3829results about "Automatic grinding control" patented technology

The present disclosure provides a grinding robot for an inside wall of a small diameter pipe. The grinding robot includes a grinding device, a transmission device, and a driving device. By arranging the grinding robot into the above three portions, the overall bending pipe passability of the robot can be increased, which is convenient for the grinding robot to grind the small diameter pipe. A first gimbal and two second gimbals provided in the transmission device enable the grinding robot to flexibly pass through bends of the pipe, and enable a grinding driving force to be variably transmitted to the grinding device. When the grinding body rotates and contacts a pipe wall, a reaction force of the pipe wall on the grinding body is balanced by an adjusting spring adjustment force in a balance adjusting device and a self-weight of a grinding body.

The invention discloses a control method and a control system for magnetic steel polishing, and relates to the technical field of polishing control, and the control method comprises the following steps: setting a magnetic steel positioning center coordinate and a polishing reference point, and configuring a polishing control path; a preset fixed position and a preset fixed posture are collected, and initial polishing process parameters are set in combination with the polishing control path; setting a magnetic steel polishing virtual environment, collecting pressure distribution simulation data of a polishing contact surface, dynamically correcting the feeding speed and the axial deflection angle of a polishing head, establishing a nonlinear mapping model, and adaptively adjusting the polishing power; and a laser contour scanning plug-in is arranged at the tail end of the polishing path, the simulated curved surface and the actually-measured point cloud data are compared for simulation compensation, and a polishing process parameter set is output to execute batch machining control. The technical problems that in the prior art, the grinding precision is not high, and technological parameters are not flexible to adjust are solved, and the technical effects of improving the grinding precision and achieving intelligent optimization of the technological parameters are achieved.

The invention discloses a grinding and polishing control method and system based on sliding mode control, and relates to the field of robot industrial control. The method comprises the steps that a force signal of a force sensor at the tail end of a mechanical arm is collected and decomposed into a normal force component perpendicular to the surface of a workpiece; determining a deviation value between the normal force component and preset target pressure, and constructing a sliding mode surface expression of sliding mode control; determining a force control component according to the force control gain coefficient; position deviation and speed deviation are determined according to the position signals of the joint encoders and a preset polishing track; determining a position control component according to the position deviation, the speed deviation, the position gain coefficient and the speed gain coefficient; constructing a selection matrix, and performing orthogonal decomposition and superposition on the force control component and the position control component to obtain a comprehensive control instruction; and the driving signals are converted into driving signals of the joint motors, and the driving signals are transmitted to the mechanical arm for grinding and polishing. By implementing the method, force control of robot grinding and polishing can be optimized, and response delay is reduced.

The invention relates to the technical field of grinding, in particular to a self-adaptive force control grinding system and method for a complex curved surface machining robot. Three-dimensional point cloud data of a workpiece are obtained through machine vision, gridding processing is carried out, and normal vector and curvature characteristic parameters are calculated; performing operation area division and operation path planning based on curvature characteristics; calculating operation parameters according to the normal vector and curvature characteristics; a self-adaptive impedance control algorithm is adopted, the polishing force is monitored in real time through a force sensor, and the rigidity and damping parameters of the robot are dynamically adjusted; and performing defect identification on the surface image of the processed workpiece by using the deep learning model, and when defects are identified, re-planning the operation path. According to the method, self-adaptive grinding of the complex curved surface workpiece is achieved, and the grinding efficiency and quality of the complex curved surface can be improved.

The invention relates to the technical field of optical engineering, in particular to an AI silicon carbide lens-oriented aspheric laser polishing precision online detection and feedback system. Comprising a detection module; the data processing module is electrically connected with the detection module and used for constructing a lens surface three-dimensional model and calculating polishing precision parameters; the feedback control module is electrically connected with the data processing module, is used for generating a feedback control strategy and comprises a strategy generation unit and a parameter optimization unit; an execution module; and an intelligent learning module. According to the design, a laser measuring head, an energy sensor array and an environment sensor are integrated through the detection module, synchronous acquisition of multi-dimensional data such as surface profile, laser energy distribution and environment parameters is realized, and three-dimensional point cloud data with consistent time and space are generated through multi-modal fusion processing (time domain synchronization, space registration and feature enhancement) of the data preprocessing unit; the physical essence of the polishing process is completely represented, and the detection comprehensiveness and the data relevance are improved.

