An automated device for adaptive cross-hole grinding

Abstract

The present invention discloses an automated device for adaptive cross-hole grinding, comprising a robot arm, a linear motion mechanism, a rotation mechanism, a power mechanism, a base, a single-chip microcomputer, and an identification system. The robot arm comprises a grinding head, a connecting piece, a flexible shaft, a spring steel, a steel pipe, and an elastic piece; the flexible shaft is connected to the grinding head, and the other end of the flexible shaft passes through the elastic piece and is connected to the power mechanism; the spring steel, the elastic piece, the flexible shaft, and the grinding head pass through the steel pipe, one end of the spring steel is pre-bent and extends out of the steel pipe, and the other end is connected to the linear motion mechanism; the steel pipe is connected to the rotation mechanism. The power mechanism is fixed on the linear motion mechanism, the linear motion mechanism is fixed on the rotation mechanism, and the rotation mechanism is fixed on the base. The present invention can automatically adjust the spatial position of the grinding head, can both linearly feed and change the rotation radius in time, and automatically adapt to the arc position of the intersection line of the three-dimensional curved surface of the cross hole; the grinding head has an elastic expansion space, small vibration impact, and stable operation; the degree of automation is high, and the grinding accuracy is good.

Description

Technical Field

[0001] The invention relates to a cross hole grinding device for mechanical parts, in particular to an automated device for grinding burrs on the edges of intersection lines of cross deep holes. Background Art

[0002] With the continuous advancement of science and technology and the continuous development of traditional manufacturing, people's requirements for part precision are becoming increasingly higher. However, the generation of burrs is inevitable in current manufacturing processes, making burr removal extremely critical. The problem of burr removal in cross holes is particularly serious. Traditional grinding and polishing processes are not only time-consuming and labor-intensive, but also inefficient, and result in poor product uniformity and low precision.

[0003] A flexible rotary grinding and deburring device, disclosed in the invention patent application number: 201610507999.8, includes an intermediate hose with a flexible shaft mounted therein. The flexible shaft is rotatable relative to the intermediate hose, with both ends of the flexible shaft exposed outside the intermediate hose. One end of the flexible shaft is connected to a rotating grinding head via a shrink sleeve and a screw, while the other end is connected to a drive motor via a shrink sleeve and a screw. Burrs on steel holes have a certain hardness, which makes the hose prone to bending, making it impossible to ensure complete grinding. Furthermore, this invention lacks the function of adaptively adjusting the grinding head and the elastic structure, resulting in significant vibration and impact, and the grinding head cannot adjust its angle according to the curvature of the three-dimensional curved intersection line at the edge of the cross hole. Although it has a power device, it lacks the function of automatically identifying burrs, and cannot achieve fully automatic operation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automated device for adaptively grinding cross deep holes. In order to solve the above problem, the present invention is implemented through the following technical solutions.

[0005] An adaptive cross-hole grinding device includes a robotic arm, a linear motion mechanism, a rotation mechanism, a power mechanism, a base, a single-chip microcomputer, and an identification system. The robotic arm includes a grinding head, a connector, a flexible shaft, spring steel, a steel pipe, and an elastic member. One end of the flexible shaft is connected to the grinding head via the connector, while the other end passes through the elastic member fixed to the spring steel and is further connected to the power mechanism. The spring steel, elastic member, flexible shaft, and grinding head are all passed through the steel pipe. One end of the spring steel is pre-bent and extends out of the steel pipe, while the other end extends out of the steel pipe and connects to the linear motion mechanism. The steel pipe is connected to the rotation mechanism. The power mechanism is fixed to the linear motion mechanism, which is fixed to the rotation mechanism, which is fixed to the base. The identification system converts the burr location into a signal and transmits it to the single-chip microcomputer. The single-chip microcomputer controls the linear motion mechanism, the rotation mechanism, and the robotic arm.

[0006] Preferably, the linear motion mechanism includes a U-shaped plate, a long plate, a clamping table, a motor, a slide, and a slider. The motor and the slide are fixed on the U-shaped plate, the clamping table is fixed on the long plate, and the long plate is fixed on the slider.

[0007] Preferably, the rotating mechanism includes a steering gear, a transition plate, a mounting plate, and a U-shaped plate. The steering gear is mounted on the base via the mounting plate, and the transition plate is fixed to the steering gear shaft and connected to the U-shaped plate.

[0008] Preferably, the power mechanism comprises a micro motor, a motor mounting plate, and a drill chuck. The micro motor is mounted on the long plate via the motor mounting plate, and the drill chuck is connected to the micro motor shaft.

[0009] Preferably, the steel pipe has a notch on the upper portion and a long groove on the lower portion, and the spring steel has a protruding structure that matches the long groove of the steel pipe.

[0010] Preferably, the end face of the flexible shaft contacts the elastic element and has a gap with the pre-bent end face of the spring steel.

[0011] Preferably, the elastic element is a spring, and the flexible shaft and the grinding head are connected by a coupling.

