CN217700313U - Robot water jet deburring machine - Google Patents

Abstract

The utility model provides a water jet deburring machine of robot, comprises a workbench, the water sword robot, high-pressure pump device and material feeding unit, the execution end of water sword robot is provided with the water tool bit, material feeding unit sets up on the workstation and lies in the below of water tool bit in vertical direction, material feeding unit includes rotary drive mechanism, the rotary disk, breakwater and two centre gripping frock mechanisms, the steerable rotation of rotary drive mechanism is rotatory around vertical direction, two centre gripping frock mechanisms set up on the rotary disk, and the breakwater setting is on the rotary disk and lie in between two centre gripping frock mechanisms, each centre gripping frock mechanism includes the frock board, upset actuating mechanism and two at least centre gripping subassemblies, the steerable frock board of upset actuating mechanism is rotatory around the horizontal direction, each centre gripping subassembly includes cylinder and holding head. The robot water jet deburring machine can continuously and uninterruptedly automatically carry out high-pressure water jet deburring operation on workpieces, and is high in automation degree and production efficiency.

Description

Robot water jet deburring machine

Technical Field

The utility model belongs to the technical field of work piece burr removal equipment technique and specifically relates to a water jet deburring machine of robot is related to.

Background

Burrs generated in the manufacturing and processing process of each assembly workpiece of the product not only directly affect the precision and appearance quality of the part, but also affect the service life of the whole product, so that the burrs of the workpiece need to be removed, and particularly, the burrs of each assembly workpiece of electronic products with higher requirements on precision and appearance quality, such as mobile phones, computers and other products, need to be removed.

The existing robot water jet deburring machine utilizes a robot to simultaneously combine the feeding and discharging operation of a workpiece and carry out high-pressure water jet deburring operation on the workpiece, so that the existing robot water jet deburring machine cannot completely and continuously carry out high-pressure water jet deburring operation on the workpiece automatically, and can only intermittently carry out high-pressure water jet deburring operation on the workpiece automatically, thereby influencing the production efficiency.

Disclosure of Invention

The utility model aims at providing a can be in succession uninterruptedly automatic carry out high pressure water jet deburring operation, the high and high robot water jet deburring machine of production efficiency of degree of automation to the work piece.

In order to realize the utility model discloses a main objective, the utility model provides a water jet deburring machine of robot, comprises a workbench, the water sword robot, high-pressure pump device and material feeding unit, the water sword robot sets up on the workstation, the execution end of water sword robot is provided with the water tool bit, the water tool bit is linked together with high-pressure pump device, and the nozzle has been seted up to the water tool bit, material feeding unit sets up on the workstation and lies in the below of water tool bit on vertical direction, material feeding unit includes rotary drive mechanism, the rotary disk, breakwater and two centre gripping frock mechanisms, the steerable rotation of rotary drive mechanism is rotatory around vertical direction, two centre gripping frock mechanisms set up on the rotary disk with the rotation axis of rotary disk as the central line mirror image, and the breakwater sets up on the rotary disk and lies in between two centre gripping frock mechanisms, each centre gripping frock mechanism includes the frock board, upset actuating mechanism and two at least centre gripping subassemblies, the steerable frock board of upset actuating mechanism is rotatory around the horizontal direction, each centre gripping subassembly includes cylinder and centre gripping head, install on the frock board and the steerable clamping head removes, and be used for placing the work piece around the clamping area formation of holding on the frock board between a plurality of holding head.

