Device and method for online automatic detection of the thickness of ground pieces for double-disc grinding machines

Abstract

The application provides a device and method for online automatic detection of grinding piece thickness of a double-end surface grinder, which comprises a proximity switch, a controller, a mechanical hand assembly and a measuring table assembly; the proximity switch is fixed at the end of the discharge port of the double-end surface grinder, and sends a signal to the controller when it detects a workpiece to be measured at the position; the controller controls the mechanical hand assembly to grab the workpiece to be measured and place the workpiece to be measured on a measuring position, and the measuring table assembly detects the thickness of the workpiece to be measured.

Description

Technical Field

[0001] This invention belongs to the field of machining and inspection technology, and particularly relates to an apparatus and method for online automatic detection of the thickness of ground parts using a double-end face grinder. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] During double-end grinding, the grinding wheel gradually wears down with increasing processing time, causing the workpiece size to gradually increase, even exceeding the required dimensional accuracy range, resulting in defective products. To ensure the dimensional accuracy of the machined parts, the commonly used method is for inspectors to immediately measure the dimensions of the ground workpiece. When the measurement results approach the maximum limit dimension, the grinding wheel spacing is adjusted in a timely manner.

[0004] The existing technology that uses manual measurement of the dimensions of double-end-face grinding parts has the following problems:

[0005] 1. The measurement requires manual operation of the equipment, resulting in low detection efficiency and a low degree of automation.

[0006] 2. The measurement results are affected by the operator's skill level and proficiency, and the accuracy of the measurement results cannot be guaranteed.

[0007] In addition, existing thickness detection equipment is not suitable for online monitoring of workpieces ground by double-end face grinders, and cannot meet the requirement of immediate measurement after grinding. Summary of the Invention

[0008] To overcome the shortcomings of the prior art, the present invention provides an online automatic detection device for the thickness of the workpiece in a double-end face grinder. This device can detect the thickness of the workpiece online and adjust the grinding wheel in time when the thickness exceeds the set range, thus ensuring the dimensional accuracy of the workpiece.

[0009] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0010] In the first aspect, an online automatic detection device for the thickness of ground parts in a double-end face grinder is disclosed, comprising:

[0011] Proximity switches, controllers, robotic arm components, and measuring stage components;

[0012] The proximity switch is fixed to the end of the discharge port of the double-end face grinder. When it detects the workpiece to be tested at its position, it sends a signal to the controller.

[0013] The controller controls the robotic arm assembly to grasp the workpiece to be tested and place it on the measurement station. The measurement table assembly then performs thickness detection on the workpiece.

[0014] As a further technical solution, the robotic arm assembly includes:

[0015] Servo motor, cam connecting rod, arm connecting piece, robot cam motion track and robot end effector assembly;

[0016] The servo motor drives the cam connecting rod to rotate clockwise or counterclockwise via a reducer. A cam bearing block is nested between the cam connecting rod and the arm connecting member, and the cam bearing block is restricted to move within the robot arm cam motion track. The shape of the robot arm cam motion track is used to define the motion trajectory of the robot arm end effector.

[0017] As a further technical solution, the robotic arm end effector assembly includes:

[0018] Lifting guide rails and sliders;

[0019] The lifting guide rail is nested in the slider, allowing only the lifting guide rail to move up and down relative to the slider, and the slider is nested on the horizontal guide rail, allowing only the slider to move left and right relative to the horizontal guide rail.

[0020] As a further technical solution, the robotic hand end effector also includes a No. 1 finger cylinder and a No. 2 finger cylinder;

[0021] Finger cylinder No. 1 and finger cylinder No. 2 are fixed on the left and right sides of the gripper mounting plate, respectively. The function of finger cylinder No. 2 is to pick up the workpiece to be measured from the grinding machine outlet and onto the measuring table assembly. The function of finger cylinder No. 1 is to pick up the measured workpiece from the measuring table assembly and onto the receiving tray.

