Intelligent control system for removing burrs of machined parts

Abstract

The invention relates to a part burr removing technology, in particular to an intelligent control system for removing burrs of machined parts, which is used for solving the problems that manual burr removing operation is poor in stability, parts are easy to damage, part of hidden burrs are difficult to perceive and remove, and the burr removing efficiency is low. Automation of the burr removing process is achieved through a plurality of modules arranged in the program controller, manual intervention is reduced, the production efficiency is improved, the path planning module conducts optimal planning on a burr treatment path according to a burr detection result, the efficiency and effect of burr removing work are improved, and the labor intensity of workers is lowered. The real-time monitoring module can monitor the working state of the deburring tool in real time, it is ensured that the deburring tool operates according to the optimal path, whether the deburring tool can continue to execute deburring work or not can be judged in real time, the whole control system is intelligently controlled through a program, dependence on manual deburring operation is reduced, the production cost is reduced, and the working efficiency is improved. And the safety risk possibly existing when the burrs are manually removed is avoided.

Description

Technical Field

[0001] The invention relates to a part burr removal technology, in particular to an intelligent control system for removing burrs from machined parts. Background Art

[0002] Some burrs on mechanical parts are caused by plastic deformation during cutting; some are flash from casting, die forging and other processes, and some are residual materials from welding extrusion; deburring is to remove the thorns or flash formed at the intersection of part faces; In the prior art, manual deburring has the problems of poor operational stability, easy to cause damage to parts, some hidden burrs are difficult to detect and remove, and low deburring efficiency. When intelligent machinery removes burrs, it is impossible to reasonably select tools according to the burr type, which makes it easy to cause damage to parts during the deburring operation, and it is impossible to reasonably plan the path, which affects production efficiency. After the deburring operation, it is impossible to judge the product quality and summarize the problems, so that the machine is operated according to the original procedure, which increases the amount of part damage caused by operational reasons, causing economic losses to users. In view of the above technical problems, this application proposes a solution. Summary of the invention

[0003] The purpose of the present invention is to realize the automation of the burr removal process through multiple modules set inside the program controller, reduce manual intervention, and improve production efficiency. The path planning module optimally plans the burr processing path according to the burr detection result, thereby improving the efficiency and effect of the deburring work. The real-time monitoring module can monitor the working status of the deburring tool in real time, ensure that the deburring tool operates according to the optimal path, and can judge in real time whether the tool can continue to perform the deburring work. The entire control system is intelligently controlled by the program, which reduces dependence on manual deburring operations, reduces production costs, and avoids possible safety risks during manual burr removal. It solves the problems of poor stability of manual deburring operations that easily cause damage to parts, some hidden burrs are difficult to detect and remove, and the deburring efficiency is low, and an intelligent control system for burr removal of machined parts is proposed.

[0004] The purpose of the present invention can be achieved through the following technical solutions: An intelligent control system for burr removal of machined parts includes a program controller, wherein a burr detection module, a path planning module, a real-time monitoring module and a completion detection module are arranged inside the program controller; The burr detection module detects the burr position data, burr size data, burr hardness data and part roughness data, and then processes the detected burr position data, burr size data, burr hardness data and part roughness data, and selects the burr removal method according to the processing results; A path planning module plans a burr processing path according to the burr position data, burr size data, burr hardness data and burr processing method transmitted by the burr detection module; The real-time monitoring module detects the working path, tilt angle, deburring speed and other data of the deburring tool, and processes the detected working path data, tilt angle data and deburring speed data to determine whether the deburring tool performs the deburring operation according to the optimal path, and determines in real time whether the deburring tool can continue to perform the deburring work; The completion inspection module detects the part size change, part surface hardness, and part surface residue, and processes the detected part size change data, part surface hardness data, and part surface residue data, and determines whether the deburring operation causes damage to the part based on the processing results.

