A device and method for grinding and deburring

Abstract

The present application discloses a grinding and deburring device and method, including a feeding mechanism, a clamping mechanism, a grinding mechanism and a feeding mechanism, wherein the feeding mechanism is used to place materials and convey the materials to a preset clamping position; the clamping mechanism includes a clamping claw for clamping, moving materials and maintaining the grinding position of the materials; the grinding mechanism includes a grinding robot, and the movable end of the grinding robot is equipped with a grinding head and a measuring instrument, and the measuring instrument is used to measure the inclination of the material clamped by the clamping claw. By measuring the inclination of the finished surface of the material, the present invention effectively reduces the possibility that the positioning of the material is affected by chips and debris, resulting in the final unqualified grinding of the workpiece, thereby greatly improving the grinding efficiency and grinding accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of automated grinding, in particular to a device and method for grinding and deburring. Background Art

[0002] Casting is one of the earliest metal heat processing technologies mastered by humans, with a history of about 6,000 years. In the 21st century, with the rapid development of technology and the improvement of mechanical process requirements, the process level of casting has also improved rapidly.

[0003] At present, in some casting materials, the burrs of the materials are difficult to remove after casting. The foundry has to use multiple processes to deal with the burrs. In the factory, manual grinding is mostly used to deal with the burrs. Manual grinding is not only labor-intensive, but also has unstable quality and low production efficiency. In addition, the working conditions at the production site of manual grinding are poor and the dust pollution is serious, which affects the health of the operator. Therefore, according to this situation, a device and method for grinding and deburring need to be designed. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a device and method for grinding and deburring.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A grinding and deburring device comprises a feeding mechanism, a clamping mechanism, a grinding mechanism and a feeding mechanism.

[0007] The feeding mechanism is used to place materials and transport them to a preset clamping position;

[0008] The clamping mechanism comprises a clamping robot, wherein the clamping robot is provided with a clamping claw for clamping and moving the material and maintaining the grinding position of the material;

[0009] The grinding mechanism comprises a grinding robot, the movable end of which is equipped with a grinding head and a measuring instrument, the measuring instrument being used to measure the inclination of the material clamped by the clamping claw;

[0010] The material unloading mechanism is used to carry the material after grinding;

[0011] It also includes a detection mechanism, which includes a lever assembly, a contact member and a displacement sensor, wherein the contact member is located at the short end of the lever assembly, and the displacement sensor is located at the long end of the lever assembly;

[0012] The detection mechanism includes a detection frame, and the lever assembly is formed on the detection frame at adjacent positions of the two grinding robots. The lever assembly specifically includes a detection rod and a support rod. The detection rod is rotatably connected to the support rod. A contact piece is installed on the upper side of the short end of the detection rod. The lower side of the contact piece is cone-shaped, and the tip contacts the detection rod. The detection frame installs the displacement sensor at the long end of the detection rod, and a limiting bolt is installed at the adjacent position.

[0013] Preferably, the measuring instrument measures the inclination of the finishing slope of the material clamped by the clamping jaws.

[0014] Preferably, the clamping mechanism also includes a clamping robot, the clamping claw is installed on the moving end of the clamping robot to clamp, move the material and maintain the grinding position of the material, the clamping claw includes a positioning pin and a plurality of claw teeth, the positioning pin is adapted to the material to position the material, the connecting ends of the plurality of claw teeth are close to each other, and the movable ends extending from the claw teeth are distributed in a star shape.

[0015] Preferably, it also includes a silo body, the silo body includes an inlet and an outlet, the loading mechanism includes a divider, the divider includes a plurality of installation stations, partitions are arranged between the installation stations, the partitions isolate the inner and outer spaces of the silo body, the divider rotates to realize the position switching of the installation stations inside and outside the silo body, the unloading mechanism includes a conveyor belt, and the conveyor belt transports the material from the silo body to the outside of the silo body.