The invention relates to aluminum alloy pipe machining equipment, in particular to a polishing device for a formed aluminum alloy pipe. The right support and the left support are arranged in parallel at the same height, the left support is provided with an inner polishing part capable of going deep back and forth, and the right support is provided with a rotating part capable of driving a pipe to rotate. According to the grinding device for the formed aluminum alloy pipe, a left support and a right support which are symmetrically arranged form a main body frame, the front end of the left support is provided with an inner grinding part capable of conducting feeding movement in the front-back direction, and the right support is correspondingly provided with a rotating part for driving the pipe to rotate; the rotating part comprises two sets of supporting rollers coaxially installed on the right support, and a plurality of grinding blocks used for grinding the outer surfaces are evenly distributed on the peripheries of roller bodies of the supporting rollers. The inner grinding part carries a moving seat capable of longitudinally sliding through a left support guide rail, a grinding shaft capable of rotating at a high speed is arranged in the moving seat, the tail end of the grinding shaft is rigidly connected with a multi-blade grinding head used for inner wall machining, and progressive grinding of the grinding head in an inner cavity of the pipe is achieved through axial feeding driving of the moving seat.

The invention relates to the technical field of grinding machining, and particularly discloses a crankshaft connecting rod grinding force dynamic error compensation method and system.The method comprises the steps that a prediction reference signal is collected; a grinding force signal of the grinding wheel spindle is collected based on a piezoelectric sensor; extracting spectrum characteristic parameters according to the predicted reference signal; predicting grinding force fluctuation information according to the spectrum characteristic parameters; a feedforward compensation instruction is generated according to the grinding force fluctuation information; generating a feedback compensation instruction according to the difference between the grinding force signal and the target grinding force of the current task; synthesizing the feedforward compensation instruction and the feedback compensation instruction to generate a compensation control instruction; according to the method, a control strategy combining feedforward and feedback is adopted, the response speed and compensation precision of a system to dynamic changes of grinding force are remarkably improved, accordingly, elastic deformation caused by fluctuation of the grinding force is effectively restrained, and finally the grinding machining precision and surface quality of key parts of the crankshaft connecting rod are improved.

The invention provides a control method and system for a surface shape of an optical device, and the method comprises the steps: carrying out the initial grinding and polishing of the optical device, carrying out the real-time detection through a multi-frequency-band stress detector, obtaining the stress distribution and surface wave front data, and obtaining an initial detection result; a phase shift interferometer and a composite laser confocal probe are used to carry out depth surface shape measurement based on the initial detection result, and adaptive finishing is carried out on an abnormal area to obtain a surface shape finishing log; according to the initial detection result and the finishing log, executing step-by-step load irradiation and stress tracking, and collecting surface shape change under photo-thermal coupling to obtain surface shape evolution information; and according to the surface shape evolution information, performing partition dynamic compensation and real-time detection until a surface shape control result meeting requirements is obtained. According to the method, secondary deformation caused by internal stress release is recognized and corrected through combination of multi-frequency-band stress detection and high-precision interference measurement, high-precision control over the surface shape of the optical device is achieved, and the method is suitable for scenes with high requirements for the surface shape of the optical element.

The invention relates to the technical field of machining precision control, and discloses an injection mold core machining precision control method and system.The method comprises the steps that a multi-point trigger type sensor is adopted for conducting data collection on the surface of a core of an injection mold, and core surface contour data, geometric dimension data and surface roughness data are obtained; inputting a feature extraction model, extracting fusion features of the surface of the mold core, and performing regional processing on the surface of the mold core to obtain regional polishing parameters; normalized error coefficient calculation is carried out, and a core surface quality distribution diagram is generated; calculating the compensation coefficient of each region to obtain a compensation optimization parameter matrix; and multi-axis linkage path planning is conducted, the surface of the mold core is divided into a plurality of grid units, the curvature value and the polishing track compensation value of each grid unit are calculated, a thermal deformation compensation polishing path is generated, and the automation level and the intelligent degree of mold core machining are improved.

