Finishing device and finishing method

Abstract

The application provides a finishing device and a processing method thereof. The device comprises a support shell, a feeding and discharging spare part system capable of driving a tray with workpieces to be input into or output from the inside of the support shell, a tool magazine system comprising a plurality of tools, a tool system capable of precisely processing the workpieces, a manipulator capable of assembling the tools matched with the types of the workpieces in the tool magazine system to the tool system and capable of assembling a vibration rotary system to the end of the manipulator to drive the workpieces to be processed in the tool system, the vibration rotary system being capable of driving the workpieces to rotate and / or vibrate, and a control system in signal connection with the tool system, the feeding and discharging spare part system, the tool magazine system, the vibration rotary system and the manipulator respectively. The application has the advantages of compact structure, low artificial participation, high consistency of batch processing workpieces, greatly improved processing precision, ensured processing quality of products and improved processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical finishing, in particular to a finishing device and a finishing method thereof. BACKGROUND

[0002] At present, super-precision machine tools are the basis of super-precision machining, and the machining process is improved based on the traditional metal cutting process. In mechanical machining, when facing the finishing of shafts and rectangular parts (diameter 10mm, length within 100mm), the traditional method often needs multiple processes, multiple stations and multiple types of equipment to complete the machining with high manual participation, and there is often a problem of poor consistency of batch processing workpieces, which causes the decline of product quality. SUMMARY

[0003] In view of the defects in the prior art, the purpose of the present application is to provide a finishing device and a finishing method thereof.

[0004] According to the finishing device provided by the present application, the finishing device comprises:

[0005] a support shell;

[0006] a feeding and discharging spare part system installed on the support shell and capable of driving a tray with workpieces into or out of the support shell;

[0007] a tool magazine system installed on the support shell and comprising a plurality of tools;

[0008] a tool system installed on the support shell and capable of precisely machining the workpieces;

[0009] a manipulator installed on the support shell and capable of assembling the tools matched with the types of the workpieces in the tool magazine system into the tool system and assembling a vibration and rotation system to the end of the manipulator to drive the workpieces to be machined in the tool system, wherein the vibration and rotation system is capable of driving the workpieces to rotate and / or vibrate;

[0010] a control system signal-connected with the tool system, the feeding and discharging spare part system, the tool magazine system, the vibration and rotation system and the manipulator, respectively.

[0011] Preferably, the feeding and discharging spare part system comprises a support table, a first track and a second track arranged on the support table, the first track and the second track are respectively used for conveying the trays for feeding and discharging, and the trays can slide along the first track and / or the second track under the driving of a tray power mechanism, and the workpieces are arranged on the trays.

[0012] Preferably, the tray is provided with a fixing body for fixing the workpiece, a transition piece matched with the workpiece, and a busbar, and the transition piece is fixed on the tray through the busbar.

[0013] Preferably, the feeding and discharging spare part system further comprises a gantry arranged across the support table, and a transition piece and workpiece connecting implementation mechanism and a clamping finger mechanism arranged on both sides of the gantry respectively, the transition piece and workpiece connecting implementation mechanism and the clamping finger mechanism can slide along the gantry under the driving of the glue dispensing driving mechanism and the clamping finger driving mechanism respectively; the vibration rotary system comprises a vibration rotary head, and the lower part of the vibration rotary head is provided with a clamping head, when the feeding tray is conveyed to the lower part of the gantry, the assembly of the workpiece can be realized by any of the following ways:

[0014] The transition piece can be taken off from the busbar and assembled to the workpiece on the fixing body through the clamping finger mechanism, and the workpiece is in interference fit with the transition piece.

[0015] The transition piece is assembled to the workpiece through the transition medium by the transition piece and workpiece connecting implementation mechanism and the clamping finger mechanism.

[0016] The clamping head is moved to the upper end of the workpiece after the transition medium is applied to the upper end of the workpiece by the transition piece and workpiece connecting implementation mechanism, and the transition medium is solidified to form an envelope instant forming connecting piece, thereby realizing the connection between the clamping head and the workpiece.

[0017] Preferably, the vibration rotary system comprises a connecting head at the upper end and capable of being connected with the robot, a functional chamber at the middle part, and a vibration rotary head arranged at the lower end of the functional chamber, the transition piece can be matched and assembled on the clamping head, and the vibration rotary head can rotate and / or vibrate.

[0018] Preferably, the tool magazine system comprises a tool magazine box, a tool magazine support arranged in the tool magazine box, a tool arranged on the tool magazine support, and a support driving mechanism, the tool magazine box is provided with a tool magazine door, the tool magazine door has two states of closing and opening, when the tool magazine door is in the closing state, the tool magazine support is hidden in the tool magazine box, under the driving of the support driving mechanism, the tool magazine support can drive the tool to move to the outside of the tool magazine box, at this time, the tool magazine door is in the opening state, and the robot can assemble the tool into the tool system.