It is visible by above-mentioned scheme, will treat that the burr washs gets rid of work piece material loading extremely the utility model discloses in the clamping area of a centre gripping frock mechanism of robot water jet deburring machine's material feeding unit, this centre gripping frock mechanism utilizes the relative frock board of cylinder control holding head of centre gripping subassembly to remove to treat that the burr washs and gets rid of the work piece centre gripping fixed, simultaneously the utility model discloses the water jet deburring machine's water jet machine's water knife head of water knife robot receives the high pressure water that high-pressure pump device provided, and the nozzle of water knife head outwards spouts the high pressure water and washs the burr of getting rid of the work piece to treating the burr in the clamping area of another centre gripping frock mechanism of material feeding unit who lies in water knife head below and effectively wash and get rid of. After the work piece that is located the clamping area of another centre gripping frock mechanism of water tool bit below accomplishes the burr and washs the back of getting rid of, rotary drive mechanism control swivelling joint is rotatory 180 in vertical direction, make a centre gripping frock mechanism drive and treat that the burr washs the below of getting rid of the work piece and be located the water tool bit and carry out the burr and wash the operation of getting rid of, carry out unloading operation to the completion burr washing in the clamping area of another centre gripping frock mechanism simultaneously, thereby realize carrying out high pressure water jet deburring operation to the work piece in succession uninterruptedly automation, reduce production time, high production efficiency, and realize high automation burr and wash the operation of getting rid of, degree of automation is high. And, the utility model discloses robot water jet deburring machine is used for blockking the sweeps and splashing when the burr washs through setting up the breakwater between two centre gripping frock mechanisms, and the nozzle at the water tool bit outwards spouts the water under high pressure simultaneously and carries out the burr to the work piece and wash the in-process of getting rid of, and the steerable frock board of centre gripping frock mechanism's upset actuating mechanism is around the rotatory 180 of horizontal direction for the front and the back of work piece can both carry out the burr and wash and get rid of, thereby the burr washs and gets rid of the effect better.

One preferred scheme is that one side of the clamping head, which is far away from the air cylinder, is provided with an elastic rubber head.

The first end of the elastic rubber head is provided with a containing cavity, the second end of the elastic rubber head, which is opposite to the first end of the elastic rubber head, runs through a first limit groove communicated with the containing cavity, a second limit groove and a third limit groove, one side of the clamping head, which is far away from the air cylinder, is provided with a mounting seat, a first boss, a second boss and a third boss are arranged on the mounting seat in an protruding mode, the mounting seat is embedded into the containing cavity, the first boss is embedded into the first limit groove, the second boss is embedded into the second limit groove, and the third boss is embedded into the third limit groove.

The further scheme is that the elastic rubber head is provided with a limiting plate far away from the clamping head in a protruding mode, and the limiting plate can be located on one side, far away from the tooling plate, of the workpiece.

According to a further scheme, each clamping tool mechanism further comprises a plurality of first limiting columns, and the plurality of first limiting columns are arranged on the tool plate in a protruding mode and surround the periphery of the clamping area.

According to a further scheme, the robot water jet deburring machine further comprises a carrying robot, the carrying robot is located on the outer side of the rotating disc in the horizontal direction, a first carrying mechanism and a second carrying mechanism are arranged at an execution end of the carrying robot, the first carrying mechanism comprises a first clamping jaw, a second clamping jaw and a first clamping jaw driving mechanism, the first clamping jaw driving mechanism can control the first clamping jaw and the second clamping jaw to move towards or away from each other, the second carrying mechanism comprises a third clamping jaw, a fourth clamping jaw and a second clamping jaw driving mechanism, and the second clamping jaw driving mechanism can control the third clamping jaw and the fourth clamping jaw to move towards or away from each other.

A first elastic rubber sleeve is sleeved on the clamping end of the first clamping jaw, and a second elastic rubber sleeve is sleeved on the clamping end of the second clamping jaw; and/or the clamping end sleeve of the third clamping jaw is provided with a third elastic rubber sleeve, and the clamping end sleeve of the fourth clamping jaw is provided with a fourth elastic rubber sleeve.

The first clamping jaw is provided with a first vacuum channel, the peripheral wall of the clamping end of the first clamping jaw is provided with a first vacuum suction hole communicated with the first vacuum channel in a penetrating way, the peripheral wall of the first elastic rubber sleeve is provided with a first avoidance hole arranged corresponding to the first vacuum suction hole, the second clamping jaw is provided with a second vacuum channel, the peripheral wall of the clamping end of the second clamping jaw is provided with a second vacuum suction hole communicated with the second vacuum channel in a penetrating way, and the peripheral wall of the second elastic rubber sleeve is provided with a second avoidance hole arranged corresponding to the second vacuum suction hole; and/or, the third clamping jaw is provided with a third vacuum channel, the peripheral wall of the clamping end of the third clamping jaw penetrates through and is provided with a third vacuum suction hole communicated with the third vacuum channel, the peripheral wall of the third elastic rubber sleeve is provided with a third avoiding hole correspondingly arranged with the third vacuum suction hole, the fourth clamping jaw is provided with a fourth vacuum channel, the peripheral wall of the clamping end of the fourth clamping jaw penetrates through and is provided with a fourth vacuum suction hole communicated with the fourth vacuum channel, and the peripheral wall of the fourth elastic rubber sleeve is provided with a fourth avoiding hole correspondingly arranged with the fourth vacuum suction hole.