The embodiment of the invention provides a wafer polishing method, polishing equipment and a storage medium. The wafer polishing method comprises the following steps: acquiring a first value range of polishing time for polishing a wafer, a second value range of polishing pressure of a polishing head and a target removal amount of the wafer; updating a preset constraint condition according to the first value range and the second value range to obtain a target constraint condition; wherein the constraint condition is used for constraining the range of the polishing time and the polishing pressure; the polishing time and the polishing pressure serve as variables to be optimized of an optimization model, at least the minimum difference between the predicted removal amount and the target removal amount serves as an optimization target of the optimization model, and the optimization model is constructed according to a preset removal rate prediction model; based on the target constraint condition and the optimization model, the polishing time and the polishing pressure are determined; and controlling the polishing head to polish the wafer according to the determined polishing time and polishing pressure.

The invention discloses a grinding force online detection control device and method, and relates to the technical field of precision grinding machining force measurement, a spring chuck is arranged in a containing cavity, and the outer wall of a detection shaft section is a tapered conical surface; the threaded gland is connected with the connecting shaft section to axially limit the spring chuck, the mounting handle is provided with a first conical cavity, the threaded gland is provided with an avoiding hole, the piezoelectric sensors are mounted on the detection shaft section, the grinding wheel spindle acts on the piezoelectric sensors through the detection shaft section, and the piezoelectric sensors are used for detecting tangential force, normal force and axial force. The signal amplification processing module can convert charge signals output by the piezoelectric sensor into digital signals and output the digital signals to the terminal, and the terminal can control logic to control the grinding head to maintain constant-force grinding according to a preset grinding force target value. According to the method, all-directional real-time detection and control over the grinding force are achieved, the accuracy and the real-time performance are improved, and a new control method is provided for low-damage machining of hard and brittle materials.

The invention discloses a deterministic cutting compensation processing method for an infrared thin-wall optical element. The method comprises the following steps: S1, acquiring an initial surface shape of a workpiece; the method comprises the following steps: measuring an initial surface shape of a thin-wall optical element to be machined through an ultra-precision machine tool in-situ measurement technology to obtain a surface shape outline rho (x, y), and calculating a material removal amount deltaz (x, y) at each coordinate position according to a designed surface shape outline z (x, y), deltaz (x, y) = rho (x, y)-z (x, y); s2, elastic deformation prediction of clamping stress; based on a finite element simulation model, three-dimensional space numerical distribution simulation is conducted on clamping force distribution in the machining process, and element elastic deformation epsilon (x, y) caused by clamping stress is predicted; integrating the elastic deformation amount with the initial material removal amount to obtain a new material removal amount z '(x, y); s3, deformation prediction of the machining residual stress element; s4, generating a non-uniform material removal compensation track; and S5, non-uniform cutting compensation machining based on slow cutter servo is carried out.

The invention discloses a metal grinding machine tool grinding wheel wear compensation type intelligent control system, and relates to the technical field of mechanical manufacturing automation, and the system comprises a contact type reference detection module which is used for obtaining the initial contour and reference wear loss of a grinding wheel through discrete point measurement in a non-machining state; the multi-parameter non-contact real-time detection module is used for collecting acoustic emission, vibration and spindle current signals in the grinding process through three types of sensors; the grinding environment sensing module collects the temperature of a grinding area and the cutting fluid concentration; the intelligent control unit receives reference data and an environment signal, performs deep learning on a wear loss prediction model after multi-source data fusion, performs periodic reference calibration, analyzes the dynamic wear loss, and synchronously transmits the data to the data storage and tracing module; the executing mechanism adjusts grinding wheel feed amount compensation according to the dynamic abrasion loss; and the data storage and tracing module stores full-process data in real time. According to the system, high-precision and real-time wear compensation is achieved, the machining precision and consistency are improved, and high-end manufacturing requirements are met.