[0019] Preferably, the tool system comprises a machining table, and a plurality of interval arranged accommodation grooves are arranged on the machining table in sequence, a plurality of tools are arranged in each of the accommodation grooves, and different tools with different functions are arranged in different accommodation grooves, thereby realizing the machining of different processes of the workpiece.

[0020] Preferably, the number of tools placed in each accommodating groove matches the number of lower chucking heads of the vibration rotary head.

[0021] Preferably, a frequency converter is arranged in the vibration rotary system, and the frequency converter is signal-connected to the control system.

[0022] According to the finishing machining method provided by the application, the finishing machining device is used, and the method comprises the following steps:

[0023] S1: inputting a workpiece into the machining device;

[0024] S2: fixing a transition piece to the workpiece through the feeding and discharging spare part system;

[0025] S3: controlling a manipulator to assemble a matched tool from a tool magazine system into a tool system according to the type of the workpiece;

[0026] S4: picking up one or more transition pieces with the workpiece into the tool system by the manipulator and sequentially entering different tools for deburring machining, grinding machining, polishing machining and cleaning machining according to a set program;

[0027] S5: placing the machined workpiece into the feeding and discharging spare part system and outputting to the outside of the machining device, and completing the machining.

[0028] Compared with the prior art, the application has the following beneficial effects:

[0029] The application realizes precise machining within an envelope size range through cooperation of various systems in the device, integrates multiple systems in one device, has compact structure, low manual participation, high consistency of batch processing workpieces, greatly improves machining precision, guarantees machining quality of products and improves machining efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0030] Other features, objects and advantages of the application will become more apparent after reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0031] Figure 1 Fig. 1 is a schematic diagram of an external structure of the application;

[0032] Figure 2 Fig. 2 is a schematic diagram of a top view of an internal structure of the application;

[0033] Figure 3 Fig. 3 is a schematic diagram of a structure when a tray extends to the outside of a support shell;

[0034] Figure 4 Fig. 4 is a schematic diagram of a top view of a structure of part of a system in the application;

[0035] Figure 5Structure side view of the feeding and discharging spare parts system;

[0036] Figure 6 Structure top view of the feeding and discharging spare parts system;

[0037] Figure 7 Structure view of the tray;

[0038] Figure 8 Structure view of the vibration rotation system;

[0039] Figure 9 Structure view of the vibration rotation head;

[0040] Figure 10 Structure view of the tool magazine system;

[0041] Figure 11 Structure view of the tool extending outside the tool magazine box;

[0042] Figure 12 Structure view of the tool arranged on the machining table;

[0043] Figure 13 Structure view of the tool;

[0044] Figure 14 Structure view of the tool system working principle;

[0045] Figure 15 Structure view of the six-axis motion system motion principle, wherein arrow A represents the workpiece carrying the unprocessed workpiece being sent into the support shell inside, B represents the six-axis motion system taking and placing the workpiece, C represents the six-axis motion system assembling the tool into the tool system, D represents the six-axis motion system taking out the tool from the tool magazine system, and E represents the six-axis motion system driving the workpiece to sequentially process in the tool system;

[0046] Figure 16 Logic control block diagram of the control system;

[0047] Figure 17 Structure view of the workpiece and the transition piece connected after being fixed on the fixed body;

[0048] Figure 18 Structure view of the clamping head, the transition piece, and the workpiece connection process;

[0049] Figure 19 Structure view of the workpiece with a complex contact surface type in an embodiment being connected with the transition piece through envelope instant forming connecting pieces;

[0050] Figure 20 Structure view of the workpiece with a complex contact surface type in another embodiment being connected with the transition piece through envelope instant forming connecting pieces.

[0051] shown in the figure:

[0052] supporting shell 1

[0053] display screen 11

[0054] feeding port 12

[0055] discharging port 13

[0056] start button 14

[0057] tool system 2

[0058] processing table 21

[0059] accommodating groove 211

[0060] feeding and discharging spare part system 3

[0061] supporting table 31

[0062] gantry 32

[0063] first rail 33

[0064] second rail 34

[0065] transition piece and workpiece connecting implementation mechanism 35

[0066] finger mechanism 36

[0067] tray 37

[0068] fixed body 371

[0069] clamping jaw 3711

[0070] pre-positioning piece 3712

[0071] transition piece 372

[0072] busbar 373

[0073] envelope instant forming connecting piece 374

[0074] tool magazine system 4

[0075] tool magazine box 41

[0076] tool magazine support 42

[0077] tool 43

[0078] opening 431

[0079] tool magazine door 44

[0080] vibration rotary system 5

[0081] connecting head 51

[0082] functional chamber 52

[0083] vibration rotary head 53

[0084] clamping head 531

[0085] control system 6

[0086] six-axis motion system 7

[0087] accessory system 8

[0088] workpiece 101 DETAILED DESCRIPTION

[0089] The present application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of the present application.

