End grinding mechanism and grinding equipment

Abstract

The embodiment of the present application discloses an end grinding mechanism and a grinding device, which can realize the automatic tool setting function of the grinding device and have high tool setting accuracy. The end grinding mechanism of the present application includes: a base, a first grinding component, a first transfer component, and a first tool setting component; the base is used to provide a mounting base; the first grinding component is used to realize the grinding function; the slidable end of the first transfer component is connected to the first grinding component, and is used to trigger the first tool setting component to generate a target position signal when the first grinding component is resisted and the slidable end of the first transfer component moves.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent devices, and in particular to an end grinding mechanism and a grinding device. Background Art

[0002] The gantry-type grinding equipment in the prior art occupies a large area, is heavy, and does not have an automatic tool setting function. Before using the grinding equipment to grind the workpiece, an experienced operator is required to perform tool setting between the grinding head of the grinding equipment and the workpiece. The so-called tool setting refers to aligning the working coordinate point of the grinding head working point in the system coordinate system of the current grinding equipment with the reference coordinate point in the reference coordinate system of the workpiece, so that the workpiece can be ground according to the system coordinate system in the grinding equipment. It can be seen that the key point of the tool setting process is to establish an association between the reference point in the reference coordinate system of the workpiece and the working coordinate point in the system coordinate system of the grinding equipment, so that the workpiece in the reference coordinate system can be included in the system coordinate system, so that the grinding equipment can install its own system coordinate system to accurately process the workpiece.

[0003] At present, the tool alignment of the grinding head of the grinding equipment is generally performed manually by experienced operators, that is, the operator operates the grinding equipment to command the grinding head to move, and then uses visual inspection to observe whether the working coordinate point of the grinding head working point coincides with the reference coordinate point of the workpiece. When the operator feels that they coincide, he will issue an alignment instruction to the system coordinate system of the grinding equipment to complete the alignment and coincidence of the working coordinate point of the grinding head working point in the system coordinate system of the current grinding equipment with the reference coordinate point in the reference coordinate system of the workpiece. It can be seen that this manual tool alignment method mainly relies on the experience of the operator, has poor reliability, is prone to errors, and there may be large errors in the tool alignment process. Tool alignment with large errors will affect the quality of the product formed by the workpiece. Summary of the invention

[0004] The embodiments of the present application provide an end grinding mechanism and a grinding device, which can realize the automatic tool setting function of the grinding device and have high tool setting accuracy.

[0005] A first aspect of the present application provides an end grinding mechanism, comprising: a base, a first grinding assembly, a first transfer assembly, and a first tool setting assembly;

[0006] The mounting surface of the base is cooperatively connected with the end of the robot arm, and the first transfer assembly is mounted on the first surface of the base;

[0007] The first grinding assembly comprises: a first grinding head and a first driving motor, wherein the first grinding head is fixedly mounted on an output shaft of the first driving motor;

[0008] The first transfer assembly includes: a first linear slide rail, a first transfer mounting block, a first guide rod, a first tension spring, and a first sensor mounting block. The first surface of the base is fixedly connected to the first sliding end of the first linear slide rail, and the second sliding end of the first linear slide rail is fixedly connected to the first transfer mounting block. The first drive motor is fixedly installed at the lower end of the first transfer mounting block, and the output shaft of the first drive motor is vertically downward. The upper end of the first transfer mounting block is vertically fixedly installed with the first guide rod, and the first guide rod can be slidably penetrated and connected to the first sensor mounting block. The first sensor mounting block is connected to the base, the first end of the first tension spring is connected to the first sensor mounting block, and the second end of the first tension spring is connected to the upper end of the first transfer mounting block, and the first tension spring is in a stretched state.

[0009] The first tool setting assembly includes: a first sensor and a first sensor triggering structure. The first sensor is fixedly mounted on the first sensor mounting block. The first sensor triggering structure is fixedly mounted on the first transfer mounting block, and the first sensor triggering structure and the first sensor are in a coordinated triggering state, so that when the first grinding head is resisted and the first transfer mounting block compresses the first tension spring upward, the first sensor triggering structure triggers the first sensor to generate a target position signal.

[0010] Optionally, the base is in a strip shape, and the cross section of the base is polygonal, and further comprises: a visual positioning component;

[0011] The visual positioning component is installed on the second surface of the base;

[0012] The visual positioning assembly includes: a camera, a camera fixing frame, a second linear slide rail, and a second transfer mounting block;

[0013] The second surface of the base is fixedly connected to the first sliding end of the second linear slide rail, the second sliding end of the second linear slide rail is fixedly connected to the second transfer mounting block, the second transfer mounting block is fixedly mounted with the camera mounting bracket, and the second transfer mounting block is connected to the base, and the camera mounting bracket is adapted to mount the camera so that the lens of the camera faces vertically downward.

[0014] Optionally, it also includes: a light source and a light source fixing frame;

[0015] The light source is in a circular ring shape and is fixedly mounted on the lower end of the second transfer mounting block through the light source fixing frame, so that the camera can view downward through the circular center hole of the light source.