[0022] As a further technical solution, the No. 2 finger cylinder is equipped with an air jet nozzle, through which a pressurized airflow is blown toward the workpiece to be tested, in order to remove fine abrasive particles from the surface of the workpiece.

[0023] As a further technical solution, the robotic arm cam motion track consists of three parts: the left and right sections are inclined tracks at a certain angle, which bear the rising and falling motion of the robotic arm end effector; the middle section is a horizontal track, which is responsible for the horizontal movement of the robotic arm end effector; and the three parts are connected by an arc track. Based on the right inclined track, after the No. 2 finger cylinder grasps the workpiece to be tested, the trajectory of the grasped workpiece is such that it moves away from the grinding machine's discharge port while rising, and avoids lifting adjacent workpieces during the grasping process.

[0024] As a further technical solution, a hand-cranked slide table is also included, which is fixed on the measuring table mounting frame, and the hand-cranked slide table and the measuring table assembly are fixed together by a bolt group;

[0025] The hand-cranked slide is equipped with a hand-cranked wheel, and the position of the measuring stage assembly relative to the measuring stage mounting frame is moved by rotating the hand-cranked wheel.

[0026] As a further technical solution, the measuring stage assembly includes:

[0027] Measuring instrument mounting plate, clamping cylinder, cylinder gasket, No. 1 contact displacement sensor, No. 2 contact displacement sensor, No. 1 measuring instrument mounting base, No. 2 measuring instrument mounting base, adjustable limit plate and fixed limit plate;

[0028] The clamping cylinder is equipped with a cylinder pad at the front end. When the clamping cylinder extends, the cylinder pad and the fixed limiting plate clamp and fix the workpiece to be tested.

[0029] The fixed limiting plate is fixed to the measuring instrument mounting plate, and the measuring instrument mounting plate is fixed to the hand-cranked slide table.

[0030] As a further technical solution, the No. 2 finger cylinder places the workpiece to be tested into the gap between the adjustable limiting plate and the fixed limiting plate, keeping the workpiece in a side-standing state before clamping it for testing.

[0031] The adjustable limit plate can be adjusted in position by installing bolts to accommodate the thickness detection of workpieces of different sizes in different batches.

[0032] Secondly, a method for online automatic detection of the thickness of ground parts for a double-end face grinder is disclosed, including:

[0033] After the workpiece is processed on the double-end grinding machine, it enters the grinding machine's discharge port in sequence. When the workpiece moves to the left end and is sensed by the proximity switch, the robot arm assembly grabs the workpiece to be tested.

[0034] The robotic arm assembly places the workpiece to be measured at the measurement station. After the workpiece is clamped, the measuring table assembly begins to detect the thickness of the workpiece.

[0035] The above one or more technical solutions have the following beneficial effects:

[0036] The technical solution of this invention uses a robotic arm component to grasp and place workpieces, enabling continuous and automatic measurement of the grinding parts without human intervention.

[0037] The adjustable limit plate in the measuring table assembly of the present invention can realize the thickness detection of grinding workpieces of different thicknesses within a specified measurement range, and realize the early warning and alarm for substandard workpieces when the workpiece quality is detected online.

[0038] The cam motion track of the robotic arm component in this invention can realize the grasping and placement of workpieces along a specified path.

[0039] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of a cam-driven robotic arm assembly;

[0043] Figure 3 This is a perspective view of the cam-operated robotic arm assembly;

[0044] Figure 4 This is a partial disassembly and assembly diagram of the cam-operated robotic arm;

[0045] Figure 5 This is a diagram of a hand-cranked slide.