The invention discloses an automatic dovetail welding seam grinding control method based on robot visual positioning, and relates to the technical field of visual positioning. The method comprises the steps that after welding is completed, a dovetail welding seam image is collected and converted into a three-dimensional coordinate through a vision algorithm, and a three-dimensional point cloud is generated; smooth interpolation is performed on the three-dimensional point cloud through a B spline curve method to obtain a parameterized curve, and a control point set is optimized through a genetic algorithm to generate a global optimal polishing path; the polishing robot executes a task according to a path, a tail end sensor collects a real-time path and calculates a deviation value with a global path, and when the deviation value exceeds a preset threshold value, inverse kinematics is triggered to solve and correct the path; the hardness of the dovetail weld is measured through laser-induced breakdown spectroscopy, a comprehensive hardness value is obtained in combination with a matrix hardness database, meanwhile, a visual sensor collects the surface state, and polishing process parameters are dynamically adjusted according to the surface state; after the task is completed, the welding seam angle and flatness are detected. According to the method, the optimal path is generated through visual positioning, and automatic grinding of the dovetail welding seam is achieved.

The invention discloses an intelligent hardware grinding system based on machine vision, which comprises a machine vision module used for carrying out image acquisition on grinding of hardware and generating surface feature information and grinding state image feature information of the hardware; the robot grinding module is used for grinding the hardware according to the surface feature information and the grinding state image feature information; the control module is connected with the machine vision module and the robot grinding module and used for adjusting grinding equipment control instruction features and grinding parameters in real time according to the surface feature information and the grinding state image information; according to the method, the target hardware grinding information is subjected to image recognition, the image description set is mined, and accurate path planning is generated and covers shape, size, defect position and other information. According to the method, deviation judgment is carried out on the multiple grinding task events, so that the deviation correction execution strategy is determined, the hardware grinding precision is effectively improved, the hardware rejection rate is reduced, and the hardware production efficiency is improved.

The invention relates to the technical field of grinding regulation and control, in particular to a tool alignment control and grinding machining method suitable for an air compressor shell. According to the method, an initial grinding point of a grinding tool is determined for grinding according to the local distribution condition of the height and thickness of the surface of the shell; according to the grinding temperature and the grinding depth of the grinding wheel and the time sequence change degree in the grinding process, the grinding strength value of the surface of the machine shell is analyzed, and a grinding change trend index is obtained; according to the height and thickness deviation change and the vibration amplitude of the contact area in the grinding process, in combination with a grinding change trend index, parameter adjustment factors of grinding parameters are determined, and the combination of the rotating speed and the feeding speed of a grinding wheel is adjusted in real time for grinding. According to the method, the real-time parameter adjustment factors in the grinding process are determined by combining the grinding real-time strength change with the shell surface quality, correlation adjustment is carried out on the grinding parameters, and the surface adaptability and the grinding effect in the grinding process are improved.

The invention relates to the technical field of polishing, and discloses an intelligent steel rail polishing control method which comprises the following steps: acquiring surface and internal defect data of a steel rail through laser and ultrasonic fusion detection, discretizing the data into multi-dimensional nodes, and constructing a dynamic graph model comprising a microscopic-macroscopic dual-cluster neural network to predict a defect evolution trend; based on fractal dimensions and information entropy, multi-source data are dynamically fused, abnormities are eliminated, chaotic optimization and wear prediction are adopted to generate global optimal polishing parameters, and finally parameter dynamic adjustment is achieved through closed-loop feedback of pulse frequency and control errors. Steel rail defect collaborative perception is achieved through a multi-scale dynamic graph model, fractal-entropy weight dynamic fusion is combined to enhance data reliability, global optimal parameters are generated through chaos optimization and abrasion prediction, accurate grinding is achieved through pulse-error closed-loop control, and the method is simple and convenient to implement. The problems of data fusion failure, defect response lag, parameter local optimization and insufficient control precision in the prior art are solved.