A first convex column is convexly arranged on the inner cavity wall of the first elastic rubber sleeve, a first positioning hole is formed in the outer peripheral wall of the clamping end of the first clamping jaw, and the first convex column is embedded into the first positioning hole; and/or a second convex column is convexly arranged on the inner cavity wall of the second elastic rubber sleeve, a second positioning hole is formed in the outer peripheral wall of the clamping end of the second clamping jaw, and the second convex column is embedded into the second positioning hole; and/or a third convex column is convexly arranged on the inner cavity wall of the third elastic rubber sleeve, a third positioning hole is formed in the outer peripheral wall of the clamping end of the third clamping jaw, and the third convex column is embedded into the third positioning hole; and/or a fourth convex column is convexly arranged on the inner cavity wall of the fourth elastic rubber sleeve, a fourth positioning hole is formed in the outer peripheral wall of the clamping end of the fourth clamping jaw, and the fourth convex column is embedded into the fourth positioning hole.

The further scheme is that a plurality of second limiting columns are arranged on the workbench in a protruding mode, a limiting area used for placing the material frame is formed among the second limiting columns on the workbench in a surrounding mode, and the limiting area is arranged close to the carrying robot in the horizontal direction.

Drawings

Fig. 1 is a first perspective view structural view of an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 2 is a second perspective partial structure view of an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 3 is a block diagram of a limiting area in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 4 is a structural view of a transfer robot in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 5 is an exploded view of the first/second/third/fourth jaws of the robotic water jet deburring machine embodiment of the present invention.

Fig. 6 is a cross-sectional view of the first/second/third/fourth jaws of an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 7 is a block diagram of first/second/third/fourth jaws in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 8 is a structural diagram of first/second/third/fourth elastic rubber sleeves in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 9 is a structural diagram of the working table, the water jet cutting robot and the feeding device in the embodiment of the robot water jet deburring machine of the present invention.

Fig. 10 is a partial structural view of a water jet cutting robot in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 11 is a structural view of a feeding device in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 12 is a structural view of a clamping tool mechanism in an embodiment of the robotic water jet deburring machine of the present invention.

Fig. 13 is an exploded view of the clamping head and the elastic rubber head of the embodiment of the robotic water jet deburring machine of the present invention.

Fig. 14 is a structural view of an elastic rubber head in an embodiment of the robotic water jet deburring machine of the present invention.

The present invention will be further explained with reference to the drawings and examples.

Detailed Description

Referring to fig. 1 to 14, the embodiment discloses a robot water jet deburring machine 1, which includes a workbench 11, a water jet robot 13, a high-pressure pump device 12 and a feeding device 14, wherein the water jet robot 13 is disposed on the workbench 11, an execution end of the water jet robot 13 is provided with a water cutter head 131, the water cutter head 131 is communicated with the high-pressure pump device 12, and the water cutter head 131 is provided with a nozzle 132. The feeding device 14 of this embodiment is disposed on the workbench 11 and located below the water cutter head 131 in the vertical direction, the feeding device 14 includes a rotation driving mechanism, a rotating disk 141, a water baffle 142, and two clamping fixture mechanisms 143, the rotation driving mechanism can control the rotating disk 141 to rotate around the vertical direction, the two clamping fixture mechanisms 143 are disposed on the rotating disk 141 in a mirror image manner with the rotation axis of the rotating disk 141 as a center line, and the water baffle 142 is disposed on the rotating disk 141 and located between the two clamping fixture mechanisms 143. Moreover, each clamping tool mechanism 143 of this embodiment includes a tool plate 1431, a turning driving mechanism, and at least two clamping assemblies, the turning driving mechanism can control the tool plate 1431 to rotate around the horizontal direction, each clamping assembly includes an air cylinder 1433 and a clamping head 1434, the air cylinder 1433 is installed on the tool plate 1431 and can control the clamping head 1434 to move relative to the tool plate 1431, and a clamping area for placing the workpiece is formed on the tool plate 1431 by surrounding between a plurality of clamping heads 1434.