[0046] Figure 6 This is a schematic diagram of the measuring stage assembly;

[0047] Figure 7 This is a top view of the measuring platform assembly;

[0048] Figure 8 This is diagram a showing the working state of the present invention;

[0049] Figure 9 This is diagram b, showing the working state of the present invention;

[0050] Figure 10 This is diagram c, showing the working state of the present invention;

[0051] The diagram shows the following markings: 1-Cam robot motion track assembly, 2-Grinding machine outlet, 3-Hand-cranked slide, 4-Measuring table mounting bracket, 5-Receiving tray, 6-Measuring table assembly, 7-Cam robot mounting bracket, 8-Cam connecting rod, 9-Arm connector, 10-Lifting guide rail, 11-Slider, 12-Cam robot end effector assembly, 13-Finger cylinder No. 2, 14-Air jet nozzle, 15-Proximity switch, 16-Finger cylinder No. 1, 17-Gripper mounting plate, 18-Transverse guide rail, 19-Cam motion track, 20-Limit switch No. 1, 21-Limit switch No. 2, 23-Servo motor, 24-Cam support block, 25-Hand-cranked wheel. 26-Slide plate, 27-Measuring instrument mounting plate, 28-Cylinder gasket plate, 29-Clamping cylinder, 30-Contact displacement sensor No. 1, 31-Contact displacement sensor No. 2, 32-Adjustable limit plate, 33-Fixed limit plate, 34-Measuring instrument mounting base No. 1, 35-Measuring instrument mounting base No. 2, 36-Measuring station, 37-Bolt hole No. 1, 38-Bolt hole No. 2, 39-Bolt hole No. 3. Detailed Implementation

[0052] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0053] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0054] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0055] Example 1

[0056] This embodiment discloses an online automatic detection device for the thickness of ground parts in a double-end face grinder, comprising at least:

[0057] Proximity switches, controllers, robotic arm components, and measuring stage components;

[0058] The proximity switch is fixed at the end of the discharge port of the double-end face grinder. When it detects the workpiece to be measured at its position, it sends a signal to the controller.

[0059] The controller controls the robotic arm assembly to grasp the workpiece to be measured and place it on the measurement station. The measurement stage assembly then performs thickness detection on the workpiece.

[0060] To achieve the above technical solution, in a specific implementation example, such as Figure 1As shown, the cam robot motion track assembly 1 is fixed to the cam robot mounting frame 7 by bolts, the hand-cranked slide 3 is fixed to the measuring table mounting frame 4 by bolts, and the measuring table assembly 6 is fixed to the slide plate 26 of the hand-cranked slide 3 by bolts. There is no fixed fit between the receiving tray 5 and the measuring table mounting frame 4; the position of the receiving tray 5 needs to be adjusted according to the actual working conditions. The grinding machine outlet 2 is led out from the grinding station and needs to be manually adjusted by moving the position of the cam robot mounting frame 7 and the cam robot end assembly 12 to facilitate subsequent measurement operations. There is no fixed fit between the measuring table mounting frame 4 and the cam robot mounting frame 7; their positions need to be adjusted according to the actual working conditions, and they are respectively fixed to the ground.

[0061] like Figures 2-4 As shown, the cam motion track 19 is mounted on the cam assembly base plate, the transverse guide rail 18 is mounted below the cam motion track 19, and limit switches 1 and 21 are mounted on the left and right sides of the cam assembly base plate, respectively. These two limit switches limit the extreme positions of the cam manipulator end effector 12 by restricting the position of the arm connecting piece 9 on the left and right sides of the cam motion track 19. Furthermore, the limit height of these two limit switches can be adjusted according to the actual size of the part to be inspected. In terms of motion, the servo motor 23 drives the cam connecting rod 8 to rotate clockwise or counterclockwise via a reducer. A cam support block 24 is nested between the cam connecting rod 8 and the arm connecting piece 9, and the cam support block 24 is restricted to move within the cam motion track 19, thereby limiting the motion trajectory of the cam manipulator end effector 12.

[0062] The cam motion track 19 designed in this invention consists of three parts: the left and right sections are inclined tracks at a certain angle, which bear the rising and falling motion of the cam manipulator end effector 12; the middle section is a horizontal track, which is responsible for the horizontal movement of the cam manipulator end effector 12. These three parts are transitioned by an arc track in the middle, reducing fluctuations when the motion trajectory changes. Its advantage is that after the No. 2 finger cylinder 13 grasps the workpiece to be tested, the trajectory of the grasped workpiece is to move to the left and away from the grinding machine outlet 2 while rising, avoiding lifting adjacent workpieces when grasping the workpiece.

