Automatic cutter grinding system and method

Abstract

The invention discloses an automatic tool grinding system and method. The automatic tool grinding system comprises a positioning module, a fixing module, a grinding module and a main control module. The system works according to the following method steps that firstly, tool grinding parameters need to be input into the main control module according to different types of placed tools, then after the main control module receives the input parameters, control signals are sent to the positioning module, the fixing module and the grinding module in sequence, and then the grinding module conducts grinding according to the control signals. All the modules are controlled to start corresponding work and carry out information processing, a processing result is obtained, and finally an instruction is sent to the grinding module according to the processing result to control grinding work to be started. According to the automatic grinding system, a user does not need to learn grinding skills, the learning cost is effectively reduced, the grinding success rate and accuracy are improved, and therefore the better grinding effect is achieved, various different tools can be ground in a self-adaptive mode according to different input tool grinding parameters, and the grinding efficiency is improved. And the application scene of the grinding system is expanded.

Description

Technical Field

[0001] The invention relates to the field of metal parts processing and automation systems, and in particular to an automatic tool grinding system and method. Background Art

[0002] At present, metal knives are common utensils for processing food and cooking in most households. In the long-term use of knives, the blades are often worn and blunted due to the use of cutting hard objects, which greatly affects the normal use of users. Therefore, it is necessary to grind the knives in daily use to ensure that the knives are always in good use. Traditional knife grinding is professionally operated through a whetstone to achieve the purpose of knife grinding, but this grinding operation often requires a lot of experience to master it well. For this reason, many new grinding tools have appeared on the market, but these tools still require a certain learning cost to master. When these new grinding tools are used for grinding, when the position of the knife placed in the grinding tool is different, it is impossible to ensure that the knife grinding achieves the best effect, resulting in the ground knife still not meeting the use requirements, and when facing a variety of different knives, the grinding effect of this new grinding tool is also different, and it is impossible to achieve accurate grinding of a variety of knives.

[0003] Therefore, there is a need to provide an automatic tool grinding system and method that can reduce learning costs, adapt to various types of tools, and achieve better grinding effects. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides a tool automatic grinding system and method, which solves the problems of high learning cost, inability to adapt to various tool types and poor grinding effect in the current metal parts processing and automation system fields.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, a tool automatic grinding system is provided, wherein:

[0007] A main control module, used for obtaining tool grinding parameters of a target tool, wherein the tool grinding parameters include a standard fixed position, a standard fixed degree and a standard grinding angle, and different tool grinding parameters correspond to different target tools;

[0008] The main control module is electrically connected to the positioning module, the fixing module and the grinding module, respectively, and is used to control the positioning module to position the target tool according to the standard fixed position, and after positioning, control the fixing module to fix the target tool according to the standard fixing degree, so that after the fixing degree of the target tool reaches the standard fixing degree, the grinding module is controlled to adjust the grinding angle of the target tool based on the standard grinding angle, so that after the grinding angle of the target tool reaches the standard grinding angle, the grinding module is controlled to grind the target tool.

[0009] Based on the above-mentioned tool automatic grinding system, in a feasible design,

[0010] A main control module, used for acquiring the tool grinding parameters of the target tool in response to the human-computer interaction operation, and after acquiring the tool grinding parameters of the target tool, generating a tool position detection control signal and sending it to the positioning module;

[0011] A positioning module, configured to detect the position information of a target tool after receiving the tool position detection control signal, and send the position information to a main control module;

[0012] A main control module, configured to determine whether the target tool is in the standard fixed position based on the position information, and when determining that the target tool is in the standard fixed position, send a tool fixing control signal to the fixing module to complete the positioning of the target tool;

[0013] A fixing module, used for fixing the target tool after receiving the tool fixing control signal, and detecting and obtaining the fixing degree information of the target tool, so as to transmit the fixing degree information to the main control module;

[0014] A main control module, configured to determine whether the fixation degree of the target tool reaches the standard fixation degree based on the fixation degree information, and send a blade grinding angle detection signal to the grinding module when it is determined that the target tool reaches the standard fixation degree;

[0015] The grinding module is used to detect the blade grinding angle information of the target tool after receiving the blade grinding angle detection signal, and send the blade grinding angle information to the main control module;

[0016] The main control module is used to determine whether the grinding angle of the target tool reaches the standard grinding angle based on the blade grinding angle information, and when it is determined that the grinding end of the grinding module reaches the standard grinding angle, control the operation of the grinding module to achieve automatic grinding of the target tool.