[0016] Preferably, the loading mechanism also includes a lifting frame, a first load-bearing rod, a second load-bearing rod and a third load-bearing rod, the first load-bearing rod is fixed to the upper side of the lifting frame, the second load-bearing rod is connected to the first load-bearing rod in parallel, the third load-bearing rod is connected to the second load-bearing rod and is arranged perpendicularly thereto, and the hook is installed on the third load-bearing rod.

[0017] A method for grinding and deburring, comprising the following grinding steps:

[0018] S1: The loading component fixes the material and moves it to the preset clamping position;

[0019] S2: The gripping robot controls the gripper to grip the material at the gripping position and transfer it to the preset grinding position;

[0020] S3: The polishing robot controls the measuring instrument to select a preset measuring area of ​​the material for measurement to obtain the inclination in the area, and compares it with the preset inclination interval. If the inclination in the area meets the threshold of the preset inclination interval, it enters step S4. If not, it is readjusted.

[0021] S4: The grinding robot controls the grinding head to grind the material along a preset grinding path;

[0022] S5: After grinding is completed, the gripping robot moves the material to the discharge port.

[0023] Preferably, the preset measurement area is the surface area of ​​the material after fine processing.

[0024] Preferably, the method further comprises the following detection steps:

[0025] A1: Replace the grinding head, the grinding robot drives the grinding head to touch the contact part, records the initial detection position, and obtains initial data through the displacement sensor;

[0026] A2: The grinding robot drives the grinding head to return to the initial detection position to touch the contact part, and obtains real-time wear data through the displacement sensor. The real-time wear data is compared with the initial data to obtain a real-time wear value. The real-time wear value is compared with a preset wear threshold. If the preset wear threshold is exceeded, the grinding head is replaced. If the wear threshold is not reached, the grinding head continues to be used.

[0027] Wherein, the A1 step is performed before the S4 step, and the A2 step is performed after the S4 step.

[0028] Preferably, in step A2, if the real-time wear value exceeds the preset wear value, the following steps are performed:

[0029] A3: Retrieve the number of objects processed since the grinding head was replaced and compare the ratio of the real-time wear value to the preset wear value to obtain the estimated number of materials that can be processed when the preset wear value is reached;

[0030] A4: Set the fatigue scrap threshold of the grinding head. According to the estimated material quantity and the fatigue scrap threshold, obtain the minimum processable quantity of the material and record it. When the grinding head reaches the minimum processable quantity, it will be scrapped.

[0031] The advantages and positive effects of the present invention are:

[0032] 1. The present invention maintains the grinding position of the material after clamping the material with the clamping claws, and measures the inclination of the material surface through the measuring instrument, thereby effectively realizing the precise positioning of the material, especially measuring the inclination of the finished surface of the material, and effectively reducing the possibility of the final workpiece being unqualified due to the influence of chips and debris on the positioning of the material, thereby greatly improving the grinding efficiency and grinding accuracy.

[0033] 2. The present invention effectively improves the grinding efficiency and quality by detecting the wear degree of the grinding head, greatly reducing the labor intensity of the operator. At the same time, through the cooperation of the contact piece, the lever assembly and the displacement sensor, the wear measurement of the grinding head is solved with low cost and high precision, which is more conducive to the industrialization of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the axonometric structure of the present invention without a warehouse body;

[0035] Figure 2 It is a partial axonometric structural schematic diagram of the present invention;

[0036] Figure 3 The present invention Figure 1 The enlarged view of point A in the middle;

[0037] Figure 4 It is a schematic diagram of the axonometric structure of the detection mechanism in the present invention;

[0038] Figure 5 It is a schematic diagram of the axonometric structure of the clamping jaw in the present invention.