The workpiece to be deburred is fed into a clamping area of one clamping tool mechanism 143 of the feeding device 14 of the robot water jet deburring machine 1 in this embodiment, the clamping tool mechanism 143 controls a clamping head 1434 to move relative to a tool plate 1431 by using an air cylinder 1433 of a clamping assembly to clamp and fix the workpiece to be deburred, meanwhile, the water cutter head 131 of the water cutter robot 13 of the robot water jet deburring machine 1 in this embodiment receives high-pressure water provided by the high-pressure pump device 12, and the nozzle 132 of the water cutter head 131 sprays the high-pressure water outwards to effectively clean and remove the burr of the workpiece to be deburred in the clamping area of the other clamping tool mechanism 143 of the feeding device 14 below the water cutter head 131. After the workpiece in the clamping area of the other clamping tool mechanism 143 below the water tool bit 131 finishes burr cleaning and removing, the rotary driving mechanism controls the rotary disc 141 to rotate 180 degrees around the vertical direction, so that one clamping tool mechanism 143 drives the workpiece to be cleaned and removed to be positioned below the water tool bit 131 for burr cleaning and removing, and simultaneously, the workpiece to be cleaned and removed in the clamping area of the other clamping tool mechanism 143 is subjected to blanking operation, thereby realizing continuous and uninterrupted automation of high-pressure water jet deburring operation on the workpiece, reducing production time, improving production efficiency, realizing highly automatic burr cleaning and removing operation, and having high automation degree. Furthermore, the robot water jet deburring machine 1 of the embodiment is used for stopping the splashing of the scraps when the burrs are cleaned by arranging the water baffle 142 between the two clamping tool mechanisms 143, and meanwhile, in the process of cleaning and removing the burrs of the workpiece by spraying high-pressure water outwards from the nozzle 132 of the water cutting head 131, the turnover driving mechanism of the clamping tool mechanisms 143 can control the tool plate 1431 to rotate 180 degrees around the horizontal direction, so that the front and the back of the workpiece can be cleaned and removed, and the effect of cleaning and removing the burrs is better.

In order to avoid damage to the workpiece, the side of the clamping head 1434 away from the cylinder 1433 is provided with an elastic glue head 1435 in this embodiment. Specifically, in this embodiment, a first end of the elastic rubber head 1435 is provided with an accommodating cavity 14351, a second end of the elastic rubber head 1435, which is opposite to the first end of the elastic rubber head 1435, is provided with a first limit groove 14352, a second limit groove 14353 and a third limit groove 14354 in a penetrating manner, the first limit groove 14352, the second limit groove 14353 and the third limit groove 14354 are communicated with the accommodating cavity 14351, one side of the clamping head 1434, which is away from the cylinder 1433, is provided with an installation seat 14341, the installation seat 14341 is provided with a first boss 14342, a second boss 14343 and a third boss 14344 in a protruding manner, the installation seat 14341 is embedded in the accommodating cavity 14351, the first boss 14342 is embedded in the first limit groove 14352, the second boss 14343 is embedded in the second limit groove 14353, and the third boss 14344 is embedded in the third limit groove 14354. Because the elastic rubber head 1435 has an elastic deformation function, the mounting seat 14341 of the clamping head 1434 is embedded into the accommodating cavity 14351 of the elastic rubber head 1435 in an interference manner, the first boss 14342 of the clamping head 1434 is embedded into the first limit groove 14352 of the elastic rubber head 1435 in an interference manner, the second boss 14343 of the clamping head 1434 is embedded into the second limit groove 14353 of the elastic rubber head 1435 in an interference manner, and the third boss 14344 of the clamping head 1434 is embedded into the third limit groove 14354 of the elastic rubber head 1435 in an interference manner, so that the elastic rubber head 1435 can be stably sleeved and installed on one side of the clamping head 1434, which is far away from the air cylinder 1433, and the working stability and reliability of the elastic rubber head 1435 are improved. In addition, the elastic glue head 1435 of the embodiment is provided with a limiting plate 14355 protruding away from the clamping head 1434, and the limiting plate 14355 can be located on one side of the workpiece away from the tooling plate 1431, so that the workpiece is limited in the direction perpendicular to the tooling plate 1431, and further the clamping stability and reliability of the elastic glue head 1435 on the workpiece are improved.