[0017] Based on the above-mentioned tool automatic grinding system, in a feasible design,

[0018] The main control module is used to generate a grinding angle adjustment signal and send it to the grinding module when it is determined that the grinding angle of the target tool does not reach the standard grinding angle, so that the grinding module adjusts the grinding angle of the grinding end of the grinding module to the target tool to the standard grinding angle based on the grinding angle adjustment signal.

[0019] Based on the above-mentioned automatic tool grinding system, in an achievable design, the positioning module includes a horizontal positioning unit, a vertical positioning unit and a positioning processing unit;

[0020] A horizontal positioning unit, configured to detect the horizontal position of a target tool after receiving the tool position detection control signal, so as to obtain horizontal position information;

[0021] A vertical positioning unit, configured to detect the vertical position of a target tool after receiving the tool position detection control signal, so as to obtain vertical position information;

[0022] The positioning processing unit is also used to obtain the position information according to the horizontal position information of the tool and the vertical position information of the tool and send it to the main control module.

[0023] Based on the above-mentioned automatic tool grinding system, in a feasible design, the fixing module includes a limit fixing mechanism, a stabilizing fixing mechanism and a fixing degree detection mechanism;

[0024] A limit fixing mechanism, used for responding to the tool fixing control signal to limit and fix the to-be-grinded portion of the target tool;

[0025] A stabilizing and fixing mechanism, used for fixing two sides of a target tool in response to the tool fixing control signal;

[0026] The fixing degree detection mechanism is used to detect the fixing degree of the target tool when the limit fixing mechanism and the stabilizing fixing mechanism are working, obtain the fixing degree information, and send the fixing degree information to the main control module.

[0027] Based on the above-mentioned automatic tool grinding system, in a feasible design, the grinding module includes an angle-fixing mechanism and a grinding mechanism;

[0028] The fixed angle mechanism is used to respond to the blade grinding angle detection signal, detect the target tool to obtain blade grinding angle information, and send it to the main control module, and to respond to the grinding angle adjustment signal to adjust the grinding end of the grinding mechanism to a standard grinding angle.

[0029] The grinding mechanism is used to grind the blade of the target tool through the grinding end after the grinding end of the grinding mechanism is adjusted to a standard grinding angle.

[0030] Based on the above-mentioned automatic tool grinding system, in an achievable design, the grinding mechanism includes a displacement component and a grinding component, wherein the grinding component is fixedly connected to the displacement component;

[0031] The main control module is also used to send the received position information to the displacement component;

[0032] A displacement component, used for generating a grinding displacement route based on the position information, and driving the grinding component to move according to the grinding displacement route;

[0033] The grinding component, as the grinding end of the grinding mechanism, is used to grind the target tool.

[0034] Based on the above automatic tool grinding system, in one feasible design, the grinding component includes a rough grinding component, a fine grinding component and a polishing component.

[0035] Based on the above-mentioned automatic tool grinding system, in an achievable design, it further includes a visual detection module, and the visual detection module is electrically connected to the main control module;

[0036] The visual inspection module is used to verify the grinding effect of the target tool after grinding, and if the verification result fails, it will feedback a grinding restart signal to the main control module;

[0037] The main control module is also used to control the grinding module to adjust the grinding angle of the target tool again in response to the grinding restart signal, and control the grinding module to grind the target tool when the grinding angle of the grinding end of the grinding module reaches the standard grinding angle.

