Deburring method and deburring device

Abstract

The invention relates to the technical field of machining, in particular to a deburring method and a deburring device.The deburring method comprises the steps that a workpiece to be polished is fixed to a positioning tool; performing visual identification on the position of the to-be-polished workpiece to generate a first position signal; adjusting the to-be-polished workpiece to a preset position according to the first position signal; performing visual identification on the position of the to-be-polished workpiece to generate a second position signal; and the polishing tool is moved to a to-be-machined area inside or outside the workpiece according to the second position signal, and deburring operation is executed. According to the scheme, the defect that the deburring effect is poor due to inaccurate positioning in the prior art is overcome, and more accurate and efficient deburring operation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, and in particular to a deburring method and a deburring device. Background Art

[0002] During the machining process, burrs often appear on the surface or edge of the workpiece. These burrs not only affect the appearance quality of the product, but may also have an adverse effect on the subsequent assembly process and even reduce the service life of the product. Therefore, it is very necessary to perform effective deburring before the product leaves the factory.

[0003] The prior art usually relies on manual adjustment or simple mechanical positioning devices to determine the relative position between the workpiece and the grinding tool. Although this can meet basic needs to a certain extent, the lack of a precise position control mechanism often leads to positioning deviations in actual operations.

[0004] For example, when faced with workpieces with complex or variable shapes, it is difficult to ensure that the workpiece can be placed in exactly the same position every time; even for workpieces with regular shapes, it is difficult to maintain good repeat positioning accuracy for a long time due to manufacturing errors in the fixture itself and possible wear after long-term use. In addition, when quickly changing products of different specifications and models on a continuous production line, frequent adjustments to equipment parameters will also increase the chance of errors. Summary of the invention

[0005] The present invention provides a deburring method and a deburring device, which are used to solve the defect of poor deburring effect caused by inaccurate positioning in the prior art, and realize more accurate and efficient deburring operation.

[0006] The present invention provides a deburring method, comprising: fixing a workpiece to be polished on a positioning tool; visually identifying the position of the workpiece to be polished to generate a first position signal; adjusting the workpiece to be polished to a preset position according to the first position signal; visually identifying the position of the workpiece to be polished to generate a second position signal; and moving a polishing tool to a to-be-processed area inside or outside the workpiece according to the second position signal to perform a deburring operation.

[0007] According to a deburring method of the present invention, the step of performing the deburring operation further includes: real-time monitoring and feedback of force data of the grinding tool; and controlling the grinding force of the grinding tool according to the force data.

[0008] According to a deburring method of the present invention, the step of visually identifying the position of the workpiece to be polished also includes: identifying the workpiece type of the workpiece to be polished; selecting a corresponding automatic polishing program according to the workpiece type, and setting the polishing contact force during the deburring operation.

[0009] According to a deburring method of the present invention, the step of performing the deburring operation further includes: adjusting the positioning angle of the workpiece to be polished; visually identifying the position of the workpiece to be polished to generate a new second position signal; moving the polishing tool to the area to be processed inside or outside the workpiece according to the second position signal to perform the deburring operation.

[0010] The present invention also provides a deburring device for executing the deburring method as described in any of the above embodiments, the device comprising: a robot, a mobile end of the robot being equipped with an electric spindle for loading a grinding tool; a visual camera installed on one side of the mobile end for position identification of a workpiece to be ground; and a positioning tooling arranged on one side of the robot for positioning and installing the workpiece to be ground.

[0011] According to a deburring device of the present invention, the mobile end of the robot is provided with a multi-dimensional force sensor; the multi-dimensional force sensor is coaxially arranged with the electric spindle, and is used for real-time monitoring of the radial force received by the electric spindle in multiple directions.

[0012] According to a deburring device of the present invention, the positioning tool is provided with a displacement mechanism and a clamping mechanism; the clamping mechanism is used to clamp the workpiece to be polished; the displacement mechanism is arranged between the positioning tool and the clamping mechanism, and is used to drive the clamping mechanism to rotate or move relative to the positioning tool.

[0013] According to a deburring device of the present invention, the clamping mechanism is detachably mounted on the positioning fixture; based on various types of workpieces to be polished, the deburring device is equipped with various clamping mechanisms that are compatible with the workpieces to be polished.