[0016] Optionally, it further includes: a third grinding assembly, a third transfer assembly, and a third tool setting assembly;

[0017] The third transfer assembly is installed on the third surface of the base;

[0018] The third grinding assembly comprises: a third grinding head and a third driving motor, wherein the third grinding head is fixedly mounted on the output shaft of the third driving motor;

[0019] The third transfer assembly includes: a third linear slide rail, a third transfer mounting block, a third guide rod, a third tension spring, and a third sensor mounting block. The third surface of the base is fixedly connected to the first sliding end of the third linear slide rail, and the second sliding end of the third linear slide rail is fixedly connected to the third transfer mounting block. The third driving motor is fixedly installed at the lower end of the third transfer mounting block, and the output shaft of the third driving motor is vertically downward. The upper end of the third transfer mounting block is vertically fixedly installed with the third guide rod, and the third guide rod can be slidably passed through and connected to the third sensor mounting block. The third sensor mounting block is connected to the base, the first end of the third tension spring is connected to the third sensor mounting block, the second end of the third tension spring is connected to the upper end of the third transfer mounting block, and the third tension spring is in a stretched state.

[0020] The third tool setting assembly includes: a third sensor and a third sensor trigger structure. The third sensor is fixedly mounted on the third sensor mounting block. The third sensor trigger structure is fixedly mounted on the third transfer mounting block, and the third sensor trigger structure and the third sensor are in a coordinated triggering state, so that when the third grinding head is resisted and the third transfer mounting block compresses the third tension spring upward, the third sensor trigger structure triggers the third sensor to generate a target position signal.

[0021] Optionally, both the first sensor and the third sensor are laser displacement sensors, and both the first sensor triggering structure and the third sensor triggering structure are reflective plates.

[0022] Optionally, the first sensor is a laser displacement sensor, and the first sensor triggering structure is a reflective plate;

[0023] The third sensor is a slot-type photoelectric sensor, and the third sensor triggering structure is a light shielding plate.

[0024] Optionally, it further includes: a first linear motion device, a first floating joint, a second linear motion device, a second floating joint, a third linear motion device, and a third floating joint;

[0025] The first sensor mounting block is fixedly connected to the first end of the first floating joint, the second end of the first floating joint is fixedly connected to the output shaft of the first linear motion device, and the first linear motion device is fixedly connected to the base;

[0026] The second transfer mounting block is fixedly connected to the first end of the second floating joint, the second end of the second floating joint is fixedly connected to the output shaft of the second linear motion device, and the second linear motion device is fixedly connected to the base;

[0027] The third sensor mounting block is fixedly connected to the first end of the third floating joint, the second end of the third floating joint is fixedly connected to the output shaft of the third linear motion device, and the third linear motion device is fixedly connected to the base.

[0028] Optionally, the first linear guide rail, the second linear guide rail and the third linear guide rail are all cross roller guide rails.

[0029] Optionally, it also includes: a first air blowing pipe, a first air blowing pipe fixing structure, a third air blowing pipe, and a third air blowing pipe fixing structure;

[0030] The first air blowing pipe is installed at the lower end of the first transfer mounting block through the first air blowing pipe fixing structure;

[0031] The third air blowing pipe is installed at the lower end of the third transfer mounting block through the third air blowing pipe fixing structure.

[0032] A second aspect of the present application provides a grinding device, comprising: a gantry-type robotic arm, such as the end grinding mechanism described in the first aspect;

[0033] The end of the gantry-type mechanical arm is connected to the base mounting surface of the end grinding mechanism. From the above technical solution, it can be seen that the embodiment of the present application has the following advantages:

[0034] The end grinding mechanism of the embodiment of the present application includes: a base, a first grinding component, a first transfer component, and a first tool setting component; wherein the mounting surface of the base is used to cooperate with the end of the robot arm, so that the end grinding mechanism has a basis for controllable movement within a certain range; wherein the first grinding component includes: a first grinding head, a first drive motor, and the first grinding head is fixedly mounted on the output shaft of the first drive motor, so that the first grinding head has the working ability of rotational grinding; wherein the first transfer component includes: a first linear slide rail, a first transfer mounting block, a first guide rod, a first tension spring, and a first sensor mounting block, the first surface of the base is fixedly connected to the first sliding end of the first linear slide rail, that is, the first sliding end of the first linear slide rail is relatively fixed, and the second sliding end of the first linear slide rail is fixedly connected to the first transfer mounting block, that is, the second sliding end of the first linear slide rail and the first transfer mounting block can slide relative to the base, the first drive motor is fixedly mounted on the lower end of the first transfer mounting block, and the output shaft of the first drive motor is vertically downward, and the upper end of the first transfer mounting block is vertically fixedly mounted with a first guide rod, and the first guide rod can slide through the connection of the first sensor The mounting block is connected to the base, the first end of the first tension spring is connected to the first sensor mounting block, the second end of the first tension spring is connected to the upper end of the first transfer mounting block, and the first tension spring is in a stretched state, so that the first transfer mounting block keeps a certain distance from the first sensor mounting block and can slide linearly toward the first sensor mounting block; wherein the first tool setting assembly includes: a first sensor, a first sensor trigger structure, the first sensor is fixedly mounted on the first sensor mounting block, the first sensor trigger structure is fixedly mounted on the first transfer mounting block, and the first sensor trigger structure is in a coordinated triggering state with the first sensor, so that the robot arm moves downward until the first grinding head collides with the reference coordinate point of the workpiece, which will cause the first grinding head to drive the first driving motor, the first driving motor drives the first transfer mounting block to move upward, the first transfer mounting block moves upward, the first tension spring in the stretched state will contract, the first transfer mounting block will drive the first sensor trigger structure to move upward, and the movement of the first sensor trigger structure will trigger the first sensor, so that the first sensor generates a target position signal. That is to say, the end grinding mechanism of the embodiment of the present application cleverly utilizes the reaction force generated when the first grinding head contacts the reference coordinate point of the workpiece to trigger the target position signal, and then determines that the end grinding mechanism has contacted the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the first grinding head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the grinding device to complete the alignment and coincidence of the working coordinate point of the grinding head working point in the system coordinate system of the current grinding device with the reference coordinate point in the reference coordinate system of the workpiece. Since the sensing accuracy of the sensor is higher than the traditional operator's naked eye judgment accuracy, the automatic tool setting function of the grinding device can be realized, and it has a high tool setting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of an embodiment of the end grinding mechanism of the present application;

