

inserting the third grinding tool into the workpiece in a vertical position relative to the workpiece;

inserting the third polishing tool into the workpiece, and abutting the third polishing tool against the workpiece in a posture at a preset angle relative to the workpiece;

acquiring pressure generated by the third polishing tool at the position of abutting the workpiece;

and adjusting the pressure generated by the third polishing tool at the position of abutting against the workpiece in real time to reach the preset pressure, and picking the burrs out of the workpiece by the third polishing tool according to the current gesture in an arc or circular track.

8. The burr removal method of claim 7, wherein the pressure generated by said toothpick at the point of abutment against said workpiece ranges from 0.1kg to 0.3kg, and the angle of said toothpick at the point of abutment against said workpiece ranges from 0 ° to 30 °.

9. The burr removal method of claim 1, wherein the burr removal method further comprises:

calibrating the selected predetermined tool to determine a current reference of the selected predetermined tool.

10. A burr removal device, characterized in that the burr removal device comprises:

a tool magazine for holding predetermined tools for deburring, the predetermined tools including at least a first grinding tool, a second grinding tool, and a third grinding tool;

the robot comprises a mechanical arm and a force sensor, wherein the mechanical arm is used for driving the preset tool to move, and the force sensor is used for detecting the pressure generated by the preset tool at the position of abutting against a workpiece to be deburred;

the visual mechanism is used for acquiring burr information on the workpiece, wherein the burr information comprises burr type information, burr size information and burr position information;

the controller is respectively coupled with the robot and the vision mechanism, and is used for receiving the burr information acquired by the vision mechanism, dividing the burr information into at least linear burrs, sheet burrs and bulk burrs according to the burr information, controlling the robot to select the preset tool for deburring according to the burr information, controlling the robot to abut the preset tool against the workpiece according to a preset gesture, receiving the pressure generated by the preset tool, which is acquired by the force sensor, at the position abutting against the workpiece in real time, adjusting to reach the preset pressure according to the pressure generated by the preset tool at the position abutting against the workpiece in real time, and controlling the robot to drive the preset tool to perform deburring on the workpiece according to a preset processing track.

11. The burr removal device of claim 10, wherein the first grinding tool comprises an oilstone having a roughness in a range of 400-600 mesh, an angle of the oilstone with respect to the workpiece when abutting the workpiece in a range of 15 ° -30 °, a pressure of the oilstone generated at the abutment of the workpiece in a range of 0.3kg-0.5kg, and a roughness in a range of 2500-3500 mesh, and a sandpaper having a pressure of the sandpaper generated at the abutment of the workpiece in a range of 0.3kg-0.5kg, an angle of the sandpaper with respect to the workpiece in a range of 60 ° -75 °.

12. The burr removal device of claim 10, wherein the second grinding tool comprises a file having a roughness in the range of 60 mesh to 200 mesh, a pressure generated by the file when abutting the workpiece in the range of 0.5kg to 0.8kg, and an angle of the file when abutting the workpiece in the range of 0 ° to 30 ° relative to the workpiece.

13. The burr removal device of claim 10, wherein the third grinding tool comprises a toothpick which generates a pressure in the range of 0.1kg-0.3kg against the workpiece, the toothpick being at an angle in the range of 0 ° -30 ° relative to the workpiece when abutting the workpiece.

14. The burr removal device of claim 10, wherein the burr removal device further comprises:

a calibration mechanism disposed adjacent to the tool library and coupled to the controller for calibrating the predetermined tool selected by the robot; the calibration mechanism comprises a calibration sensor, and the calibration sensor is used for detecting the distance between the robot and the preset tool when the robot drives the preset tool to approach.

15. The deburring device of claim 10, further comprising a loading and unloading mechanism comprising a transfer assembly, a slipway, a rotating assembly, a bearing table and a positioning assembly, wherein said transfer assembly is disposed adjacent to said robot, said slipway is slidingly disposed on said transfer assembly for transfer between a loading position and a deburring position under the drive of said transfer assembly, said rotating assembly is disposed on said slipway, said bearing table is connected with said rotating assembly for rotation under the drive of said rotating assembly, said positioning assembly is disposed on said bearing table for bearing said workpiece, and said positioning assembly is for fixing said workpiece on said bearing table.

16. The burr removal device of claim 15, wherein the loading and unloading mechanism further comprises a negative pressure assembly, a negative pressure port of the negative pressure assembly is used for being communicated with the sliding table and communicated with the bearing table through the rotating assembly, and the negative pressure assembly is used for sucking and removing dust generated by burrs on the workpiece.

17. The burr removal device of claim 10, further comprising a trimming mechanism comprising a bracket, a housing, a friction wheel, a driving member and a dust collection assembly, wherein the bracket is disposed adjacent to the tool magazine, the housing is disposed on the bracket, the housing is provided with an opening, the friction wheel is rotatably disposed in the housing and passes through the opening of the housing, the driving member is disposed on the bracket and connected with the friction wheel, the driving member is used for driving the friction wheel to rotate for polishing and trimming the predetermined tool, the dust collection opening of the dust collection assembly is connected with the housing and is connected with the housing, and the dust collection assembly is used for sucking dust generated by polishing and trimming the predetermined tool.