[0063] The end effector 12 of the cam-driven robotic arm, the arm connector 9, and the lifting guide rail 10 are all interconnected by bolt groups, such as... Figure 3 As shown, the lifting guide rail 10 is nested in the slider 11, allowing only vertical relative movement of the lifting guide rail 10 within the slider 11. The slider 11 serves to guide the lifting guide rail 10, preventing it from swaying left and right during operation. Furthermore, the slider 11 is nested on the transverse guide rail 18, allowing only horizontal relative movement.

[0064] The end effector assembly 12 of the cam-driven robotic arm includes a No. 1 finger cylinder 16, a No. 2 finger cylinder 13, an air jet nozzle 14, and a gripper mounting plate 17. The gripper mounting plate 17 is mounted to the end of the lifting guide rail 10 by bolts. Both the No. 1 finger cylinder 16 and the No. 2 finger cylinder 13 are fixed to the left and right ends of the gripper mounting plate 17 by bolts. The function of the No. 2 finger cylinder 13 is to grip the workpiece to be measured from the grinding machine outlet 2 onto the measuring table assembly 6, while the function of the No. 1 finger cylinder 16 is to grip the measured workpiece from the measuring table assembly 6 into the receiving tray 5.

[0065] Finger cylinder 13 (No. 2) and finger cylinder 16 (No. 1) are controlled by cylinders to perform clamping and releasing actions. Finger cylinder 13 (No. 2) is equipped with an additional air jet nozzle (14) on top of finger cylinder 16 (No. 1), which is fixed to the right side of finger cylinder 13, allowing the airflow emitted to be directed towards the detection surface of the workpiece. Its specific function is to remove fine abrasive particles from the workpiece surface by blowing pressurized airflow onto the workpiece, preventing these particles from affecting the measurement results.

[0066] As a preferred option, the blowing time of the jet nozzle 14 is set to 0.1 – 0.2 seconds. If the blowing time is too short, the wear debris cannot be blown away; if the blowing time is too long, the operating efficiency will be affected.

[0067] As a preferred option, the No. 1 finger cylinder 16 and the No. 2 finger cylinder 13 are ball-type pneumatic finger cylinders, which have a relatively fast response.

[0068] The proximity switch 15 is fixed at the end of the discharge port 2 of the grinding machine. When it detects a workpiece at its position, it sends a signal to the PLC. The PLC controls the servo motor 23, which drives the cam robot arm to move through the reducer. The PLC also controls the No. 2 finger cylinder 13 to grab the workpiece for inspection.

[0069] like Figure 1 , Figure 5 and Figure 6 As shown, the measuring instrument mounting plate 27 at the bottom of the measuring stage assembly 6 is connected to the slide plate 26 at the top of the hand-cranked slide table 3 by a bolt assembly. By rotating the hand crank 25, the slide plate 26 can be moved, thereby moving the measuring stage assembly 6. This function is mainly used for adjusting and aligning the measuring stage assembly 6 with the end effector assembly 12 of the cam robot to ensure the normal operation of subsequent thickness measurement processes. After the adjustment and alignment work is completed, the locking box of the hand-cranked slide table 3 can be used to lock the position, preventing relative displacement of the measuring stage assembly 6 during the inspection process and ensuring the stability of the inspection process.