[0005] As a preferred implementation of the present invention, the burr detection module performs data processing operations on the detected data, and the data processing steps are as follows: Step 1: The program controller transmits signals to control the measuring robot to measure the size of the part to be deburred. The length, width and height data of the part are , , , the distance data between the midpoint of the burr root and the side of the part is , the distance data from the other side of the part is ,like , it is determined that when performing the burr removal operation, the vertical line At the end away from the burr; if , it is determined that when performing the burr removal operation, the connection line Perform this operation at the end away from the burr; Step 2: The height of the burr The length of the line between the midpoint of the burr root and the raised end of the part is ,like and , then the burr removal method is determined to be cutting, otherwise, the hardness data of the burr Make a judgment, and are the preset burr length threshold and the preset lift height threshold respectively; the hardness data of the part is ,like , then it is determined that the surface of the part may not be a burr, but an attachment. , it is determined that the attachments on the surface of the part are directly removed, the program controller receives the signal and controls the cleaning robot to remove the attachments. On the contrary, it is determined that the attachments on the surface of the part are of high hardness and are removed by grinding. The program controller receives the signal and controls the cleaning robot to grind the attachments. is the preset attachment hardness threshold; Step 3: Deflection angle data of burr ,like , it is determined that mechanical removal is difficult and manual burr removal is recommended. Otherwise, it is determined that the program controller can transmit a signal to the deburring robot to remove the burrs and compare the hardness data of the burrs. If , If the burr hardness threshold is preset, the burr hardness is judged to be low, and the removal operation is simple, and the burr can be removed by grinding, filing or belt sanding. Otherwise, the burr hardness is judged to be high, and the removal operation is difficult, and the burr needs to be removed by electric spark machining, laser machining or ultrasonic impact.

[0006] As a preferred embodiment of the present invention, the burr detection module performs data processing operations on the part roughness data, and the data processing steps are as follows: Step 1: Adjust the detection tool to the state of part surface detection, then detect the accuracy of the detection tool, keep the detection tool state unchanged, and use the detection tool to detect the surface roughness of multiple smooth fine parts. If the test results show that the detection tool has no accuracy problem, then perform the part surface roughness test. Otherwise, adjust the detection tool accuracy, and then perform the part surface roughness test again; Step 2: Determine the purpose of the part surface and whether there are burrs on the surface that affect the use. Mark the part surface that affects the use, and then detect the roughness data of the marked part surface. Divide the surface of the detected part into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes that are convenient for roughness data detection. The roughness data of each divided area is , then the average roughness data within the divided rectangular area is ; Step 3: Average roughness data of the corresponding surface of the part is equal to the average value of the average roughness data of several divided rectangular areas. If , it is determined that burrs may appear on the corresponding surface of the part, and the changes in the working environment factors of the detection tool are determined. is the preset roughness threshold; Step 4: Detect the displacement data and temperature and humidity data of the working environment of the detection tool to determine whether the displacement data and temperature and humidity data change during the detection process, and whether the changes exceed the threshold to affect the detection accuracy. If it is determined that there is no impact, burrs appear on the corresponding surface of the part. Otherwise, it is determined to re-perform the detection operation.

[0007] As a preferred implementation of the present invention, the path planning module performs data processing operations on the detected data, and the data processing steps are as follows; Step 1: Scan each surface of the part, organize it into a plane figure, locate the burr position points on the plane figure, and calculate the flatness data of the plane with burrs. Perform the test. If the difference between the flatness data of the test point and the flatness data of the adjacent test point is less than the preset flatness threshold, it is determined that the two test points are on the same plane and there is no need to adjust the deburring tool. Step 2: Connect several detection points on the same plane and calculate the length of the connection. Select the path with the shortest total length data as the optimal path. The optimal path length data is , and then use the optimal path to correspond to the flatness data of each position on the connection line Conduct testing, if There is no greater than data, is a positive integer, the optimal path is not affected; otherwise, The flatness data of each location between the detection points on both sides of the position is detected; Step 3: Select the flatness data less than The detour is made at the position of , and the difference between the detour route length and the direct route length is calculated as , if there is a path length data in other paths that is less than , then re-plan the optimal path, otherwise, take a detour.