[0039] In the figure: 100, feeding mechanism; 110, divider; 111, partition; 120, storage table; 130, lifting assembly; 131, lifting frame; 132, first load-bearing rod; 133, second load-bearing rod; 134, third load-bearing rod; 200, clamping mechanism; 210, clamping robot; 220, clamping claw; 221, positioning pin; 222, claw teeth; 300, grinding mechanism; 310, grinding robot; 311, grinding head; 312, measuring instrument; 313, fixed seat; 400, unloading mechanism; 410, conveyor belt; 500, detection mechanism; 510, lever assembly; 511, detection rod; 512, support rod; 520, contact piece; 530, displacement sensor; 540, detection frame; 600, warehouse body. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0043] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0044] A grinding and deburring device includes a feeding mechanism 100, a clamping mechanism 200, a grinding mechanism 300 and a feeding mechanism 400. It can be understood that, since the general casting material is large in volume or heavy in weight, it needs to be uniformly fed before entering the grinding process. During the grinding process, the clamping mechanism 200 is used to position the material, and the grinding mechanism 300 uses a grinding head 311 to grind the material while the holding mechanism positions the material. Finally, the clamping mechanism 200 places the material in the feeding mechanism 400 for output;

[0045] The feeding mechanism 100 is used to place the material and transport the material to the preset clamping position; that is, the feeding mechanism 100 needs a platform and a fixed placement position on which the material can be placed, and the fixed placement position is used as the preset clamping position of the clamping mechanism 200, so that the staff can place the material on the platform at a convenient working position, and the material reaches the preset clamping position after displacement; specifically, Figure 1 As shown, the feeding mechanism 100 includes a divider 110, and the divider 110 has an installation station. The installation station serves as a preset clamping position. The staff transports the material to the divider 110 by means of a transportation tool and then places the material on the installation station.

[0046] In addition, in some embodiments, the divider 110 has multiple installation stations, such as 2, 3, 4... and the multiple installation stations can be interchanged with each other. For general grinding, 2 installation stations can be selected, and the installation station adjacent to the clamping mechanism 200 (convenient for clamping by the clamping mechanism 200) is used as the preset clamping position. From a safety perspective, the operator places the material on the installation station that is convenient for his operation, and the two clamping stations exchange positions with each other, so that the material reaches the preset clamping position that is convenient for the clamping mechanism 200 to clamp. At this time, the clamping mechanism 200 clamps the material, and the staff can continue to place the material at another position.

[0047] In addition, in some embodiments, considering that the divider 110 has certain operational risks, the loading mechanism 100 also includes a material storage table 120 and a lifting assembly 130. The material storage table 120 is a table body that can store materials, such as a storage structure such as a table. The material storage table 120 is used to store workpieces sent from the previous process for grinding. Because the workpiece is made of aluminum alloy material with low hardness, the storage table surface needs to be paved with softer non-metallic materials such as nylon or rubber to protect the workpiece. A certain safety distance is retained between the divider 110 and the material storage table 120, and a light curtain is set between them. The lifting assembly 130 lifts the material on the material storage table 120 through a hook, transports it to the installation station of the divider 110, and positions it on the divider 110.

[0048] The clamping mechanism 200 includes a clamping robot 210, and the clamping robot 210 is equipped with a clamping jaw 220 for clamping, moving materials and maintaining the grinding position of the materials; that is, the material at the preset clamping position is clamped by the clamping jaw 220, and the movement of the clamping jaw 220 drives the movement of the material, and the clamping jaw 220 clamps the material and stops at the grinding position to facilitate the grinding of the material; specifically, Figure 1 As shown, the clamping mechanism 200 includes a clamping robot 210, that is, a robotic arm controlled by a control system. The robotic arm is located on the right side of the divider 110. The clamping robot 210 drives the clamping claw 220 to move close to the divider 110 to clamp the material, and drives the material to move to the grinding position and then maintains it at the grinding position. After the grinding is completed, the clamping robot 210 drives the material to move and places the material in the unloading mechanism 400.