[0070] like Figure 6 and Figure 7As shown, the measuring stage assembly 6 includes: a measuring instrument mounting plate 27, a cylinder gasket plate 28, a clamping cylinder 29, a first contact displacement sensor 30, a second contact displacement sensor 31, an adjustable limit plate 32, a fixed limit plate 33, a first measuring instrument mounting base 34, and a second measuring instrument mounting base 35. The clamping cylinder 29 is mounted to the front right side of the measuring instrument mounting plate 27 using bolts. The adjustable limit plate 32 is installed in bolt hole position 37, bolt hole position 38, or bolt hole position 39, depending on the thickness requirement of the part to be measured. The fixed limit plate 33 is fixed to the front side of the boss on the measuring instrument mounting plate 37 using bolts. The first measuring instrument mounting base 34 is fixed to the front side of the boss on the measuring instrument mounting plate 27, and the second measuring instrument mounting base 35 is fixed to the rear side of the boss on the measuring instrument mounting plate 27 using bolts. Contact displacement sensor 30 (No. 1) and contact displacement sensor 31 (No. 2) are respectively mounted on measuring instrument mounting base 34 (No. 1) and measuring instrument mounting base 35 (No. 2). The holes in the adjustable limiting plate 32, the fixed limiting plate 33, and the boss of the measuring instrument mounting plate 27 are aligned with the axes of contact displacement sensors 30 and 31. Finger cylinder 13 (No. 2) places the workpiece to be measured into the gap between the adjustable limiting plate 32 and the fixed limiting plate 33, keeping the workpiece in a sideways position before clamping for subsequent clamping. The adjustable limiting plate 32 can be installed at different points in bolt holes 37 (No. 1), 38 (No. 2), or 39 (No. 3) using bolt sets to adjust its position and thus the gap between the adjustable limiting plate 32 and the fixed limiting plate 33, accommodating the thickness detection of workpieces of different sizes and batches.

[0071] The clamping cylinder 29 is equipped with a cylinder pad 28 at its front end. When the clamping cylinder 29 extends, the cylinder pad 28 and the fixed limiting plate 33 clamp and fix the workpiece to be tested.

[0072] As a preferred option, the cylinder head gasket 28 and the fixed limiting plate 33 should be made of polyurethane. This material has excellent properties such as high strength and high wear resistance, and low hardness, which can play a buffering role and prevent damage to the workpiece surface during the clamping process.

[0073] As a preferred option, an overflow valve is installed on the clamping cylinder 29 to prevent workpiece damage caused by excessive speed or impact during the clamping process.

[0074] The core components of the measuring stage assembly 6, responsible for the measurement task, are contact displacement sensor 30 (No. 1) and contact displacement sensor 31 (No. 2), both with collinear axes. They offer high measurement accuracy and fast measurement speed. When the workpiece to be measured is clamped and fixed in the measuring station 36 by the cylinder gasket 28 and the fixed limiting plate 33, contact displacement sensors 30 and 31 simultaneously extend their probes, contacting the front and back surfaces of the workpiece to determine its thickness. If the workpiece approaches the acceptable size boundary, an audible and visual alarm will sound a warning, alerting the inspector. If the workpiece is outside the acceptable size range, the audible and visual alarm will sound an alarm, marking the non-compliant workpiece for subsequent screening.

[0075] Figure 8 The right limit position where the robot stops moving when limit switch 21 detects the arm connector 9 of the cam robot assembly.

[0076] Figure 9 This refers to a position during the movement of the robotic arm before it reaches its left or right limit.

[0077] Figure 10 The left limit position at which the robot arm stops moving when limit switch 20 detects the arm connector 9 of the cam robot arm assembly.

[0078] Example 2

[0079] In this embodiment, a method for online automatic detection of the thickness of a workpiece for a double-end face grinder is disclosed, including:

[0080] First cycle process: as follows Figure 1 and Figure 2 As shown, after the workpiece is processed on the double-end grinding machine, it enters the grinding machine's output port 2 sequentially. When the workpiece moves to the left end and is sensed by the proximity switch 15, the servo motor 23 drives the cam connecting rod 8 to rotate clockwise. When the second finger cylinder 13 reaches the set gripping position, it grips the workpiece to be measured, and the first finger cylinder reaches the measuring table assembly 6 to grip the measured workpiece. In addition, the positions of the first finger cylinder 16 and the second finger cylinder 13 are controlled by the servo motor 23 throughout the process. The second finger cylinder 13 clamps or releases the workpiece to be measured, and the first finger cylinder 16 clamps or releases the measured workpiece, and both perform the same action synchronously.