The invention discloses a grinding control system for reducing the surface stress difference of a workpiece, relates to the technical field of workpiece grinding, and can dynamically monitor the state change in the grinding process by collecting temperature, vibration, cutting force and stress data in real time to ensure timely response to potential problems. The collected data is cleaned and standardized, the data quality is improved, the index cutting force fluctuation coefficient Kf, the stress distribution coefficient Sd and the mechanical vibration frequency fv are extracted, and a reliable basis is provided for subsequent analysis. And the grinding strategy optimization module dynamically adjusts the feeding speed Vf and the grinding depth d based on feedback information, fine control is achieved, the surface stress difference of the workpiece is reduced, and the surface quality is improved. The surface stress difference is reduced, the use performance and the service life of the workpiece are remarkably improved, grinding parameters are adjusted in real time, defects in the grinding process can be effectively reduced, the rejection rate is reduced, the grinding parameters and the stable operation process are accurately controlled, and the overall production efficiency is improved.

The invention provides a grinding control method, device and equipment for a transmission gear and a storage medium, and the method comprises the steps that a three-dimensional digital model of the transmission gear to be ground is constructed according to multi-dimensional physical parameters and material parameters collected by the transmission gear to be ground; a multi-stage grinding process parameter set is generated according to the three-dimensional digital model and a process parameter database; determining grinding track data of the transmission gear to be ground according to the multi-stage grinding process parameter set and the three-dimensional digital model; performing dynamic simulation on the grinding track data, and optimizing the grinding track data based on simulation feedback; and grinding the transmission gear to be ground according to the optimized grinding track data. A personalized three-dimensional digital model is constructed by collecting multi-dimensional physical and material parameters, accurate generation and optimal control of a grinding track are achieved based on the model and a multi-stage process parameter set, and the machining precision of the gear grinding process is effectively improved.

The invention discloses a method and a system for controlling test lapping of a stamping die. The method comprises the following steps: scanning an actual molded surface of the stamping die to generate actual three-dimensional point cloud data; determining a difference value according to the actual three-dimensional point cloud data and the virtual three-dimensional point cloud data; determining a first to-be-repaired area according to the difference value and a preset tolerance range; simulating deformation conditions of the stamping part under different pressures based on a preset virtual combined simulation model, and predicting a contact area and pressure distribution of the stamping die and the stamping part in an actual stamping process; determining a second to-be-repaired area according to the contact area and the pressure distribution; determining a to-be-polished area according to the first to-be-repaired area and the second to-be-repaired area; a polishing path is generated according to the to-be-polished area through a path planning algorithm; and grinding equipment is controlled to grind the stamping die according to the grinding path. Therefore, the efficiency of the whole test lapping process is improved.

The invention relates to the technical field of automatic equipment control, in particular to an automatic equipment control system and method and a storage medium. The method comprises the following steps that a high-frequency laser scanner is used for scanning the surface of a target polishing part, B-spline surface fitting is carried out, and a surface fitting surface model is generated; controlling the polishing operation of the polishing industrial robot based on the surface fitting curved surface model, and performing polishing contact state detection to generate contact state point cloud data; based on the contact state point cloud data, grinding expected pose error analysis is carried out, reverse impedance error compensation is carried out, and a reverse impedance compensation amount is obtained; and the joint angle of the polishing industrial robot is corrected through the reverse impedance compensation amount, so that reverse impedance control over the automatic polishing equipment is achieved. By compensating the reverse impedance error of the automatic polishing equipment, accurate control over the automatic polishing process is achieved.