[0014] According to a deburring device of the present invention, the robot includes: a base, connected to a power supply line and a control line; a rotating seat, rotatably mounted on the base around a vertical axis; a first swing arm, the head end of the first swing arm is rotatably mounted on the rotating seat around a first horizontal axis; a second swing arm, the head end of the second swing arm is rotatably mounted on the end of the first swing arm around a second horizontal axis; a working arm, rotatably mounted on the end of the second swing arm, and the mobile end is swingably mounted on the working arm.

[0015] A deburring device according to the present invention comprises one or more of the following structures: a tool holder, arranged on one side of the robot, for storing a plurality of the grinding tools; a filter, located below the positioning fixture, for collecting waste chips; a liquid supply mechanism, located below the positioning fixture, for providing coolant; and a device casing, wherein a working space is formed inside, and the deburring device is integrated in the working space.

[0016] The deburring method and deburring device provided by the present invention solve the problem of poor deburring effect caused by inaccurate positioning in the prior art by fixing the workpiece to be polished on the positioning fixture and using visual recognition technology to accurately identify and adjust the position of the workpiece to be polished. First, the visual recognition system generates a first position signal, and automatically adjusts the workpiece to be polished to a preset position according to the signal to ensure that all workpieces are in the same reference coordinate system before deburring begins. Then, the visual recognition system is used again to generate a second position signal to more accurately determine a specific area or feature point on the workpiece. Based on these high-precision position information, the control system can command the grinding tool to move accurately to the area to be processed inside or outside the workpiece, and perform efficient and accurate deburring operations. The above-mentioned deburring method and the deburring device using this method not only improve the positioning accuracy during the deburring process, but also improve the consistency and efficiency of the overall operation, and achieve a more refined, reliable and efficient deburring effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic flow chart of the deburring method provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of the deburring device provided by the present invention.

[0020] Figure 3 It is a schematic structural diagram of the robot of the deburring device provided by the present invention.

[0021] Reference numerals: 10. Robot; 11. Mobile terminal; 12. Electric spindle; 13. Grinding tool; 14. Visual camera; 15. Multi-dimensional force sensor; 20. Positioning tool; 31. Base; 32. Rotating seat; 33. First swing arm; 34. Second swing arm; 35. Working arm; 41. Tool holder; 42. Equipment housing. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not 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.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0024] Combine the following Figures 1 to 3 Specific embodiments of the deburring method and the deburring device of the present invention are described.

[0025] like Figure 1 As shown, the present invention provides a deburring method, comprising the following steps: Step 110, fix the workpiece to be polished on the positioning fixture. First, select a suitable positioning fixture. Through the mechanical fixture or other fixing devices of the positioning fixture, ensure that the workpiece to be polished will not move or loosen during the entire processing process, thereby providing a stable foundation for subsequent high-precision operations.

[0026] Step 120: Visually identify the position of the workpiece to be polished to generate a first position signal. Specifically, a high-resolution camera installed on the equipment is used to fully scan the fixed workpiece. The scanned data can be analyzed by image processing software to determine the current exact position and posture of the workpiece, and this information is converted into a digital first position signal for subsequent precise adjustment.

[0027] Step 130: adjust the workpiece to be polished to a preset position according to the first position signal. Specifically, after receiving the first position signal, the control system calculates the specific displacement amount and / or direction required for the workpiece. Then, the position of the workpiece on the tooling is automatically adjusted through a servo motor or other precision drive mechanism until it reaches a preset ideal starting point.

[0028] Step 140: Visually identify the position of the workpiece to be polished to generate a second position signal. Specifically, after the workpiece has been adjusted to the preset position, the visual system is used again to perform a more detailed inspection of the key feature points or the area to be processed of the workpiece to ensure that the workpiece is adjusted in place. The result of this inspection will form a more accurate second position signal, providing accurate information about the local details of the workpiece, so as to facilitate the next step of precise processing.

[0029] Step 150: Move the grinding tool to the area to be processed inside or outside the workpiece according to the second position signal to perform deburring. Specifically, the control system accurately locates and guides the grinding tool (such as a grinding wheel, a grinding head, a tool, etc.) to the designated area to be processed based on the latest second position signal. Subsequently, the grinding tool is started to work and burrs on the surface or edge of the workpiece are removed according to preset parameters. The entire process is monitored by an automated control system to ensure the consistency and high quality of the deburring operation.