In order to improve the accuracy of the workpiece feeding to the clamping area of the tooling plate 1431, each clamping tooling mechanism 143 of this embodiment further includes a plurality of first limiting columns 1436, and the plurality of first limiting columns 1436 are disposed on the tooling plate 1431 in a manner protruding out of the tooling plate 1431 and are arranged around the periphery of the clamping area. Specifically, each clamping tool mechanism 143 of the present embodiment further includes a first supporting plate 1437 and a second supporting plate 1438, the first supporting plate 1437 and the second supporting plate 1438 are respectively and fixedly disposed on the rotating disc 141, the tool plate 1431 of the present embodiment is rotatably supported between the first supporting plate 1437 and the second supporting plate 1438 around the horizontal direction, the turning driving mechanism of the present embodiment is a turning cylinder 1432, the turning cylinder 1432 is mounted on the first supporting plate 1437, and the turning shaft of the turning cylinder 1432 is connected to the tool plate 1431, so that the tool plate 1431 can be controlled to rotate around the horizontal direction. The rotation driving mechanism of the present embodiment is a rotating motor 144, and a rotating shaft of the rotating motor 144 is connected to the rotating disk 141.

In order to further improve the automatic production efficiency of the robot water jet deburring machine 1, the robot water jet deburring machine 1 further includes a handling robot 15, the handling robot 15 is located outside the rotating disk 141 in the horizontal direction, an execution end of the handling robot 15 is provided with a first handling mechanism and a second handling mechanism, the first handling mechanism includes a first clamping jaw 152, a second clamping jaw 153 and a first clamping jaw driving mechanism 151, the first clamping jaw driving mechanism 151 can control the first clamping jaw 152 and the second clamping jaw 153 to move towards or away from each other, the second handling mechanism includes a third clamping jaw 155, a fourth clamping jaw 156 and a second clamping jaw driving mechanism 154, and the second clamping jaw driving mechanism 154 can control the third clamping jaw 155 and the fourth clamping jaw 156 to move towards or away from each other. In the present embodiment, the transfer robot 15 controls the first clamping jaw 152 and the second clamping jaw 153 to move towards each other through the first clamping jaw driving mechanism 151 of the first transfer mechanism to clamp the workpiece to be deburred and removed, then the transfer robot 15 controls the second transfer mechanism to move to the feeding device 14, the second clamping jaw driving mechanism 154 of the second transfer mechanism controls the third clamping jaw 155 and the fourth clamping jaw 156 to move towards each other to clamp the workpiece to be deburred and removed on the feeding device 14, then the transfer robot 15 controls the first transfer mechanism to move to the feeding device 14, the first clamping jaw driving mechanism 151 of the first transfer mechanism controls the first clamping jaw 152 and the second clamping jaw 153 to move away from each other to place the workpiece to be deburred and removed on the feeding device 14 for subsequent deburring washing and removal operation, and then the transfer robot 15 controls the second transfer mechanism to move to the outside to complete deburring, washing and removal of the workpiece for blanking operation, so that automatic feeding and blanking can be achieved.