[0036] Figure 2 This is a schematic structural diagram of another embodiment of the end grinding mechanism of the present application;

[0037] Figure 3 This is a schematic structural diagram of another embodiment of the end grinding mechanism of the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application provide an end grinding mechanism and a grinding device, which can realize the automatic tool setting function of the grinding device and have high tool setting accuracy.

[0039] See also Figure 1An embodiment of an end grinding mechanism of the present application includes: a base 100, a first grinding assembly 110, a first transfer assembly 120, and a first knife assembly 130. The base 100 of the end grinding mechanism of the present application embodiment is generally strip-shaped, and the cross section of the base 100 is polygonal. It can be seen that the base 100 can have many faces; for example, when the cross section of the base 100 is rectangular, the base 100 has a top surface, a bottom surface, and four side surfaces. Taking the cross section of the base 100 as a rectangle as an example, the first surface 101 of the base 100 cooperates to install the first transfer assembly 120, and the first surface 101 of the base 100 is one of the four side surfaces; the mounting surface 104 of the base 100 cooperates with the end of the robot arm, and the mounting surface 104 of the base 100 is another side surface of the four side surfaces; the end of the robot arm here mainly refers to the end of the robot arm of the gantry type robot arm. In practical applications, the end of the robot arm of the embodiment of the present application can also be the end of the robot arm of other forms of robot arms. No specific restrictions are made here, and the purpose is to enable the end grinding mechanism to have a basis for controllable movement within a certain range. The first grinding assembly 110 includes: a first grinding head 111 and a first drive motor 112. The first grinding head 111 is fixedly mounted on the output shaft of the first drive motor 112. The first grinding head 111 is used to grind the specified position of the workpiece, and the first drive motor 112 is used to provide power to the first grinding head 111, so that the first grinding head 111 has the working ability of rotating grinding. The first transfer assembly 120 includes: a first linear slide rail, a first transfer mounting block 121, a first guide rod 122, a first tension spring 123, and a first sensor mounting block 124; it can be understood that the first linear slide rail has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparable from each other but can slide reciprocatingly linearly relative to each other within a certain range. For example, the first linear slide rail is a cross roller guide rail, which can improve the sliding accuracy. The first surface 101 of the base 100 is fixedly connected to the first sliding end of the first linear slide, so that the first sliding end of the first linear slide is relatively fixed, and the second sliding end of the first linear slide is fixedly connected to the first transfer mounting block 121, so that the first transfer mounting block 121 can slide relatively with the second sliding end of the first linear slide, and the first drive motor 112 is fixedly installed at the lower end of the first transfer mounting block 121. For example, the lower end of the first transfer mounting block 121 has a first drive motor mounting position that matches the outer contour of the first drive motor 112. The first drive motor 112 can be adapted and placed in the first drive motor mounting position, and then the first drive motor pressing block 113 is used to fix the first drive motor 112 in the first drive motor mounting position, and the output shaft of the first drive motor 112 is vertically downward, and the first drive wire 114 of the first drive motor 112 is upward, so that the first grinding head 111 fixedly connected to the output shaft of the first drive motor 112 is vertically downward.A first guide rod 122 is fixedly installed vertically upward on the upper end of the first transfer mounting block 121, and the orientation of the first guide rod 122 should be consistent with the orientation of the first linear slide rail; the first guide rod 122 can slide through and connect the first sensor mounting block 124, that is, the first guide rod 122 can slide back and forth in the first sensor mounting block 124; the first sensor mounting block 124 is connected to the base 100, that is, the first sensor mounting block 124 is fixed relative to the base 100 when working. The first end of the first tension spring 123 is connected to the first sensor mounting block 124, and the second end of the first tension spring 123 is connected to the upper end of the first transfer mounting block 121. The first tension spring 123 is in a stretched state, that is, the first transfer mounting block 121 and the second sliding end of the first linear slide rail fixedly connected to the first transfer mounting block 121, the first drive motor 112, the first grinding head 111, the first drive motor pressing block 113 and other unsprung structures are all suspended by the first tension spring 123 to maintain a certain position at the first sliding end of the first linear slide rail, so that the first transfer mounting block 121 maintains a certain distance from the first sensor mounting block 124 and can slide linearly toward the first sensor mounting block 121. The first tool-setting assembly 130 includes: a first sensor 131 and a first sensor trigger structure 132. The first sensor 131 is fixedly mounted on the first sensor mounting block 124. The first sensor trigger structure 132 is fixedly mounted on the first transfer mounting block 121, and the first sensor trigger structure 132 and the first sensor 131 are in a coordinated triggering state, so that when the first grinding head 111 is resisted and the suspended first transfer mounting block 121 compresses the first tension spring 123 upward, the first sensor trigger structure 132 triggers the first sensor 131 to generate a target position signal. That is to say, the end grinding mechanism of the embodiment of the present application cleverly utilizes the reaction force generated when the first grinding head contacts the reference coordinate point of the workpiece to trigger the target position signal, and then determines that the end grinding mechanism has contacted the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the first grinding head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the grinding device to complete the alignment and coincidence of the working coordinate point of the grinding head working point in the system coordinate system of the current grinding device with the reference coordinate point in the reference coordinate system of the workpiece. Since the sensing accuracy of the sensor is higher than the traditional operator's naked eye judgment accuracy, the automatic tool setting function of the grinding device can be realized, and it has a high tool setting accuracy.

