Intelligent Control System for Burr Removal of Machined Parts

Abstract

The present invention relates to the technology of removing burrs from parts, and is used to solve the problems that the stability of manual deburring operation is poor, which is likely to cause damage to parts, some hidden burrs are difficult to be detected and removed, and the deburring efficiency is low. Specifically, it is an intelligent control system for removing burrs from machined parts, including a program controller. The present invention realizes the automation of the burr removal process through multiple modules set inside the program controller, reduces manual intervention, and improves production efficiency. The path planning module optimally plans the burr processing path according to the burr detection results, improving the efficiency and effect of the deburring work. The real-time monitoring module can monitor the working state of the deburring tool in real time, ensure that the deburring tool operates along 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, reducing the dependence on manual deburring operation, lowering production costs, and avoiding the potential safety risks existing during manual burr removal.

Description

Technical Field

[0001] The present invention relates to the technology of removing burrs from parts, specifically an intelligent control system for removing burrs from machined parts. Background Art

[0002] Burrs on mechanical parts are caused by plastic deformation during the cutting process in some cases; some are flash from casting, die forging and other processes, and some are residues extruded by welding; deburring is to remove the spurs or flash formed at the intersection of part surfaces.

[0003] In the prior art, manual deburring has problems such as poor operation stability, easy damage to parts, difficulty in detecting and removing some hidden burrs, and low deburring efficiency. When using intelligent machinery for deburring, it is impossible to reasonably select tools according to the burr type, which easily causes damage to parts during deburring operations, cannot reasonably plan the path, affects production efficiency, and after the deburring operation, it is impossible to judge the product quality and summarize problems, so that the machinery operates according to the original program, increasing the amount of part damage caused by operation reasons and causing economic losses to users.

[0004] In view of the above technical problems, this application proposes a solution. Summary of the Invention

[0005] 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, improve production efficiency. The path planning module optimally plans the burr processing path according to the burr detection result, improving the efficiency and effect of the deburring work. The real-time monitoring module can monitor the working state of the deburring tool in real time, ensure that the deburring tool operates along 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, reducing the dependence on manual deburring operations, reducing production costs, and avoiding potential safety risks during manual deburring. To solve the problems of poor operation stability of manual deburring, easy damage to parts, difficulty in detecting and removing some hidden burrs, and low deburring efficiency, an intelligent control system for removing burrs from machined parts is proposed.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An intelligent control system for removing burrs from machined parts includes a program controller, and inside the program controller, there are a burr detection module, a path planning module, a real-time monitoring module and a completion detection module;

[0008] 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;

[0009] 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;

[0010] 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;

[0011] 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.

[0012] 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:

[0013] 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;

[0014] 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 a preset burr length threshold and a preset warping height threshold respectively; the hardness data of the part is If then it is determined that the surface of the part may not be a burr but an attachment. If then it is determined to directly remove the attachment on the surface of the part. The program controller receives the signal and controls the cleaning manipulator to remove the attachment. Otherwise, it is determined that the attachment on the surface of the part has a high hardness, and it is removed by grinding. The program controller receives the signal and controls the cleaning manipulator to grind the attachment. is a preset attachment hardness threshold;

[0015] Step 3: The deflection angle data of the burr If then it is determined that mechanical removal is difficult, and manual removal of the burr is recommended. Otherwise, it is determined that a signal can be transmitted through the program controller to the deburring manipulator to remove the burr, and the hardness data of the burr is compared. If , is a preset burr hardness threshold, then it is determined that the hardness of the burr is low, and the removal operation is simple. The burr can be removed by grinding, filing, or abrasive belt grinding, etc. Otherwise, it is determined that the hardness of the burr is high, and the removal operation is difficult, and the burr needs to be removed by electric discharge machining, laser machining, or ultrasonic impact, etc.

