A grinding machine for tool tip arc processing and control method thereof

Abstract

The present application relates to the technical field of grinding machines, and provides a grinding machine used for tool tip arc processing, including an equipment assembly, a feeding device, a transfer device, a fixture device, a grinding device and a CCD imaging device; wherein the CCD imaging device includes a CCD camera module, a display and an industrial control host, and the CCD camera module is arranged directly above the fixture mechanism; the display is communicatively connected to the CCD camera module and used for imaging display, and the display has a visual measurement system for measuring the positioning error of the product tool; the industrial control host is electrically connected to the X / Y fixture slide mechanism through a controller, and the visual measurement system is communicatively connected to the industrial control host, and is used to send a signal to the industrial control host after measuring the position error, and the industrial control host drives the X / Y fixture slide mechanism to move for position adjustment through the controller. Based on this, the position error of the product tool during processing can be automatically compensated to improve the quality of the finished product. In addition, a control method based on the above-mentioned grinder is also provided.

Description

Technical Field

[0001] The present application relates to the technical field of grinding machines, and in particular to a grinding machine used for tool tip arc processing and a control method thereof. Background Art

[0002] Angle grinder is a mechanical device used to process the arc of the tip of CNC tools and make the tip of the tool rounded (R angle). It is widely used in various types of CNC tools. Angle grinder uses specific grinding tools such as grinding wheels and grinding heads to grind the tip of the tool at high speed, thereby grinding the right or sharp edges of the workpiece into smooth R angles. This process can not only improve the appearance quality of the workpiece, but also improve the performance and service life of the tool.

[0003] Reference Figure 1 After the product tool is produced and formed in the prior art, the tip of the product tool needs to be polished to form a rounded corner to improve the strength of the product tool and reduce the possibility of breakage during use. The Chinese patent with the authorization announcement number CN209503680U currently discloses a blade grinder, including a base, a product fixture assembly, a hopper and a feeding assembly, a product angle changing mechanism, an X / Y axis processing mechanism, a CCD fixing mechanism, a grinding wheel spindle part and a grinding wheel dressing part, wherein the product fixture assembly is used to clamp the product tool to be processed, and the CCD fixing mechanism is used for the CCD camera, and the blade grinder is equipped with an imaging system for displaying the imaging screen of the CCD camera, which is used to realize the positioning, measurement and detection of the product clamped in the product fixture assembly.

[0004] In the actual processing process, an auxiliary circle is set in the imaging system. The blade grinder mainly adjusts the position of the product tool by manually adjusting the center of the circle, manually adjusting the position of the tool tip and manually feeding the tool. However, there is inevitably a certain eccentricity error in this process, which will directly reduce the surface accuracy and dimensional accuracy of the processed product tool, thereby reducing the performance of the product tool and resulting in poor finished product quality of the product tool. Summary of the invention

[0005] Based on this, the present application provides a grinding machine for tool tip arc processing and a control method thereof, which can automatically compensate for the position error during product tool processing and improve the quality of the finished product.

[0006] In the first aspect, the present application provides a grinding machine for tool tip arc processing using the following technical solution:

[0007] A grinding machine used for tool tip arc processing, comprising an equipment assembly, a loading device for placing a product tool, a transfer device for clamping and transferring the product tool, a fixture device for clamping and fixing the product tool, a grinding device for grinding the product tool, and a CCD imaging device for measuring and positioning the product tool;

[0008] The fixture device includes an electric turntable rotatably arranged on the equipment assembly, an X / Y fixture slide mechanism movably arranged on the electric turntable, a swing angle slide mechanism movably arranged on the X / Y fixture slide mechanism, and a fixture mechanism fixed on the swing angle slide mechanism;

[0009] The CCD imaging device includes a CCD camera module, a display and an industrial control host. The CCD camera module is arranged directly above the fixture mechanism. The display is communicatively connected to the CCD camera module and used for imaging display. The display has a visual measurement system for measuring the positioning error of the product tool.

[0010] The industrial control host is electrically connected to the X / Y fixture slide mechanism through the controller, and the visual measurement system is communicatively connected to the industrial control host, and is used to send a signal to the industrial control host after measuring the position error. The industrial control host drives the X / Y fixture slide mechanism to move for position adjustment through the controller.

[0011] By adopting the above-mentioned technical solution, the product tool to be processed in this application is placed on a loading device, transferred by a transfer device to a clamping device for clamping and fixing, and the fixed product tool can be ground by a grinding device to form a desired chamfer shape.

[0012] During the chamfering and grinding process of product tools, the CCD camera module is used to capture the position image of the tool tip of the product tool in real time, and the image is sent to the display and displayed on the display screen. The visual measurement system is used to calculate the position error of the current position in the X and Y directions, and compared with the standard center position measured by the visual measurement system. The obtained position error signal is sent to the industrial control host, and the controller controls the X / Y fixture slide mechanism to adjust the position, which can automatically compensate for the position error during product tool processing. By adjusting the position of each product tool in real time during grinding, the automatic ultra-precision processing of the grinder can be achieved, so that the formed product tool maintains good surface accuracy and dimensional accuracy, ensuring product quality.

[0013] Optionally, the CCD imaging device also includes an auxiliary light source arranged directly below the clamping mechanism, and the auxiliary light source is coaxially fixed to the electric turntable; the electric turntable is provided with a dustproof plate for covering the light-emitting port of the auxiliary light source, and the dustproof plate is slidably connected to the electric turntable through a pulling cylinder.

[0014] By adopting the above-mentioned technical solution, by keeping the auxiliary light source coaxial with the electric turntable, it can be ensured that the auxiliary light source is always located directly below the clamping mechanism when the electric turntable rotates, which is beneficial to keep the light brightness at the tip of the product tool consistent and improve the clarity of the image captured by the CCD camera module; in addition, after the tip image of each product tool is captured, the dustproof plate is controlled to move above the auxiliary light source by pulling the cylinder to block the light outlet, which can reduce the occurrence of metal powder produced by grinding falling into the auxiliary light outlet, thereby ensuring good brightness of the auxiliary light source.

[0015] Optionally, the swing angle slide mechanism includes a fixed seat fixed to the X / Y fixture slide mechanism, a vertical swing angle plate arranged on the side of the fixed seat, and a fixture seat slidably connected to the vertical swing angle plate; wherein the vertical swing angle plate is provided with an arc-shaped convex portion, the arc axis of the arc-shaped convex portion coincides with the X-axis, and the fixture seat is provided with an arc-shaped groove adapted to be clamped with the arc-shaped convex portion;

[0016] The arc-shaped convex part is provided with an arc-shaped slide groove penetrating the vertical swing angle plate, and the arc-shaped slide groove is coaxially arranged with the arc-shaped convex part; the fixture seat is connected with a guide plug column, and the guide plug column is matched and penetrated in the arc-shaped slide groove and moves freely in the arc-shaped slide groove;

[0017] A Z-axis screw transmission assembly for forcing the guide column to move is fixedly arranged between the fixed seat and the vertical swing angle plate. The moving end of the Z-axis screw transmission assembly is connected to a push-pull plate, which has a guide groove, and the guide column is partially inserted into the guide groove.

[0018] By adopting the above-mentioned technical solution, for tool products that need to be chamfered on the edges, by controlling the Z-axis screw transmission assembly to drive the push-pull plate to move, the side walls of the guide groove on the push-pull plate can abut against the guide pin, forcing the guide pin to move inside the arc-shaped slide groove, so that the clamp seat is deflected at a certain angle around the arc axis of the arc-shaped convex portion, thereby realizing the angular rotation adjustment of the clamp seat and the clamp mechanism fixed to the clamp seat around the X-axis direction.

[0019] Optionally, the swing angle slide mechanism further includes a swing angle shaft rotatably inserted in the fixture seat, a clamping block fixedly clamped on the outer peripheral side of the swing angle shaft, and a micro-motion cylinder for forcing the clamping block to rotate, and the clamping mechanism can be detachably fixed to the swing angle shaft;

[0020] Among them, the clamping block is provided with a movable groove, the movable end of the micro-cylinder is fixedly connected with a movable block, and the movable block is movably inserted in the movable groove; the side wall of the movable groove is provided with a structural groove, and an anti-detachment column is fixed on the side of the movable block, and the anti-detachment column is partially located inside the structural groove.