[0008] As a preferred embodiment of the present invention, the real-time monitoring module performs data processing operations on the detected data, and the data processing steps are as follows: Step 1: The degree of wear of the deburring tool is related to the processing speed, processing time and burr hardness of the deburring tool. The relationship between processing speed and deburring tool wear is: ; The relationship between processing time and deburring tool wear is ; The relationship between burr hardness and deburring tool wear is ; Step 2: The wear effects of the three on the deburring tool are: ,when When the wear on the deburring tool is too great, is the preset wear value of the tool; when the deburring tool is worn too much, , and Respectively For comparison, if , the deburring processing speed is reduced through the program controller; if or , the program controller sends a signal to suspend the deburring work, and the temperature data of the deburring tool When you restart the work, The preset fever threshold.

[0009] As a preferred embodiment of the present invention, the completion detection module performs data processing operations on the detected data, and the data processing steps are as follows: Step 1: After deburring, the length, width and height data of the parts are inspected to obtain , , ,like , and , it is determined that the size of the part has not changed before and after the deburring process. Otherwise, the temperature and humidity data of the part are tested; if If the humidity data is lower than the preset temperature and humidity threshold, it is determined that the deburring operation has caused damage to the part. Otherwise, it is determined that the size change of the part may be caused by the change of temperature and humidity data. After the temperature and humidity data returns to normal, retest; Step 2: Use a high-pressure fan to blow the deburring position of the part, and at the same time detect the displacement and contour change of the object at the deburring position of the part. If the displacement or contour shape changes, it is determined that there is residue on the surface of the part, and a cleaning signal is generated. The program controller receives the cleaning signal and controls the cleaning robot to clean the surface of the part; Step 3: Before and after cleaning the surface of the part, perform a hardness test on the surface of the part to determine whether the surface hardness of the part has changed. If a change in the surface hardness of the part is detected before cleaning, it is determined to be caused by the burr removal operation. If a change in the surface hardness of the part is detected after cleaning, a warning signal is generated, an alarm is sounded through the warning light, and "the cleaning fluid has caused the part hardness data to change" is displayed on the display screen of the deburring tool.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The burr removal process is automated through multiple modules set up inside the program controller, reducing manual intervention and improving production efficiency. The burr detection module can select the appropriate burr removal method based on the detection results, ensuring the accuracy of burr removal and part quality. The path planning module optimally plans the burr processing path based on the burr detection results, improving the efficiency and effectiveness of deburring. The real-time monitoring module can monitor the working status of the deburring tool in real time to ensure that the deburring tool operates according to the optimal path and can determine in real time whether the tool can continue to perform deburring work. The completion detection module ensures that the deburring operation will not cause damage to the parts, improving the quality of the finished parts. The entire control system is intelligently controlled by the program, reducing dependence on manual deburring operations, reducing production costs, and avoiding possible safety risks when removing burrs manually. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0012] Figure 1 It is a system flow chart of the present invention; Figure 2 This is a structural diagram of burr detection of the present invention. DETAILED DESCRIPTION

[0013] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] Example:

[0015] See also Figure 1-2 As shown, the intelligent control system for burr removal of machined parts includes a program controller, and the program controller is internally provided with a burr detection module, a path planning module, a real-time monitoring module and a completion detection module; The burr detection module detects the burr position data, burr size data, burr hardness data and part roughness data, and then processes the detected burr position data, burr size data, burr hardness data and part roughness data; As shown in the attached figure of the instruction manual Figure 2 As shown, make a connecting line at the root of the burr , connecting line Connect the two ends of the burr root to connect the wire Draw a vertical line from the midpoint of the part to the side of the part , vertical line The length data is , with connecting line Draw a connecting line from the midpoint of the part to the other side of the part , connecting line The length data is The length, width and height of the parts are , , ,like , it is determined that when performing the burr removal operation, the vertical line At the end away from the burr; if , it is determined that when performing the burr removal operation, the connection line Perform this operation at the end away from the burr; Connecting line Connect the midpoint of the part to the end point of the raised end to obtain the connection line , connection The length data is , and then in the three-dimensional coordinate system according to the connecting line Draw auxiliary lines , , , , , Length data is the height of the burr, if and , then the burr removal method is determined to be cutting, otherwise, the hardness data of the burr Make a judgment, and are the preset burr length threshold and the preset lift height threshold respectively; the hardness data of the part is ,like , then it is determined that the surface of the part may not be a burr, but an attachment. , it is determined that the attachments on the surface of the part are directly removed. Otherwise, it is determined that the attachments on the surface of the part are of greater hardness and are removed by grinding. is the preset attachment hardness threshold; Guidelines With coordinate system Angle between axes is the deflection angle data of the burr, the connecting line The distance between the midpoint of and the origin of the three-dimensional coordinate system is ,like , it is determined that mechanical removal is difficult and manual burr removal is recommended. Otherwise, it is determined that the burr can be removed by intelligent machinery and the hardness data of the burr are compared. If , If the burr hardness threshold is preset, the burr hardness is judged to be low, and the removal operation is simple, and the burr can be removed by grinding, filing or belt grinding. On the contrary, the burr hardness is judged to be high, and the removal operation is difficult, and the burr needs to be removed by electric spark machining, laser machining or ultrasonic impact. Before testing the surface roughness of parts, adjust the testing tool to the state of part surface testing, then test the accuracy of the testing tool, keep the state of the testing tool unchanged, and use the testing tool to test the surface roughness of multiple high-quality parts with smooth surfaces. If the test results show that the testing tool has no accuracy problem, then test the surface roughness of the parts. Otherwise, adjust the accuracy of the testing tool, and then test the surface roughness of the parts again. Determine the purpose of the six surfaces of the parts, determine whether there are burrs on the six surfaces that affect the use, mark the surfaces of the parts that affect the use, and then test the roughness data of the marked parts. Divide the test part surface into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes that are convenient for roughness data detection. The roughness data of each divided area is , then the average roughness data in the divided rectangular area , is the number of segmented areas, and the average roughness data of the corresponding surface of the part is equal to the average value of the average roughness data of several divided rectangular areas. If , it is determined that burrs may appear on the corresponding surface of the part, and the changes in the working environment factors of the detection tool are determined. The roughness threshold is preset; the displacement data and temperature and humidity data of the working environment of the detection tool are detected to determine whether the displacement data and temperature and humidity data change during the detection process of the detection tool, and whether the change exceeds the threshold to affect the detection accuracy. If it is determined that there is no impact, it is determined that burrs appear on the corresponding surface of the part, otherwise, it is determined to re-perform the detection operation; The path planning module plans the burr processing path according to the burr position data, burr size data, burr hardness data and burr processing method transmitted by the burr detection module; scans each surface of the part, organizes it into a plane graph, locates the burr position points on the plane graph, and calculates the flatness data of the plane with burrs. Perform the test. If the difference between the flatness data of the test point and the flatness data of the adjacent test point is less than the preset flatness threshold, the two test points are determined to be on the same plane. There is no need to adjust the deburring tool. Connect several test points on the same plane and calculate the length of the connection. Select the path with the shortest total length data as the optimal path. The optimal path length data is ; Then use the optimal path to correspond to the flatness data of each position on the connection line Conduct testing, if There is no greater than data, is a positive integer, the optimal path is not affected; otherwise, The flatness data of each point between the detection points on both sides of the position is tested, and the flatness data less than The detour is made at the position of , and the difference between the detour route length and the direct route length is calculated as , if there is a path length data in other paths that is less than , then re-plan the optimal path, otherwise, take a detour plan; The real-time monitoring module detects the working path, tilt angle, deburring speed and other data of the deburring tool when the deburring tool is performing the deburring operation, and processes the detected working path data, tilt angle data and deburring speed data to determine whether the deburring tool performs the burr removal operation according to the optimal path, and judges in real time whether the deburring tool can continue to perform the deburring work; the wear degree of the deburring tool is related to the processing speed, processing time and burr hardness of the deburring tool, and the relationship between the processing speed and the wear of the deburring tool , is a constant related to tool material and burr material, For processing speed, is an empirical index; the relationship between processing time and deburring tool wear , and is a constant related to tool wear rate, is the processing time; the relationship between burr hardness and deburring tool wear , and is a constant related to the tool and the burr material, then the wear effect of the three on the deburring tool is ,when When the deburring tool is judged to be worn too much, the processing speed should be reduced or the deburring operation should be suspended; The completion inspection module detects the part size change, part surface hardness, and part surface residue, and processes the detected part size change data, part surface hardness data, and part surface residue data; the length, width, and height data of the part before deburring are , , After deburring, the length, width and height data of the parts are detected to obtain , , ,like , and , it is determined that the size of the part has not changed before and after the deburring process; the part is blown at the deburring position by a high-pressure fan, and the displacement and contour change of the object at the deburring position of the part are detected. If the displacement or contour shape changes, it is determined that there is residue on the surface of the part, and a cleaning signal is generated to clean the surface of the part; before and after the cleaning operation on the part surface, the hardness of the part surface is tested to determine whether the surface hardness of the part changes. If a change in the surface hardness of the part is detected before cleaning, it is determined that it is caused by the burr removal operation; if a change in the surface hardness of the part is detected after cleaning, a warning signal is generated, an alarm is issued through the warning light, and "the cleaning fluid causes the part hardness data to change" is displayed on the display screen of the deburring tool.