[0016] 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:

[0017] Step 1: Adjust the detection tool to the state when detecting the surface of the part, and then detect the accuracy of the detection tool. Keep the state of the detection tool unchanged, and use the detection tool to detect the surface roughness of multiple smooth precision parts. If the detection result shows that there is no accuracy problem with the detection tool, then detect the surface roughness of the part. Otherwise, adjust the accuracy of the detection tool and then detect the surface roughness of the part;

[0018] Step 2: Judge the use of the surface of the part, determine whether there are burrs on the surface that affect the use, mark the surface of the part that affects the use, and then detect the roughness data of the marked part surface. Divide the detected part surface into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes convenient for detecting the roughness data. The roughness data of each divided area is then the average roughness data within the divided rectangular area is ;

[0019] Step 3: The average roughness data of the corresponding surface of the part equal to the average 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;

[0020] Step Four: Detect the displacement data and temperature and humidity data of the working environment of the detection tool, and judge whether the displacement data and temperature and humidity data change during the detection process, and whether the changes exceed the threshold and affect the detection accuracy. If it is determined that there is no influence, it is determined that burrs appear on the corresponding surface of the part. Otherwise, it is determined to perform the detection operation again.

[0021] As a preferred embodiment of the present invention, the path planning module performs data processing operations on the detected data, and the data processing steps are as follows;

[0022] Step One: Scan each surface of the part, organize it into a planar graph, and locate the burr position points on the planar graph. Detect the flatness data of the burr-containing plane. If the difference between the flatness data of the detection point and the flatness data of the adjacent detection point is less than the preset flatness threshold, it is determined that the two detection points are on the same plane, and there is no need to adjust the deburring tool;

[0023] Step Two: Connect several detection points on the same plane, calculate the length of the connection line, and select the path with the shortest total length data as the optimal path. The optimal path length data is , and then detect the flatness data at each position on the connection line corresponding to the optimal path. If there is no data greater than in , where is a positive integer, it is determined that the optimal path is not affected. Otherwise, detect the flatness data at each position between the two detection points on both sides of the

[0024] Step Three: Select the positions where the flatness data is less than for detouring, and calculate the difference between the length of the detour route and the length of the direct passage route as . If there is a path length data less than in other paths, re-plan the optimal path. Otherwise, adopt the detouring scheme.

[0025] 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:

[0026] Step 1: The wear degree of the deburring tool is related to the processing speed, processing time, and burr hardness of the deburring tool. The relationship between the processing speed and the wear of the deburring tool is ; The relationship between the processing time and the wear of the deburring tool is ; The relationship between the burr hardness and the wear of the deburring tool is ;

[0027] Step 2: The influence of the three on the wear of the deburring tool is , when , it is determined that the wear on the deburring tool is too large, is the preset wear value of the tool; when the wear of the deburring tool is too large, , and are respectively compared with . If , the processing speed of deburring is reduced by the program controller; if or , a signal is sent through the program controller to pause the deburring operation. When the temperature data of the deburring tool , the operation is restarted, is the preset heat generation threshold.

[0028] As a preferred embodiment of the present invention, the completion detection module performs data processing operations on the detected data. The data processing steps are as follows:

[0029] Step 1: After the deburring operation, the length, width, and height data of the part are detected to obtain , , . If , and , it is determined that the dimensions of the part have not changed before and after the deburring process. Otherwise, the temperature and humidity data of the part are detected; if the humidity data is lower than the preset temperature and humidity threshold, it is determined that the deburring operation has damaged the part. Otherwise, it is determined that the dimensional change of the part may be caused by the change in temperature and humidity data. After the temperature and humidity data return to normal, the detection is restarted;

[0030] Step 2: The deburring position of the part is blown by a high-pressure fan, and at the same time, the displacement and contour changes 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. The program controller receives the cleaning signal and controls the cleaning manipulator to clean the surface of the part;

[0031] Step 3: Before and after the cleaning operation on the part surface, perform hardness tests on the part surface to determine whether the surface hardness of the part has changed. If the surface hardness of the part is detected to have changed before cleaning, it is determined that the burr removal operation has caused it; if the surface hardness of the part is detected to have changed after cleaning, a warning signal is generated, an alarm is issued through the warning light, and "The cleaning liquid has caused a change in the hardness data of the part" is displayed on the display screen of the deburring tool.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] The automation of the burr removal process is realized through multiple modules set inside the program controller, reducing manual intervention and improving production efficiency. The burr detection module can select a suitable burr removal method according to the detection results, ensuring the accuracy of burr removal and the quality of parts. The path planning module optimally plans the burr processing path according to the burr detection results, improving the efficiency and effect of the deburring work. The real-time monitoring module can monitor the working state of the deburring tool in real time, ensure that the deburring tool operates along the optimal path, and can judge in real time whether the tool can continue to perform the deburring work. The completion detection module ensures that the deburring operation will not damage the part, improving the quality of the completed parts. The entire control system is intelligently controlled by the program, reducing the dependence on manual deburring operations, reducing production costs, and avoiding potential safety risks during manual burr removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0035] Figure 1 is the system flow structure diagram of the present invention;