The invention relates to the technical field of machining, in particular to an intelligent control system and method for sapphire substrate polishing, and the method comprises the following steps: S1, surface topography data acquisition: collecting surface roughness data and a three-dimensional topography distribution diagram of a sapphire substrate in real time; s2, generating characteristic parameters: extracting the surface waviness, the local recess depth, the bulge density, the lattice distortion index and the residual stress distribution gradient as the characteristic parameters; s3, dynamic parameter adjustment: generating a dynamic adjustment instruction of the polishing pressure, the rotating speed of the polishing disk and the supply rate of the polishing solution; s4, distribution optimization of the polishing solution: realizing uniform coverage of the polishing solution on the surface of the substrate; s5, stress real-time monitoring: generating a stress abnormity early warning signal; s6, outputting a closed-loop control instruction: feeding back a stress abnormity early warning signal to the adaptive control model, and iteratively correcting the dynamic adjustment instruction; according to the method, the risks of stress concentration and fatigue damage can be reflected in real time, and the safety and high efficiency of the polishing process are ensured.

The invention discloses a surface grinding machine self-adaptive control optimization method for mold component manufacturing, and belongs to the technical field of intelligent manufacturing. The method comprises the steps that machining prediction modeling is conducted on manufacturing design information through the digital twinning technology; a mold component manufacturing data set of the surface grinding machine is collected and obtained, and retrieval matching is conducted on the basis of the manufacturing design information and the mold component manufacturing data set; carrying out processing production and real-time monitoring on the target mold component based on the target grinding machine processing parameters; performing processing prediction on the real-time processing data of the mold component by using the digital twin model of the mold component; and adaptive optimization is carried out on the target grinding machine machining parameters based on the mold component prediction manufacturing information, and adaptive optimization control is carried out on the target mold component through the grinding machine optimization machining parameters. The technical problems that in the prior art, die component machining parameters cannot be dynamically optimized, and machining precision and efficiency are difficult to meet at the same time, so that machining quality is unstable, and trial and error cost is high are solved.

An offline programming method for a full-six-axis CNC rough machining and polishing device. The method comprises: importing a three-dimensional model of a product into CAM software, interactively setting information of a workpiece coordinate system and a tool coordinate system of the three-dimensional model, selecting a route on which an operation is required, and generating path data; importing the three-dimensional model and the path data into offline programming software, and performing simplification processing on the path data; implementing an overall offset function, a single-point offset function and posture adjustment of the path data in the tool coordinate system; implementing simulation running of a tool and collision detection; on the basis of the path data and tool data, generating an NC program conforming to a program standard; and a six-axis device creating the workpiece coordinate system on the product; and monitoring a running state. Therefore, problems such as the polishing programming efficiency of products of complex structures being low, the follow-up reading, modifying and positioning being time-consuming due to the fact that CAM software exports excessive path data, and there being a certain difference between a model generation path and an actual device running path are solved.

The invention relates to a control method and system for a high-precision grinding machine of an eccentric butterfly valve sealing pair and a terminal, and relates to the technical field of grinding machines. Selecting specification information of the eccentric butterfly valve is analyzed and determined according to the pressure detection information and the inclination detection value; selecting specification information based on the eccentric butterfly valve and calling a specification inclination demand value; calculating an inclination adjustment value; analyzing and determining inclination adjustment control information according to the inclination adjustment value; grinding path information is analyzed and determined according to the eccentric butterfly valve selection specification information and the inclination adjustment control information; grinding machining following control information corresponding to the grinding machining path information is determined according to the grinding machining path information; and combining the inclination adjustment control information with the grinding following control information to serve as grinding comprehensive control information, and outputting the grinding comprehensive control information to a high-precision grinding machine for grinding. The machining method has the effects that the overall machining efficiency of the sealing pair of the eccentric butterfly valve is improved, and 100% exchange is achieved.