[0021] By adopting the above-mentioned technical scheme, by making the clamp mechanism detachable and installed on the swing angle shaft, the corresponding clamp mechanism can be easily replaced according to the shape of the tool of the product to be processed, thereby improving the compatibility and usability of the grinder; and, for tool products that require tilting and chamfering on the edges, by controlling the micro-cylinder to drive the movable block to move, during the movement of the movable block, the anti-slip column abuts against the side wall of the structural groove, forcing the clamping block to make a certain angle of circumferential rotation around the central axis of the swing angle shaft, thereby realizing the angular rotation adjustment of the swing angle shaft and the clamp mechanism fixed to the swing angle shaft around the Y-axis direction.

[0022] Optionally, the transfer device includes a manipulator fixed to the equipment assembly, a transfer base fixed to the manipulator, and a first clamping cylinder fixed to the transfer base; the first clamping cylinder has two movable ends, and is respectively fixed with first clamping blocks, and the adjacent side surfaces of the two first clamping blocks are respectively set as clamping planes for matching and abutting with the side surfaces of the product tool; the opposite side surfaces of the two first clamping blocks are respectively set as clamping arc surfaces for matching and abutting with the central inner wall of the product tool.

[0023] By adopting the above technical solution and arranging a manipulator to drive the transfer base to move within the equipment assembly, the first clamping cylinder can be moved to the outside of the product tool and clamp the product tool. In the specific processing process, the product tool has two modes of vertical installation and horizontal installation. In the vertical installation mode, the axial direction of the product tool is horizontally set, and the two movable ends of the first clamping cylinder are normally in contact with each other. By making the two first clamping blocks enter the central inner circle of the product tool together, the movement of the first clamping cylinder is controlled so that the clamping arc surface of the first clamping block is against the central inner wall of the product tool, and the product tool can be firmly clamped; in the horizontal installation mode, the axial direction of the product tool is vertically set, and the two movable ends of the first clamping cylinder are normally far apart; by making the two first clamping blocks respectively located on the two opposite sides of the product tool, the movement of the first clamping cylinder is controlled so that the clamping plane of the first clamping block is against the product tool, and the product tool can also be firmly clamped; in this mode, when replacing the type of vertical mounted product tool and horizontal mounted product tool, the replacement operation can be conveniently completed through the set program, without the need for manual disassembly and replacement of fixtures, which is beneficial to reducing downtime and improving equipment production capacity.

[0024] Optionally, the feeding device includes a silo slidably connected to the equipment assembly and a material waiting platform fixedly arranged on the equipment assembly, and the material waiting platform is located outside the silo; a lifting mechanism is provided between the silo and the equipment assembly, and the lifting mechanism is used to control the lifting of the silo along the Z-axis direction;

[0025] There are multiple layers of bracket plates on the inside of the silo, each bracket plate is equipped with a loading tray, and the surface of the loading tray is equipped with multiple placement stations for placing product knives; a tray buckle is fixed on the side of the loading tray close to the clamp device, and the tray buckle is provided with an insertion interface;

[0026] A material tray pull plate for plugging into the plug interface is fixed on the side of the transfer base, and the material tray pull plate and the first clamping cylinder are arranged on two opposite sides of the transfer base; when the material tray pull plate is inserted into the plug interface, the robot can move the loading tray to the waiting platform.

[0027] By adopting the above-mentioned technical scheme, after the product cutters are placed one by one on each placement station of the loading tray, by placing each loading tray on the support plate of the silo respectively, the lifting mechanism can be controlled to move each loading tray in turn to the same horizontal height as the waiting platform; the transfer base is driven to move by the manipulator, so that the tray pull plate is matched and inserted into the plug interface of the tray pull buckle, and then the manipulator can bring the loading tray into the interior of the waiting platform, so that the first clamping cylinder can drive the first clamping block to clamp the product cutter and transport it.

[0028] Optionally, the loading tray is divided into a flat loading tray and a vertical loading tray. The placement station of the vertical loading tray is wedge-shaped. When the product tool is placed at the placement station, all sides of the product tool can fit the inner wall of the placement station. The bottom surface of the vertical loading tray is provided with a plurality of connecting ports, the number of the connecting ports matches the number of the placing stations, and each connecting port is connected to a corresponding placing station respectively.

[0029] A negative pressure device is provided below the material waiting platform, and the negative pressure device includes a lifting plate that is vertically slidably connected to the equipment assembly, a Z-axis driving mechanism for driving the lifting plate to move up and down, a side shift bracket that is slidably connected to the lifting plate, and an X-axis driving mechanism for driving the side shift bracket to move laterally;

[0030] The side shift bracket is fixed with a negative pressure cover, the top surface of the negative pressure cover is provided with a negative pressure cavity and is pasted with an elastic rubber pad, the elastic rubber pad is located at the outer edge of the circumference of the negative pressure cavity, when the Z-axis driving mechanism forces the side shift bracket to move upward, the elastic rubber pad elastically abuts against the vertical loading tray; the bottom of the side shift bracket is provided with a negative pressure tube connected to the negative pressure cavity, and the end of the negative pressure tube is connected to a negative pressure generator.

[0031] By adopting the above-mentioned technical scheme, the vertical loading tray is used to place tool products with the axis direction arranged horizontally, and the product tool can fit with the inner walls of the placement station when placed in the placement station; in the process of the manipulator driving the vertical loading tray to move to the waiting platform, the product tool may jump and cause its placement position to change. At this time, the Z-axis drive mechanism drives the lifting vertical plate and the side shift bracket to move upward, and the elastic rubber pad on the negative pressure cover can elastically abut against the bottom surface of the vertical loading tray. By controlling the operation of the negative pressure generator, negative pressure is formed inside the negative pressure chamber. The negative pressure acts on the connecting port to form a negative pressure suction force acting on the product tool and in a downward direction, which is beneficial to adjust the position of the product tool and facilitates the precise placement of the product tool inside the placement station; the setting of the X-axis moving mechanism enables the negative pressure cover to pass through the bottom of each column of placement stations in turn, and then adjust the position of the product tool on the entire vertical loading tray.

[0032] Optionally, a positioning piece is vertically fixed on the top of the lifting vertical plate, the top of the positioning piece is higher than the negative pressure tube, and the width of the positioning piece is matched with the width of the plug interface; a wide mouth portion is provided at the bottom of the plug interface, and the width of the wide mouth portion is greater than the width of the plug interface. When the Z-axis driving mechanism forces the side shift bracket to move upward, the positioning piece is first inserted into the inside of the plug interface.

[0033] By adopting the above-mentioned technical solution, when the Z-axis moving mechanism drives the lifting vertical plate and the side shifting bracket to move upward, the positioning piece can enter the wide mouth part at the bottom of the plug-in interface, abut against the inner wall of the wide mouth part and gradually insert into the plug-in interface, thereby gradually adjusting the position of the vertical loading tray on the waiting platform, improving the position accuracy of the vertical loading tray after entering the waiting platform, and ensuring that the manipulator can smoothly drive the first clamping cylinder to accurately clamp the product tool.

[0034] Optionally, the grinding machine further comprises a reversing device for changing the angle of the product tool, the reversing device comprising a reversing base fixed to the equipment assembly, a flip seat rotatably connected to the reversing base, and a push cylinder for driving the flip seat to rotate; wherein the flip seat is fixed with a rotating cylinder, and two opposite sides of the rotating cylinder are respectively provided with rotating end tables, one of which is fixed with a second clamping cylinder, and two movable ends of the second clamping cylinder are respectively fixed with second clamping blocks; the other rotating end table is fixed with a receiving seat, and the top surface of the receiving seat is provided with a polygonal groove for placing the product tool;

[0035] The push cylinder is fixed to the reversing base, and the movable end of the push cylinder is fixedly connected to the sliding seat, which is slidably connected to the reversing base; a vertically arranged T-shaped groove is provided on the side of the sliding seat, and a T-shaped slider is slidably installed inside the T-shaped groove, a connecting rod is vertically fixed to the T-shaped slider, and an insert rod is vertically fixed to the end of the connecting rod away from the T-shaped slider; a vertical plate is provided on the side of the flip seat close to the receiving seat, and the insert rod is rotatably connected to the vertical plate.