[0090] Example 1:

[0091] The present application provides a finishing device, such as Figure 1 、 Figure 2 、 Figure 3 , comprising a support shell 1 and a tool system 2, an upper and lower material spare system 3, a tool magazine system 4, a vibration rotary system 5, a mechanical hand, an accessory system 8 and a control system 6 arranged on the support shell 1. The support shell 1 provides support for the entire device. The support shell 1 can be designed as a cube structure, a cuboid structure or other shape structure to meet the actual product demand.

[0092] Specifically, the upper and lower material spare system 3 is installed inside the support shell 1. The support shell 1 is designed with a feeding port 12 and a discharging port 13. The upper and lower material spare system 3 can drive the tray 37 with the workpiece 101 to enter or exit the inside of the support shell 1. Specifically, the unprocessed workpiece 101 is transported to the inside of the support shell 1 for processing, and the processed workpiece 101 is transported to the outside of the support shell 1 for next process.

[0093] The tool magazine system 4 is installed in the inside of the support shell 1, including a plurality of tools 43 required for machining the workpiece 101, the tool system 2 is installed in the inside of the support shell 1, and the workpiece 101 can be precisely machined, wherein the various tools 43 required in the tool system 2 can be retrieved in the tool magazine system 4; the manipulator is installed on the support shell 1 and can assemble the matched tool 43 in the tool magazine system 4 to the tool system 2 according to the type of the workpiece 101, the manipulator can adopt a six-axis motion system 7, when finishing machining is required, the end of the six-axis motion system 7 is assembled with the vibration rotary system 5 to drive the workpiece 101 to be machined in the tool system 2, wherein the type includes shape, size, required machining accuracy and the like, and the vibration rotary system 5 can drive the workpiece 101 to rotate and / or vibrate. The control system 6 is signal connected with the six-axis motion system 7, the tool system 2, the feeding and discharging spare part system 3, the tool magazine system 4 and the vibration rotary system 5 respectively, and the control system 6 can control the actions of the six-axis motion system 7, the tool system 2, the feeding and discharging spare part system 3, the tool magazine system 4 and the vibration rotary system 5.

[0094] The accessory system 8 in the application has auxiliary functions such as illumination, safety, detection, alarm and the like, including LED lamps, position sensors, sound-light alarm instruments, display screens 11, start buttons 14 and the like, for example, the LED lamps can illuminate the feeding port 12, the discharging port 13 and the like, which is beneficial for the operator to put in or take out the tray 37 and the like. For another example, the position sensor can detect whether the tray 37 is in place, and each action in the application can improve the precision through the detection of various sensors, so as to realize precise machining. For another example, the start button 14 can start the machining of the workpiece 101 after being pressed; the display screen 11 can realize the state of machining, and machining parameters can also be manually set and the like.

[0095] The application further provides a finishing machining method, which adopts the finishing machining device in the application and includes the following steps:

[0096] S1: inputting the workpiece 101 into the machining device;

[0097] S2: fixing the transition piece 372 to the workpiece 101 through the feeding and discharging spare part system 3;

[0098] S3: controlling the manipulator to assemble the matched tool 43 from the tool magazine system 4 to the tool system 2 according to the type of the workpiece 101;

[0099] S4: picking up one or more transition pieces 372 with the workpiece 101 into the tool system 2 by the manipulator and sequentially entering different tools 43 for deburring machining, grinding machining, polishing machining and cleaning machining according to the set program;

[0100] S5: placing the machined workpiece 101 into the feeding and discharging spare part system 3 and outputting to the outside of the machining device, and completing the machining.

[0101] Embodiment 2:

[0102] This embodiment is a preferred example of Embodiment 1.