[0030] Furthermore, according to a deburring method of the present invention, the step of performing the deburring operation further includes the following steps: Step 151, real-time monitoring and feedback of the force data of the grinding tool. Specifically, a force sensor or torque sensor is installed on the grinding tool to accurately measure the pressure applied to the surface of the workpiece or the resistance encountered by the grinding tool during the grinding process. The collected data is instantly sent to the control system via a signal transmission line. Real-time monitoring helps to ensure the safety of the entire processing process and can effectively avoid damage to the workpiece or grinding tool caused by excessive pressure.

[0031] Step 152, control the grinding force of the grinding tool according to the force data. Specifically, after receiving the real-time feedback information from the force sensor, the control system will automatically analyze whether the current grinding operation is within the ideal working range. If the detected force exceeds the preset safety threshold or is lower than the required minimum force, the system will adjust the speed and feed rate of the grinding tool accordingly or directly change the pressure applied to the workpiece to maintain an optimal and uniform removal effect. Through the above-mentioned adaptive adjustment mechanism, effective processing of workpieces of different materials, shapes and sizes can be achieved, thereby improving the overall efficiency and flexibility of the deburring process.

[0032] Furthermore, according to a deburring method of the present invention, the step of visually identifying the position of the workpiece to be polished further includes: Step 121, identify the type of the workpiece to be polished. Specifically, through a high-resolution camera and advanced image processing algorithms, the visual recognition system can not only determine the position and posture of the workpiece, but also identify its type according to the shape, size and other features of the workpiece, including but not limited to flat workpieces, curved workpieces, workpieces with holes, etc. The visual recognition device or software has preset templates for various workpiece types, which can be matched with the real-time collected images to accurately determine the specific type of the current workpiece.

[0033] Step 122, select the corresponding automatic grinding program according to the workpiece type, and set the grinding contact force during the deburring operation. Specifically, once the workpiece type is determined, the control system will call the preset grinding program that matches the type from the database. These programs can contain parameters such as the optimal grinding path, speed, and force for different types of workpieces. For example, for workpieces with harder materials or complex shapes, a lower speed but a higher contact force may be set; while for soft materials or simple planes, a higher speed but a lower contact force may be used. In addition, the grinding contact force can be fine-tuned according to actual needs to ensure that burrs can be effectively removed without damaging the workpiece surface, making the entire deburring process more intelligent and efficient, while ensuring the consistency of processing quality.

[0034] Furthermore, according to a deburring method of the present invention, after performing the deburring operation, the method further comprises: Step 201, adjust the positioning angle of the workpiece to be polished. Specifically, if it is found that there are still areas that need to be processed after the initial deburring operation, or if the workpiece has multiple sides or multiple angles that need to be deburred, the control system will adjust the positioning angle of the workpiece according to the preset program or the operator's instructions. This can be achieved by rotating the worktable or using a multi-axis positioning system to ensure that the workpiece can be adjusted to a new posture to facilitate subsequent processing of different surfaces or edges. In general, after completing the polishing operation on one side, the posture of the workpiece to be polished can be changed to continue the deburring operation without reloading the workpiece to be polished, thereby improving the efficiency of the entire process.

[0035] Step 202: Visually identify the position of the workpiece to be polished to generate a new second position signal. Specifically, after the workpiece is repositioned, the visual recognition system is started again to perform a comprehensive scan of the new position of the workpiece, not only to confirm the current exact position and posture of the workpiece, but also to identify previously unprocessed areas or newly exposed surfaces. The image processing software analyzes this data and generates a new second position signal, which contains all the necessary information about the new position of the workpiece to guide the next step of operation.

[0036] Step 203, move the grinding tool to the area to be processed inside or outside the workpiece according to the second position signal, and perform a deburring operation. Specifically, the control system accurately calculates the path and coordinates required for the grinding tool to reach the new area to be processed based on the latest second position signal. Subsequently, the control system commands the grinding tool to move to the specified position according to the calculated trajectory and starts a new deburring operation. During this process, the force data of the grinding tool will also be monitored and fed back in real time, and the grinding force will be dynamically adjusted according to the actual situation to ensure the safety and effectiveness of the entire deburring process. This cyclic adjustment and re-identification process can be repeated many times until all areas that need to be processed achieve a satisfactory deburring effect. In this way, the deburring tasks of multiple faces or angles can be completed continuously and efficiently without interrupting the production process, greatly improving the overall work efficiency.