[0081] After finger cylinder 13 (number 2) grips the workpiece to be measured, servo motor 23 reverses, driving cam connecting rod 8 to rotate counterclockwise, and the workpiece moves with finger cylinder 13 (number 2). Figure 9 As shown, during this process, the jet nozzle 14 starts working, blowing airflow toward the workpiece to be tested, and blowing away particles, water droplets and other substances attached to the surface.

[0082] like Figure 10 As shown, when limit switch 20 detects the arm connector 9, servo motor 23 stops rotating, finger cylinder 13 releases, and the workpiece to be measured is placed at measuring station 36, which is as follows. Figure 7 The measurement station 36 is located at its middle position. After the workpiece to be measured is placed down, the servo motor 23 drives the cam robot assembly to move clockwise along the cam motion track 19 until the limit switch 21 detects the arm connector 9 and stops moving.

[0083] From the moment the workpiece is placed onto the measuring stage assembly 6 by the finger cylinder 13 (number 2), until it moves to the point where the limit switch 21 detects the arm connector 9, the measuring stage assembly 6 begins to detect the thickness of the workpiece. Figure 7 As shown, when the workpiece is completely released to the measuring station 36, the workpiece is in an unclamped, side-standing state, and measurement cannot be performed at this time. At this point, the clamping cylinder 29 pushes the cylinder pad 28 forward, using the cylinder pad 28 and the fixed limiting plate 33 to clamp and fix the workpiece. After the workpiece is clamped, contact displacement sensors 30 (No. 1) and 31 (No. 2) simultaneously extend their probes, contacting the front and back sides of the workpiece respectively, performing contact measurements and recording and transmitting data. The recording center then issues an early warning alarm based on the measurement information.

[0084] After measurement, the clamping cylinder 29 drives the cylinder pad 28 to release the measured workpiece, waiting for the first finger cylinder 16 to grip it. When the cam robot arm assembly moves to the point where the second limit switch 21 detects the arm connecting piece 9, the first finger cylinder 16 enters the final stage of the first cycle, and the second finger cylinder 13 enters the beginning stage of the second cycle, repeating the first cycle sequentially. Note that at this time, the first finger cylinder 16 grips the measured workpiece, and the second finger cylinder 13 grips the next workpiece to be measured. Subsequently, the grinding machine outlet 2 re-transports the workpiece flow according to the information transmitted by the proximity switch 15. Then, the first cycle is repeated, and the servo motor 23 drives the cam connecting rod 8 to rotate counterclockwise. When the first limit switch 20 detects the arm connecting piece 9, the movement stops. The measured workpiece is gripped by the first finger cylinder 16 and placed on the receiving tray 5, and the next workpiece to be measured is gripped by the second finger cylinder 13 and placed on the measuring table assembly 6.

[0085] At this point, the first cycle is completely finished, the second cycle has completed a portion of the steps, and subsequent cycles will continue to complete the remaining steps of the first cycle. Each cycle is continuous, with a period of overlap between the beginning and end of each cycle.

[0086] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A device for online automatic detection of the thickness of ground parts in a double-end face grinder, characterized in that, include: Proximity switches, controllers, robotic arm components, and measuring stage components; The robotic arm assembly includes: a servo motor, a cam connecting rod, an arm connecting piece, a robotic arm cam motion track, and a robotic arm end effector assembly; The proximity switch is fixed to the end of the discharge port of the double-end face grinder. When it detects the workpiece to be tested at its position, it sends a signal to the controller. The controller controls the robotic arm assembly to grasp the workpiece to be measured and place the workpiece to be measured at the measurement station. The measurement table assembly performs thickness detection on the workpiece to be measured. The robotic arm cam motion track consists of three parts: the left and right sections are inclined tracks at a certain angle, which bear the rising and falling motion of the robotic arm end effector; the middle section is a horizontal track, which is responsible for the horizontal movement of the robotic arm end effector. The three parts are connected by an arc track. Based on the arc track transition, after the second finger cylinder grabs the workpiece to be tested, the trajectory of the grabbed workpiece is to move away from the grinding machine outlet while rising, so as to avoid picking up adjacent workpieces when grabbing the workpiece. The robotic arm end effector also includes a No. 1 finger cylinder and a No. 2 finger cylinder. The No. 2 finger cylinder places the workpiece to be tested into the gap between the fixed limit plate and the adjustable limit plate, keeping the workpiece in a side-standing state before clamping it for testing. The adjustable limit plate can be adjusted in position by installing bolts to accommodate the thickness detection of workpieces of different sizes in different batches.

