Deburring method and deburring device

Abstract

This invention relates to the field of machining technology, and more particularly to a deburring method and deburring apparatus. The deburring method includes: fixing the workpiece to be ground on a positioning fixture; visually recognizing the position of the workpiece to be ground to generate a first position signal; adjusting the workpiece to be ground to a preset position according to the first position signal; visually recognizing the position of the workpiece to be ground to generate a second position signal; and moving a grinding tool to the processing area inside or outside the workpiece according to the second position signal to perform the deburring operation. This solution addresses the shortcomings of existing technologies where inaccurate positioning leads to poor deburring results, achieving a more precise and efficient deburring operation.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a deburring method and deburring device. Background Technology

[0002] During machining, burrs often form on the surface or edges of workpieces. These burrs not only affect the appearance quality of the product but may also adversely impact subsequent assembly processes and even reduce the product's lifespan. Therefore, effective deburring before the product leaves the factory is essential.

[0003] Existing technologies typically rely on manual adjustment or simple mechanical positioning devices to determine the relative position between the workpiece and the grinding tool. While this can meet basic requirements to some extent, the lack of a precise position control mechanism often leads to positioning deviations in actual operation.

[0004] For example, when dealing with workpieces of complex or varied shapes, it is difficult to guarantee that the workpiece can be placed in the exact same position every time. Even for workpieces with regular shapes, it is difficult to maintain good repeatability accuracy over a long period due to manufacturing errors in the fixture itself and wear and tear that may occur after prolonged use. In addition, frequent adjustments to equipment parameters when rapidly changing between different specifications and models on a continuous production line also increases the probability of errors. Summary of the Invention

[0005] This invention provides a deburring method and a deburring device to solve the defects of poor deburring effect caused by inaccurate positioning in the prior art, and to achieve more precise and efficient deburring operation.

[0006] The present invention provides a deburring method, comprising: fixing a workpiece to be polished on a positioning fixture; visually recognizing 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 recognizing the position of the workpiece to be polished to generate a second position signal; and moving a polishing tool to a processing area inside or outside the workpiece according to the second position signal to perform 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 the force data of the polishing tool; and controlling the polishing force of the polishing tool according to the force data.

[0008] According to a deburring method of the present invention, the step of visually recognizing the position of the workpiece to be polished further includes: recognizing the workpiece type of the workpiece to be polished; selecting the 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, after the step of performing the deburring operation, the method further includes: adjusting the positioning angle of the workpiece to be polished; visually recognizing the position of the workpiece to be polished to generate a new second position signal; and moving the polishing tool to the processing area inside or outside the workpiece according to the second position signal to perform the deburring operation.

[0010] The present invention also provides a deburring apparatus for performing the deburring method as described in any of the above embodiments. The apparatus includes: a robot, the mobile end of which is equipped with an electric spindle for loading a grinding tool; a vision camera mounted on one side of the mobile end for position recognition of the workpiece to be ground; and a positioning fixture disposed on one side of the robot for positioning and mounting 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 to monitor the radial force received by the electric spindle in multiple directions in real time.

[0012] According to a deburring device of the present invention, the positioning fixture 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 disposed between the positioning fixture and the clamping mechanism, and is used to drive the clamping mechanism to rotate or move relative to the positioning fixture.

[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 ground, the deburring device is equipped with a variety of clamping mechanisms adapted to the workpieces to be ground.

[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 base rotatably mounted on the base about a vertical axis; a first swing arm, the leading end of the first swing arm rotatably mounted on the rotating base about a first horizontal axis; a second swing arm, the leading end of the second swing arm rotatably mounted on the end of the first swing arm about a second horizontal axis; and a working arm rotatably mounted on the end of the second swing arm, wherein the moving end is oscillatingly mounted on the working arm.

[0015] According to a deburring device of the present invention, it includes one or more of the following structures: a tool holder disposed on one side of the robot for storing various grinding tools; a filter screen located below the positioning fixture for collecting waste chips; a liquid supply mechanism located below the positioning fixture for providing coolant; and a device housing having an internal working space, wherein the deburring device is integrated within the working space.

[0016] The deburring method and apparatus provided by this invention solve the problem of poor deburring effect caused by inaccurate positioning in the prior art by fixing the workpiece to be ground on a positioning fixture and using visual recognition technology to accurately identify and adjust the position of the workpiece. First, the visual recognition system generates a first position signal, and automatically adjusts the workpiece to be ground to a preset position based on this signal, ensuring that all workpieces are in the same reference coordinate system before deburring begins. Next, the visual recognition system generates a second position signal again to more accurately determine specific areas or feature points on the workpiece. Based on this high-precision position information, the control system can direct the grinding tool to move precisely to the processing area inside or outside the workpiece, performing efficient and accurate deburring operations. The above-mentioned deburring method and the deburring apparatus using this method not only improve the positioning accuracy during the deburring process but also enhance the consistency and efficiency of the overall operation, achieving a more refined, reliable, and efficient deburring effect. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of the deburring method provided by the present invention.