[0037] According to a preferred embodiment of the present invention, the deburring method comprises the following steps: first, the workpiece to be polished is fixed on the positioning fixture to ensure that it remains stable during the entire processing process. A high-precision camera identifies the position of the fixed workpiece and sends the identified position signal to the displacement mechanism. The displacement mechanism automatically adjusts the position of the workpiece based on this information to reach the preset standard starting position. When the workpiece is adjusted to the preset position, the camera accurately identifies the position of the workpiece again, generates a new position signal, and sends the signal to the robot control system. Based on the latest position signal, the robot control system commands the robot to carry the polishing tool to move to the area to be processed inside or outside the workpiece. The polishing tool contacts the surface of the workpiece and starts to perform the deburring operation. In this process, the robot can perform contour processing according to the spatial contour of the workpiece to adapt to workpieces of different shapes and complex structures. During the deburring process, the multi-dimensional force sensor monitors the pressure or resistance of the polishing tool in real time and feeds back this data to the robot control system. According to the feedback data, the control system dynamically adjusts the robot's motion parameters, such as speed, force, etc., to ensure the best deburring effect and prevent over-processing or damage to the workpiece. When different types of workpieces need to be processed, the device automatically detects the type of workpiece and switches to the corresponding preset program. At the same time, the quick-change spindle system will quickly replace the tool suitable for the current workpiece on the tool holder. After the tool change is completed, the above steps will be repeated to efficiently complete the deburring work of different types of workpieces.

[0038] The deburring device provided by the present invention is described below. The deburring device described below and the deburring method described above can be referred to each other.

[0039] like Figure 2 and Figure 3As shown, the present invention also provides a deburring device for performing the deburring method of any of the above embodiments, the device comprising: a robot 10, a mobile end 11 of the robot 10 is equipped with an electric spindle 12 for loading a grinding tool 13; a visual camera 14, installed on one side of the mobile end 11, for position identification of the workpiece to be polished; a positioning fixture 20, arranged on one side of the robot 10, for positioning and installing the workpiece to be polished. These components work together to form a highly integrated deburring system. Specifically, when deburring is required, the workpiece to be polished is first fixed on the positioning fixture 20. Then, the visual camera 14 identifies the position of the workpiece and sends a position signal to the control system. The control system instructs the displacement mechanism (which may be a part of the robot 10) to adjust the workpiece to a preset position. Then, the visual camera 14 identifies the position of the workpiece again to ensure that it is accurate. Finally, the robot 10 moves the grinding tool 13 to the area to be processed inside or outside the workpiece according to the latest position signal, and starts the deburring operation. During this process, the multi-dimensional force sensor 15 monitors the force condition of the grinding tool 13 in real time and feeds back to the control system to achieve dynamic adjustment and compensation to ensure the best deburring effect.

[0040] Among them, the robot 10 is responsible for carrying the grinding tool 13 and moving accurately according to the control command. The mobile end 11 of the robot 10 is equipped with an electric spindle 12, which can rotate at high speed and can quickly replace different grinding tools 13 (such as grinding wheels, grinding heads, cutters, etc.) to meet the processing requirements of different workpieces. The robot 10 has multi-degree-of-freedom movement capabilities and can move flexibly in three-dimensional space to ensure that the grinding tool 13 can accurately reach the area to be processed inside or outside the workpiece. The visual camera 14 is installed on one side of the mobile end 11 of the robot 10. The main function of the visual camera 14 is to identify the position of the workpiece to be polished. Through high-resolution cameras and advanced image processing technology, the visual camera 14 can capture detailed position information of the workpiece and convert this information into digital signals and send it to the control system. The visual camera 14 is not only used for initial positioning, but also reconfirms the position of the workpiece after each adjustment to ensure high-precision positioning and processing. The positioning tool 20 is set on one side of the robot 10 to fix the workpiece to be polished. The positioning tool 20 is preferably designed to be adjustable and can adapt to workpieces of various shapes and sizes.