[0040] For further information, see Figure 2, the end grinding mechanism of the embodiment of the present application also includes: a visual positioning component 140. The visual positioning component 140 is installed on the second surface 102 of the base 100, and the second surface 102 of the base 100 is one of the four side surfaces. The visual positioning component 140 includes: a camera 141, a camera fixing frame 142, a second linear slide rail, and a second transfer mounting block 143. It can be understood that the second linear slide rail has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparable from each other but can slide reciprocatingly relative to each other within a certain range. For example, the second linear slide rail is also a cross roller guide rail. The second surface 102 of the base 100 is fixedly connected to the first sliding end of the second linear slide rail, the second sliding end of the second linear slide rail is fixedly connected to the second transfer mounting block 143, the second transfer mounting block 143 is connected to the base 100, and the second transfer mounting block 143 is fixedly mounted with a camera mounting bracket 142, and the camera mounting bracket 142 is adapted to mount the camera 141 so that the lens 1411 of the camera 141 is vertically downward. The visual positioning component 140 obtains a two-dimensional image of the workpiece through the lens 1411, and then transmits the two-dimensional image to the system of the grinding equipment for analysis, and then the working coordinate point that needs to be polished can be obtained from the two-dimensional image, and the mechanical arm of the grinding equipment can command the first grinding head of the end grinding mechanism of the embodiment of the present application to move to the working coordinate point to realize automatic grinding.

[0041] Furthermore, the end grinding mechanism of the embodiment of the present application further includes: a light source 144 and a light source fixing frame 145. The light source 144 is preferably in a circular ring shape, and the light source 144 is fixedly mounted on the lower end of the second transfer mounting block 143 through the light source fixing frame 145, so that the lens 1411 of the camera 141 can view downward through the circular center hole of the light source 144.