[0036] Figure 2 is the burr detection structure diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] Embodiment:

[0039] Please refer to Figure 1-2 as shown. The intelligent control system for removing burrs from machined parts includes a program controller, and inside the program controller, there are a burr detection module, a path planning module, a real-time monitoring module, and a completion detection module;

[0040] 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;

[0041] 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;

[0042] 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 part surface are directly removed by scraping. Otherwise, it is determined that the attachments on the part surface are relatively hard, and the grinding method is used for scraping. is the preset attachment hardness threshold;

[0043] Auxiliary line The included angle with the coordinate system axis is the burr deflection angle data. The distance between the midpoint of the connecting line and the three-dimensional coordinate origin is . If , it is determined that mechanical removal is difficult, and manual burr removal operation is recommended. Otherwise, it is determined that burr removal can be performed by intelligent machinery, and the hardness data of the burrs are compared. If , is the preset burr hardness threshold, it is determined that the burrs are relatively soft and the removal operation is simple. Burrs can be removed by grinding, filing or abrasive belt grinding. Otherwise, it is determined that the burrs are relatively hard and the removal operation is difficult, and burrs need to be removed by electric discharge machining, laser machining or ultrasonic impact;

[0044] Before detecting the surface roughness of the part, adjust the detection tool to the state during part surface detection, and then detect the accuracy of the detection tool. Keep the state of the detection tool unchanged, and use the detection tool to detect the surface roughness of multiple smooth parts. If the detection results show that there is no accuracy problem with the detection tool, then detect the surface roughness of the part. Otherwise, adjust the accuracy of the detection tool and then detect the surface roughness of the part. Judge the uses of the six surfaces of the part, determine whether there are burrs on the six surfaces that affect the use, mark the part surfaces that affect the use, and then detect the roughness data of the marked part surfaces. Divide the detected part surface into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes convenient for detecting roughness data. The roughness data of each divided area is , then the average roughness data in the divided rectangular area is the number of divided 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 there may be burrs on the corresponding surface of the part, and judge the changes in the working environment factors of the detection tool. is a preset roughness threshold; detect the displacement data and temperature and humidity data of the working environment of the detection tool, and determine whether the displacement data and temperature and humidity data change during the detection process of the detection tool, and whether the changes exceed the threshold and affect the detection accuracy. If it is determined that there is no impact, it is determined that there are burrs on the corresponding surface of the part to be judged. Otherwise, it is determined to perform the detection operation again;

[0045] 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; scan each surface of the part, organize it into a planar graph, and locate the burr position points on the planar graph, and perform flatness data on the plane with burrs is detected. If the difference between the flatness data of the detection point and the flatness data of the adjacent detection point is less than the preset flatness threshold, it is determined that the two detection points are on the same plane, and there is no need to adjust the deburring tool. Connect several detection points on the same plane, calculate the length of the connection, and select the path with the shortest total length data as the optimal path. The optimal path length data is ;

[0046] Then, the flatness data at each position on the connection corresponding to the optimal path is detected. If there is no data greater than in, is a positive integer, it is determined that the optimal path is not affected. Otherwise, the flatness data at each position between the two detection points on both sides of the position is detected, and a detour is selected at the position where the flatness data is less than . Calculate the difference between the length of the detour route and the length of the direct passage route as . If there is a path length data less than in other paths, the optimal path is planned again. Otherwise, a detour plan is adopted;