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

[0020] Figure 3 This is a schematic diagram of the structure of the robot for the deburring device provided by the present invention.

[0021] Figure label:

[0022] 10. Robot; 11. Mobile terminal; 12. Electric spindle; 13. Grinding tool; 14. Vision camera; 15. Multi-dimensional force sensor; 20. Positioning fixture; 31. Base; 32. Rotary base; 33. First swing arm; 34. Second swing arm; 35. Working arm; 41. Tool holder; 42. Equipment housing. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0025] The following is combined with Figures 1 to 3 The present invention describes specific embodiments of the deburring method and deburring apparatus.

[0026] like Figure 1 As shown, the present invention provides a deburring method, comprising the following steps:

[0027] Step 110: Fix the workpiece to be ground onto the positioning fixture. First, select a suitable positioning fixture. The mechanical clamps or other fixing devices of the positioning fixture ensure that the workpiece to be ground will not move or loosen throughout the entire process, thus providing a stable foundation for subsequent high-precision operations.

[0028] Step 120: Visually identify the position of the workpiece to be polished to generate a first position signal. Specifically, a high-resolution camera mounted on the equipment is used to perform a full scan of the fixed workpiece. The scanned data can be analyzed using image processing software to determine the exact current position and orientation of the workpiece, and this information is converted into a digital first position signal for subsequent precise adjustments.

[0029] Step 130: Adjust the workpiece to be ground to a preset position according to the first position signal. Specifically, after receiving the first position signal, the control system calculates the specific displacement and / or direction required for the workpiece. Then, through a servo motor or other precision drive mechanism, it automatically adjusts the position of the workpiece on the fixture until it reaches the preset ideal starting point.

[0030] 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 vision system is used again to perform more detailed inspection of the key feature points or areas to be processed on the workpiece to ensure that the workpiece is properly adjusted. The result of this inspection will form a more accurate second position signal, providing accurate information about the local details of the workpiece to facilitate precise processing in the next step.

[0031] 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 positions and guides the grinding tool (such as a grinding wheel, grinding head, or cutting tool) to the designated area to be processed based on the latest second position signal. Then, the grinding tool is started to remove burrs from the workpiece surface or edges 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.

[0032] Furthermore, according to a deburring method of the present invention, the step of performing the deburring operation further includes the following steps:

[0033] Step 151: Real-time monitoring and feedback of the force data of the grinding tool. Specifically, force sensors or torque sensors are installed on the grinding tool to accurately measure the pressure applied to the workpiece surface or the resistance encountered by the grinding tool during the grinding process. The collected data is transmitted to the control system in real time via signal transmission lines. Real-time monitoring helps ensure the safety of the entire processing process and effectively avoids workpiece damage or grinding tool damage caused by excessive pressure.

[0034] Step 152: Control the grinding force of the grinding tool based on the force data. Specifically, after receiving real-time feedback information from the force sensor, the control system automatically analyzes 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 necessary 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 adaptive adjustment mechanism, effective processing of workpieces of different materials, shapes, and sizes can be achieved, improving the overall efficiency and flexibility of the deburring process.

[0035] Furthermore, according to a deburring method of the present invention, the step of visually recognizing the position of the workpiece to be polished further includes:

[0036] Step 121: Identify the type of workpiece to be polished. Specifically, using a high-resolution camera and advanced image processing algorithms, the visual recognition system can not only determine the position and orientation of the workpiece, but also identify its type based on its shape, size, and other features, including but not limited to planar workpieces, curved workpieces, and workpieces with holes. The visual recognition equipment or software has preset templates for various workpiece types, which can be matched with the real-time acquired images to accurately determine the specific type of the current workpiece.

[0037] Step 122: Select the appropriate automatic grinding program based on the workpiece type and set the grinding contact force during the deburring process. Specifically, once the workpiece type is determined, the control system will retrieve a preset grinding program matching that type from the database. These programs may include parameters such as the optimal grinding path, speed, and force for different types of workpieces. For example, for harder materials or complex-shaped workpieces, a lower speed but higher contact force may be set; while for soft materials or simple surfaces, a higher speed but lower contact force may be used. Furthermore, the grinding contact force can be fine-tuned according to actual needs to ensure effective deburring without damaging the workpiece surface, making the entire deburring process more intelligent and efficient, while ensuring consistent processing quality.

[0038] Furthermore, according to a deburring method of the present invention, after performing the deburring operation, the method further includes:

[0039] Step 201: Adjust the positioning angle of the workpiece to be ground. Specifically, if areas still need processing after the initial deburring operation, or if the workpiece has multiple surfaces or angles requiring deburring, the control system will adjust the workpiece's positioning angle according to a preset program or operator instructions. This can be achieved by rotating the worktable or using a multi-axis positioning system, ensuring the workpiece can be adjusted to a new posture for subsequent processing of different surfaces or edges. In general, after completing the grinding operation on one side, the posture of the workpiece to be ground can be changed to continue the deburring operation without reloading the workpiece, thereby improving the efficiency of the entire process.