[0103] This embodiment provides a finishing device, the support shell 1 is a cubic structure, each system is arranged inside the support shell 1, and it is compact and beautiful from the outside. Specifically, as shown in Figure 4 、 Figure 5 、 Figure 6 indicated, the feeding and discharging spare part system 3 comprises a support table 31, a first track 33 and a second track 34 arranged on the support table 31, the first track 33 and the second track 34 are detachably fixed on the support table 31, the first track 33 and the second track 34 are respectively used for conveying the feeding tray 37 and the discharging tray 37, the bottom of the feeding tray 37 and the discharging tray 37 is provided with a tray seat, the bottom of the tray seat is provided with a sliding groove matched with the first track 33 and the second track 34, under the driving of the tray power mechanism, the tray seat can slide along the first track 33 and / or the second track 34, thereby driving the feeding tray 37 and the discharging tray 37 to move, the workpiece 101 is arranged on the feeding tray 37 and the discharging tray 37, thereby realizing the conveying of the workpiece 101 to the inside of the support table 31 or the conveying of the workpiece 101 from the inside of the support table 31 to the outside. It should be noted that the tray power mechanism can be selected as a structure of driving the tray seat by a motor lead screw, for example, a threaded hole is arranged on the tray seat, the motor drives the lead screw to rotate when rotating, the lead screw passes through the threaded hole, and the lead screw can drive the tray seat to move along the axial direction of the lead screw when rotating, the driving mode of the tray power mechanism can also be selected as, for example, a gas cylinder, an electric cylinder and the like, and the specific selection can be flexible.

[0104] In actual processing, the feeding port 12 and the discharging port 13 on the supporting shell 1 are both feeding ports and discharging ports, the feeding port 12 and the discharging port 13 are controlled by the air cylinder to open and close, and the opening and closing signals are sent to the upper computer. Specifically, the feeding port 12 and the discharging port 13 of the supporting shell 1 are provided with door plates, and the feeding port 12 and the discharging port 13 of the supporting shell 1 are respectively provided with port air cylinders. The port air cylinder can drive the door plate to move vertically to the direction of the feeding port 12 or the discharging port 13. When it is opened, the door plate is hidden in the inside of the supporting shell 1 under the driving of the port air cylinder; when it is closed, the door plate blocks the port. In addition, the opening and closing of the door plate can also use other structures, for example, the bottom of the door plate is hinged on the supporting shell 1 and a torsional spring is sleeved on the hinge shaft. Under the action of the torsional force of the torsional spring in the natural state, the door plate can be buckled on the supporting shell 1 so that the feeding port 12 and / or the discharging port 13 are in the closed state. When the workpiece 101 needs to be processed, the motor drives the tray seat on the first track 33 to move towards the feeding port 12. When the tray seat contacts the door plate of the feeding port 12, the door plate is pried open under the driving force, and the torsional spring is in the elastic torsion state. At this time, the tray seat moves to the outside of the supporting shell 1. The worker places the tray 37 full of workpieces 101 on the tray seat, and then drives the tray seat to carry the tray 37 full of workpieces 101 to the inside of the supporting shell 1 by the tray power mechanism. The workpiece 101 is processed. The processed workpiece 101 is placed on the tray 37 on the second track 34. When the tray 37 is full of processed workpieces 101, the motor carries the tray 37 to the discharging port 13. The worker takes away the tray 37 and places the empty tray 37 on the tray seat and carries it to the inside of the supporting shell 1 by the motor for standby.

[0105] Further, as Figure 6 、 Figure 7As shown, the feeding and discharging spare part system 3 further comprises a gantry 32 arranged on the support table 31 and a transition piece and workpiece connecting implementation mechanism 35 and a clamping finger mechanism 36 arranged on both sides of the gantry 32, the transition piece and workpiece connecting implementation mechanism 35 and the clamping finger mechanism 36 are located above the tray 37, and the transition piece and workpiece connecting implementation mechanism 35 and the clamping finger mechanism 36 can slide along the gantry 32 under the driving of a glue dispensing driving mechanism and a clamping finger driving mechanism, the glue dispensing driving mechanism and the clamping finger driving mechanism preferably adopt motors, the tray 37 is provided with a fixing body 371 for fixing the workpiece 101, a transition piece 372 matched with the workpiece 101, and a busbar 373, the transition piece 372 is fixed on the tray 37 through the busbar 373, the vibration rotary system 5 comprises a vibration rotary head 53, the lower part of the vibration rotary head 53 is provided with a clamping head 531, one end of the transition piece 372 has a connecting structure matched with the clamping head 531 and can be quickly connected with the clamping head 531, and the other end of the transition piece 372 is used for connecting the end of the workpiece 101, and the end of the transition piece 372 for connecting the workpiece 101 can be designed according to different workpieces 101 to ensure the stability and reliability of clamping different workpieces 101, and this assembly mode is suitable for the assembly of workpieces 101 with regular contact surfaces.

[0106] Mode one: the transition piece 372 on the busbar 373 is taken off and assembled on the workpiece 101 on the fixing body 371 through the clamping finger mechanism 36, and the workpiece 101 is in interference fit with the transition piece 372, as shown in Figure 18 .