[0049] The grinding mechanism 300 includes a grinding robot 310. The movable end of the grinding robot 310 is equipped with a grinding head 311 and a measuring instrument 312. The measuring instrument 312 is used to measure the inclination of the material clamped by the clamp 220; the measuring instrument 312 measures the inclination of the finishing bevel of the material clamped by the clamp 220. In other words, the grinding mechanism 300 includes a grinding head 311 for grinding and a measuring instrument 312 for measuring the position of the material. Generally, the measuring instrument 312 uses a laser rangefinder. By presetting a measuring surface on the outer surface of the material and presetting the inclination of the measuring surface, the laser rangefinder measures the preset measuring surface on the surface of the material. If the conditions are met, grinding is then performed through the grinding head 311. Specifically, Figure 1 As shown, two grinding robots 310 are symmetrically arranged on opposite sides of the clamping robot 210, that is, mechanical arms controlled by a control system, and a grinding head 311 and a measuring instrument 312 are installed at the movable end of the grinding robot 310. Specifically, Figure 3As shown, the movable end of each grinding robot 310 is connected to a fixed seat 313, and two grinding heads 311 are connected through the fixed seat 313. The grinding heads 311 can be replaced according to actual needs. Generally, a conical grinding head and a ball grinding head are used, and the two grinding heads 311 are set at an angle of 35°-50°. It should be noted that in some embodiments, the laser rangefinder measures the surface of the material after fine processing, that is, the hole or surface processed by cutting or milling, cutting, drilling and other processes during the processing of the previous processing center. The laser rangefinder and the grinding head 311 are installed together on the fixed seat 313. When measuring, the grinding robot 310 drives the laser rangefinder to move to measure the linear positions of multiple points A to B on the preset measurement surface of the material, so as to combine and form the inclination of the surface position, and by determining the shape and size of the preset area, it can determine the inclination of the area of ​​the area while measuring whether the material is in the correct position. Through the dual recognition method, the measurement accuracy and processing accuracy are effectively improved, thereby greatly improving the processing quality.

[0050] The unloading mechanism 400 is used to carry the materials after grinding. That is to say, the unloading mechanism 400 is used to transport the materials after grinding out of the grinding processing area, and generally carries the task of transportation; specifically, Figure 1 As shown, the unloading mechanism 400 includes a conveyor belt 410, which is located on the right side of the clamping robot 210, extending from a position where the clamping robot 210 can be placed to a side away from the clamping robot 210, and extending to a safe position. In addition, in some other embodiments, a crane is also provided at one end of the conveyor belt 410 away from the clamping robot 210 to facilitate operation by staff.

[0051] It also includes a detection mechanism 500, which includes a lever assembly 510, a contact member 520 and a displacement sensor 530. The contact member 520 is located at the short end of the lever assembly 510, and the displacement sensor 530 is located at the long end of the lever assembly 510. In other words, the device also has a set of mechanical self-detection mechanisms. The detection mechanism 500 is mainly used to detect the wear of the grinding head 311. In the existing production process, when grinding is performed manually, the general staff judges whether the grinding head 311 needs to be replaced based on experience. The accuracy of manual judgment is low, and a certain length of service is required to reach a high level of judgment. This situation will not only cause waste of consumables such as the grinding head 311, but also lead to low grinding accuracy. In the existing machine grinding process, the staff often make subjective judgments, or determine the frequency of consumable replacement based on working hours. This method lacks accuracy, making the grinding quality unstable and the polished products uncontrolled, resulting in a large number of defective products.

[0052] Specifically, Figure 4 As shown, the detection mechanism 500 includes a detection frame 540, which is located on one side of the grinding robot 310 and in the middle of the two grinding robots 310. The detection frame 540 is formed with a lever assembly 510 at adjacent positions of the two grinding robots 310, which specifically includes a detection rod 511 and a support rod 512. The detection rod 511 is rotatably connected to the support rod 512. A contact member 520 is installed on the upper side of the short end of the detection rod 511, and the lower side of the contact member 520 is a cone. The detection frame 540 is body-shaped, and the tip is in contact with the detection rod 511. The displacement sensor 530 is installed at the long end position of the detection rod 511, and a limit bolt is installed at the adjacent position. The grinding head 311 touches the contact piece 520 before and after grinding to obtain the wear value of the grinding head 311, and then the detection is performed. In addition, it should be noted that the long end and the short end of the two lever assemblies 510 on the detection frame 540 are relatively arranged, that is, the two lever assemblies 510 are arranged in a central symmetrical manner.