2. The device for online automatic detection of workpiece thickness in a double-end face grinder as described in claim 1, characterized in that, The servo motor drives the cam connecting rod to rotate clockwise or counterclockwise via a reducer. A cam bearing block is nested between the cam connecting rod and the arm connecting member, and the cam bearing block is restricted to move within the robot arm cam motion track. The shape of the robot arm cam motion track is used to define the motion trajectory of the robot arm end effector.

3. The device for online automatic detection of workpiece thickness in a double-end face grinder as described in claim 2, characterized in that, The robotic arm end effector includes: Lifting guide rails and sliders; The lifting guide rail is nested in the slider, allowing only the lifting guide rail to move up and down relative to the slider, and the slider is nested on the horizontal guide rail, allowing only the slider to move left and right relative to the horizontal guide rail.

4. The device for online automatic detection of workpiece thickness in a double-end face grinder as described in claim 3, characterized in that, Finger cylinder No. 2 and finger cylinder No. 1 are fixed on the left and right sides of the gripper mounting plate, respectively. The function of finger cylinder No. 2 is to pick up the workpiece to be measured from the grinding machine outlet and onto the measuring table assembly. The function of finger cylinder No. 1 is to pick up the measured workpiece from the measuring table assembly and onto the receiving tray.

5. The apparatus for online automatic detection of workpiece thickness in a double-end face grinder as described in claim 4, characterized in that, The No. 2 finger cylinder is equipped with an air jet nozzle, through which a pressurized airflow is blown toward the workpiece to be tested, in order to remove fine abrasive particles from the surface of the workpiece.

6. The apparatus for online automatic detection of workpiece thickness in a double-end face grinder as described in any one of claims 1-5, characterized in that, It also includes a hand-cranked slide table, which is fixed on the measuring table mounting frame, and the hand-cranked slide table and the measuring table assembly are fixed together by a bolt group; The hand-cranked slide is equipped with a hand-cranked wheel, and the position of the measuring stage assembly relative to the measuring stage mounting frame is moved by rotating the hand-cranked wheel.

7. The apparatus for online automatic detection of workpiece thickness in a double-end face grinder as described in claim 1, characterized in that, The measuring stage assembly includes: Measuring instrument mounting plate, clamping cylinder, cylinder gasket, No. 1 contact displacement sensor, No. 2 contact displacement sensor, No. 1 measuring instrument mounting base, No. 2 measuring instrument mounting base, adjustable limit plate and fixed limit plate; The clamping cylinder is equipped with a cylinder pad at the front end. When the clamping cylinder extends, the cylinder pad and the fixed limiting plate clamp and fix the workpiece to be tested. The fixed limiting plate is fixed to the measuring instrument mounting plate, and the measuring instrument mounting plate is fixed to the hand-cranked slide table.

8. A method for online automatic detection of the thickness of a workpiece in a double-end face grinder using the apparatus described in claim 1, characterized in that, include: After the workpiece is processed on the double-end grinding machine, it enters the grinding machine's discharge port in sequence. When the workpiece moves to the left end and is sensed by the proximity switch, the robot arm assembly grabs the workpiece to be tested. The robotic arm assembly places the workpiece to be measured at the measurement station. After the workpiece is clamped, the measuring table assembly begins to detect the thickness of the workpiece.

Images