[0047] The real-time monitoring module detects data such as the working path, tilt angle, and deburring speed of the deburring tool during the deburring operation 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 burr removal operation according to the optimal path, and real-time judge 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. The relationship between the processing speed and the wear of the deburring tool , is a constant related to the tool material and burr material, is the processing speed, is the experience index; the relationship between processing time and deburring tool wear , and are constants related to the tool wear rate, is the processing time; the relationship between burr hardness and deburring tool wear , and are constants related to the tool and burr materials, then the wear effects of the three on the deburring tool are , when , it is determined that the wear on the deburring tool is too large, and the processing speed should be reduced or the deburring operation should be paused;

[0048] The completion detection 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 the deburring operation are respectively , , , after the deburring operation, the length, width, and height data of the part are detected to obtain , , , if , and , it is determined that the dimensions of the part have not changed before and after the deburring process; the deburring position of the part is blown by a high-pressure fan, and at the same time, 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 part surface, a cleaning signal is generated, and a cleaning operation is performed on the part surface; before and after the cleaning operation on the part surface, the hardness of the part surface is detected respectively to determine whether the hardness of the part surface has changed. If the hardness of the part surface is detected to have changed before cleaning, it is determined that it is caused by the deburring operation; if the hardness of the part surface is detected to have changed after cleaning, a warning signal is generated, an alarm is issued through a warning light, and "the cleaning liquid causes the part hardness data to change" is displayed on the display screen of the deburring tool.

[0049] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation manners. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An intelligent control system for removing burrs from machined parts, characterized in that, It includes a program controller, and inside the program controller, there are 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 treatment method according to the processing results; The path planning module plans the burr treatment path according to the burr position data, burr size data, burr hardness data, and burr treatment method transmitted by the burr detection module; The real-time monitoring module detects the working path, tilt angle, and deburring speed data of the deburring tool, and processes the detected working path data, tilt angle data, and deburring speed data, determines whether the deburring tool performs the burr removal operation along the optimal path, and judges in real time whether the deburring tool can continue to perform the deburring work; The completion detection 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 damages the part according to the processing results.

2. The intelligent control system for deburring of machined parts according to claim 1, wherein 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 manipulator to measure the dimensions of the part to be deburred. The length, width, and height data of the part are respectively , , . A connecting line is made at the root of the burr. The connecting line connects both ends of the burr root. From the midpoint of the connecting line , a vertical line is drawn along the height direction of the part towards the upper side of the part. The length data of the vertical line is . From the midpoint of the connecting line , a connecting line is drawn along the length direction of the part towards the left side of the part. The length data of the connecting line is . If , it is determined that when performing the burr removal operation, it is carried out from the upper side of the part downwards; if , it is determined that when performing the burr removal operation, it is carried out from the left side of the part from left to right; Step 2: Connect a line from the midpoint of the connecting line to the endpoint of the raised end of the burr to obtain a connecting line . The length data of the connecting line is . Then, obtain the height value of the burr raised along the surface of the part in a three-dimensional coordinate system. If and , it is determined that the burr treatment method is cutting. Otherwise, judge the hardness data of the burr. and are the preset burr length threshold and the preset raised height threshold respectively; the hardness data of the part is . If , it is determined that the surface of the part may not be a burr but an attachment. If , it is determined to directly remove the attachment on the surface of the part. The program controller receives the signal and controls the cleaning manipulator to remove the attachment. Otherwise, it is determined that the attachment on the surface of the part has a high hardness and is removed by grinding. The program controller receives the signal and controls the cleaning manipulator to grind the attachment. is the preset attachment hardness threshold. Step 3: Burr deflection angle data , if , it is determined that mechanical removal is difficult, and manual burr removal operation is recommended. Otherwise, it is determined that a signal can be transmitted to the deburring tool through the program controller for burr removal operation, and the hardness data of the burrs are compared; if , is the preset burr hardness threshold, it is determined that the hardness of the burrs is low, the removal operation is simple, and burrs can be removed by grinding, filing or abrasive belt grinding. Otherwise, it is determined that the hardness of the burrs is high, the removal operation is difficult, and burrs need to be removed by electrical discharge machining, laser machining or ultrasonic impact.