[0053] The clamping jaw 220 is installed at the moving end of the clamping robot 210 to clamp and move the material and maintain the grinding position of the material. The clamping jaw 220 includes a positioning pin 221 and a plurality of claw teeth 222. The positioning pin 221 is adapted to the material to position the material. The connection ends of the plurality of claw teeth 222 are close to each other, and the extended movable ends of the claw teeth 222 are distributed in a star shape. Specifically, Figure 5 As shown, the clamping jaw 220 includes a base plate, and three positioning pins 221 are formed on the outer periphery of the base plate. The positioning pins 221 are adapted to the shape of the material to position the material. It should be noted that there are three claw teeth 222, namely the first claw tooth, the second claw tooth and the third claw tooth. One end of the first claw tooth, the second claw tooth and the third claw tooth are hinged to the base plate, and the three hinge points are relatively the same point, and the first claw tooth, the second claw tooth and the third claw tooth all extend in a direction away from the hinge point, that is, the three claw teeth 222 all extend in reverse, and the extended end is a free end, which is driven by a cylinder to clamp the material. In this way, the material can be fixed by the center point, and the fixing effect is better. In addition, in another embodiment, a fourth claw tooth is also included, and the fourth claw tooth is driven by a cylinder to fix the material from the outside of the material.

[0054] The hopper 600 further includes a hopper body 600, which includes a material inlet and a material outlet. The feeding mechanism 100 includes a divider 110, which includes a plurality of installation stations. A partition 111 is provided between the installation stations. The partition 111 isolates the inner and outer spaces of the hopper body 600. The divider 110 rotates to realize the position switching of the installation station inside the hopper body 600 and outside the hopper body 600. In other words, in order to solve the problem of dust pollution diffusion generated during the grinding burr grinding process, a hopper body 600 is used to limit the grinding processing area, so that The grinding processing area is separated from other areas to effectively avoid dust diffusion, and the grinding mechanism 300, the clamping mechanism 200 and the detection mechanism 500 are all located in the warehouse body 600. One side of the warehouse body 600 has a feed port, and the other side is formed with a discharge port, and its position corresponds to the feed mechanism and the discharge mechanism. In addition, a partition 111 is arranged between the multiple installation stations of the divider 110, and the partition 111 is adapted to the feed port of the warehouse body 600, isolating the multiple installation stations while isolating the space inside and outside the warehouse body 600;

[0055] Specifically, Figure 2 As shown, Figure 2 It is an axonometric diagram of part of the structure of the device, especially the warehouse body 600. It can be understood that in order to clearly show the arrangement position of each machine inside the warehouse body 600, this figure hides the top of the warehouse body 600. The lifting assembly 130 is located outside the warehouse body 600. The divider 110 is evenly divided into two installation stations by the partition 111, one installation station is located inside the warehouse body 600, and the other installation station is located outside the warehouse body 600. Each installation station has positioning rods of different lengths to position the material. The installation station is on the table top of the divider 110, and the table top of the divider 110 can be rotated to achieve the swap of the two installation stations. A safety fence is set in front of the divider 110 near the operator, and is equipped with a safety light curtain. When the divider 110 is rotating or preparing to rotate, if the operator mistakenly enters and triggers the light curtain, the divider 110 will stop rotating.