[0042] Furthermore, the end grinding mechanism of the embodiment of the present application further includes: a third grinding assembly 150, a third transfer assembly 160, and a third tool setting assembly 170. The third transfer assembly 160 is installed on the third surface 103 of the base 100; the third grinding assembly 150 includes: a third grinding head 151 and a third drive motor 152, the third grinding head 151 is fixedly installed on the output shaft of the third drive motor 152, the third grinding head 151 is used to grind the specified position of the workpiece, and the third drive motor 152 is used to provide power to the third grinding head 151, so as to enable the third grinding head 151 to have the working ability of rotational grinding. The third transfer assembly 160 includes: a third linear slide rail, a third transfer mounting block 161, a third guide rod 162, a third tension spring 163, and a third sensor mounting block 164. It can be understood that the third linear slide rail has two sliding ends: a first sliding end and a second sliding end; the first sliding end and the second sliding end are inseparable from each other but can slide reciprocatingly relative to each other within a certain range. For example, the third linear slide rail is a cross roller guide rail. The third surface 103 of the base 100 is fixedly connected to the first sliding end of the third linear slide rail, so that the first sliding end of the third linear slide rail is relatively fixed, and the second sliding end of the third linear slide rail is fixedly connected to the third transfer mounting block 161, so that the third transfer mounting block 161 can slide relatively with the second sliding end of the third linear slide rail, and the third drive motor 152 is fixedly mounted on the lower end of the third transfer mounting block 161. For example, the lower end of the third transfer mounting block 161 has a third drive motor mounting position that matches the outer contour of the third drive motor 152. The third drive motor 152 can be adapted to be placed in the third drive motor mounting position, and then the third drive motor pressing block 153 is used to fix the third drive motor 152 on the third drive motor mounting position, and the output shaft of the third drive motor 152 is vertically downward. A third guide rod 162 is fixedly installed vertically upward on the upper end of the third transfer mounting block 161, and the third guide rod 162 can slide through and connect the third sensor mounting block 164, that is, the third guide rod 162 can slide back and forth in the third sensor mounting block 164; the third sensor mounting block 164 is connected to the base 100, that is, the third sensor mounting block 164 is fixed relative to the base 100 when working.The first end of the third tension spring 163 is connected to the third sensor mounting block 164, and the second end of the third tension spring 163 is connected to the upper end of the third transfer mounting block 161. The third tension spring 163 is in a stretched state, that is, the third transfer mounting block 161 and the second sliding end of the third linear slide rail fixedly connected to the third transfer mounting block 161, the third drive motor 152, the third grinding head 151, the third drive motor pressing block 153 and other unsprung structures are all suspended by the third tension spring 163 to maintain a certain position of the first sliding end of the third linear slide rail, so that the third transfer mounting block 161 and the third sensor mounting block 164 maintain a certain distance and can slide linearly toward the third sensor mounting block 161. The third tool-setting assembly 170 includes: a third sensor 171 and a third sensor trigger structure 172. The third sensor 171 is fixedly mounted on the third sensor mounting block 164. The third sensor trigger structure 172 is fixedly mounted on the third transfer mounting block 161, and the third sensor trigger structure 172 and the third sensor 171 are in a coordinated triggering state, so that when the third grinding head 151 is resisted and the suspended third transfer mounting block 161 compresses the third tension spring 163 upward, the third sensor trigger structure 172 triggers the third sensor 171 to generate a target position signal. That is to say, the end grinding mechanism of the embodiment of the present application cleverly utilizes the reaction force generated when the third grinding head contacts the reference coordinate point of the workpiece to trigger the target position signal, and then determines that the end grinding mechanism has contacted the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the third grinding head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the grinding device to complete the alignment and coincidence of the working coordinate point of the grinding head working point in the system coordinate system of the current grinding device with the reference coordinate point in the reference coordinate system of the workpiece. Since the sensing accuracy of the sensor is higher than the traditional operator's naked eye judgment accuracy, the automatic tool setting function of the grinding device can be realized, and it has a higher tool setting accuracy.

[0043] Furthermore, the first sensor 131 and the third sensor 171 of the end grinding mechanism of the embodiment of the present application are preferably both laser displacement sensors, and the first sensor trigger structure 132 and the third sensor trigger structure 172 are preferably both reflectors. Specifically, the installation relationship between the laser displacement sensor and the reflector in the embodiment of the present application is: the laser emission direction of the laser displacement sensor is downward and on the same straight line as its movement direction, and the reflector is directly below the straight line, so that the laser displacement sensor can sensitively receive the relative displacement of the reflector relative to it to the greatest extent. It can be seen that this installation method can very sensitively detect the relative displacement of the reflector relative to it because the laser displacement sensor will always monitor the relative displacement between the reflector and it.

[0044] Optionally, the first sensor 131 of the end grinding mechanism of the embodiment of the present application is preferably a laser displacement sensor, and the first sensor trigger structure 132 is a reflector; the third sensor 171 is a slot-type photoelectric sensor, and the third sensor trigger structure 172 is a shading plate. Since the laser displacement sensor is relatively expensive, when there are multiple sets of tool setting components in a terminal grinding device, some of the tool setting components can choose to use a combination of a slot-type photoelectric sensor and a shading plate. The combination of a slot-type photoelectric sensor and a shading plate has a better cost advantage.

[0045] Furthermore, when the base 100 of the end grinding mechanism of the embodiment of the present application is configured with multiple grinding components at the same time, it is necessary to use a linear motion device to make each grinding component have a height difference, so that the grinding head of one grinding component is at a lower position than the grinding heads of other grinding components, so as to achieve independent work. Specifically, the end grinding mechanism of the embodiment of the present application also includes: a first linear motion device 125, a first floating joint 126, a second linear motion device 145, a second floating joint 146, a third linear motion device 165, and a third floating joint 166. The first sensor mounting block 124 is fixedly connected to the first end of the first floating joint 126, the second end of the first floating joint 126 is fixedly connected to the output shaft of the first linear motion device 125, the first linear motion device 125 is fixedly connected to the base 100, and the movement direction of the output shaft of the first linear motion device 125 should be parallel to the axial direction of the first guide rod 122 and the movement direction of the first linear guide rail. However, since there will be errors in the coordination between the various components, the first floating joint 126 is used here to compensate for the installation error between the output shaft of the first linear motion device 125 and the running direction of the first sensor mounting block. Similarly, the second transfer mounting block 143 is fixedly connected to the first end of the second floating joint 146, the second end of the second floating joint 146 is fixedly connected to the output shaft of the second linear motion device 145, and the second linear motion device 145 is fixedly connected to the base 100. Similarly, the third sensor mounting block 164 is fixedly connected to the first end of the third floating joint 166 , the second end of the third floating joint 166 is fixedly connected to the output shaft of the third linear motion device 165 , and the third linear motion device 165 is fixedly connected to the base 100 .