[0107] Mode two: first, a transition medium is added to the upper end of the workpiece 101 through the transition piece and workpiece connecting implementation mechanism 35, and then the transition piece 372 is assembled on the upper end of the workpiece 101 through the clamping finger mechanism 36, the transition medium can be quick-drying glue, frozen water, elastic connecting clamps, etc., taking glue as an example, the workpiece 101 is glued through the transition piece and workpiece connecting implementation mechanism 35, and then the transition piece 372 is moved to the upper side of the workpiece 101 through the clamping finger mechanism 36 to connect with the workpiece 101, and after the glue is solidified, the transition piece 372 and the workpiece 101 are tightly connected, it should be noted that in order to make the glue solidify quickly, the glue can be quickly solidified by applying energy, for example, by ultraviolet irradiation, and then the workpiece 101 and the transition piece 372 can be quickly connected, as shown in Figure 19 .

[0108] Third mode: the clamping head 531 is directly moved to the upper end of the workpiece 101 after the transition medium is applied on the upper end of the workpiece 101 by the transition piece and the implementation mechanism 35, and the transition medium is solidified to form the envelope instant forming connecting piece 374, thereby realizing the connection between the clamping head 531 and the workpiece 101. The transition medium is preferably glue (such as UV glue), which can be quickly solidified to form the envelope instant forming connecting piece 374 by ultraviolet irradiation in the same way as in the second mode, as shown in Figure 20 When the workpiece 101 is processed, the envelope instant forming connecting piece 374 can be destroyed by heating or other means, and then the processed workpiece 101 can be taken out. It should be noted that the third mode is particularly suitable for irregular workpieces 101. Some workpieces 101 cannot be matched by the transition piece 372 due to their irregular shape. The present application directly assembles and connects the clamping head 531 and the workpiece 101 by the way of solidifying the glue to form the envelope instant forming connecting piece 374, thereby solving the problem of difficult pick-up of irregular workpieces 101.

[0109] Further, the adjacent transition pieces 372 assembled to the workpiece 101 can be matched and assembled to the vibration rotary system 5 at one time, thereby realizing the effect of simultaneously processing multiple workpieces 101. That is, the workpiece 101 and the transition piece 372 are assembled together to prepare for the next processing of the workpiece 101. For example, the vibration rotary system 5 can assemble three transition pieces 372 at one time, and sequentially realize the effect of simultaneously processing three workpieces 101.

[0110] It should be noted that, on the one hand, the fixed body 371 preferably adopts a multi-claw centering chuck structure, such as an electric centering claw, a pneumatic claw, etc., including a plurality of clamping claws 3711 and a pre-positioning piece 3712, as shown in Figure 17 When the workpiece 101 is placed, it can be first placed on the pre-positioning piece 3712, and then clamped by the plurality of clamping claws 3711 to fix the workpiece 101 on the fixed body 371. On the other hand, the tray 37 can accommodate various specifications of shafts and rectangular workpieces 101, and can be connected to the transition piece 372 within the envelope size range. The envelope size range is a workpiece 101 with a diameter less than or equal to 10 mm and a length less than or equal to 100 mm. In the specific design, the tray 37 can also be modified according to the actual needs, so that the envelope size range can be customized according to the needs.

[0111] As shown in Figure 8 , Figure 9As shown, the vibration rotary system 5 can realize high-speed rotation and constant or variable frequency vibration, and the end automatically clamps the workpiece 101 for high-speed rotation and wide frequency vibration to input energy for finishing the workpiece 101, including a connecting head 51 located at the upper end and capable of being connected with the six-axis motion system 7, a functional chamber 52 located at the middle part, and a vibration rotary head 53 arranged at the lower end of the functional chamber 52. The functional chamber 52 is configured with a gear box or a belt wheel box, and a built-in transmission structure. The vibration rotary head 53 is driven by a motor belt. For example, one motor and a belt can drive multiple belt wheels to rotate synchronously, thereby driving multiple vibration rotary heads 53 to rotate synchronously through multiple belt wheels. In addition, the vibration rotary head 53 realizes vibration through the principle of electromagnetic driving vibration. This structure belongs to the prior art, and will not be described here.