[0038] In a second aspect, a tool automatic grinding method is implemented based on a main control module in any one of the above tool automatic grinding systems, wherein the method comprises the following steps:

[0039] Acquiring tool grinding parameters, wherein the tool grinding parameters include a standard fixed position, a standard fixed degree, and a standard grinding angle;

[0040] According to the standard fixed position in the tool grinding parameters, control the positioning module to position the target tool, and after positioning, control the fixing module to fix the target tool according to the standard fixed degree in the tool grinding parameters;

[0041] After the target tool is fixed, the grinding module is controlled to adjust the grinding angle of the target tool based on the standard grinding angle in the tool grinding parameters, so that after the grinding angle of the target tool at the grinding end of the grinding module reaches the standard grinding angle, the grinding module is controlled to grind the target tool.

[0042] Beneficial effects:

[0043] (1) The automatic tool grinding system disclosed in the present invention includes a positioning module, a fixing module, a grinding module and a main control module. When the system starts working, the main control module can obtain different tool grinding parameters according to the type of tool inserted, and send control signals to the positioning module, the fixing module and the grinding module in turn to control each module to start corresponding work and perform information processing to obtain processing results. When the positioning module finds that the tool is not in the standard fixed position, the system will not continue to run downward and the fixing module will not start. When the fixing module finds that the tool does not reach the standard fixation degree, the fixing module will continue to tighten the target tool until it reaches the standard fixation degree. When the user observes that the fixing module has not started working, the position of the inserted tool can be adjusted. When the user observes that the grinding module has not started working, the user can wait for it to continue working. When all modules enter the working state, the target tool will be precisely ground. This automated grinding system does not require users to learn grinding skills, which effectively reduces learning costs and improves grinding success rate and accuracy, thereby achieving better grinding results. It can also adaptively grind a variety of different tools based on different input tool grinding parameters, expanding the application scenarios of this grinding system.

[0044] (2) The automatic tool grinding method disclosed in the present invention is implemented based on the main control module in the above-mentioned automatic tool grinding system, specifically: first, the tool grinding parameters are obtained, and the positioning module is controlled according to the tool grinding parameters to position the target tool based on the standard fixed position in the tool grinding parameters. This is to obtain different tool grinding parameters to adapt to the grinding requirements of different tools, and the received tool grinding parameters are used as the basis for judgment of subsequent steps, and the grinding work is accurately processed by the positioning module to ensure the accuracy of the grinding position during subsequent grinding; secondly, when the target tool is in the standard fixed position, the standard fixed degree control in the tool grinding parameters is used to control the target tool to be fixed. The fixing module fixes the target tool until it reaches the standard fixing degree, in order to judge and adjust the fixing degree of the target tool for subsequent grinding work; then, after the target tool reaches the standard fixing degree, based on the standard grinding angle in the tool grinding parameters, the grinding module is controlled to adjust the grinding angle of the target tool until it reaches the standard grinding angle, in order to adjust the grinding module to ensure that the final grinding effect of the tool meets the user's expectations, and there will be no poor grinding effect caused by a grinding angle that is too large or too small; finally, after the grinding end of the grinding module reaches the standard grinding angle, the grinding module is controlled to grind the target tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a functional structure diagram of the automatic tool grinding system in Example 1 of the present invention;

[0046] Figure 2 Schematic diagram of the process of the automatic tool grinding method in Example 2 of the present invention. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0048] It should be understood that although the terms first, second, etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another unit. For example, a first unit can be referred to as a second unit, and similarly, a second unit can be referred to as a first unit without departing from the scope of the exemplary embodiments of the present invention.

[0049] It should be understood that the term "and / or" that may appear in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0050] Embodiment 1:

[0051] like Figure 1 As shown, the present embodiment provides an automatic tool grinding system, which uses a main control module as the control center, and electrically controls each functional module to realize automatic and precise control of tool grinding, and the main control module can receive tool grinding parameter input, judge whether the appropriate grinding position and fixity are achieved through the parameters, and adjust the grinding angle to adapt to the tool being processed. This automatic tool grinding system can adaptively grind a variety of different tools according to the different input tool grinding parameters, achieving better grinding effects.