[0041] According to a deburring device of the present invention, a multi-dimensional force sensor 15 is provided at the mobile end 11 of the robot 10; the multi-dimensional force sensor 15 is coaxially arranged with the electric spindle 12, and is used to monitor the radial force received by the electric spindle 12 in real time in multiple directions. Preferably, the multi-dimensional force sensor 15 can simultaneously measure forces in multiple directions, including but not limited to radial forces in multiple directions, and force components and possible torques in three orthogonal directions of X, Y, and Z. Through real-time monitoring by the multi-dimensional force sensor 15, dynamic information in the grinding process can be obtained instantly. The data collected by the multi-dimensional force sensor 15 will be transmitted to the control system in real time. The control system will evaluate the current grinding state based on these data and make necessary adjustments accordingly. For example, if a sudden increase in radial force is detected, it may mean that the grinding tool 13 encounters a hard point or an uneven surface, and the control system can reduce the grinding force or change the grinding path to avoid damaging the workpiece or the grinding tool 13. Conversely, if the radial force is too small, it may be necessary to increase the pressure to ensure the deburring effect.

[0042] According to a deburring device of the present invention, the positioning fixture 20 is provided with a displacement mechanism and a clamping mechanism; the clamping mechanism is used to clamp the workpiece to be polished; the displacement mechanism is arranged between the positioning fixture 20 and the clamping mechanism, and is used to drive the clamping mechanism to rotate or move relative to the positioning fixture 20. Specifically, the clamping mechanism is responsible for firmly fixing the workpiece to ensure that the workpiece does not shift during the processing, and can be in the form of a mechanical clamp, a magnetic clamp or a vacuum suction cup to accommodate workpieces of different shapes and materials. The displacement mechanism enables the clamping mechanism to rotate and translate through a servo motor or other precision drive device, thereby changing the posture of the workpiece. The design that the clamping mechanism can rotate or move relative to the positioning fixture 20 allows the robot 10 and the polishing tool 13 to approach the workpiece from multiple directions and process complex geometric shapes or polyhedral structures without reloading the workpiece.

[0043] According to a deburring device of the present invention, the clamping mechanism is detachably mounted on the positioning fixture 20; based on various types of workpieces to be polished, the deburring device is equipped with a variety of clamping mechanisms adapted to the workpieces to be polished. Specifically, the clamping mechanism is designed in a modular and replaceable form, and a suitable clamping mechanism can be selected according to the shape, size and material of different workpieces, thereby improving the flexibility of the device and enabling the deburring device to handle various types of workpieces. Among them, the clamping mechanism can preferably be mounted on the positioning fixture 20 through a quick connection mechanism (such as a quick-change interface or a magnetic connection) for easy rapid replacement. In order to adapt to different types of workpieces, the deburring device can be equipped with a variety of clamping mechanisms. For example: mechanical grippers, which are suitable for workpieces of regular shapes and can provide a stable clamping force; magnetic clamps, which are suitable for metal workpieces, especially thin plates or small parts that are difficult to fix with mechanical grippers; vacuum suction cups, which are suitable for workpieces with flat surfaces and non-porous surfaces, and can fix the workpieces by negative pressure adsorption; custom clamps, for workpieces of special shapes or unconventional sizes, special clamping mechanisms can be designed to ensure the best fixing effect.

[0044] According to a deburring device of the present invention, the robot 10 includes: a base 31, connected to a power supply line and a control line; a rotating seat 32, rotatably mounted on the base 31 around a vertical axis; a first swing arm 33, the head end of the first swing arm 33 is rotatably mounted on the rotating seat 32 around a first horizontal axis; a second swing arm 34, the head end of the second swing arm 34 is rotatably mounted on the end of the first swing arm 33 around a second horizontal axis; a working arm 35, rotatably mounted on the end of the second swing arm 34, and a mobile end 11 is swingably mounted on the working arm 35. Specifically, the base 31, as the basic structure of the robot 10, not only provides stable support, but also connects the power supply and control lines. The rotating seat 32 is mounted on the base 31 and can rotate 360 ​​degrees around the vertical axis. The first swing arm 33 and the second swing arm 34 are designed with multiple joints to rotate around the horizontal axis respectively, so that the robot 10 can perform complex movements in the vertical and plane, increasing the height adjustment capability and spatial flexibility. The working arm 35 is mounted at the end of the second swing arm 34 and can rotate and translate in multiple directions to ensure that the grinding tool 13 can accurately contact each surface of the workpiece. The mobile end 11 is swingably mounted on the working arm 35 and is used to load the electric spindle 12 and the grinding tool 13, further increasing the degree of freedom of the robot 10, enabling it to approach the workpiece from multiple angles and achieve high-precision deburring operations. Through the multi-joint, multi-degree-of-freedom design, combined with the visual recognition system and the multi-dimensional force sensor 15, the robot 10 can achieve complex spatial motion and adaptive deburring operations, thereby improving production efficiency and product quality.