[0016] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. Intelligent control system for burr removal of machined parts, characterized by: It includes a program controller, which is internally provided with a burr detection module, a path planning module, a real-time monitoring module and a completion detection module; The burr detection module detects the burr position data, burr size data, burr hardness data and part roughness data, and then processes the detected burr position data, burr size data, burr hardness data and part roughness data, and selects the burr removal method according to the processing results; A path planning module plans a burr processing path according to the burr position data, burr size data, burr hardness data and burr processing method transmitted by the burr detection module; The real-time monitoring module detects the working path, tilt angle, deburring speed and other data of the deburring tool, and processes the detected working path data, tilt angle data and deburring speed data to determine whether the deburring tool performs the deburring operation according to the optimal path, and determines in real time whether the deburring tool can continue to perform the deburring work; The completion inspection module detects the part size change, part surface hardness, and part surface residue, and processes the detected part size change data, part surface hardness data, and part surface residue data, and determines whether the deburring operation causes damage to the part based on the processing results.

2. The intelligent control system for deburring machined parts according to claim 1, characterized in that: The burr detection module performs data processing operations on the detected data. The data processing steps are as follows: Step 1: The program controller transmits signals to control the measuring robot to measure the size of the part to be deburred. The length, width and height data of the part are , , , the distance data between the midpoint of the burr root and the side of the part is , the distance data from the other side of the part is ,like , it is determined that when performing the burr removal operation, the vertical line At the end away from the burr; if , it is determined that when performing the burr removal operation, the connection line Perform this operation at the end away from the burr; Step 2: The height of the burr The length of the line between the midpoint of the burr root and the raised end of the part is ,like and , then the burr removal method is determined to be cutting, otherwise, the hardness data of the burr Make a judgment, and are the preset burr length threshold and the preset lift height threshold respectively; the hardness data of the part is ,like , then it is determined that the surface of the part may not be a burr, but an attachment. , it is determined that the attachments on the surface of the part are directly removed, the program controller receives the signal and controls the cleaning robot to remove the attachments. On the contrary, it is determined that the attachments on the surface of the part are of high hardness and are removed by grinding. The program controller receives the signal and controls the cleaning robot to grind the attachments. is the preset attachment hardness threshold; Step 3: Deflection angle data of burr ,like , it is determined that mechanical removal is difficult and manual burr removal is recommended. Otherwise, it is determined that the program controller can transmit a signal to the deburring robot to remove the burrs and compare the hardness data of the burrs. If , If the burr hardness threshold is preset, the burr hardness is judged to be low, and the removal operation is simple, and the burr can be removed by grinding, filing or belt sanding. Otherwise, the burr hardness is judged to be high, and the removal operation is difficult, and the burr needs to be removed by electric spark machining, laser machining or ultrasonic impact.