[0052] The present embodiment provides an automatic tool grinding system, as a preferred implementation, including a positioning module, a fixing module, a grinding module and a main control module. Among them, the main control module is used to obtain external input and control the positioning module, the fixing module and the grinding module; the positioning module is used to receive the tool position detection control signal sent by the main control module, and perform position detection on the target tool to obtain the position information of the target tool, and send the obtained position information of the target tool to the main control module for comparison with the standard fixed position, so as to determine whether the target tool is in the position corresponding to the standard fixed position, and proceed to the next step. When the judgment result is no, the main control module will not send the corresponding control signal, and the system will not proceed to the next step; the fixing module is used to receive the tool fixing control signal sent by the main control module, fix the target tool, and detect the tool fixing degree of the target tool to obtain the tool fixing degree information, and send the obtained tool fixing degree information to the main control module for comparison with the standard fixing degree, so as to Determine whether the target tool has reached the fixation degree corresponding to the standard fixation degree, and proceed to the next step. When the judgment result is no, the main control module will not send a corresponding control signal, and the fixing module will continue to tighten the target tool until the judgment result is yes; the grinding module is used to receive the blade grinding angle detection signal sent by the main control module, detect the blade grinding angle information of the target tool, obtain the blade grinding angle information, and send the obtained blade grinding angle information to the main control module for comparison with the standard grinding angle, so as to determine whether the grinding module has reached the grinding angle corresponding to the standard grinding angle, and proceed to the next step. When the judgment result is no, the main control module will feedback the grinding angle adjustment signal to the grinding module to control the grinding module to adjust the grinding angle until the judgment result is yes, at which time the main control module will control the grinding module to grind the target tool. This automated grinding system does not require users to learn grinding skills, which effectively reduces learning costs, improves grinding success rate and accuracy, thereby achieving better grinding results. It can also adaptively grind a variety of different tools based on different input tool grinding parameters, expanding the application scenarios of the grinding system in this embodiment.

[0053] The present embodiment provides an automatic tool grinding system, as a preferred implementation, wherein the main control module is used to generate a grinding angle adjustment signal and send it to the grinding module when it is determined that the grinding angle of the target tool does not reach the standard grinding angle, so that the grinding module adjusts the grinding angle of the target tool to the standard grinding angle based on the grinding angle adjustment signal. The grinding angle can be adjusted to meet the grinding requirements of different tools.

[0054] The positioning module includes a horizontal positioning unit, a vertical positioning unit and a positioning processing unit; the horizontal positioning unit is used to detect whether the target tool is placed horizontally and the placement position of the tool in the horizontal direction, and obtain the horizontal position information of the tool; the vertical positioning unit is used to detect whether the target tool is placed vertically and the placement position of the tool in the vertical direction, and obtain the vertical position information of the tool; the positioning processing unit is used to obtain the position information of the target tool according to the horizontal position information and the vertical position information of the tool and send it to the main control module. This setting can accurately position the target tool in three-dimensional space, so that the subsequent grinding of the tool can be more accurate. The horizontal positioning unit and the vertical positioning unit here can both be equipped with position sensors to realize their position detection functions.

[0055] The present embodiment provides an automatic tool grinding system, as a preferred implementation, the fixing module includes a limit fixing mechanism, a stabilizing fixing mechanism and a fixation degree detection mechanism; the limit fixing mechanism is used to respond to the tool fixing control signal to limit and fix the part of the tool to be ground; the stabilizing fixing mechanism is used to respond to the tool fixing control signal to stabilize and fix both sides of the tool; the fixation degree detection mechanism is used to respond to the tool fixing control signal, and when the limit fixing mechanism and the stabilizing fixing mechanism are working, the tool fixation degree is detected to obtain the tool fixation degree information, and the tool fixation degree information is sent to the main control module. This setting can ensure the stability of the target tool in subsequent grinding, and there will be no problems such as uneven grinding and poor grinding effect due to loose fixing. The fixation degree detection mechanism here can be assisted by setting a high-precision position sensor (the measurement accuracy is accurate to the millimeter level) to realize its fixation degree detection and positioning function.