[0046] It can be understood that when the end grinding mechanism of the embodiment of the present application simultaneously has the above-mentioned first linear motion device 125, second linear motion device 145, and third linear motion device 165, the initial positions of the first grinding head 111 and the third grinding head 151 can be located in the same horizontal plane, and the first linear motion device 125 and the third linear motion device 165 are in a state where the output shafts are not fully extended. In this way, it is possible to selectively control the extension of the output shafts of the first linear motion device 125 or the third linear motion device 165, thereby making the first grinding head 111 or the third grinding head 151 in a lower horizontal plane relative to each other. At this time, the first grinding head 111 or the third grinding head 151 in the lower horizontal plane can be started to perform grinding work without worrying about being affected by the positions of other grinding heads, thereby achieving the selectivity of selecting one of the multiple grinding heads to work in the same end grinding mechanism. The visual positioning component can also be controlled by the second linear motion device 145 to achieve sliding in the vertical direction. The position of the light source 144 at the lowest position in the preferred visual positioning component should be higher than the initial positions of the first grinding head 111 and the third grinding head 151 to leave enough space for light spreading, so that the light source can be more widely irradiated on the framing range of the lens 1411 of the camera 141, which is beneficial to improve the imaging quality of the camera; it can be understood that the second linear motion device of the embodiment of the present application can change the vertical position of the camera to change the distance between the camera and the photographed position, so that the second linear motion device can cooperate with the camera to achieve focusing on photographic positions at different heights, which can make up for the problem of limited focusing distance of the camera to a certain extent.

[0047] Furthermore, the first linear motion device 125, the second linear motion device 145 and the third linear motion device 165 are preferably linear cylinders, and in practical applications, they can also be hydraulic cylinders, screw stepper motors and other devices that can achieve linear motion. Since the first linear motion device 125, the second linear motion device 145 and the third linear motion device 165 all need to be fixedly connected to the base 100, it is preferred to use an adapter plate 1051 to uniformly and fixedly connect the first linear motion device 125, the second linear motion device 145 and the third linear motion device 165. When the adapter plate 1051 is fixedly connected to the top surface 105 of the base 100, the structure is more compact.

[0048] It is worth noting that when the first linear motion device 125 and the third linear motion device 165 of the end grinding mechanism of the embodiment of the present application are linear cylinders, the unsprung mass of the unsprung structure is preferably larger than the sprung mass. The following description takes the first linear motion device 125 as a linear cylinder as an example. The unsprung mass of the unsprung structure suspended by the first tension spring 123 is preferably heavier than the sprung mass of the sprung structure connected to the first tension spring 123. The sprung structure here mainly refers to the first sensor mounting block 124 connected to the first end of the first tension spring 123, the first sensor 131, the first floating joint 126, the output shaft of the first linear motion device 125, etc., which can move relative to the base 100, while the unsprung structure mainly refers to the first transfer mounting block 121 connected to the second end of the first tension spring 123, the first guide rod 122, the second sliding end of the third linear slide rail, the first drive motor 112, the first grinding head 111, the first drive motor pressing block 113, etc., which are suspended by the first tension spring 123. It can be understood that the heavier unsprung structure has stronger movement stability, that is, it can suppress the reaction force generated by the grinding head when grinding the workpiece with a larger gravity, reduce the upward contraction of the first tension spring 123 caused by the reaction force, and also facilitate the first linear motion device 125 to have a faster position response on the grinding head side of the unsprung structure when adjusting the height position of the grinding head. However, due to the heavier unsprung mass and the first tension spring 123 being in a stretched state all the time, it is easy for the first tension spring to deform too much and produce position deviation, and the first tension spring 123 needs to be regularly compensated or replaced.

[0049] Furthermore, the terminal grinding mechanism of the embodiment of the present application also includes: a first air blowing pipe 181, a first air blowing pipe fixing structure 182, a third air blowing pipe 191, and a third air blowing pipe fixing structure 192. The first air blowing pipe 181 is installed at the lower end of the first transfer mounting block 121 through the first air blowing pipe fixing structure 182, and is located on one side of the first drive motor 112, so that the air outlet of the first air blowing pipe 181 can be adjusted to align with the grinding position of the first grinding head 111, and the air inlet of the first air blowing pipe 181 is opened at the upper end of the first air blowing pipe fixing structure 182, and the air inlet is used to connect the high-pressure gas, so that the high-pressure gas is ejected from the air outlet of the first air blowing pipe 181 to clean the grinding position of the first grinding head 111. Similarly, the third air blowing pipe 191 is installed at the lower end of the third transfer mounting block 161 through the third air blowing pipe fixing structure 192, and is located on one side of the third driving motor 152, so that the air outlet of the third air blowing pipe 191 can be adjusted to align with the grinding position of the third grinding head 151, and the air inlet of the third air blowing pipe 191 is opened at the upper end of the third air blowing pipe fixing structure 192, and the air inlet is used to connect high-pressure gas, so that the high-pressure gas is ejected from the air outlet of the third air blowing pipe 191 to clean the grinding position of the third grinding head 151.