The invention relates to the technical field of automatic control, in particular to a numerical control grinding machine debugging control system based on intelligent industry, which comprises a wear area division module, a grinding wheel regulation and control module, a basic compensation value analysis module, a thermal error compensation module and a management database, according to the system, the abrasion area of the surface of the grinding wheel at each time point is obtained through threshold segmentation of the surface image of the grinding wheel at each time point, and the parameters of the grinding wheel are regulated and controlled based on the deviation value between the actual power and the target power of the grinding wheel at each time point; the instantaneous position error change rate of machine tool motion is calculated by collecting instruction positions and actual positions of machine tool motion at all sampling moments, so that a basic compensation value is obtained through analysis, a thermal compensation value is obtained through prediction of a temperature-thermal error mapping relation, a compensation value is obtained by combining the basic compensation value, and the compensation value is superposed to the instruction positions. And the self-adaptive optimization of the whole polishing process is realized.

The invention relates to the technical field of polishing, in particular to a pipe fitting inner wall polishing device which comprises a detection mechanism, the detection mechanism comprises a plurality of detection plates used for detecting whether protrusions or burrs exist on the inner wall of a pipe fitting or not, and one end of each detection plate is fixedly connected with a magnet vane; and one end of the magnetism isolating plate is fixedly connected with a first arc-shaped magnetic plate. The polishing mechanism carries out primary polishing through a first coarse polishing piece, further polishing is carried out through a first fine polishing piece before polishing is about to be completed, protrusions and burrs on the inner wall of the pipe fitting are gradually removed in this way from rough to fine, the rough condition of the polished surface is monitored in real time through a detection block in the detection mechanism in the polishing process, and when the polished surface is rough, the rough surface is detected. Polishing is conducted by increasing the polishing speed, then monitoring is continued, when it is monitored that the polishing piece is rough, it means that the polishing piece loses the polishing capacity, and therefore the standby polishing piece can be used for polishing.

The invention relates to the technical field of stone cutting, and provides a diamond wire detection-based wire cutting system and a cutting method.The image acquisition module and the wire diameter detection module are arranged to obtain image information and the wire diameter of a diamond wire respectively, so that the actual abrasion loss of the diamond wire is obtained; the expected value of abrasion consumption in a cutting period is obtained in advance according to the take-up and pay-off length and the lifting speed of the workbench, and the abrasion loss condition of the diamond wire can be judged in time by comparing the actual abrasion value with the expected value, so that the take-up length and the speed of the workbench are adjusted in time to meet the cutting requirement; therefore, the abrasion rate of the diamond wire can be effectively controlled, wire breakage is prevented, and meanwhile the purposes of saving cost and improving stone cutting efficiency can be achieved.

The invention relates to the technical field of machining, in particular to a deburring method and a deburring device.The deburring method comprises the steps that a workpiece to be polished is fixed to a positioning tool; performing visual identification on the position of the to-be-polished workpiece to generate a first position signal; adjusting the to-be-polished workpiece to a preset position according to the first position signal; performing visual identification on the position of the to-be-polished workpiece to generate a second position signal; and the polishing tool is moved to a to-be-machined area inside or outside the workpiece according to the second position signal, and deburring operation is executed. According to the scheme, the defect that the deburring effect is poor due to inaccurate positioning in the prior art is overcome, and more accurate and efficient deburring operation is achieved.

The invention relates to the field of intelligent manufacturing, and discloses a high-quality grinding and polishing trajectory planning method for a blade remanufacturing robot, which comprises the following steps of: determining a multi-layer grinding and polishing trajectory plane on a grid curved surface of a remanufactured blade; determining a sequential intersection point between each layer of track plane and the grid curved surface triangular patch; fitting the sequential intersection points of each layer into target curve paths, and dispersing each target curve path according to an equal arc length interpolation method to obtain cutter contacts; determining a double-cutter-axis vector of each cutter contact; generating a sampling point and determining a material removal function of the sampling point; a material removal function is combined with a tool path according to convolution operation, and the residence time of each layer of tool contacts in the repair area is determined through a truncated singular value decomposition method; and the grinding and polishing track of the robot is determined according to the space coordinate information of the cutter location point corresponding to the cutter contact point, the double-cutter-axis vector and the residence time. The influence of large deformation of a molded surface and non-uniform allowance distribution of a repair area on the grinding and polishing effect is considered, and layered point-by-point precise grinding and polishing machining of the remanufactured blade is achieved.