[0112] The transition piece 372 can be matched and assembled on the clamping head 531. The vibration rotary head 53 can rotate and vibrate to drive the transition piece 372 and the workpiece 101 to rotate and vibrate synchronously through the clamping head 531. The vibration rotary system 5 is provided with a frequency converter. The frequency converter has a constant or variable frequency function and is signal-connected to the control system 6. According to the processing needs, the control system 6 can control the frequency converter to control the vibration frequency of the vibration rotary head 53. It should be noted that the functional chamber 52 preferably adopts a pneumatic cylinder. The rotation shaft in the pneumatic cylinder is adjusted by compressed gas to drive the vibration rotary head 53 to rotate by a set angle, for example, 90°, and for example, 180°, etc., to facilitate the assembly of the transition piece 372 on the clamping head 531. In addition, the vibration rotary head 53 in the embodiment can adopt the existing technology, for example, the hydraulic high-frequency vibration rotary power head disclosed in the patent document CN213359983U. In addition, other existing technologies that can realize the vibration rotary function of the present application can also be used, and will not be described here.

[0113] As shown in Figure 10 , Figure 11 , the tool magazine system 4 is configured according to the material, configuration, precision, efficiency and other requirements of the workpiece 101 to be finished. When different workpieces 101 are processed, the corresponding program is called, the device automatically replaces the tool 43, and the processing according to the finishing requirements is performed. It includes a tool magazine box 41, a tool magazine support 42 arranged inside the tool magazine box 41, a tool 43 arranged on the tool magazine support 42, and a support driving mechanism. The tool magazine box 41 is provided with a tool magazine door 44. The tool magazine door 44 has two states of closing and opening. When the tool magazine door 44 is in the closed state, the tool magazine support 42 is hidden in the tool magazine box 41. The tool magazine support 42 can drive the tool 43 to move to the outside of the tool magazine box 41 under the drive of the support driving mechanism. At this time, the tool magazine door 44 is in the open state. It should be noted that the tool magazine door 44 can adopt the same structure as the door plate at the inlet 12 and the outlet 13 to realize the opening and closing function of the tool magazine door 44. In actual application, other structures in the existing technology can also be used to realize the opening and closing of the tool magazine door 44.

[0114] It should be noted that the tool magazine system 4 in the embodiment contains 36 tools 43, which are configured according to the finishing requirements of different workpieces 101; when the tools 43 do not need to be replaced, the tools 43 and the tool magazine supports 42 are hidden in the tool magazine box 41; when the tools 43 need to be replaced, the tool magazine door 44 is opened, the tools 43 and the tool magazine supports 42 are pushed out, different tools 43 need to be replaced for different workpieces 101, the tools 43 are taken out from the tool magazine system 4 and installed on the machining table 21 of the tool system 2, wherein the action of replacing the tools 43 is realized by the six-axis motion system 7, and the matching selection of the workpieces 101 and the tools 43 is decided by programs and algorithms.

[0115] As shown in Figure 12 , Figure 13 , the tool system 2 comprises a machining table 21, and a plurality of interval arranged accommodation grooves 211 are sequentially arranged on the machining table 21, a plurality of same tools 43 are arranged in each accommodation groove 211, and different types of tools 43 are arranged in different accommodation grooves 211. The tools 43 placed in each accommodation groove 211 are matched with the number of clamping heads 531 of the lower part of the vibration rotary head 53. In the embodiment, three tools 43 are placed side by side in each accommodation groove 211, and three clamping heads 531 are arranged on the lower part of each vibration rotary head 53, that is, in the embodiment, three workpieces 101 can be machined in one accommodation groove 211 at the same time, and the top of the tool 43 is provided with an opening 431, and the machined workpiece 101 can be extended into the tool 43 from the opening 431 for machining. It should be noted that the machining table 21 is also provided with warning lights, and the warning lights will display different colors in normal machining and fault, and the fault condition will also emit a fault sound to prompt the operator.

[0116] In the process of finishing machining of the workpiece 101 in the embodiment, the tools 43 in the plurality of accommodation grooves 211 sequentially arranged on the machining table 21 have different machining functions, and in the embodiment, the machining functions are deburring machining, grinding machining, polishing machining and cleaning air blowing machining in sequence according to the arrangement order, as shown in Figure 14 , wherein the deburring machining corresponds to the tools 43 in two accommodation grooves 211, sequentially realizes rough machining and semi-finish machining, the grinding machining realizes finish machining, and the polishing machining realizes super-finish machining. Through the machining of a plurality of processes in sequence, the automatic finishing of "de-burring, grinding and polishing" of the workpiece 101 can be realized. Based on the magnetic chain control technology, the device has one machine with multiple functions, innovates the traditional multi-process, multi-station and multi-type equipment machining status, and can realize finishing precision: the sharp edge sharpness R value reaches micron level controllable, the surface roughness can reach mirror level, and the mirror level reaches below Ra0.04. The equipment machining range in the embodiment is within 10 mm in diameter and within 100 mm in length. The device in the embodiment has high automation, completely replaces manual work, and has good machining quality, thereby ensuring the consistency of batch machining effect.