In order to avoid damage to the workpiece, the clamping end sleeve of the first clamping jaw 152 is provided with a first elastic rubber sleeve 1521, the clamping end sleeve of the second clamping jaw 153 is provided with a second elastic rubber sleeve 1531, the clamping end sleeve of the third clamping jaw 155 is provided with a third elastic rubber sleeve 1551, and the clamping end sleeve of the fourth clamping jaw 156 is provided with a fourth elastic rubber sleeve 1561. In order to improve the reliability and stability of the first clamping jaw 152 and the second clamping jaw 153 in clamping the workpiece, in this embodiment, the first clamping jaw 152 is provided with a first vacuum channel 1522, the outer peripheral wall of the clamping end of the first clamping jaw 152 is provided with a first vacuum suction hole 1523 communicated with the first vacuum channel 1522 in a penetrating manner, the outer peripheral wall of the first elastic rubber sleeve 1521 is provided with a first avoiding hole 15211 corresponding to the first vacuum suction hole 1523, the second clamping jaw 153 is provided with a second vacuum channel 1532, the outer peripheral wall of the clamping end of the second clamping jaw 153 is provided with a second vacuum suction hole 1533 communicated with the second vacuum channel 1532 in a penetrating manner, the outer peripheral wall of the second elastic rubber sleeve 1531 is provided with a second avoiding hole 15311 corresponding to the second vacuum suction hole 1533, so that when the first clamping jaw 152 and the second clamping jaw 153 clamp the workpiece, the first vacuum suction hole 1523 of the first clamping jaw 152 and the second vacuum suction hole 1533 of the second clamping jaw 153 perform vacuum suction on vacuum suction of the workpiece, and the workpiece can be clamped firmly by the first clamping jaw 152 and the second clamping jaw 153.

In order to improve the reliability and stability of the third clamping jaw 155 and the fourth clamping jaw 156 for clamping the workpiece, in this embodiment, the third clamping jaw 155 is provided with a third vacuum channel 1552, an outer peripheral wall of a clamping end of the third clamping jaw 155 is provided with a third vacuum suction hole 1553 communicated with the third vacuum channel 1552 in a penetrating manner, an outer peripheral wall of a third elastic rubber sleeve 1551 is provided with a third avoiding hole 15511 corresponding to the third vacuum suction hole 1553, the fourth clamping jaw 156 is provided with a fourth vacuum channel 1562, an outer peripheral wall of a clamping end of the fourth clamping jaw 156 is provided with a fourth vacuum suction hole 1563 communicated with the fourth vacuum channel 1562 in a penetrating manner, and a fourth avoiding hole 15611 corresponding to the fourth vacuum suction hole 1563 is provided on the outer peripheral wall of the fourth elastic rubber sleeve 1561, so that the third vacuum suction hole 1553 of the third clamping jaw 155 and the fourth vacuum suction hole 1563 of the fourth clamping jaw 156 can stably clamp the workpiece while the third clamping jaw 155 and the fourth clamping jaw 156 clamp the workpiece.

Specifically, the inner cavity wall of the first elastic rubber sleeve 1521 of this embodiment is convexly provided with a first protruding column 15212, a first positioning hole 1524 has been seted up to the peripheral wall of the clamping end of the first clamping jaw 152, first protruding column 15212 is embedded in the first positioning hole 1524, because first elastic rubber sleeve 1521 has the elastic deformation function, first protruding column 15212 of first elastic rubber sleeve 1521 is embedded in the first positioning hole 1524 of the clamping end of the first clamping jaw 152 in an interference manner, thereby make first elastic rubber sleeve 1521 can be stabilized on the clamping end of the first clamping jaw 152. Meanwhile, in this embodiment, the inner cavity wall of the second elastic rubber sleeve 1531 is convexly provided with a second protruding column 15312, the outer peripheral wall of the clamping end of the second clamping jaw 153 is provided with a second positioning hole 1534, and the second protruding column 15312 is embedded into the second positioning hole 1534, because the second elastic rubber sleeve 1531 has an elastic deformation function, the second protruding column 15312 of the second elastic rubber sleeve 1531 is embedded into the second positioning hole 1534 of the clamping end of the second clamping jaw 153 in an interference manner, so that the second elastic rubber sleeve 1531 can be stably fixed on the clamping end of the second clamping jaw 153. In addition, in this embodiment, the inner cavity wall of the third elastic rubber sleeve 1551 is convexly provided with a third protruding column 15512, the outer peripheral wall of the clamping end of the third clamping jaw 155 is provided with a third positioning hole 1554, and the third protruding column 15512 is embedded into the third positioning hole 1554, because the third elastic rubber sleeve 1551 has an elastic deformation function, the third protruding column 15512 of the third elastic rubber sleeve 1551 is embedded into the third positioning hole 1554 of the clamping end of the third clamping jaw 155 in an interference manner, so that the third elastic rubber sleeve 1551 can be stably fixed on the clamping end of the third clamping jaw 155. Moreover, the inner cavity wall of the fourth elastic rubber sleeve 1561 of the present embodiment is convexly provided with a fourth protruding column 15612, the outer peripheral wall of the clamping end of the fourth clamping jaw 156 is provided with a fourth positioning hole 1564, and the fourth protruding column 15612 is embedded into the fourth positioning hole 1564, because the fourth elastic rubber sleeve 1561 has an elastic deformation function, the fourth protruding column 15612 of the fourth elastic rubber sleeve 1561 is embedded into the fourth positioning hole 1564 of the clamping end of the fourth clamping jaw 156 in an interference manner, so that the fourth elastic rubber sleeve 1561 can be stably fixed on the clamping end of the fourth clamping jaw 156.