[0056] The present embodiment provides an automatic tool grinding system, as a preferred implementation, the grinding module includes a fixed angle mechanism and a grinding mechanism; the fixed angle mechanism is used to respond to the blade grinding angle detection signal, obtain the angle at the blade of the tool and obtain the blade angle information, determine the grinding angle of the grinding mechanism for grinding the tool blade according to the blade angle information, and generate blade grinding angle information based on the grinding angle and send it to the main control module; the grinding mechanism is used to respond to the grinding angle adjustment signal, adjust the grinding end of the grinding mechanism to the angle corresponding to the grinding angle, and grind the blade of the tool through the adjusted grinding end of the grinding mechanism. The grinding mechanism includes a displacement component and a grinding component, wherein the grinding component is fixedly connected to the displacement component; the main control module is also used to send the received position information of the target tool to the displacement component; the displacement component generates a grinding displacement route based on the position information of the target tool, and is used to respond to the grinding start signal to drive the grinding component to move according to the grinding displacement route; the grinding component, as the grinding end of the grinding mechanism, is used to grind the target tool. Setting up the grinding module in this way not only takes into account the fixed angle detection and adjustment functions, but also ensures that all parts of the blade that need to be ground are ground evenly and completely, which can greatly improve the grinding effect of the tool. The grinding parts include rough grinding components, fine grinding components and polishing components, which can achieve one-time grinding of the tool. After the grinding work is completed, it can be used directly without any other processing of the tool, which is more convenient for users.

[0057] The present embodiment provides a tool automatic grinding system and detection method, as a preferred implementation, further comprising a visual detection module, the visual detection module being electrically connected to the main control module; the visual detection module being used to verify the grinding effect of the tool after grinding, and when the verification result fails, feeding back a grinding restart signal to the main control module, the main control module responding to the grinding restart signal, again controlling the grinding module to adjust the grinding angle of the target tool, and after the grinding angle of the target tool reaches the standard grinding angle, controlling the grinding module to grind the target tool. The visual detection module can also be electrically connected to the grinding module; the visual detection module can also be used to respond to the blade grinding angle detection signal sent by the main control module to obtain the blade grinding angle information of the target tool, and send the blade grinding angle information to the grinding module. The visual detection module can also be used to obtain tool grinding parameters and input them into the main control device. The visual detection module can assist in detecting the grinding effect of the tool and make adjustments to ensure that the tool that has finally completed grinding can achieve the expected grinding effect.

[0058] Embodiment 2:

[0059] like Figure 2 As shown, the present embodiment provides an automatic tool grinding method, which is implemented based on the automatic tool grinding system of any one of the embodiments 1. The residual material detection method provided in the present embodiment may include but is not limited to the following steps:

[0060] S100. Obtain tool grinding parameters, wherein the tool grinding parameters include a standard fixed position, a standard fixed degree, and a standard grinding angle.

[0061] In step S100, the main control module obtains the tool grinding parameters as the basic data for comparison and judgment in the subsequent work process, and sets standards for the subsequent position detection, fixity detection and grinding angle detection to ensure that the grinding module can perform accurate grinding according to the tool grinding parameters in the subsequent grinding process. Moreover, when the acquired tool grinding parameters are different, each module also performs corresponding different detections to achieve the purpose of adapting to the grinding of multiple tools.

[0062] S200. According to the standard fixed position in the tool grinding parameters, control the positioning module to position the target tool, and after positioning, control the fixing module to fix the target tool according to the standard fixing degree in the tool grinding parameters.

[0063] In step S200, the main control module determines the fixation degree of the target tool and makes adjustments when the fixation degree does not reach the standard fixation degree to facilitate subsequent grinding work.