[0036] By adopting the above-mentioned technical solution, the two clamping blocks of the second clamping cylinder can clamp the vertically mounted tool products, and the polygonal groove of the receiving seat can be used to place the flat-mounted tool products; the sliding seat is driven to move by the push cylinder, and the T-shaped slider on the sliding seat moves vertically inside the T-shaped slide groove, which can facilitate the connecting rod and the plug-in rod to pull the flip seat to rotate, thereby switching to use the receiving seat and the second clamping cylinder, which can quickly complete the production switch of the grinder when replacing the vertically mounted and flat-mounted product tools, which is beneficial to reduce downtime and improve equipment production capacity.

[0037] In a second aspect, a control method provided by the present application adopts the following technical solution:

[0038] A control method based on the above grinding machine specifically comprises the following steps:

[0039] Operation preparation stage S1: setting the correction ratio; placing a standard part with a known diameter within the field of view of the CCD camera module, inputting the known diameter value in the visual measurement system software, generating a correction auxiliary circle, adjusting the correction ratio so that the outer diameter of the auxiliary circle is tangent to the two sides of the standard part, and obtaining the correction ratio; inputting the known arc radius of the current product tool, and generating a grinding auxiliary circle of the corresponding size in the CCD image on the display screen;

[0040] Operation preparation stage S2: Clamp the product tool to the fixture mechanism by jog motion, and the CCD camera module captures the product projection image and displays it on the display screen; set the product projection image as a template in the visual measurement system software, and subsequently use this image template as a judgment basis to perform image positioning of the product tool;

[0041] Operation preparation stage S3: Inching control of the electric turntable to reciprocate 0° and 180°, the CCD camera module collects images at the 0° position and 180° position respectively, calculates the position error value through the visual measurement system, sends a signal to the industrial control host, and controls the X / Y fixture slide mechanism to move and adjust the position through the controller; after multiple rotations and adjustments, the two edges of the tool tip of the product are completely tangent to the grinding auxiliary circle, and the center of the grinding auxiliary circle coincides with the center of the electric turntable;

[0042] Operation stage S4: During the batch processing of product tools, the CCD camera module captures the coordinate position of the tool tip of the product tool in real time, and compares and calculates it with the coordinates of the grinding auxiliary circle in the visual measurement system image. The error values ​​in the X and Y directions are used to control the movement of the X / Y fixture slide mechanism so that both sides of the tool tip of the product tool are tangent to the grinding auxiliary circle.

[0043] By adopting the above technical solution, after the operation preparation stages S1-S3, the grinding auxiliary circle and the center of the electric turntable can be accurately positioned; in the actual operation process, the visual measurement system is used to capture the position image of the product tool tip in real time and compare it with the grinding auxiliary circle. The X / Y fixture slide mechanism can be used to adjust the product tool position in real time, which can realize automated ultra-precision machining, so that the formed product tool maintains good surface accuracy and dimensional accuracy, ensuring product quality.

[0044] In summary, the present application includes at least one of the following beneficial technical effects:

[0045] 1. By setting up a CCD camera module to capture the position image of the tool tip of the product in real time, the visual measurement system is used to calculate the position error of the current position in the X and Y directions, and compared with the standard center position measured by the visual measurement system, the position error of the product tool during processing can be automatically compensated, the quality of the finished product can be improved, and the automatic ultra-precision processing of the grinder can be realized;

[0046] 2. Through the clamping arc surface and the clamping plane surface set on the first clamping block, the clamping arc surface can be pressed against the central inner wall of the product tool to firmly clamp the flat-mounted product tool, and the clamping plane can be pressed against the outer side surface of the product tool to firmly clamp the vertical-mounted product tool, which is conducive to quickly completing the switching of vertical-mounted and horizontal-mounted product tools, reducing downtime and improving equipment production capacity;

[0047] 3. The negative pressure cover is driven by the Z-axis drive mechanism and the X-axis drive mechanism to pass under each row of placement stations. The negative pressure generator causes the negative pressure formed in the negative pressure chamber to act on the connecting port, which can form a negative pressure suction force acting on the product tool in a downward direction, which is beneficial to adjust the position of the product tool and facilitate the precise placement of the product tool inside the placement station. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of a tool for one of the products to be processed in the background technology;

[0049] Figure 2 is a schematic diagram of the overall structure of the grinding machine in Example 1;

[0050] Figure 3 is a schematic diagram of the device structure inside the equipment assembly in Example 1;

[0051] Figure 4 is a schematic structural diagram of the feeding device in Example 1;

[0052] Figure 5 yes Figure 3 The enlarged view of point A in the middle mainly shows the structure of the loading tray and the waiting platform;

[0053] Figure 6 is a schematic structural diagram of the transfer device in Example 1;

[0054] Figure 7 is a structural schematic diagram of the first clamping cylinder and the first clamping block in Example 1;

[0055] Figure 8 is a schematic structural diagram of the clamp device in Example 1;

[0056] Fig. 9 is a schematic structural diagram of the clamp device in another direction in Example 1;

[0057] Fig.10 is an exploded view of the fixture seat, the vertical swing angle plate and the fixing seat in Example 1;

[0058] Fig.11 yes Figure 8 The enlarged view of point B in the middle;

[0059] Fig.12 is a schematic structural diagram of the grinding device and the CCD imaging device in Example 1;

[0060] Fig.13 is a partial cross-sectional view of the neutral loading tray in Example 2;

[0061] Fig.14 It is a structural schematic diagram of the material waiting platform and the negative pressure device in Example 2;

[0062] Fig.15 is a schematic structural diagram of the negative pressure device in Example 2;

[0063] Fig.16 is a schematic structural diagram of the reversing device in Example 2;

[0064] Fig.17 yes Fig.16 Enlarged view of point C in the middle.

[0065] Description of the accompanying drawings: 1. Equipment assembly; 11. Equipment base; 111. Fixed plate frame; 112. Structural area; 113. Enclosing plate frame; 12. Protective hood; 2. Loading device; 21. Material bin; 211. First slide rail; 212. Bracket plate; 22. Lifting mechanism; 221. First screw rod; 222. First motor; 223. First connecting seat; 23. Loading tray; 231. Placement station; 232. Tray buckle; 233. Plug interface; 234. Vertical tray; 235. Connecting port; 24. Waiting platform; 241. Block; 3. Transfer device; 31. Manipulator; 32. Transfer base; 33. First clamping cylinder; 34. First clamping block; 341. Clamping plane; 342. Clamping arc surface; 35. Tray pull plate;

[0066] 4. Fixture device; 41. Electric turntable; 411. Mounting plate seat; 42. X / Y fixture slide mechanism; 421. Y-axis fixture slide; 422. Second screw rod; 423. Second motor; 424. X-axis fixture slide; 425. Third screw rod; 426. Third motor; 427. Second slide rail; 428. Third slide rail; 43. Swing angle slide mechanism; 431. Fixed seat; 432. Vertical swing angle plate; 4321. Arc convex portion; 4322. Arc slide groove; 433. Clamp Base; 4331, arc-shaped slot; 4332, guide plug column; 434, lifting space; 435, swing angle axis; 4351, rectangular slot; 436, clamping block; 4361, extension; 4362, movable slot; 4363, structural slot; 437, micro-cylinder; 4371, movable block; 4372, anti-slip column; 44, fixture mechanism; 45, Z-axis screw transmission assembly; 451, push-pull plate; 4511, guide slot; 452, fourth screw; 453, fourth motor;

[0067] 5. Grinding device; 51. End grinding wheel; 52. Rotation drive mechanism; 53. Grinding wheel moving mechanism; 6. CCD imaging device; 61. CCD camera module; 611. Lifting and adjusting mechanism; 62. Display; 63. Auxiliary light source; 64. Pull-out cylinder; 65. Dustproof plate; 7. Negative pressure device; 71. Lifting and lowering plate; 711. Positioning member; 72. Lifting and lowering cylinder; 73. Side shift bracket; 74. Fifth screw rod; 741. Fifth motor; 75. Negative pressure cover; 751. Negative pressure chamber; 752. Elastic rubber pad; 76. Negative pressure tube; 77. Negative pressure generator;

[0068] 8. Reversing device; 81. Reversing base; 811. Articulated seat; 82. Flip seat; 821. Vertical plate; 822. Articulated shaft; 83. Push cylinder; 84. Sliding seat; 841. T-shaped slide groove; 85. T-shaped slider; 851. Connecting rod; 852. Insert rod; 86. Rotating cylinder; 87. Second clamping cylinder; 871. Second clamping block; 88. Receiving seat; 881. Polygonal groove. DETAILED DESCRIPTION

[0069] The following is combined with Figure 2-Figure 17 This application is described in further detail. Example 1

[0070] The embodiment of the present application discloses a grinding machine used for tool tip arc processing.