[0056] The feeding mechanism 100 also includes a lifting assembly 130, which includes a lifting frame 131, a first load-bearing rod 132, a second load-bearing rod 133 and a third load-bearing rod 134. The first load-bearing rod 132 is fixed to the upper side of the lifting frame 131, the second load-bearing rod 133 is connected to the first load-bearing rod 132 in parallel, the third load-bearing rod 134 is connected to the second load-bearing rod 133 and is arranged perpendicularly thereto, and the hook is installed on the third load-bearing rod 134; specifically, as Figure 1As shown, there are two first load-bearing rods 132 and two second load-bearing rods 133. The first load-bearing rod 132 is fixed to the upper side of the lifting frame 131 by multiple bolts, and the second load-bearing rod 133 is arranged parallel to the first load-bearing rod 132. The second load-bearing rod 133 is located at the lower side of the cantilever on the upper side of the lifting frame 131. A steel wire is connected between the first load-bearing rod 132 and the second load-bearing rod 133 on the same side, and the lower sides of the two second load-bearing rods 133 are connected to the third load-bearing rod 134. The two ends of the third load-bearing rod 134 are respectively connected to the second load-bearing rod 133 by steel wires. In addition, the third load-bearing rod 134 is formed with a slide rail, and the hook is installed on the third load-bearing rod 134 and can slide along the slide rail of the third load-bearing rod 134.

[0057] A method for grinding and deburring, comprising the following grinding steps:

[0058] S1: The loading assembly fixes the material and moves it to the preset clamping position; specifically, the staff lifts the material through the lifting assembly 130 and transports it to the installation station of the cutter outside the warehouse body 600, positions the material through the positioning rod on the installation station outside the warehouse body 600, and then opens the cutter to exchange the positions of the two installation stations, so that the material reaches the preset clamping position.

[0059] S2: The gripping robot controls the gripper 220 to grip the material at the gripping position and move it to the preset grinding position; generally speaking, the mechanical arm of the gripping robot rotates, driving the gripper 220 to move to the material position, and the claw teeth 222 are driven by the cylinder to clamp the material. Then the gripping robot drives the material to the preset grinding position, and the material is facing the grinding robot 310 at this time.

[0060] S3: The polishing robot 310 controls the measuring instrument 312 to select a preset measuring area of ​​the material for measurement to obtain the inclination in the area, and compares it with the preset inclination interval. If the inclination in the area meets the threshold of the preset inclination interval, then enter step S4. If not, readjust. Specifically, in the control program, a surface of the material is determined as a preset measuring area, and the inclination of the area in the correct position and the threshold of the inclination within the allowable error are determined. Generally, the threshold of the inclination will not exceed ±0.3%. When the material reaches the preset polishing position, the polishing robot 310 drives the laser rangefinder to scan the preset measuring area, and compares the inclination of the preset measuring area with the inclination set by the program. If it meets the threshold range, continue to step S4. If the inclination of the preset measuring area of ​​the material is greater than the set threshold, the staff intervenes to readjust the position of the material.

[0061] In addition, in some embodiments, the shape and area of ​​a certain area that the polishing robot 310 needs to scan are set. When the inclination of the preset measurement area is tested by a laser rangefinder, the polishing robot 310 drives the laser rangefinder to scan within the preset area shape, and while judging the inclination, compares the area of ​​the scanning area with the degree of overlap of the preset scanning area of ​​the material to determine whether the material position is accurate.

[0062] S4: The grinding robot 310 controls the grinding head 311 to grind the material along a preset grinding path; specifically, by inputting the grinding path in the control program, the grinding robot 310 drives the grinding head 311 to move in the fixed grinding path, and then performs grinding.

[0063] S5: After grinding is completed, the gripping robot moves the material to the discharge port; specifically, after grinding is completed, the gripping robot drives the material to move, places the material at one end of the conveyor belt 410, and the conveyor belt 410 drives the material to move out of the warehouse body 600 from the discharge port.

[0064] In addition, in some embodiments, the preset measurement area is the surface area of ​​the material after fine processing, that is, before step S1, that is, in the processing process of the front part of the material, the material is processed by the machining center to have some holes or surfaces of specific shapes and positions, such as cutting a quadrilateral cutting surface on the surface of the material, and the surface of the cutting surface is flat, and the inclination and / or area of ​​the area is measured by a laser rangefinder to obtain higher accuracy.