In order to ensure the working stability and reliability of the transfer robot 15, a plurality of second limit posts 16 are convexly arranged on the workbench 11 in the embodiment, a limit area for placing a material frame is formed on the workbench 11 around the second limit posts 16, and the limit area is arranged close to the transfer robot 15 in the horizontal direction, so that the consistency of placing the material frame on the workbench 11 is maintained, the consistency of loading and unloading operations of workpieces in the material frame by the transfer robot 15 can be ensured, and the working stability and reliability of the transfer robot 15 are improved.

Above embodiment is the preferred example of the utility model, and not the restriction the utility model discloses the range of implementing, the event all according to the utility model discloses the equivalent change or the decoration that structure, characteristic and principle were done of application for patent scope all should be included in the utility model discloses the patent application scope.

Claims (10)

1. Robot water jet burring machine, including workstation, water sword robot and high-pressure pump device, the water sword robot sets up on the workstation, the execution end of water sword robot is provided with the water tool bit, the water tool bit with the high-pressure pump device is linked together, just the nozzle has been seted up to the water tool bit, its characterized in that:

the robot water jet deburring machine further comprises a feeding device, the feeding device is arranged on the workbench and is located below the water cutter head in the vertical direction, the feeding device comprises a rotary driving mechanism, a rotary disk, a water baffle and two clamping tool mechanisms, the rotary driving mechanism can control the rotary disk to rotate in the vertical direction, the two clamping tool mechanisms are arranged on the rotary disk in a mirror image mode by taking the rotary axis of the rotary disk as a central line, and the water baffle is arranged on the rotary disk and is located between the two clamping tool mechanisms;

each centre gripping frock mechanism includes frock board, upset actuating mechanism and two at least centre gripping subassemblies, upset actuating mechanism is steerable the frock board is rotatory around the horizontal direction, each the centre gripping subassembly includes cylinder and clamping head, the cylinder is installed on the frock board and steerable the clamping head is relative the frock board removes, and is a plurality of between the clamping head around forming the centre gripping region that is used for placing the work piece on the frock board.

2. The robotic water jet deburring machine of claim 1, wherein:

one side of the clamping head, which is far away from the air cylinder, is provided with an elastic rubber head.

3. The robotic water jet deburring machine of claim 2, wherein:

a first end of the elastic rubber head is provided with an accommodating cavity, and a second end of the elastic rubber head, which is opposite to the first end of the elastic rubber head, is provided with a first limiting groove, a second limiting groove and a third limiting groove which are communicated with the accommodating cavity in a penetrating manner;

the clamping head is kept away from one side of cylinder is provided with the mount pad, the protruding first boss, second boss and the third boss of being provided with on the mount pad, the mount pad embedding hold the intracavity, just first boss embedding first spacing inslot, the embedding of second boss the second spacing inslot, the embedding of third boss the third spacing inslot.

4. The robotic water jet deburring machine of claim 2, wherein:

the elastic rubber head is far away from the clamping head and protrudes to be provided with a limiting plate, and the limiting plate can be located on one side of the workpiece far away from the tooling plate.