[0071] Reference Figure 1 A grinding machine for tool tip arc processing, comprising an equipment assembly 1, the equipment assembly 1 comprising an equipment base 11 and a protective machine cover 12 arranged on the equipment base 11, and referring to Figure 2The protective cover 12 is internally provided with a loading device 2 for placing product tools, a transfer device 3 for clamping and transferring product tools, a clamping device 4 for clamping and fixing product tools, a grinding device 5 for grinding product tools, and a CCD imaging device 6 for measuring and positioning product tools.

[0072] Among them, refer to Figure 3 The loading device 2 includes a material bin 21 and a material waiting platform 24. A fixed plate frame 111 is fixed on the surface of the equipment base 11. The material bin 21 is slidably connected to the fixed plate frame 111 through a first slide rail 211, and the extension direction of the first slide rail 211 is the same as the Z-axis direction, so that the material bin 21 can be lifted and lowered along the Z-axis direction. Figure 4 A lifting mechanism 22 for driving the silo 21 to move is provided between the silo 21 and the fixed plate frame 111. Specifically, the lifting mechanism 22 includes a first screw rod 221, a first motor 222 and a first connecting seat 223. The first connecting seat 223 is fixed to the silo 21. One end of the first connecting seat 223 away from the silo 21 is penetrated through the fixed plate frame 111 and extends to the back side of the fixed plate frame 111. The first plate frame is provided with a structural area 112 for the first connecting seat 223 to pass through.

[0073] The first screw rod 221 is rotatably mounted on the back side of the fixed plate frame 111, and the first screw rod 221 is penetrated through the first connecting seat 223 and is threadedly connected to the first connecting seat 223; the first motor 222 is fixed to the fixed plate frame 111, and the output end of the first motor 222 is coaxially connected to the first screw rod 221. By controlling the operation of the first motor 222, the first screw rod 221 can be rotated, and then the first connecting seat 223 can be moved along the axial direction of the first screw rod 221, thereby realizing the vertical lifting of the silo 21 on the fixed plate frame 111.

[0074] Reference Figure 5 , a plurality of support plates 212 are fixedly arranged inside the silo 21, and each support plate 212 is arranged equidistantly along the height direction of the silo 21; a loading tray 23 is placed on each support plate 212, and a plurality of placement stations 231 for placing product knives are arranged on the surface of the loading tray 23, and all the placement stations 231 are arranged equidistantly in multiple rows and columns; a waiting platform 24 is fixed to the fixed plate frame 111 and is located outside the silo 21. After each loading tray 23 equipped with a product knife is placed one by one on each support plate 212, by controlling the operation of the first motor 222 to drive the silo 21 to rise and fall vertically, each loading tray 23 can be moved in sequence to the same level as the waiting platform 24.

[0075] In actual production, the product tool is placed in the placement station 231 in two ways: vertical installation and horizontal installation. The loading tray 23 is correspondingly divided into a horizontal installation tray and a vertical installation tray 234. In this embodiment, the vertical installation tray 234 is used as an example for demonstration. The placement station 231 of the vertical installation tray 234 is wedge-shaped. When the product tool is placed in the placement station 231, the two sides of the product tool can fit the inner wall of the placement station 231.

[0076] It should be noted that in another feasible embodiment, a corresponding flat-pack material tray is used for flat-packing of product tools, and the shape of the placement station 231 on the flat-pack material tray is a regular polygon, which is the same as the specific shape of the product tool, so that the product tool can be placed flat on the placement station 231.

[0077] However, no matter it is a flat loading tray or a vertical loading tray 234, each loading tray 23 is fixed with a tray buckle 232 on the side close to the clamp device 4, and the tray buckle 232 is provided with an insertion port 233, which passes through the upper and lower sides of the tray buckle 232, and the insertion port 233 is in the shape of a long strip, which is used to cooperate with the transfer device 3 to transfer the loading tray 23 to the waiting platform 24.

[0078] Reference Figure 6 The transfer device 3 includes a manipulator 31 fixedly mounted on the equipment base 11, a transfer base 32 fixed to the free end of the manipulator 31, and a first clamping cylinder 33 fixed to one side of the transfer base 32, wherein the manipulator 31 is a six-axis manipulator 31, which can be moved to any position above the equipment base 11 through PLC program control; the first clamping cylinder 33 has two movable ends, and the two movable ends of the first clamping cylinder 33 are respectively fixedly installed with first clamping blocks 34, and the two first clamping blocks 34 are symmetrically arranged.

[0079] Reference Figure 7 , the adjacent sides of the two first clamping blocks 34 are planes, which are defined as clamping planes 341 here; when processing vertical products, the two active ends of the first clamping cylinder 33 are normally away from each other, and the two first clamping blocks 34 are driven by the manipulator 31 to move to the two opposite sides of the product tool, and the two clamping planes 341 can be used to firmly clamp the product tool. The opposite sides of the two second clamping blocks 871 are arc surfaces, which are defined as clamping arc surfaces 342 here; when processing flat products, the two active ends of the first clamping cylinder 33 are normally pressed against each other, and the two first clamping blocks 34 are driven by the manipulator 31 to enter the inner circle of the product tool center together, and the two clamping arc surfaces 342 can be used to firmly clamp the product tool, which has strong compatibility and applicability and can adapt to the firm clamping of product tools under different placement methods.

[0080] Back to Figure 6A tray pull plate 35 is fixed to the side of the transfer base 32. In this embodiment, the tray pull plate 35 and the first clamping cylinder 33 are respectively arranged on two opposite sides of the transfer base 32; Figure 5 The width of the tray pull plate 35 is equal to the width of the insertion port 233. By controlling the movement of the manipulator 31, the tray pull plate 35 can be inserted into the insertion port 233, and then the manipulator 31 is controlled to move, so that the upper tray 23 can be smoothly pulled to move laterally into the waiting platform 24 and abut against the stop block 241 at the end of the waiting platform 24 away from the silo 21. Finally, the tray pull plate 35 leaves the insertion port 233, and the manipulator 31 rotates the angle and can clamp the product tools one by one through the first clamping block 34 and transfer them to the clamping device 4 for clamping and fixing, so as to grind and chamfer the product tools.

[0081] Reference Figure 8 The fixture device 4 includes an electric turntable 41, an X / Y fixture slide mechanism, an angle slide mechanism 43 and a fixture mechanism 44; wherein the electric turntable 41 is rotatably mounted on the surface of the equipment base 11, and the electric turntable 41 can rotate around its own central axis. Fig. 9 The X / Y fixture slide mechanism includes an X-axis fixture slide 424, an X-axis screw transmission assembly for driving the X-axis fixture slide 424 to move, a Y-axis fixture slide 421, and a Y-axis screw transmission assembly for driving the Y-axis fixture slide 421 to move, wherein a mounting plate seat 411 is fixed to the top surface of the electric turntable 41, and the Y-axis fixture slide 421 is slidably mounted on the mounting plate seat 411 through a second slide rail 427, so that the Y-axis fixture slide 421 can move along the Y-axis direction.

[0082] The Y-axis screw transmission assembly includes a second screw rod 422 rotatably mounted on the mounting plate seat 411 and a second motor 423 for driving the second screw rod 422 to rotate. The second screw rod 422 is penetrated by the Y-axis fixture slide 421 and is threadedly connected thereto. The axial direction of the second screw rod 422 is in the same direction as the Y-axis direction. The second motor 423 is connected to the second screw rod 422 by belt drive or chain drive. By controlling the operation of the second motor 423, the second screw rod 422 can be driven to rotate, and the Y-axis fixture slide 421 can move along the axial direction of the second screw rod 422.