[0065] The following detection steps are also included:

[0066] A1: Replace the grinding head 311. The grinding robot 310 drives the grinding head 311 to touch the contact piece 520, records the initial detection position, and obtains initial data through the displacement sensor 530. Generally, in the initial case, the grinding head 311 is replaced before the same batch of materials is polished, that is, the step of replacing the grinding head 311 is before S4. After the replacement is completed, the grinding robot 310 drives the grinding head 311 to touch the contact piece 520. At this time, the data is amplified by the lever assembly 510 to obtain the initial data of the displacement sensor 530 at the long end. Generally, after step A1, steps S1-S5 are repeated multiple times. After a certain working time, step A2 is performed.

[0067] A2: The grinding robot 310 drives the grinding head 311 to return to the initial detection position to touch the contact piece 520, and obtains real-time wear data through the displacement sensor 530. The real-time wear data is compared with the initial data to obtain a real-time wear value, and the real-time wear value is compared with a preset wear threshold. If the preset wear threshold is exceeded, the grinding head 311 is replaced. If the wear threshold is not reached, it continues to be used. In other words, after a batch of materials has gone through the grinding process, the grinding robot 310 drives the grinding head 311 to return to the initial detection position to touch the contact piece 520, and obtains real-time wear data through the displacement sensor 530. Whether to continue to use is determined by comparing the real-time wear data with the preset wear threshold.

[0068] In step A2, if the real-time wear value exceeds the preset wear value, the following steps are entered:

[0069] A3: Retrieve the number of objects processed since the grinding head 311 was replaced and compare the ratio of the real-time wear value to the preset wear value to obtain the estimated number of materials that can be processed when the preset wear value is reached;

[0070] A4: Set the fatigue scrap threshold of the grinding head 311. According to the estimated material quantity and the fatigue scrap threshold, obtain the minimum processable quantity of the material and record it. When the grinding head 311 reaches the minimum processable quantity, it will be scrapped. Generally speaking, considering the fatigue life of the grinding head 311, subtract 3-5 times from the estimated processable quantity of materials. When grinding to this value, the real-time wear value can be detected and re-compared.

[0071] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive, and therefore the present invention is not limited to the embodiments described in the specific implementation manners. Any other implementation manners derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A grinding and deburring device, characterized in that: It comprises a feeding mechanism (100), a clamping mechanism (200), a grinding mechanism (300) and a feeding mechanism (400). The loading mechanism (100) is used to place materials and transport the materials to a preset clamping position; The clamping mechanism (200) comprises a clamping robot (210), wherein the clamping robot (210) is provided with a clamping claw (220) for clamping and moving materials and maintaining a grinding position of the materials; The grinding mechanism (300) comprises a grinding robot (310), wherein a grinding head (311) and a measuring instrument (312) are installed at the movable end of the grinding robot (310), and the measuring instrument (312) is used to measure the inclination of the material clamped by the clamp (220); The material unloading mechanism (400) is used to carry the material after grinding; The device also includes a detection mechanism (500), wherein the detection mechanism (500) includes a lever assembly (510), a contact member (520), and a displacement sensor (530), wherein the contact member (520) is located at the short end of the lever assembly (510), and the displacement sensor (530) is located at the long end of the lever assembly (510); The detection mechanism (500) comprises a detection frame (540), and the lever assembly (510) is formed on the detection frame (540) at adjacent positions of the two grinding robots (310). The lever assembly (510) specifically comprises a detection rod (511) and a support rod (512). The detection rod (511) is rotatably connected to the support rod (512). A contact piece (520) is installed on the upper side of the short end of the detection rod (511). The lower side of the contact piece (520) is cone-shaped, and the tip contacts the detection rod (511). The detection frame (540) is installed with the displacement sensor (530) at the long end of the detection rod (511), and a limit bolt is installed at an adjacent position.

2. A grinding and deburring device according to claim 1, characterized in that: The measuring instrument (312) measures the inclination of the finishing slope of the material clamped by the clamping jaw (220).