[0117] Furthermore, such as Figure 14 As shown, the tool system 2 in this embodiment includes five processes, each process includes three stations, and each station is equipped with one tool 43, for a total of 15 tools 43. As indicated by the arrows, it realizes progressive processing from rough to fine, integrating deburring, grinding, and polishing. The system includes a magnetic control device, which controls the tools by controlling parameters such as the spatial position, intensity, and direction of the magnetic field. The tools 43 are equipped with grinding media of different compositions, configured according to the material, size, configuration, precision, and processing efficiency requirements of the workpiece 101. The tools 43 have built-in magnetic fields, and the spatial magnetic field strength and direction are adjustable to adjust the magnetic grinding media inside the tools 43. The tools in this embodiment can adopt the flexible adaptive magnetic flux tool finishing device disclosed in patent document CN116330054A. The specific structure of the tools 43 will not be described in detail here. It should be noted that the number of processes and stations can be expanded according to processing needs in different processing scenarios.

[0118] like Figure 15 As shown, the six-axis motion system 7 is equipped with a vibration rotation system 5 at its end, which provides input energy for the finishing of the workpiece 101. The six-axis motion system 7 can use robots, such as multi-joint robots, parallel robots, collaborative robots, cylindrical / Cartesian coordinate robots, etc., or non-standard gantry manipulators, etc. The manipulator can pick up and place the workpiece 101 and detect whether the workpiece 101 is picked up successfully. The detection preferably uses photoelectric sensors, such as through-beam photoelectric sensors. It can also realize the replacement and assembly of the tool 43.

[0119] like Figure 16 As shown, control system 6 uses a PLC logic controller. Control system 6 coordinates and controls other systems through a bus or I / O. The PLC logic controller is connected to the host computer through a bus, and its main functions are as follows:

[0120] Parameter settings: Configure various parameters that affect processing efficiency and accuracy;

[0121] Information statistics: Statistics on data such as the number of processed parts, processing time, and processing results;

[0122] Program call: Call the saved machining program by the model number of workpiece 101;

[0123] Alarm notification: View current and historical alarm information;

[0124] Signal monitoring: View the current operating status of the equipment and monitor the status of other systems in the device;

[0125] Life management: Perform life detection, tracking, recording, and management of tool 43;

[0126] Function debugging: trial production is carried out for the newly added workpiece 101, process parameters are confirmed and entered;

[0127] Mode switching: manual / automatic dual mode switching.

[0128] The PLC logic controller in the application can be upgraded to an intelligent logic controller to realize a more complex digital and intelligent processing process.

[0129] The working principle of the application is as follows:

[0130] After the control of the feeding port 12 is opened, the operator places the tray 37 carrying the unprocessed workpiece 101 on the tray seat and transports it to the inside of the support shell 1, and then fixes the transition piece 372 and the workpiece 101 together through the transition piece and the workpiece connecting implementation mechanism 35, the clamp finger mechanism 36 and other components. Next, the mechanical hand end loads the vibration rotary system 5 to provide input energy for the finishing of the workpiece 101, the mechanical hand takes the workpiece 101, and detects whether the workpiece 101 is successfully picked up; the mechanical hand and the vibration rotary system 5 grab the workpiece 101 into the tool 43, and start the finishing process; wherein the tool magazine system 4 contains five processes, each process contains three workstations, and each workstation is configured with one tool, and the workpiece 101 is sequentially finished according to the arrows in the figure, from rough to fine, to realize deburring, grinding, polishing and cleaning. When different workpieces 101 are replaced, the system determines the required tool type according to the program and algorithm, and automatically replaces the tool into the tool magazine system 4. Figure 14

[0131] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0132] The specific embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.​