[0083] The X-axis fixture slide 424 is slidably installed on the top surface of the Y-axis fixture slide 421 through the third slide rail 428, so that the X-axis fixture slide 424 can move along the X-axis direction. The X-axis screw transmission assembly includes a third screw rod 425 rotatably mounted on the Y-axis fixture slide 421 and a third motor 426 for driving the third screw rod 425 to rotate. The third screw rod 425 is penetrated by the X-axis fixture slide 424 and is threadedly connected thereto. The axial direction of the third screw rod 425 is in the same direction as the X-axis direction; the third motor 426 is also connected to the third screw rod 425 by belt drive or chain drive, and is used to drive the third screw rod 425 to rotate to force the Y-axis fixture slide 421 to move along the axial direction of the third screw rod 425.

[0084] Back to Figure 8 The swing angle slide mechanism 43 includes a fixed seat 431, a vertical swing angle plate 432 and a fixture seat 433, wherein the fixed seat 431 is vertically fixed to the top surface of the X-axis fixture slide 424, and the vertical swing angle plate 432 is fixed to the side of the fixed seat 431; at the same time, refer to Fig.10 In this embodiment, the side of the fixing seat 431 close to the vertical swing angle plate 432 is open, so that a lifting space 434 can be formed between the fixing seat 431 and the vertical swing angle plate 432 after the vertical swing angle plate 432 is fixed.

[0085] Back to Figure 8 The side of the vertical swing angle plate 432 away from the fixed seat 431 is protruded with an arc-shaped convex portion 4321, and the arc axis of the arc-shaped convex portion 4321 coincides with the X-axis; the side of the clamp seat 433 is provided with an arc-shaped groove 4331, and the shape of the arc-shaped groove 4331 is the same as the shape of the arc-shaped convex portion 4321, and the arc-shaped groove 4331 passes through the two opposite sides of the clamp seat 433 along its own arc direction; through the snap-fit ​​cooperation between the arc-shaped groove 4331 and the arc-shaped convex portion 4321, the clamp seat 433 can be slidably installed on the vertical swing angle plate 432.

[0086] In addition, refer to Fig.10 The arc-shaped protrusion 4321 is provided with an arc-shaped groove 4322, and the arc-shaped groove 4322 runs through two opposite sides of the vertical swing angle plate 432. The arc-shaped groove 4322 has the same shape as the arc-shaped protrusion 4321 and remains coaxial; a guide column 4332 is fixed to the side of the clamp seat 433 close to the vertical swing angle plate 432, and the outer diameter of the guide column 4332 is equal to the width of the arc-shaped groove 4322, so that the guide column 4332 can match and pass through the arc-shaped groove 4322, and the guide column 4332 can move freely in the arc-shaped groove 4322 and along the arc direction of the arc-shaped groove 4322.

[0087] A Z-axis screw transmission assembly 45 is provided between the fixed seat 431 and the vertical swing angle plate 432, which is used to drive the guide column 4332 to move in the arc-shaped slide groove 4322; wherein, the Z-axis screw transmission assembly 45 includes a push-pull plate 451, a fourth screw rod 452 and a fourth motor 453, the fourth screw rod 452 is rotatably connected to the inner wall of the lifting space 434, and the axial direction of the fourth screw rod 452 is set in the same direction as the Z-axis direction; one end of the fourth screw rod 452 is penetrated through the fixed seat 431 and exposed at the top of the fixed seat 431; the fourth motor 453 is fixed to the top surface of the fixed seat 431, and the output end of the fourth motor 453 is coaxially connected to the exposed end of the fourth screw rod 452, so that the operation of the fourth motor 453 can drive the fourth screw rod 452 to rotate.

[0088] The push-pull plate 451 is vertically movably arranged inside the lifting space 434, and the fourth screw rod 452 passes through the push-pull plate 451 and is threadedly connected to the push-pull plate 451; the two opposite side walls of the push-pull plate 451 can respectively abut against the two inner walls of the lifting space 434, thereby limiting the flipping of the push-pull plate 451. A guide groove 4511 is provided on the side of the push-pull plate 451 near the vertical swing angle plate 432. The guide groove 4511 is in the shape of an elongated strip. The extension direction of the guide groove 4511 is in the same direction as the Y-axis direction, and the width of the guide groove 4511 is equal to the outer diameter of the guide pin 4332. The guide pin 4332 can be partially inserted into the guide groove 4511 after passing through the arc-shaped slide groove 4322, and the outer peripheral surface of the guide pin 4332 can abut against the side wall of the guide groove 4511. When the fourth motor 453 is operated to drive the push-pull plate 451 to move vertically, the side wall of the guide groove 4511 abuts against the guide pin 4332 and forces the guide pin 4332 to move in the arc-shaped slide groove 4322, so that the vertical swing angle plate 432 can be deflected at a certain angle around the Y-axis direction.

[0089] Reference Fig.11 The swing angle slide mechanism 43 also includes a swing angle shaft 435, a clamping block 436 and a micro-motion cylinder 437, wherein the fixture seat 433 is provided with insertion slots through both sides, and the outer diameter of the swing angle shaft 435 is equal to the inner diameter of the insertion slot, so that the swing angle shaft 435 can be matched and inserted into the insertion slot and rotate freely in the insertion slot; at the same time, refer to Fig.10 The swing angle shaft 435 is coaxially provided with a rectangular slot 4351 , and the clamp mechanism 44 can be matched and inserted into the rectangular slot 4351 , and the clamp mechanism 44 and the swing angle shaft 435 can be detachably fixed by fasteners.

[0090] It should be noted here that the clamp mechanism 44 is used to clamp and fix the product tool. In the specific processing of the product tool, a clamp mechanism 44 with a corresponding size structure needs to be selected according to the shape and placement of the product tool; therefore, the specific structure of the clamp mechanism 44 is diverse and will not be elaborated here.

[0091] Back to Fig.11 The clamping block 436 is fixedly mounted on the outer peripheral side of the swing angle shaft 435, and an extension portion 4361 is provided on the outer side of the clamping block 436. The extension portion 4361 is provided with a vertically penetrating movable groove 4362; in this embodiment, the movable groove 4362 is configured as a long strip, and the extending direction of the movable groove 4362 is the same as the X-axis direction. The micro-motion cylinder 437 is fixedly mounted on the clamp seat 433 and is located outside the swing angle shaft 435. The movable end of the micro-motion cylinder 437 is fixedly connected with a movable block 4371, which can drive the movable block 4371 to move in the vertical direction; the movable block 4371 is movably inserted into the movable groove 4362. Anti-slip columns 4372 are fixed to two opposite sides of the movable block 4371, and structural grooves 4363 are respectively opened on two opposite sides of the extension part 4361, and each structural groove 4363 is connected to the movable groove 4362; the structural groove 4363 in this embodiment is long and narrow, and the extension direction of the structural groove 4363 is the same as the X-axis direction, and the two anti-slip columns 4372 can be respectively located inside the two structural grooves 4363.

[0092] When the micro-cylinder 437 is in motion, it drives the movable block 4371 to move. At this time, the outer wall of the anti-slip column 4372 can resist the structural groove 4363, forcing the clamping block 436 to make a circumferential rotation at a certain angle around the central axis of the swing angle shaft 435, thereby realizing the angular rotation adjustment of the swing angle shaft 435 and the clamp mechanism 44 fixed to the swing angle shaft 435 around the Y-axis direction.

[0093] Reference Fig.12 The grinding device 5 includes an end grinding wheel 51, a rotary drive mechanism 52 for driving the end grinding wheel 51 to rotate at high speed, and a grinding wheel moving mechanism 53 for driving the end grinding wheel 51 to move along the X / Y axis; after the product tool is firmly clamped in the fixture mechanism 44, the end grinding wheel 51 is controlled to approach the product tool by the grinding wheel moving mechanism 53, and the rotary drive mechanism 52 drives the end grinding wheel 51 to rotate at high speed to chamfer the tip of the product tool. It should be noted that the specific structures of the end grinding wheel 51, the rotary drive mechanism 52 and the grinding wheel moving mechanism 53 in this embodiment are conventional designs in the field, and are not the focus of protection in this case, so they will not be elaborated here one by one.