3. A grinding and deburring device according to claim 1, characterized in that: The clamping mechanism (200) further comprises a clamping robot (210), wherein the clamping claw (220) is mounted on a movable end of the clamping robot (210) to clamp and move materials and maintain the grinding position of the materials, wherein the clamping claw (220) comprises a positioning pin (221) and a plurality of claw teeth (222), wherein the positioning pin (221) is adapted to the material to position the material, the connection ends of the plurality of claw teeth (222) are close to each other, and the movable ends extending from the claw teeth (222) are distributed in a star shape.

4. A grinding and deburring device according to claim 3, characterized in that: The invention also comprises a silo body (600), wherein the silo body (600) comprises a material inlet and a material outlet, wherein the loading mechanism (100) comprises a divider (110), wherein the divider (110) comprises a plurality of installation stations, wherein partitions (111) are arranged between the installation stations, wherein the partitions (111) separate the inner and outer spaces of the silo body (600), wherein the divider (110) rotates to realize the position switching of the installation stations inside the silo body (600) and outside the silo body (600), and wherein the unloading mechanism (400) comprises a conveyor belt (410), wherein the conveyor belt (410) conveys materials from inside the silo body (600) to outside the silo body (600).

5. A grinding and deburring device according to claim 4, characterized in that: The loading mechanism (100) also includes a lifting frame (131), a first load-bearing rod (132), a second load-bearing rod (133) and a third load-bearing rod (134), wherein the first load-bearing rod (132) is fixed to the upper side of the lifting frame (131), the second load-bearing rod (133) is connected in parallel to the first load-bearing rod (132), the third load-bearing rod (134) is connected to the second load-bearing rod (133) and is arranged perpendicularly thereto, and a hook is installed on the third load-bearing rod (134).

6. A method for grinding and deburring, characterized in that: The grinding and deburring device as claimed in any one of claims 1 to 5 comprises the following grinding steps: S1: The loading component fixes the material and moves it to the preset clamping position; S2: The gripping robot controls the gripper (220) to grip the material at the gripping position and transfer it to a preset grinding position; S3: the polishing robot (310) controls the measuring instrument (312) to select a preset measuring area of ​​the material for measurement to obtain the inclination in the area, and compares it with the preset inclination interval. If the inclination in the area meets the threshold of the preset inclination interval, then enter step S4; if not, readjust; S4: The grinding robot (310) controls the grinding head (311) to grind the material along a preset grinding path; S5: After grinding, the gripping robot moves the material to the discharge port.

7. A grinding and deburring method according to claim 6, characterized in that: The preset measurement area is the surface area of ​​the material after fine processing.

8. A grinding and deburring method according to claim 6 or 7, characterized in that: The following detection steps are also included: A1: Replace the grinding head (311), the grinding robot (310) drives the grinding head (311) to touch the contact piece (520), records the initial detection position, and obtains initial data through the displacement sensor (530); A2: The grinding robot (310) drives the grinding head (311) to return to the initial detection position to touch the contact member (520), and obtains real-time wear data through the displacement sensor (530), compares the real-time wear data with the initial data to obtain a real-time wear value, and compares the real-time wear value with a preset wear threshold. If the preset wear threshold is exceeded, the grinding head (311) is replaced; if the wear threshold is not reached, the grinding head continues to be used; Wherein, the A1 step is performed before the S4 step, and the A2 step is performed after the S4 step.

9. A grinding and deburring method according to claim 8, characterized in that: In step A2, if the real-time wear value exceeds the preset wear value, the following steps are entered: A3: retrieve the number of objects processed since the grinding head (311) was replaced and compare the ratio of the real-time wear value to the preset wear value to obtain the estimated number of materials that can be processed when the preset wear value is reached; A4: Set the fatigue scrap threshold of the grinding head (311), obtain the minimum processable quantity of the material according to the estimated material quantity and the fatigue scrap threshold and record it, and scrap the grinding head (311) when it reaches the minimum processable quantity.

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