3. The intelligent control system for deburring of machined parts according to claim 1, characterized in that, 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 when detecting the part surface, and then detect the accuracy of the detection tool. Keep the state of the detection tool unchanged, and use the detection tool to detect the surface roughness of multiple smooth high-quality parts. If the detection results show that there is no accuracy problem with the detection tool, then detect the surface roughness of the part. Otherwise, adjust the accuracy of the detection tool, and then detect the surface roughness of the part; Step 2: Judge the use of the part surface, determine whether there are burrs on the surface that affect the use, mark the part surfaces that affect the use, then detect the roughness data of the marked part surfaces, divide the detected part surfaces into several uniform rectangles, and then evenly divide the divided rectangular areas into sizes 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 corresponding surfaces of parts Equal to the average value of the average roughness data of several divided rectangular regions. 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 value; Step 4: Detect the displacement data of the detection tool and the temperature and humidity data of the working environment, and judge whether the displacement data and temperature and humidity data change during the detection work of the detection tool, and whether the changes exceed the threshold and affect the detection accuracy. If it is determined that there is no influence, then it is determined that there are burrs on the corresponding surface of the part. Otherwise, it is determined to perform the detection operation again.

4. The intelligent control system for deburring of 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 planar graph, and locate the burr position points on the planar graph. Then, measure the flatness data of the surface with burrs. If the difference between the flatness data of the detected point and the flatness data of the adjacent detected point is less than the preset flatness threshold, it is determined that the two detected points are on the same plane, and no adjustment of the deburring tool is required. Step 2: Connect several detection points on the same plane, calculate the lengths of the connections, and select the path with the shortest total length data as the optimal path. The optimal path length data is , and then use the flatness data at each position on the connection corresponding to the optimal path for detection. , if there is no data greater than , it is determined that the optimal path is not affected; otherwise, the flatness data at each position between the detection points on both sides of the position is detected. Step 3: Select a position where the flatness data is less than and take a detour. Calculate the difference between the length of the detour route and the length of the direct route as . If there is a path length data less than in other paths, re-plan the optimal path; otherwise, adopt the detour plan.

5. The intelligent control system for deburring of machined parts according to claim 1, characterized in that, 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 the processing speed and the wear of the deburring tool , is a constant related to the tool material and burr material, is the processing speed, is the empirical exponent; The relationship between the processing time and the wear of the deburring tool , and are constants related to the tool wear rate, is the processing time; Relationship between Burr Hardness and Burr Removal Tool Wear , and are constants related to the tool and burr material, is the hardness data of the burr; Step 2: The influence of the three on the wear of the deburring tool is When , it is determined that the wear of the deburring tool is excessive, being the preset wear value of the tool; when the wear of the deburring tool is excessive, , and are respectively compared with . If , the processing speed of the deburring tool is reduced through the program controller; if or , a signal is transmitted through the program controller to pause the deburring work, and when the temperature data of the deburring tool , the work is restarted, being the preset heat generation threshold.

6. The intelligent control system for deburring of machined parts according to claim 1, characterized in that, The completion detection module performs data processing operations on the detected data, and the data processing steps are as follows: Step 1: After the deburring operation, detect the length, width, and height data of the part to obtain , , . If , and , it is determined that the dimensions of the part have not changed before and after the deburring process. Otherwise, detect the temperature and humidity data of the part. If the temperature and humidity data are lower than the preset temperature and humidity thresholds, it is determined that the deburring operation has damaged the part. Otherwise, it is determined that the dimensional change of the part may be caused by the change in temperature and humidity data. After the temperature and humidity data return to normal, re-detection is carried out; Step 2: Blow the deburring position of the part through a high-pressure fan, 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 part surface, generate a cleaning signal, and the program controller receives the cleaning signal and controls the cleaning manipulator to clean the part surface; Step 3: Before and after the cleaning operation on the part surface, perform hardness tests on the part surface respectively to determine whether the hardness of the part surface has changed. If the hardness of the part surface is detected to have changed before cleaning, it is determined that the burr removal operation is the cause; If the hardness of the part surface is detected to have changed after cleaning, generate a warning signal, sound an alarm through a warning light, and display "The cleaning fluid has caused a change in the hardness data of the part" on the display screen of the deburring tool.

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