[0094] The CCD imaging device 6 includes a CCD camera module 61, a display 62 ( Figure 2As shown) and an industrial control host, wherein a baffle frame 113 is fixed to the surface of the equipment base 11, and the CCD camera module 61 is fixed to the baffle frame 113 by a lifting and adjusting mechanism 611, and the CCD camera module 61 is located directly above the clamp mechanism 44; it should be noted that the lifting and adjusting mechanism 611 mentioned here is a conventional design in this field and is not the focus of protection in this case, so it will not be described in detail; the operator controls the operation of the lifting and adjusting mechanism 611 manually or automatically by a program, which can change the distance between the CCD camera module 61 and the clamp mechanism 44, thereby adjusting the image focal length of the CCD rubber module.

[0095] Back to Figure 2 The display 62 is connected to the equipment base 11 and is located outside the protective cover 12. The display 62 is connected to the CCD camera module 61 in communication, and the display 62 is equipped with a display screen, which can display the image of the tool tip of the product tool captured by the CCD camera module 61; in addition, a visual measurement system is installed inside the product tool, and the visual measurement system is connected to the industrial control host in communication; the industrial control host is connected to the PLC controller in communication, and the movement of the X / Y fixture slide can be controlled by the PLC controller. After judging the position error of the tool tip image, the visual measurement system sends the obtained error signal to the industrial control host, and the industrial control host signal is converted and output to the PLC controller, which can control the X / Y fixture slide mechanism to adjust the position, thereby automatically compensating for the position error of the product tool.

[0096] Reference Fig. 9 The CCD imaging module also includes an auxiliary light source 63, which is fixed to the top surface of the mounting plate seat 411 of the electric turntable 41, and the auxiliary light source 63 is coaxial with the electric turntable 41; the auxiliary light source 63 is located directly below the clamping mechanism 44 and is spaced apart from the Y-axis fixture slide 421, so as to increase the brightness and clarity of the captured image.

[0097] In addition, a pulling and pulling cylinder 64 is fixedly mounted on the top surface of the electric turntable 41, and a dustproof plate 65 is fixed to the movable end of the pulling and pulling cylinder 64. When the pulling and pulling cylinder 64 is in normal state, the dustproof plate 65 can block the light-emitting port of the auxiliary light source 63, so as to reduce the metal powder produced by grinding from falling into the light-emitting port of the auxiliary light source 63; when the pulling and pulling cylinder 64 is in motion, the dustproof plate 65 can leave the top of the auxiliary light source 63, so that the auxiliary light source 63 can work normally.

[0098] The implementation principle of a grinder used for tool tip arc processing in the embodiment of the present application is as follows:

[0099] During the chamfering and grinding process of the product tool, the CCD camera module 61 is used to capture the position image of the product tool tip in real time, and the image is sent to the display 62 and displayed on the display screen. The visual measurement system is used to calculate the position error of the current position in the X and Y directions, and compared with the standard center position measured by the visual measurement system. The obtained position error signal is sent to the industrial control host, and the position adjustment of the X / Y fixture slide mechanism is controlled by the controller, which can automatically compensate for the position error during the product tool processing. By adjusting the position of each product tool in real time during the grinding process, the automatic ultra-precision processing of the grinder can be achieved, so that the formed product tool maintains good surface accuracy and dimensional accuracy, ensuring product quality. Example 2

[0100] The embodiment of the present application discloses a grinding machine used for tool tip arc processing.

[0101] Reference Fig.13 The embodiment of the present application discloses a grinder for tool tip arc processing, and the remaining components are the same as those in Embodiment 1, which will not be described one by one here; the difference from Embodiment 1 is that, in this embodiment, a vertical material tray 234 for vertical product tool processing is provided with a plurality of connecting ports 235 on the bottom surface of the vertical material tray 234, and the number of the connecting ports 235 is equal to the number of the placement stations 231, and each connecting port 235 is respectively connected to each corresponding placement station 231; the setting of the connecting port 235 can reduce the occurrence of powder generated by grinding floating and settling inside the placement station 231.

[0102] Reference Fig.14 A negative pressure device 7 is installed under the waiting platform 24, and the negative pressure device 7 includes a lifting plate 71, a Z-axis driving mechanism, a side shift bracket 73, an X-axis driving mechanism and a negative pressure cover 75; wherein the Z-axis driving mechanism is configured as a lifting cylinder 72, and the lifting cylinder 72 is fixedly mounted on the fixed plate frame 111, and the lifting plate 71 is fixed to the movable end of the lifting cylinder 72. When the lifting cylinder 72 is actuated, the lifting plate 71 can be forced to rise and fall along the Z-axis direction.

[0103] In addition, refer to Fig.15 A positioning member 711 is vertically fixed to the top of the lifting plate 71. The width of the positioning member 711 is equal to the width of the plug-in port 233, and the positioning member 711 is always located directly below the plug-in port 233; Fig.13 When the lifting cylinder 72 drives the lifting plate 71 to move upward, the positioning member 711 can be matched and inserted into the insertion port 233, thereby playing a role in positioning and correcting the opposite loading tray 234. The bottom of the insertion port 233 is provided with a wide mouth portion (not shown in the figure), the width of which is greater than the width of the insertion port 233, which is conducive to the smooth insertion of the positioning member 711 into the insertion port 233.

[0104] Back to Fig.15 The X-axis driving mechanism includes a fifth screw rod 74 rotatably mounted on the lifting plate 71 and a fifth motor 741 drivingly connected to the fifth screw rod 74, the fifth screw rod 74 is passed through the side shift bracket 73 and is threadedly connected thereto; the negative pressure cover 75 is fixed to the side shift bracket 73, and the top of the negative pressure cover 75 is lower than the positioning member 711; a negative pressure cavity 751 is formed on the top surface of the negative pressure cover 75, and an elastic rubber pad 752 is attached thereto, and the elastic rubber pad 752 can surround the outer edge of the circumference of the negative pressure cavity 751; at the same time, refer to Fig.14 A negative pressure pipe 76 is connected to the bottom of the negative pressure cover 75 , and one end of the negative pressure pipe 76 away from the negative pressure cover 75 is connected to a negative pressure generator 77 , and the negative pressure generator 77 is fixed to the fixed plate frame 111 .

[0105] It should be noted that, in the present embodiment, by controlling the action of the lifting cylinder 72 to drive the negative pressure cover 75 to move upward, the positioning member 711 can be first inserted into the plug interface 233 to correct the positioning of the opposite loading tray 234; then the elastic rubber pad 752 of the negative pressure cover 75 is against the bottom of the vertical loading tray 234, at this time, the negative pressure cover 75 can be directly opposite the cover set in a row of placement stations 231, and the negative pressure generated by the negative pressure generator 77 can be used to adjust the position of each product tool on the placement station 231; by resetting the lifting cylinder 72, actuating the fifth motor 741, and then actuating the lifting cylinder 72, the negative pressure cover 75 can be moved to the next row of placement stations 231, and after this is performed in sequence, the position of the product tools on the entire vertical loading tray 234 can be adjusted.

[0106] See also Fig.16 The grinding machine also includes a reversing device 8, which is used to change the angle of the product tool so as to facilitate processing of multiple tool tip positions of the product tool and improve processing efficiency.

[0107] Specifically, the reversing device 8 includes a reversing base 81, a flip seat 82 and a push cylinder 83. The reversing base 81 is fixed to the fixed plate frame 111 of the equipment base 11, and a hinge seat 811 is fixed at the corner of the reversing base 81; Fig.17 Two vertical plates 821 are vertically fixed on the side of the flip seat 82. The two vertical plates 821 are arranged at an interval, and a hinge shaft 822 is fixed between the two vertical plates 821. The flip seat 82 is rotatably connected to the hinge seat 811 through the hinge shaft 822, so that the flip seat 82 can rotate circumferentially around the central axis of the hinge shaft 822.