5. The robotic water jet deburring machine of claim 1 wherein:

each centre gripping frock mechanism still includes a plurality of first spacing posts, and is a plurality of first spacing post protrusion the frock plateaus set up on the frock board and around the periphery of centre gripping region is arranged.

6. The robotic water jet deburring machine of any one of claims 1 to 5 wherein:

the robot water jet deburring machine still includes transfer robot, transfer robot is located on the horizontal direction the outside of rotary disk, transfer robot's execution end is provided with first handling mechanism and second handling mechanism, first handling mechanism includes first clamping jaw, second clamping jaw and first clamping jaw actuating mechanism, first clamping jaw actuating mechanism is steerable first clamping jaw with the second clamping jaw moves towards or keeps away from each other, just second handling mechanism includes third clamping jaw, fourth clamping jaw and second clamping jaw actuating mechanism, second clamping jaw actuating mechanism is steerable the third clamping jaw with the fourth clamping jaw moves towards or keeps away from each other.

7. The robotic water jet deburring machine of claim 6 wherein:

a clamping end sleeve of the first clamping jaw is provided with a first elastic rubber sleeve, and a clamping end sleeve of the second clamping jaw is provided with a second elastic rubber sleeve;

and/or the clamping end sleeve of the third clamping jaw is provided with a third elastic rubber sleeve, and the clamping end sleeve of the fourth clamping jaw is provided with a fourth elastic rubber sleeve.

8. The robotic water jet deburring machine of claim 7 wherein:

the first clamping jaw is provided with a first vacuum channel, a first vacuum suction hole communicated with the first vacuum channel is formed in the peripheral wall of the clamping end of the first clamping jaw in a penetrating mode, a first avoidance hole corresponding to the first vacuum suction hole is formed in the peripheral wall of the first elastic rubber sleeve, the second clamping jaw is provided with a second vacuum channel, a second vacuum suction hole communicated with the second vacuum channel is formed in the peripheral wall of the clamping end of the second clamping jaw in a penetrating mode, and a second avoidance hole corresponding to the second vacuum suction hole is formed in the peripheral wall of the second elastic rubber sleeve;

and/or, the third clamping jaw is provided with third vacuum channel, the periphery wall of the exposed core of third clamping jaw run through seted up with the third vacuum that third vacuum channel is linked together inhales the hole, the periphery wall of third elasticity gum cover seted up with the third that the hole correspondence set up is inhaled in the third vacuum dodges the hole, just the fourth clamping jaw is provided with fourth vacuum channel, the periphery wall of the exposed core of fourth clamping jaw run through set up with the fourth vacuum that fourth vacuum channel is linked together inhales the hole, the periphery wall of fourth elasticity gum cover seted up with the fourth that the hole correspondence set up is inhaled in the fourth vacuum dodges the hole.

9. The robotic water jet deburring machine of claim 7 wherein:

a first convex column is convexly arranged on the inner cavity wall of the first elastic rubber sleeve, a first positioning hole is formed in the outer peripheral wall of the clamping end of the first clamping jaw, and the first convex column is embedded into the first positioning hole;

and/or a second convex column is convexly arranged on the inner cavity wall of the second elastic rubber sleeve, a second positioning hole is formed in the outer peripheral wall of the clamping end of the second clamping jaw, and the second convex column is embedded into the second positioning hole;

and/or a third convex column is convexly arranged on the inner cavity wall of the third elastic rubber sleeve, a third positioning hole is formed in the outer peripheral wall of the clamping end of the third clamping jaw, and the third convex column is embedded into the third positioning hole;

and/or, the inner cavity wall of the fourth elastic rubber sleeve is convexly provided with a fourth convex column, a fourth positioning hole is formed in the peripheral wall of the clamping end of the fourth clamping jaw, and the fourth convex column is embedded into the fourth positioning hole.

10. The robotic water jet deburring machine of claim 6 wherein:

the protruding spacing post of a plurality of second that is provided with on the workstation is a plurality of between the spacing post of second around forming the spacing region that is used for placing the material frame on the workstation, spacing region is close to in the horizontal direction transfer robot sets up.

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