[0064] Among them, the main control module can obtain the position information of the target tool from the positioning module, and compare and calculate it with the obtained standard fixed position as a set of data, and judge whether the target tool reaches the position corresponding to the standard fixed position according to the calculation result, and based on this calculation result, judge whether to send a tool fixing control signal to the fixing module. It should be noted that when the judgment result is no, the main control module will not send a tool fixing control signal, and will not perform subsequent work. At this time, the user can find that the fixing module is not started and the tool position needs to be adjusted.

[0065] The main control module can obtain the tool fixation information from the fixing module, and compare and calculate it with the standard fixation obtained in step S100 as a set of data, and judge whether the target tool reaches the fixation corresponding to the standard fixation according to the calculation result, and judge whether to send a blade grinding angle detection signal to the grinding module based on this calculation result. It should be noted that when the judgment result is no, the main control module will not send a blade grinding angle detection signal, and the fixing module will continue to tighten the fixation until the judgment result is yes. At this time, the fixation of the tool can meet the grinding requirements, and there will be no problems such as shaking or slipping, ensuring a good grinding effect.

[0066] S300. After the target tool is fixed, based on the standard grinding angle in the tool grinding parameters, the grinding module is controlled to adjust the grinding angle of the target tool, so that after the grinding angle of the target tool at the grinding end of the grinding module reaches the standard grinding angle, the grinding module is controlled to grind the target tool.

[0067] In step S300, the main control module adjusts the grinding module according to the standard grinding angle to ensure that the final grinding effect of the tool meets the user's expectations and does not cause poor grinding effect due to a grinding angle that is too large or too small.

[0068] Among them, the main control module can obtain the blade grinding angle information from the grinding module, and compare and calculate it with the standard grinding angle obtained in step S100 as a set of data, and judge whether the grinding module has reached the grinding angle corresponding to the standard grinding angle according to the calculation result, and based on this calculation result, judge whether to send a grinding start signal to the grinding module. It should be noted that when the judgment result is no, when the judgment result is no, the main control module will feedback the grinding angle adjustment signal to the grinding module to control the grinding module to adjust the grinding angle until the judgment result is yes. At this time, the grinding module has reached the angle required for grinding, which can ensure uniform grinding and achieve the expected grinding effect.

[0069] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tool automatic grinding system, characterized in that: A main control module, used for obtaining tool grinding parameters of a target tool, wherein the tool grinding parameters include a standard fixed position, a standard fixed degree and a standard grinding angle, and different tool grinding parameters correspond to different target tools; The main control module is electrically connected to the positioning module, the fixing module and the grinding module, respectively, and is used to control the positioning module to position the target tool according to the standard fixed position, and after positioning, control the fixing module to fix the target tool according to the standard fixing degree, so that after the fixing degree of the target tool reaches the standard fixing degree, the grinding module is controlled to adjust the grinding angle of the target tool based on the standard grinding angle, so that after the grinding angle of the target tool reaches the standard grinding angle, the grinding module is controlled to grind the target tool.

2. The automatic tool grinding system according to claim 1, characterized in that: A main control module, used for acquiring the tool grinding parameters of the target tool in response to the human-computer interaction operation, and after acquiring the tool grinding parameters of the target tool, generating a tool position detection control signal and sending it to the positioning module; A positioning module, configured to detect the position information of a target tool after receiving the tool position detection control signal, and send the position information to a main control module; A main control module, configured to determine whether the target tool is in the standard fixed position based on the position information, and when determining that the target tool is in the standard fixed position, send a tool fixing control signal to the fixing module to complete the positioning of the target tool; A fixing module, used for fixing the target tool after receiving the tool fixing control signal, and detecting and obtaining the fixing degree information of the target tool, so as to transmit the fixing degree information to the main control module; A main control module, configured to determine whether the fixation degree of the target tool reaches the standard fixation degree based on the fixation degree information, and send a blade grinding angle detection signal to the grinding module when it is determined that the target tool reaches the standard fixation degree; The grinding module is used to detect the blade grinding angle information of the target tool after receiving the blade grinding angle detection signal, and send the blade grinding angle information to the main control module; The main control module is used to determine whether the grinding angle of the target tool reaches the standard grinding angle based on the blade grinding angle information, and when it is determined that the grinding end of the grinding module reaches the standard grinding angle, control the operation of the grinding module to achieve automatic grinding of the target tool.