[0050] Furthermore, the end grinding mechanism of the embodiment of the present application further includes: a linear bearing. The linear bearing is installed in the first sensor mounting block 124, and is used to cooperate with the first guide rod 122 to achieve a slidable through-connection relative to the first sensor mounting block 124; similarly, the linear bearing can also be installed in the point sensor mounting block 164, and is used to cooperate with the third guide rod 162 to achieve a slidable through-connection relative to the third sensor mounting block 164.

[0051] The embodiment of the present application also provides a grinding device, including: a gantry-type robotic arm and an end grinding mechanism of the above embodiment. The end of the robotic arm of the gantry-type robotic arm cooperates with the base mounting surface 104 of the end grinding mechanism. In actual application, if the base mounting surface 104 does not have a structure that directly cooperates with the end of the robotic arm, the end grinding mechanism of the present application and the end of the robotic arm can be connected by using an adapter plate 1041, that is, one side of the adapter plate 1041 has a structure that cooperates with the end of the robotic arm to achieve a cooperative connection with the end of the robotic arm of the gantry-type robotic arm, and the other side of the adapter plate 1041 has a structure that cooperates with the mounting surface 104 of the end grinding mechanism, so as to achieve a cooperative connection with the end grinding mechanism, thereby achieving the end grinding mechanism installed on the end of the robotic arm of the gantry-type robotic arm.

[0052] The grinding device of the embodiment of the present application is an embodiment of grinding the cavity of a cavity filter. The mechanical arm of the gantry-type mechanical arm can carry the terminal grinding mechanism of the embodiment of the present application to move horizontally forward, backward, left and right, and vertically up and down. The cavity filter to be ground is fixed by a clamp within the range of motion of the gantry-type mechanical arm. The system of the gantry-type mechanical arm knows the various coordinate points of the cavity filter to be ground in the reference coordinate system, the first grinding head 111 of the terminal grinding mechanism is at the first working coordinate point of the system coordinate, and the third grinding head 151 of the terminal grinding mechanism is at the third coordinate point of the system coordinate. However, the system coordinate of the grinding device does not know the positional relationship between the reference coordinate system and itself. At this time, it is necessary to start the first linear motion device 125 to make the first grinding head 111 move from the initial position to the working position. Since the distance between the initial position and the working position is fixed, and the initial position The coordinate position is known in the system coordinates, so the working position is also known in the system coordinates. A reference coordinate point in the reference coordinate system (generally the upper surface plane) is selected, and the first grinding head 111 is moved to contact the reference coordinate point so that the first sensor 131 sends a target position signal, and then the end grinding mechanism is determined to have contacted the workpiece according to the target position signal, that is, at this time, it can be considered that the working coordinate point of the first grinding head coincides with the reference coordinate point of the workpiece, and then an alignment instruction is issued to the system coordinate system of the grinding device to complete the alignment and coincidence of the working coordinate point of the grinding head working point in the system coordinate system of the current grinding device with the reference coordinate point in the reference coordinate system of the workpiece, and then the association relationship between the reference coordinate system and the system coordinate system is established, and then the tool setting of the first grinding head 111 is completed, and the output shaft of the first linear motion device 125 can be controlled to shrink so that the first grinding head 111 returns to the initial position. Similarly, the tool setting work can also be performed on the third grinding head alone, and the tool setting process of the third grinding head will not be repeated here.

[0053] It is worth noting that since the end grinding mechanism of the embodiment of the present application adopts a laser displacement sensor to monitor the movement of the first transfer mounting block 121 relative to the first sensor mounting block 124 in real time, it can have a very high monitoring accuracy, and the lower end of the first transfer mounting block 121 is fixedly connected to the first drive motor 112, and the output shaft of the first drive motor 112 is fixedly connected to the first grinding head 111, and when the first drive motor 112 starts to rotate with the first grinding head 111, the first linear motion device 125 is locked and not working, which is equivalent to the laser displacement sensor and the base being relatively fixed in position at this time. When the first grinding head 111 of the end grinding mechanism is grinding the workpiece in the depth direction, the laser displacement sensor can be used to monitor the thickness value ground off by the first grinding head 111 in real time, thereby realizing high-precision control of the depth direction grinding.

[0054] The above contents are descriptions of the present application in combination with specific embodiments, and it cannot be considered that the specific implementation of the present application is limited to these embodiments. For ordinary technicians in the technical field to which the present application belongs, several changes and substitutions can be made without departing from the concept of the present application, which should be considered to belong to the protection scope of the present application.