[0108] It should be noted here that, in this embodiment, one side edge of the flip seat 82 normally abuts against the side edge of the reversing base 81, and when the flip seat 82 rotates circumferentially, the other adjacent side edge of the flip seat 82 can abut against the top surface of the reversing base 81, so that the maximum rotation angle of the flip seat 82 is 90°.

[0109] The pushing cylinder 83 is fixed to the top surface of the reversing base 81, and a sliding seat 84 is fixed to the movable end of the pushing cylinder 83, and the sliding seat 84 is slidably connected to the reversing base 81 through a fourth slide rail; a T-shaped slide groove 841 is provided on the side of the sliding seat 84, and the extension direction of the T-shaped slide groove 841 is the same as the vertical direction; a T-shaped slider 85 is slidably installed inside the T-shaped slide groove 841, and a connecting rod 851 is vertically fixed to the T-shaped slider 85, and an insert rod 852 is vertically fixed to the end of the connecting rod 851 away from the T-shaped slider 85, and the insert rod 852 can be rotatably connected to the two vertical plates 821, and the insert rod 852 is staggered with the hinge shaft 822; by controlling the action of the pushing cylinder 83 to pull the sliding seat 84 to move, the T-shaped slider 85 can move vertically inside the T-shaped slide groove 841, and the connecting rod 851 and the insert rod 852 pull the flip seat 82 to rotate.

[0110] Back to Fig.16 A rotating cylinder 86 is fixed to the side of the flip seat 82. The rotating cylinder 86 in this embodiment has two rotating end tables, one of which is fixed with a second clamping cylinder 87. The two movable ends of the second clamping cylinder 87 are respectively fixed with second clamping blocks 871. The shape design of the second clamping block 871 is the same as that of the first clamping block 34, which will not be elaborated here. The movement of the two second clamping blocks 871 is controlled by the second clamping cylinder 87 to clamp the vertically mounted product tool, and then the angle of the product tool can be changed by rotating the cylinder 86.

[0111] The other rotating end of the rotating cylinder 86 is fixed with a receiving seat 88 by bolts, and the top surface of the receiving seat 88 is provided with a polygonal groove 881, which can be used to place the vertical product tool; and then the angle of the product tool can be changed by rotating the cylinder 86. It should be noted here that the number of sides of the polygonal groove 881 can be determined according to the shape of the product tool to be processed.

[0112] The implementation principle of a grinder used for tool tip arc processing in the embodiment of the present application is as follows:

[0113] After the robot 31 transfers the vertical loading tray 234 to the waiting platform 24, the present application controls the lifting cylinder 72 to make the negative pressure cover 75 elastically abut against the bottom of the vertical loading tray 234, and the negative pressure is generated by the negative pressure generator 77 to act on the negative pressure chamber 751, which can make the negative pressure act on the connecting port 235 and form a negative pressure suction force in a downward direction, which is conducive to accurately placing the product tool inside the placement station 231 and reducing the situation where the product tool jumps and causes the placement position to change.

[0114] In addition, during the specific processing of the product tool, according to the placement status of the product tool, the corresponding receiving seat 88 or the second clamping cylinder 87 is selected to perform the switching operation on the product tool. By controlling the movement of the push cylinder 83 to switch, the production switch of the grinder can be completed quickly, which is conducive to reducing downtime and improving equipment production capacity. Example 3

[0115] The present application also discloses a control method for a grinding machine based on Embodiment 1, which specifically includes the following steps:

[0116] Job preparation stage S1; setting the correction ratio; placing a standard part of known diameter within the field of view of the CCD camera module 61, inputting the known diameter value in the visual measurement system software, generating a correction auxiliary circle, adjusting the correction ratio so that the outer diameter of the auxiliary circle is tangent to both sides of the standard part, and obtaining the correction ratio; inputting the known arc radius of the current product tool, generating a grinding auxiliary circle of corresponding size in the CCD image on the display screen; the size of the arc formed by subsequent processing of the product tool will be based on the grinding auxiliary circle.

[0117] Operation preparation stage S2; the product tool is jogged and clamped in the fixture mechanism 44, and the CCD camera module 61 captures the product projection image and displays it on the display screen; the product projection image is set as a template in the visual measurement system software, and the image template is subsequently used as a basis for judgment to perform image positioning of the product tool, which can be checked and captured within the field of view of the CCD camera module 61.

[0118] Operation preparation stage S3; jog control the electric turntable 41 to reciprocate by 0° and 180°, the CCD camera module 61 collects images at the 0° position and 180° position respectively, calculates the position error value through the visual measurement system, sends a signal to the industrial control host, and controls the movement of the X / Y fixture slide mechanism through the PLC controller to adjust the position; after multiple rotations and adjustments, the two edges of the tool tip of the product tool are completely tangent to the grinding auxiliary circle, and the center of the grinding auxiliary circle coincides with the center of the electric turntable 41; after determining the center of the circle, the visual measurement system software sends a center search completion instruction to the PLC controller, and the PLC controller controls the electric turntable 41 to stop running.

[0119] Operation stage S4: During the batch processing of product tools, the position of the tool tip will have a slight error due to the influence of product size and positioning errors. The coordinate position of the tool tip of the product tool is captured in real time by the CCD camera module 61, and compared and calculated with the coordinates of the grinding auxiliary circle in the image of the visual measurement system. The movement of the X / Y fixture slide mechanism is controlled by the error values ​​in the X and Y directions, so that the two sides of the tool tip of the product tool are tangent to the grinding auxiliary circle to ensure the accuracy of chamfering the product tool.

[0120] The above are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A grinding machine for tool tip arc processing, characterized in that: It comprises an equipment assembly (1), a loading device (2) for placing a product tool, a transfer device (3) for clamping and transferring the product tool, a fixture device (4) for clamping and fixing the product tool, a grinding device (5) for grinding the product tool, and a CCD imaging device (6) for measuring and positioning the product tool. The fixture device (4) comprises an electric turntable (41) rotatably arranged on the equipment assembly (1), an X / Y fixture slide mechanism movably arranged on the electric turntable (41), a swing angle slide mechanism (43) movably arranged on the X / Y fixture slide mechanism, and a fixture mechanism (44) fixed to the swing angle slide mechanism (43); The CCD imaging device (6) comprises a CCD camera module (61), a display (62) and an industrial control host, wherein the CCD camera module (61) is arranged directly above the fixture mechanism (44); the display (62) is communicatively connected to the CCD camera module (61) and is used for imaging display, and the display (62) has a visual measurement system for measuring a product tool positioning error; The industrial control host is electrically connected to the X / Y fixture slide mechanism through a controller, and the visual measurement system is communicatively connected to the industrial control host, and is used to send a signal to the industrial control host after measuring the position error, and the industrial control host drives the X / Y fixture slide mechanism to move and adjust the position through the controller; The grinding machine also includes a reversing device (8) for changing the angle of a product tool, the reversing device (8) including a reversing base (81) fixed to the equipment assembly (1), a flip seat (82) rotatably connected to the reversing base (81), and a push cylinder (83) for driving the flip seat (82) to rotate; wherein the flip seat (82) is fixed with a rotating cylinder (86), and two opposite side surfaces of the rotating cylinder (86) are respectively provided with rotating end tables, one of the rotating end tables is fixed with a second clamping cylinder (87), and two movable ends of the second clamping cylinder (87) are respectively fixed with second clamping blocks (871); the other rotating end table is fixed with a receiving seat (88), and the top surface of the receiving seat (88) is provided with a polygonal groove (881) for placing the product tool; The push cylinder (83) is fixed to the reversing base (81), and the movable end of the push cylinder (83) is fixedly connected to a sliding seat (84), and the sliding seat (84) is slidably connected to the reversing base (81); a side surface of the sliding seat (84) is provided with a vertically arranged T-shaped sliding groove (841), and a T-shaped sliding block (85) is slidably installed inside the T-shaped sliding groove (841), and a connecting rod (851) is vertically fixed to the T-shaped sliding block (85), and an insert rod (852) is vertically fixed to the end of the connecting rod (851) away from the T-shaped sliding block (85); a vertical plate (821) is provided on the side surface of the flip seat (82) close to the receiving seat (88), and the insert rod (852) is rotatably connected to the vertical plate (821).