3. The intelligent control system for deburring machined parts according to claim 1, characterized in that: The burr detection module performs data processing operations on the part roughness data. The data processing steps are as follows: Step 1: Adjust the detection tool to the state of part surface detection, then detect the accuracy of the detection tool, keep the detection tool state unchanged, and use the detection tool to detect the surface roughness of multiple smooth fine parts. If the test results show that the detection tool has no accuracy problem, then perform the part surface roughness test. Otherwise, adjust the detection tool accuracy, and then perform the part surface roughness test again; Step 2: Determine the purpose of the part surface and whether there are burrs on the surface that affect the use. Mark the part surface that affects the use, and then detect the roughness data of the marked part surface. Divide the surface of the detected part into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes that are convenient for roughness data detection. The roughness data of each divided area is , then the average roughness data within the divided rectangular area is ; Step 3: Average roughness data of the corresponding surface of the part is equal to the average value of the average roughness data of several divided rectangular areas. If , it is determined that burrs may appear on the corresponding surface of the part, and the changes in the working environment factors of the detection tool are determined. is the preset roughness threshold; Step 4: Detect the displacement data and temperature and humidity data of the working environment of the detection tool to determine whether the displacement data and temperature and humidity data change during the detection process, and whether the changes exceed the threshold to affect the detection accuracy. If it is determined that there is no impact, burrs appear on the corresponding surface of the part. Otherwise, it is determined to re-perform the detection operation.

4. The intelligent control system for deburring machined parts according to claim 1, characterized in that: The path planning module performs data processing operations on the detected data, and the data processing steps are as follows; Step 1: Scan each surface of the part, organize it into a plane figure, locate the burr position points on the plane figure, and calculate the flatness data of the plane with burrs. Perform the test. If the difference between the flatness data of the test point and the flatness data of the adjacent test point is less than the preset flatness threshold, it is determined that the two test points are on the same plane and there is no need to adjust the deburring tool. Step 2: Connect several detection points on the same plane and calculate the length of the connection. Select the path with the shortest total length data as the optimal path. The optimal path length data is , and then use the optimal path to correspond to the flatness data of each position on the connection line Conduct testing, if There is no greater than data, is a positive integer, the optimal path is not affected; otherwise, The flatness data of each location between the detection points on both sides of the position is detected; Step 3: Select the flatness data less than The detour is made at the position of , and the difference between the detour route length and the direct route length is calculated as , if there is a path length data in other paths that is less than , then re-plan the optimal path, otherwise, take a detour.

5. The intelligent control system for deburring machined parts according to claim 1, characterized in that: The real-time monitoring module performs data processing operations on the detected data. The data processing steps are as follows: Step 1: The degree of wear of the deburring tool is related to the processing speed, processing time and burr hardness of the deburring tool. The relationship between processing speed and deburring tool wear is: ; The relationship between processing time and deburring tool wear is ; The relationship between burr hardness and deburring tool wear is ; Step 2: The wear effects of the three on the deburring tool are: ,when When the wear on the deburring tool is too great, is the preset wear value of the tool; when the deburring tool is worn too much, , and Respectively For comparison, if , the deburring processing speed is reduced through the program controller; if or , the program controller sends a signal to suspend the deburring work, and the temperature data of the deburring tool When you restart the work, The preset fever threshold.

6. The intelligent control system for deburring machined parts according to claim 1, characterized in that: The completion detection module performs data processing operations on the detected data. The data processing steps are as follows: Step 1: After deburring, the length, width and height data of the parts are inspected to obtain , , ,like , and , it is determined that the size of the part has not changed before and after the deburring process. Otherwise, the temperature and humidity data of the part are tested; if If the humidity data is lower than the preset temperature and humidity threshold, it is determined that the deburring operation has caused damage to the part. Otherwise, it is determined that the size change of the part may be caused by the change of temperature and humidity data. After the temperature and humidity data returns to normal, retest; Step 2: Use a high-pressure fan to blow the deburring position of the part, and at the same time detect the displacement and contour change of the object at the deburring position of the part. If the displacement or contour shape changes, it is determined that there is residue on the surface of the part, and a cleaning signal is generated. The program controller receives the cleaning signal and controls the cleaning robot to clean the surface of the part; Step 3: Before and after the cleaning operation, perform a hardness test on the surface of the part to determine whether the surface hardness of the part has changed. If the surface hardness of the part has changed before cleaning, it is determined to be caused by the burr removal operation; If a change in the surface hardness of the part is detected after cleaning, a warning signal is generated, an alarm is sounded through the warning light, and "the cleaning fluid has caused a change in the part hardness data" is displayed on the display of the deburring tool.

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