3. The automatic tool grinding system according to claim 2, characterized in that: The main control module is used to generate a grinding angle adjustment signal and send it to the grinding module when it is determined that the grinding angle of the target tool does not reach the standard grinding angle, so that the grinding module adjusts the grinding angle of the grinding end of the grinding module to the target tool to the standard grinding angle based on the grinding angle adjustment signal.

4. The automatic tool grinding system according to claim 2, characterized in that: The positioning module includes a horizontal positioning unit, a vertical positioning unit and a positioning processing unit; A horizontal positioning unit, configured to detect the horizontal position of a target tool after receiving the tool position detection control signal, so as to obtain horizontal position information; A vertical positioning unit, configured to detect the vertical position of a target tool after receiving the tool position detection control signal, so as to obtain vertical position information; The positioning processing unit is also used to obtain the position information according to the horizontal position information of the tool and the vertical position information of the tool and send it to the main control module.

5. The automatic tool grinding system according to claim 2, characterized in that: The fixing module includes a limit fixing mechanism, a stabilization fixing mechanism and a fixing degree detection mechanism; A limit fixing mechanism, used for responding to the tool fixing control signal to limit and fix the to-be-grinded portion of the target tool; A stabilizing and fixing mechanism, used for fixing two sides of a target tool in response to the tool fixing control signal; The fixing degree detection mechanism is used to detect the fixing degree of the target tool when the limit fixing mechanism and the stabilizing fixing mechanism are working, obtain the fixing degree information, and send the fixing degree information to the main control module.

6. The automatic tool grinding system according to claim 3, characterized in that: The grinding module includes an angle-fixing mechanism and a grinding mechanism; The fixed angle mechanism is used to respond to the blade grinding angle detection signal, detect the target tool to obtain blade grinding angle information, and send it to the main control module, and to respond to the grinding angle adjustment signal to adjust the grinding end of the grinding mechanism to a standard grinding angle. The grinding mechanism is used to grind the blade of the target tool through the grinding end after the grinding end of the grinding mechanism is adjusted to a standard grinding angle.

7. The automatic tool grinding system according to claim 6, characterized in that: The grinding mechanism comprises a displacement component and a grinding component, wherein the grinding component is fixedly connected to the displacement component; The main control module is also used to send the received position information to the displacement component; A displacement component, used for generating a grinding displacement route based on the position information, and driving the grinding component to move according to the grinding displacement route; The grinding component, as the grinding end of the grinding mechanism, is used to grind the target tool.

8. The automatic tool grinding system according to claim 7, characterized in that: The grinding components include a rough grinding component, a fine grinding component and a polishing component.

9. The automatic tool grinding system according to claim 2, characterized in that: It also includes a visual detection module, which is electrically connected to the main control module; The visual inspection module is used to verify the grinding effect of the target tool after grinding, and if the verification result fails, it will feedback a grinding restart signal to the main control module; The main control module is also used to control the grinding module to adjust the grinding angle of the target tool again in response to the grinding restart signal, and control the grinding module to grind the target tool when the grinding angle of the grinding end of the grinding module reaches the standard grinding angle.

10. A tool automatic grinding method, implemented based on the main control module in the tool automatic grinding system according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Acquiring tool grinding parameters, wherein the tool grinding parameters include a standard fixed position, a standard fixed degree, and a standard grinding angle; According to the standard fixed position in the tool grinding parameters, control the positioning module to position the target tool, and after positioning, control the fixing module to fix the target tool according to the standard fixed degree in the tool grinding parameters; After the target tool is fixed, the grinding module is controlled to adjust the grinding angle of the target tool based on the standard grinding angle in the tool grinding parameters, so that after the grinding angle of the target tool at the grinding end of the grinding module reaches the standard grinding angle, the grinding module is controlled to grind the target tool.

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