2. The grinding machine according to claim 1, characterized in that: The CCD imaging device (6) further comprises an auxiliary light source (63) arranged directly below the clamp mechanism (44), wherein the auxiliary light source (63) is coaxially fixed to the electric turntable (41); the electric turntable (41) is provided with a dustproof plate (65) for covering the light-emitting port of the auxiliary light source (63), wherein the dustproof plate (65) is slidably connected to the electric turntable (41) via a pulling cylinder (64).

3. The grinding machine according to claim 1, characterized in that: The swing angle slide mechanism (43) comprises a fixed seat (431) fixed to the X / Y fixture slide mechanism, a vertical swing angle plate (432) arranged on the side of the fixed seat (431), and a fixture seat (433) slidably connected to the vertical swing angle plate (432); wherein the vertical swing angle plate (432) is provided with an arc-shaped protrusion (4321), the arc axis of the arc-shaped protrusion (4321) coincides with the X-axis, and the fixture seat (433) is provided with an arc-shaped groove (4331) adapted to be engaged with the arc-shaped protrusion (4321); The arc-shaped convex portion (4321) is provided with an arc-shaped slide groove (4322) penetrating the vertical swing angle plate (432), and the arc-shaped slide groove (4322) is coaxially arranged with the arc-shaped convex portion (4321); the clamp seat (433) is connected with a guide plug post (4332), and the guide plug post (4332) is matched and penetrated in the arc-shaped slide groove (4322) and moves freely in the arc-shaped slide groove (4322); A Z-axis screw transmission assembly (45) for forcing the guide plug post (4332) to move is fixedly arranged between the fixed seat (431) and the vertical swing angle plate (432); a moving end of the Z-axis screw transmission assembly (45) is connected to a push-pull plate (451); the push-pull plate (451) is provided with a guide groove (4511); and the guide plug post (4332) is partially inserted into the guide groove (4511).

4. The grinding machine according to claim 3, characterized in that: The swing angle slide mechanism (43) further comprises a swing angle shaft (435) rotatably inserted into the clamp seat (433), a clamping block (436) fixedly clamped on the outer peripheral side of the swing angle shaft (435), and a micro-motion cylinder (437) for forcing the clamping block (436) to rotate, and the clamping mechanism (44) is detachably fixed to the swing angle shaft (435); The clamping block (436) is provided with a movable groove (4362), the movable end of the micro-motion cylinder (437) is fixedly connected with a movable block (4371), and the movable block (4371) is movably inserted in the movable groove (4362); the side wall of the movable groove (4362) is provided with a structural groove (4363), and the side of the movable block (4371) is fixed with an anti-detachment column (4372), and the anti-detachment column (4372) is partially located inside the structural groove (4363).

5. The grinding machine according to claim 1, characterized in that: The transfer device (3) comprises a manipulator (31) fixed to the equipment assembly (1), a transfer base (32) fixed to the manipulator (31), and a first clamping cylinder (33) fixed to the transfer base (32); the first clamping cylinder (33) has two movable ends, and is respectively fixed with a first clamping block (34); the adjacent side surfaces of the two first clamping blocks (34) are respectively set as clamping planes (341) for matching and abutting with the side surfaces of the product tool; the opposite side surfaces of the two first clamping blocks (34) are respectively set as clamping arc surfaces (342) for matching and abutting with the central inner wall of the product tool.

6. The grinding machine according to claim 5, characterized in that: The loading device (2) comprises a material bin (21) slidably connected to the equipment assembly (1) and a material waiting platform (24) fixedly arranged on the equipment assembly (1), wherein the material waiting platform (24) is located outside the material bin (21); a lifting mechanism (22) is provided between the material bin (21) and the equipment assembly (1), wherein the lifting mechanism (22) is used to control the lifting of the material bin (21) along the Z-axis direction; A multi-layer support plate (212) is provided on the inner side of the material bin (21), each of the support plates (212) is provided with a loading tray (23), and a surface of the loading tray (23) is provided with a plurality of placement stations (231) for placing product knives; a material tray buckle (232) is fixed on the side of the loading tray (23) close to the clamp device (4), and the material tray buckle (232) is provided with an insertion interface (233); A material tray pull plate (35) for plugging into the plug interface (233) is fixed on the side of the transfer base (32); the material tray pull plate (35) and the first clamping cylinder (33) are arranged on two opposite sides of the transfer base (32); when the material tray pull plate (35) is inserted into the plug interface (233), the manipulator (31) can move to transfer the loading tray (23) to the material waiting platform (24).

7. The grinding machine according to claim 6, characterized in that: The loading tray (23) is divided into a flat loading tray and a vertical loading tray (234); the placement station (231) of the vertical loading tray (234) is wedge-shaped, and when the product tool is placed on the placement station (231), each side surface of the product tool can be attached to the inner wall of the placement station (231); the bottom surface of the vertical loading tray (234) is provided with a plurality of communication ports (235); the number of the communication ports (235) matches that of the placement stations (231), and each of the communication ports (235) is connected to a corresponding placement station (231); A negative pressure device (7) is provided below the material waiting platform (24), and the negative pressure device (7) comprises a lifting stand (71) vertically slidably connected to the equipment assembly (1), a Z-axis driving mechanism for driving the lifting stand (71) to move up and down, a side shift bracket (73) slidably connected to the lifting stand (71), and an X-axis driving mechanism for driving the side shift bracket (73) to move laterally; The side shift bracket (73) is fixed with a negative pressure cover (75); the top surface of the negative pressure cover (75) is provided with a negative pressure cavity (751) and is adhered with an elastic rubber pad (752); the elastic rubber pad (752) is located at the outer edge of the circumference of the negative pressure cavity (751); when the Z-axis driving mechanism forces the side shift bracket (73) to move upward, the elastic rubber pad (752) elastically abuts against the vertical loading tray (234); the bottom of the side shift bracket (73) is provided with a negative pressure tube (76) connected to the negative pressure cavity (751); the end of the negative pressure tube (76) is connected to a negative pressure generator (77).

8. The grinding machine according to claim 7, characterized in that: A positioning piece (711) is vertically fixed on the top of the lifting vertical plate (71), the top of the positioning piece (711) is higher than the negative pressure tube (76), and the width of the positioning piece (711) is adapted to the width of the plug interface (233); a wide mouth portion is provided at the bottom of the plug interface (233), the width of the wide mouth portion is greater than the width of the plug interface (233), and when the Z-axis driving mechanism forces the side shift bracket (73) to move upward, the positioning piece (711) is first inserted into the interior of the plug interface (233).

9. A control method for a grinding machine according to any one of claims 1 to 8, characterized in that: The following steps are involved: Operation preparation stage S1; Setting a correction ratio; placing a standard part with a known diameter within the field of view of the CCD camera module (61), inputting the known diameter value in the visual measurement system software, generating a correction auxiliary circle, and adjusting the correction ratio so that the outer diameter of the auxiliary circle is tangent to the two sides of the standard part to obtain the correction ratio; inputting the known arc radius of the current product tool, and generating a grinding auxiliary circle of corresponding size in the CCD image on the display screen; Operation preparation stage S2: The product tool is jogged and clamped in the fixture mechanism (44), and the CCD camera module (61) captures the product projection image and displays it on the display screen; the product projection image is set as a template in the visual measurement system software, and the image positioning of the product tool is subsequently performed based on the image template; Operation preparation stage S3: Inching control of the electric turntable (41) to reciprocate 0° and 180°, the CCD camera module (61) collects images at the 0° position and the 180° position respectively, calculates the position error value through the visual measurement system, sends a signal to the industrial control host, and controls the X / Y fixture slide mechanism to move and adjust the position through the controller; after multiple rotations and adjustments, the two edges of the tool tip of the product tool are completely tangent to the grinding auxiliary circle, and at this time, the center of the grinding auxiliary circle coincides with the center of the electric turntable (41); Operation stage S4: During the batch processing of product tools, the CCD camera module (61) captures the coordinate position of the tool tip of the product tool in real time, and compares and calculates it with the coordinate of the grinding auxiliary circle in the image of the visual measurement system. The obtained error values ​​in the X and Y directions are used to control the movement of the X / Y fixture slide mechanism so that both sides of the tool tip of the product tool are tangent to the grinding auxiliary circle.

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