Claims

1. An end grinding mechanism, characterized in that: include: A base, a first grinding assembly, a first transfer assembly, a first tool setting assembly, a visual positioning assembly, a light source, a light source fixing frame, a third grinding assembly, a third transfer assembly, a third tool setting assembly, a first air blowing pipe, a first air blowing pipe fixing structure, a third air blowing pipe, and a third air blowing pipe fixing structure; The mounting surface of the base is connected with the end of the robot arm, the base is strip-shaped, and the cross-section of the base is polygonal, the first transfer component is mounted on the first surface of the base, the visual positioning component is mounted on the second surface of the base, and the third transfer component is mounted on the third surface of the base; The first grinding assembly comprises: a first grinding head and a first driving motor, wherein the first grinding head is fixedly mounted on an output shaft of the first driving motor; The first transfer assembly includes: a first linear slide rail, a first transfer mounting block, a first guide rod, a first tension spring, and a first sensor mounting block, the first surface of the base is fixedly connected to the first sliding end of the first linear slide rail, the second sliding end of the first linear slide rail is fixedly connected to the first transfer mounting block, the first driving motor is fixedly mounted on the lower end of the first transfer mounting block, and the output shaft of the first driving motor is vertically facing downward, the upper end of the first transfer mounting block is vertically fixedly mounted with the first guide rod, the first air blowing pipe is mounted on the lower end of the first transfer mounting block through the first air blowing pipe fixing structure, the first guide rod can be slidably penetrated and connected to the first sensor mounting block, the first sensor mounting block is connected to the base, the first end of the first tension spring is connected to the first sensor mounting block, the second end of the first tension spring is connected to the upper end of the first transfer mounting block, and the first tension spring is in a stretched state; The first tool setting assembly comprises: a first sensor and a first sensor triggering structure, wherein the first sensor is fixedly mounted on the first sensor mounting block, the first sensor triggering structure is fixedly mounted on the first transfer mounting block, and the first sensor triggering structure and the first sensor are in a coordinated ready-to-trigger state, so that when the first grinding head is impacted and the first transfer mounting block compresses the first tension spring upward, the first sensor triggering structure triggers the first sensor to generate a target position signal; The visual positioning assembly includes: a camera, a camera fixing frame, a second linear slide rail, and a second transfer mounting block; the second surface of the base is fixedly connected to the first sliding end of the second linear slide rail, the second sliding end of the second linear slide rail is fixedly connected to the second transfer mounting block, the second transfer mounting block is fixedly mounted with the camera fixing frame, and the second transfer mounting block is connected to the base, and the camera fixing frame is adapted to install the camera so that the lens of the camera faces vertically downward; The light source is in a circular ring shape and is fixedly mounted on the lower end of the second transfer mounting block through the light source fixing frame, so that the camera can view downward through the central hole of the circular ring of the light source; The third grinding assembly comprises: a third grinding head and a third driving motor, wherein the third grinding head is fixedly mounted on the output shaft of the third driving motor; The third transfer assembly includes: a third linear slide, a third transfer mounting block, a third guide rod, a third tension spring, and a third sensor mounting block. The third surface of the base is fixedly connected to the first sliding end of the third linear slide, and the second sliding end of the third linear slide is fixedly connected to the third transfer mounting block. The third drive motor is fixedly installed at the lower end of the third transfer mounting block, and the output shaft of the third drive motor is vertically downward. The upper end of the third transfer mounting block is vertically fixedly installed with the third guide rod. The third air blowing pipe is installed at the lower end of the third transfer mounting block through the third air blowing pipe fixing structure. The third guide rod can slide through and connect the third sensor mounting block. The third sensor mounting block is connected to the base. The first end of the third tension spring is connected to the third sensor mounting block, and the second end of the third tension spring is connected to the upper end of the third transfer mounting block. The third tension spring is in a stretched state. The first linear slide, the second linear slide and the third linear slide are all cross roller guides. The third tool setting assembly includes: a third sensor and a third sensor trigger structure. The third sensor is fixedly mounted on the third sensor mounting block. The third sensor trigger structure is fixedly mounted on the third transfer mounting block, and the third sensor trigger structure and the third sensor are in a coordinated triggering state, so that when the third grinding head is resisted and the third transfer mounting block compresses the third tension spring upward, the third sensor trigger structure triggers the third sensor to generate a target position signal.

2. The end grinding mechanism according to claim 1, characterized in that: The first sensor and the third sensor are both laser displacement sensors, and the first sensor triggering structure and the third sensor triggering structure are both reflective plates.

3. The end grinding mechanism according to claim 1, characterized in that: The first sensor is a laser displacement sensor, and the first sensor triggering structure is a reflective plate; The third sensor is a slot-type photoelectric sensor, and the third sensor triggering structure is a light shielding plate.

4. The end grinding mechanism according to claim 2 or 3, characterized in that: Also includes: A first linear motion device, a first floating joint, a second linear motion device, a second floating joint, a third linear motion device, and a third floating joint; The first sensor mounting block is fixedly connected to the first end of the first floating joint, the second end of the first floating joint is fixedly connected to the output shaft of the first linear motion device, and the first linear motion device is fixedly connected to the base; The second transfer mounting block is fixedly connected to the first end of the second floating joint, the second end of the second floating joint is fixedly connected to the output shaft of the second linear motion device, and the second linear motion device is fixedly connected to the base; The third sensor mounting block is fixedly connected to the first end of the third floating joint, the second end of the third floating joint is fixedly connected to the output shaft of the third linear motion device, and the third linear motion device is fixedly connected to the base.

5. A grinding device comprising: The gantry type robotic arm is characterized by further comprising: an end grinding mechanism as described in any one of claims 1 to 4; The end of the mechanical arm of the gantry type mechanical arm is cooperatively connected to the base mounting surface of the end grinding mechanism.

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