Claims

1. A finishing device characterized by comprising: The utility model relates to a kind of precision machining systems, including: Support shell (1); Feeding spare system (3) is installed on the support shell (1), can drive tray (37) with workpiece (101) input support shell (1) inside or export from support shell (1) inside; Tool magazine system (4) is installed on the support shell (1), including multiple tools (43); Tool system (2) is installed on the support shell (1), can carry out precision machining to workpiece (101); Mechanical hand is installed on the support shell (1) and can assemble matching tool (43) in tool magazine system (4) to tool system (2) according to the type of workpiece (101), and vibration rotary system (5) can be assembled to the end of itself to drive workpiece (101) to process in tool system (2), wherein vibration rotary system (5) can drive workpiece (101) rotary motion and / or vibration; Control system (6) is signal connected with tool system (2), feeding spare system (3), tool magazine system (4), vibration rotary system (5), mechanical hand respectively; The feeding spare system (3) includes support table (31), first track (33) and second track (34) arranged on the support table (31), the first track (33) and the second track (34) are used for conveying feeding tray (37) and discharging tray (37) respectively, and the feeding tray (37) can slide along the first track (33) and / or the second track (34) under the drive of tray power mechanism, and the workpiece (101) is arranged on the feeding tray (37); The tool magazine system (4) includes tool magazine box (41), tool magazine support (42) arranged inside the tool magazine box (41), tool (43) arranged on the tool magazine support (42) and support drive mechanism, the tool magazine box (41) is provided with tool magazine door (44), the tool magazine door (44) has two states of closing and opening, when the tool magazine door (44) is in the closed state, the tool magazine support (42) is hidden in the tool magazine box (41), the tool magazine support (42) can drive tool (43) to move to the outside of the tool magazine box (41) under the drive of the support drive mechanism, at this time, the tool magazine door (44) is in the open state, wherein the mechanical hand can assemble the tool (43) into the tool system (2); The tool system (2) includes machining table (21), and a plurality of interval arrangement accommodating grooves (211) are sequentially arranged on the machining table (21), a plurality of tools (43) are arranged in each accommodating groove (211), and different accommodating grooves (211) are provided with tools (43) of different functions to realize machining of different processes of workpiece (101); Mechanical hand end loading vibration rotary system (5) provides input energy for finishing of workpiece (101), mechanical hand takes workpiece (101), and detects whether workpiece (101) is picked up successfully or not;Mechanical hand and vibration rotary system (5) grab workpiece (101) into tool (43) to carry out finishing machining; The tray (37) is provided with a fixing body (371) for fixing the workpiece (101), a transition piece (372) matched with the workpiece (101), and a busbar (373), and the transition piece (372) is fixed on the tray (37) through the busbar (373); The upper and lower spare part systems (3) further comprise a gantry (32) arranged across the support table (31), and a transition piece and workpiece connecting implementation mechanism (35) and a clamping finger mechanism (36) arranged on both sides of the gantry (32), respectively, and the transition piece and workpiece connecting implementation mechanism (35) and the clamping finger mechanism (36) can slide along the gantry (32) under the drive of the glue dispensing driving mechanism and the clamping finger driving mechanism; the vibration rotary system (5) comprises a vibration rotary head (53), and the lower part of the vibration rotary head (53) is provided with a clamping head (531), and when the feeding tray (37) is conveyed to the lower part of the gantry (32), the assembly of the workpiece (101) can be realized in any of the following ways: The transition piece (372) can be taken off from the busbar (373) and assembled on the workpiece (101) located on the fixing body (371) through the clamping finger mechanism (36), and the workpiece (101) is in interference fit with the transition piece (372); The transition piece (372) is assembled on the workpiece (101) through a transition medium through the transition piece and workpiece connecting implementation mechanism (35) and the clamping finger mechanism (36); After the transition medium is applied on the upper end of the workpiece (101) through the transition piece and workpiece connecting implementation mechanism (35), the clamping head (531) is moved to the upper end of the workpiece (101), and the transition medium is solidified to form an envelope instant forming connecting piece (374), thereby realizing the connection between the clamping head (531) and the workpiece (101).

2. The finishing apparatus according to claim 1, wherein The vibration rotary system (5) comprises a connecting head (51) located at the upper end and capable of being connected with a mechanical hand, a functional chamber (52) located at the middle part, and a vibration rotary head (53) arranged at the lower end of the functional chamber (52), the transition piece (372) can be matched and assembled on the clamping head (531), and the vibration rotary head (53) can rotate and / or vibrate.

3. The finishing apparatus according to claim 1, wherein The number of the clamping head (531) at the lower part of the vibration rotary head (53) matches the number of the tools (43) placed in each accommodation groove (211).

4. The finishing apparatus according to claim 1, wherein A frequency converter is arranged in the vibration rotary system (5), and the frequency converter is signal connected with the control system (6).

5. A method of finishing, characterized by The finishing device of any one of claims 1 to 4 comprises the following steps: S1: inputting the workpiece (101) into the finishing device; S2: fixing the transition piece (372) on the workpiece (101) through the upper and lower spare part systems (3); S3: controlling the mechanical hand to assemble the matched tool (43) from the tool magazine system (4) into the tool system (2) according to the type of the workpiece (101); S4: The mechanical hand picks up one or more transition pieces (372) with the workpiece (101) into the tool system (2) and sequentially enters different tools (43) according to the set program to carry out deburring, grinding, polishing and cleaning processing; S5: The processed workpiece (101) is placed into the feeding and discharging spare part system (3) and output to the outside of the processing device, and the processing is completed.

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