[0012] Preferably, the flexible shaft and the grinding head are connected by a coupling.

[0013] Preferably, the identification system includes a computer and a camera.

[0014] Beneficial effects of the present invention:

[0015] It can automatically adjust the spatial position of the grinding head, enable linear feed, and change the rotation radius in a timely manner, automatically adapting to the arc position of the intersection line of the three-dimensional curved surface of the cross hole; the grinding head has elastic telescopic space, small vibration impact, and stable operation; in addition, this device has a high degree of automation, good grinding accuracy, and saves manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the general diagram of the adaptive cross hole grinding device;

[0017] Figure 2 This is the structure diagram of the robot arm;

[0018] Figure 3 It is the diagram of linear motion mechanism;

[0019] Figure 4 It is the diagram of the rotating mechanism;

[0020] Figure 5 It is the power mechanism diagram;

[0021] Figures 6a-6c For the polishing schematic.

[0022] The specific numbers in the figure are as follows:

[0023] a-Robot arm b-Linear motion mechanism c-Rotation mechanism

[0024] d-power mechanism e-base f-bearing seat

[0025] g-camera

[0026] a1-grinding head a2-connector a3-flexible shaft

[0027] a4-spring a5-spring steel a6-steel pipe

[0028] b1-U-shaped board b2-long board b3-clamping table

[0029] b4-motor b5-slide b6-slider

[0030] c1-servo c2-transition plate c3-mounting plate

[0031] d1-micro motor d2-motor mounting plate d3-drill chuck DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components with the same or similar functions. The terms "first", "second", "third", etc. (if any) in the specification and claims of this application and in the drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the objects described in this way are interchangeable where appropriate. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. The directional terms mentioned in this application, such as: up, down, left, right, front, back, inside, outside, side, etc., are only with reference to the directions of the drawings.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0034] like Figure 1As shown, the automatic cross hole grinding device includes: a robot arm a, a linear motion mechanism b, a rotation mechanism c, a power mechanism d, a base e, a single chip microcomputer, and a recognition system, which includes a computer and a camera (not shown).

[0035] like Figure 2 As shown, the robot arm a comprises a grinding head a1, a connector a2, a flexible shaft a3, a spring a4, spring steel a5, and a steel tube a6. One end of the spring steel a5 is pre-bent to a certain arc, and the other end passes through the steel tube a6 and extends at both ends. The spring a4 is welded to the spring steel a5. One end of the flexible shaft a3 is connected to the grinding head a1 via a connector (a coupling in this embodiment) a2, and the other end passes through the spring a4 and contacts the spring. A gap is left between the end faces of the spring a4 and the spring steel a5. The outer surface of the steel tube a6 is notched to eliminate friction caused by the pre-bent spring steel. A long groove is cut at the bottom of the steel tube a6 to match the protrusion at the bottom of the spring steel a5.

[0036] like Figure 3 As shown, the linear motion mechanism b comprises: a U-shaped plate b1, a long plate b2, a clamping platform b3, a motor b4, a slide b5, and a slider b6. The motor b4 and slide b5 are fixed to the U-shaped plate b1, the clamping platform b3 is fixed to the long plate b2, and the long plate b2 is fixed to the slider b6. The slider b6 is movable relative to the slide b5. The motor drives the slider to move linearly, which in turn drives the clamping platform and long plate.

[0037] like Figure 4 As shown, the rotation mechanism c includes: a steering gear c1, a transition plate c2, a mounting plate c3, and a U-shaped plate b1. The steering gear c1 is mounted on the base e via the mounting plate c3. The transition plate c2 is fixed to the steering gear shaft and connected to the U-shaped plate b1, driving the U-shaped plate b1 to rotate.

[0038] like Figure 5 As shown, the power mechanism d includes: a micro motor d1, a motor mounting plate d2, and a drill chuck d3. The micro motor d1 is mounted on the long board b2 via the motor mounting plate d2, and the drill chuck d3 is connected to the micro motor shaft.

[0039] The base e is an aluminum profile, and the bearing seat f is fixed on the base e.

[0040] like Figure 1 As shown, the steel pipe a6 of the robot arm a passes through the bearing in the bearing seat f, passes through the mounting hole of the U-shaped plate b1, and is fixed on the U-shaped plate b1. The spring steel a5 is fixed to the clamping table b3. The flexible shaft a3 extends out of the steel pipe a6 and is clamped by the drill chuck d3. The drill chuck d3 is at the same height as the flexible shaft a3.

[0041] like Figures 6a-6cThe working process of the present invention is as follows: first, the robot arm a is placed in the hole on one side of the intersecting deep hole, and the camera of the recognition system enters the hole on the other side of the intersecting deep hole. The position of the burr is obtained by using visual technology, which is the "designated position". The camera transmits the image signal of the designated position to the computer. The computer recognizes the burr, converts the burr position into a signal and sends it to the single-chip microcomputer. The single-chip microcomputer connects and controls the motor b4, the micro motor d1, and the servo c1.