[0045] A deburring device according to the present invention includes one or more of the following structures: a tool holder 41, which is arranged on one side of a robot 10 and is used to store a variety of grinding tools 13; a filter screen, which is located below the positioning fixture 20 and is used to collect waste chips; a liquid supply mechanism, which is located below the positioning fixture 20 and is used to provide coolant; an equipment housing 42, which has a working space formed therein, and the deburring device is integrated in the working space.

[0046] The tool holder 41 is disposed on one side of the robot 10 and is used to store a variety of grinding tools 13. The tool holder 41 is designed to be quickly replaceable and can accommodate different types of grinding tools 13, such as grinding wheels, grinding heads, cutting tools, etc. When necessary, the appropriate tool can be quickly replaced to meet the processing requirements of different workpieces.

[0047] The filter is located below the positioning fixture 20 and is used to collect waste chips generated during the deburring process. The filter can effectively capture and collect metal debris and other impurities generated during the grinding process, keep the working area clean, prevent waste chips from damaging the equipment, and simplify the cleaning process.

[0048] The liquid supply mechanism is located below the positioning fixture 20 and is used to provide coolant and prevent the robot 10 from occupying the working space. The liquid supply mechanism sprays coolant to the grinding area through a nozzle or other means to reduce the heat generated during the grinding process, protect the workpiece surface from heat damage, and extend the service life of the grinding tool 13. The coolant can also help remove waste chips generated during the grinding process and improve processing quality and efficiency.

[0049] An operating space is formed inside the equipment housing 42, and the deburring device is integrated in the operating space. The equipment housing 42 not only provides physical protection to prevent external dust and impurities from entering the operating area, but also ensures the safety of operation. The housing is usually designed with a transparent observation window to facilitate the operator to monitor the processing process. In addition, the operating space in the housing can be provided with an environmental adjustment device (such as a temperature control device or a dehumidification device) to help control environmental conditions such as temperature and humidity, thereby further improving the processing quality.

[0050] The deburring device according to the preferred embodiment of the present invention may include the following main components and structures: a multi-dimensional force sensor 15, a visual camera 14 and an electric spindle 12 are fixed at the end of the robot 10. The multi-dimensional force sensor 15 is concentrically assembled with the electric spindle 12, and can monitor the forces exerted on the grinding tool 13 in multiple directions in real time to ensure the accuracy and safety during the processing. The electric spindle 12 is loaded with the grinding tool 13 for performing deburring or chamfering operations. The robot 10 provides highly flexible multi-degree-of-freedom motion capabilities, and can accurately move the grinding tool 13 in three-dimensional space to adapt to workpieces of different shapes and sizes.

[0051] The robot 10, the displacement mechanism and the tool holder 41 are all fixed on the base of the equipment housing 42. The clamping mechanism is fixed on the displacement mechanism and arranged in front of the robot 10, while the tool holder 41 is arranged on the side of the robot 10. The filter screen and the water tank are arranged under the positioning fixture 20 and the displacement mechanism. The clamping mechanism of the positioning fixture 20 can be customized or replaced according to the characteristics of the product. It can be a manual or automatic positioning system, and even a zero-point positioning system can be used to ensure the stability and consistency of the workpiece during the processing. The displacement mechanism can drive the clamping mechanism to rotate and translate, so as to achieve multi-faceted deburring processing in one clamping and improve production efficiency. The tool holder 41 is used to store a variety of grinding tools 13, such as grinding wheels, grinding heads, cutting tools, etc. Different cutting tools, molds and drill bits can be configured according to the characteristics of the workpiece and the cutting tool to achieve flexible production. The filter is used to collect waste chips generated during the deburring process to keep the working area clean; the water tank provides coolant to the grinding area through the liquid supply mechanism to reduce the temperature during the grinding process, protect the workpiece surface from thermal damage, and extend the service life of the grinding tool 13. A working space is formed inside the equipment housing 42, and all the above components are integrated in the working space, which not only provides physical protection to prevent external dust and impurities from entering the working area, but also ensures the safety of operation, helps to control environmental conditions, and improves processing quality.