[0042] The designated position is compared with the spatial position of grinding head a1 on robot arm a. If robot arm a is not currently in the designated position, motor b4 drives slider b5, which in turn causes spring steel a5, micro motor d1, drill chuck d3, and flexible shaft a3, held by clamping table b3, to move linearly simultaneously until the burr is located. Clamping table b3 then drives pre-bent spring steel a5 back and forth relative to steel pipe a6. The curved portion at the front of spring steel a5, constrained by steel pipe a6, bends to varying degrees, adjusting the position of grinding head a1. Micro motor d1 activates, flexible shaft a3 rotates, and grinding head a1 grinds away the burr. The vision system determines the location of remaining burrs. To remove burrs along the intersecting lines of the cross-holes over a wider area, servo C1 activates, driving U-shaped plate B1 via transition plate C2, which in turn rotates steel pipe A6. The long grooves in steel pipe A6 and the raised structures on spring steel A5 interact, driving spring steel A5 to rotate, causing grinding head A1 to rotate around the centerline of steel pipe A6, increasing its radius. The system then determines whether grinding is successful based on feedback. After grinding one position, it moves to the next.

[0043] The linear motion mechanism b adjusts the curvature of the spring steel a5 to adjust the position of the grinding head a1, and the rotation mechanism c drives the steel pipe a6 to rotate to adjust the rotation radius of the grinding head a1. The operations can be performed simultaneously or sequentially. According to the burr position identified by the visual system, the linear motion mechanism and the rotation mechanism cooperate with each other to automatically adjust the position of the grinding head a1, automatically adapt to the spatial changes of the intersection line, and completely remove the burrs.

Claims

1. An adaptive cross hole grinding device, characterized by: The invention comprises a robot arm (a), a linear motion mechanism (b), a rotating mechanism (c), a power mechanism (d), a base (e), a bearing seat (f), a single chip microcomputer and an identification system; the robot arm (a) comprises a grinding head, a connecting piece (a2), a flexible shaft (a3), an elastic piece (a4), a spring steel (a5) and a steel pipe (a6), wherein the elastic piece (a4) is fixed on the spring steel (a5); the spring steel (a5) and the elastic piece (a4) fixed thereon pass through the interior of the steel pipe (a6); one end of the spring steel (a5) extends out of the steel pipe (a6) and is pre-bent, and the other end extends out of the steel pipe (a6) and is connected to the linear motion mechanism (b); the steel pipe (a6) and the rotating mechanism The flexible shaft (a3) ​​is connected to the grinding head via a connecting piece (a2), and the other end of the flexible shaft (a3) ​​passes through an elastic piece (a4) fixed on the spring steel (a5) from one side of the pre-bent spring steel (a5) and is further connected to the power mechanism (d); the power mechanism (d) is fixed on the linear motion mechanism (b), the linear motion mechanism (b) is fixed on the rotating mechanism (c), and the rotating mechanism (c) is fixed on the base (e). The recognition system converts the burr position into a signal and sends it to the single-chip microcomputer, which controls the linear motion mechanism (b), the rotating mechanism (c), and the power mechanism (d); the linear motion mechanism includes a U-shaped plate (b1). , long board (b2), clamping table (b3), motor (b4), slide (b5), slider (b6), the motor (b4) and slide (b5) are fixed on the U-shaped board (b1), the clamping table (b3) is fixed on the long board (b2), and the long board (b2) is fixed on the slider (b6); the rotating mechanism includes a steering gear (c1), a transition plate (c2), a mounting plate (c3), and a U-shaped board (b1); the steering gear (c1) is mounted on the base (e) through the mounting plate (c3), the transition plate (c2) is fixed to the steering gear shaft, and is connected to the U-shaped board (b1); the power mechanism includes a micro motor (d1), a motor mounting plate (d2), a drill The chuck (d3) and the micro motor (d1) are mounted on the long plate (b2) via the motor mounting plate (d2), and the drill chuck (d3) is connected to the micro motor shaft; the steel pipe (a6) has a notch on the upper part and a long groove on the lower part, and the spring steel (a5) has a protruding structure that matches the long groove of the steel pipe; the bearing seat (f) is fixed on the base (e); the steel pipe (a6) of the robot arm (a) passes through the bearing in the bearing seat (f), passes through the mounting hole of the U-shaped plate (b1), and is fixed on the U-shaped plate (b1), the spring steel (a5) is fixed to the clamping table (b3), and the soft shaft (a3) ​​extends out of the steel pipe (a6) and is clamped by the drill chuck (d3).

2. The adaptive cross-hole grinding device according to claim 1, characterized in that: The end face of the flexible shaft contacts the elastic member and has a gap with the pre-bent end face of the spring steel (a5).

3. The adaptive cross hole grinding device according to claim 1, characterized in that: The elastic member is a spring.

4. The adaptive cross-hole grinding device according to claim 1, characterized in that: The flexible shaft and the grinding head are connected by a coupling.

5. The adaptive cross hole grinding device according to claim 1, characterized in that: The identification system includes a computer and a camera.

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