[0052] The deburring device of the present invention is preferably further provided with a controller, which may include: a processor, a communications interface, a memory, and a communications bus, wherein the processor, the communications interface, and the memory communicate with each other via the communications bus. The processor may call the logic instructions in the memory to execute the deburring method.

[0053] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0054] On the other hand, the controller can also be a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the deburring methods provided by the above methods.

[0055] In another aspect, the controller may include a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the deburring method provided by the above methods is implemented.

[0056] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0057] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deburring method, characterized in that: include: Fix the workpiece to be polished on the positioning fixture; Visually identifying the position of the workpiece to be polished to generate a first position signal; adjusting the workpiece to be polished to a preset position according to the first position signal; Visually identifying the position of the workpiece to be polished to generate a second position signal; The grinding tool is moved to the area to be processed inside or outside the workpiece according to the second position signal to perform a deburring operation.

2. The deburring method according to claim 1, characterized in that: The step of performing the deburring operation also includes: Real-time monitoring and feedback of force data of the grinding tool; The grinding force of the grinding tool is controlled according to the force data.

3. The deburring method according to claim 1, characterized in that: The step of visually identifying the position of the workpiece to be polished also includes: Identifying the type of the workpiece to be polished; A corresponding automatic grinding program is selected according to the workpiece type, and a grinding contact force is set during the deburring operation.

4. The deburring method according to any one of claims 1 to 3, characterized in that: The step of performing the deburring operation further includes: Adjusting the positioning angle of the workpiece to be polished; Visually identifying the position of the workpiece to be polished to generate a new second position signal; The grinding tool is moved to a to-be-processed area inside or outside the workpiece according to the second position signal to perform a deburring operation.

5. A deburring device, characterized in that: For performing the deburring method according to any one of claims 1 to 4, the device comprises: A robot (10), wherein a moving end (11) of the robot (10) is provided with an electric spindle (12) for loading a grinding tool (13); A visual camera (14), installed on one side of the mobile end (11), for identifying the position of a workpiece to be polished; A positioning tool (20) is arranged on one side of the robot (10) and is used to position and install the workpiece to be polished.

6. The deburring device according to claim 5, characterized in that: The mobile end (11) of the robot (10) is provided with a multi-dimensional force sensor (15); The multi-dimensional force sensor (15) is coaxially arranged with the electric spindle (12) and is used to monitor radial forces received by the electric spindle (12) in real time in multiple directions.

7. The deburring device according to claim 5, characterized in that: The positioning tool (20) is provided with a displacement mechanism and a clamping mechanism; The clamping mechanism is used to clamp the workpiece to be polished; The displacement mechanism is arranged between the positioning fixture (20) and the clamping mechanism, and is used to drive the clamping mechanism to rotate or move relative to the positioning fixture (20).

8. The deburring device according to claim 7, characterized in that: The clamping mechanism is detachably mounted on the positioning tool (20); Based on various types of workpieces to be polished, the deburring device is equipped with various clamping mechanisms adapted to the workpieces to be polished.

9. The deburring device according to any one of claims 5 to 8, characterized in that: The robot (10) comprises: A base (31) connected to a power supply circuit and a control circuit; A rotating seat (32) rotatably mounted on the base (31) around a vertical axis; A first swing arm (33), the head end of the first swing arm (33) being rotatably mounted on the rotating seat (32) around a first horizontal axis; a second swing arm (34), the head end of the second swing arm (34) being rotatably mounted on the end of the first swing arm (33) around a second horizontal axis; The working arm (35) is rotatably mounted on the end of the second swing arm (34), and the movable end (11) is swingably mounted on the working arm (35).

10. The deburring device according to any one of claims 5 to 8, characterized in that: Includes one or more of the following structures: A tool holder (41), arranged on one side of the robot (10), and used for storing a plurality of the grinding tools (13); A filter screen, located below the positioning fixture (20), for collecting waste chips; A liquid supply mechanism, located below the positioning tool (20), and used for providing cooling liquid; An equipment housing (42) has an operating space formed inside, and the deburring device is integrated in the operating space.

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