[0040] 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 vision recognition system restarts to perform a comprehensive scan of the workpiece's new position. This not only confirms the workpiece's exact current position and orientation but also identifies previously unprocessed areas or newly exposed surfaces. Image processing software analyzes this data and generates a new second position signal containing all the necessary information about the workpiece's new position to guide the next step of the operation.

[0041] Step 203: 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 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. Then, the control system directs the grinding tool to move to the designated position along the calculated trajectory and begins a new deburring operation. During this process, the force data of the grinding tool is monitored and fed back in real time, and the grinding intensity is dynamically adjusted according to the actual situation to ensure the safety and effectiveness of the entire deburring process. This cyclical adjustment and re-identification process can be repeated multiple times until all areas requiring processing achieve satisfactory deburring results. In this way, deburring tasks on multiple surfaces or angles can be completed continuously and efficiently without interrupting the production process, greatly improving overall work efficiency.

[0042] According to a preferred embodiment of the present invention, the deburring method includes the following steps: First, the workpiece to be polished is fixed on a positioning fixture to ensure its stability throughout the processing. A high-precision camera identifies the position of the fixed workpiece and sends the identified position signal to a positioning mechanism. The positioning mechanism automatically adjusts the position of the workpiece based on this information to reach a preset standard starting position. After the workpiece is adjusted to the preset position, the camera again accurately identifies the workpiece position, generates a new position signal, and sends this signal to the robot control system. Based on the latest position signal, the robot control system directs the robot to move with the polishing tool to the processing area inside or outside the workpiece. The polishing tool contacts the workpiece surface and begins to perform deburring. During 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, a multi-dimensional force sensor monitors the pressure or resistance experienced by the polishing tool in real time and feeds this data back to the robot control system. Based on the feedback data, the control system dynamically adjusts the robot's motion parameters, such as speed and force, 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 equipment automatically detects the workpiece type and switches to the corresponding preset program. Simultaneously, the quick-change spindle system rapidly changes the tool on the tool post to one suitable for the current workpiece. After the tool change is complete, the above steps are repeated, thus efficiently completing deburring operations on different types of workpieces.

[0043] The deburring device provided by the present invention is described below. The deburring device described below can be referred to in correspondence with the deburring method described above.

[0044] like Figure 2 and Figure 3As shown, the present invention also provides a deburring apparatus for performing the deburring method as described in any of the above embodiments. The apparatus includes: a robot 10, with an electric spindle 12 mounted on a movable end 11 of the robot 10 for mounting a grinding tool 13; a vision camera 14 mounted on one side of the movable end 11 for position recognition of the workpiece to be ground; and a positioning fixture 20 disposed on one side of the robot 10 for positioning and mounting the workpiece to be ground. These components work together to form a highly integrated deburring system. Specifically, when deburring is required, the workpiece to be ground is first fixed on the positioning fixture 20. Next, the vision camera 14 identifies the position of the workpiece and sends the position signal to the control system. The control system directs a positioning mechanism (possibly part of the robot 10) to adjust the workpiece to a preset position. Then, the vision camera 14 identifies the workpiece position again to ensure its accuracy. Finally, the robot 10 moves the grinding tool 13 to the processing area inside or outside the workpiece according to the latest position signal and begins the deburring operation. During this process, the multi-dimensional force sensor 15 monitors the force on the polishing tool 13 in real time and feeds it back to the control system to achieve dynamic adjustment and compensation, ensuring the best deburring effect.

[0045] The robot 10 carries the grinding tool 13 and moves precisely according to control commands. The moving end 11 of the robot 10 is equipped with an electric spindle 12, which can rotate at high speed and quickly change different grinding tools 13 (such as grinding wheels, grinding heads, and cutting tools) to adapt to the processing requirements of different workpieces. The robot 10 has multi-degree-of-freedom motion capabilities, enabling flexible movement in three-dimensional space to ensure that the grinding tool 13 accurately reaches the processing area inside or outside the workpiece. A vision camera 14 is mounted on one side of the moving end 11 of the robot 10. The main function of the vision camera 14 is to identify the position of the workpiece to be ground. Through a high-resolution camera and advanced image processing technology, the vision camera 14 can capture detailed positional information of the workpiece and convert this information into digital signals to be sent to the control system. The vision camera 14 is used not only for initial positioning but also to reconfirm the workpiece position after each adjustment, ensuring high-precision positioning and processing. A positioning fixture 20 is set on one side of the robot 10 to fix the workpiece to be ground. The positioning fixture 20 is preferably designed to be adjustable to accommodate workpieces of various shapes and sizes.

[0046] According to a deburring device of the present invention, the moving end 11 of the robot 10 is equipped 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 the radial force received by the electric spindle 12 in multiple directions in real time. Preferably, the multi-dimensional force sensor 15 can simultaneously measure forces in multiple directions, including but not limited to radial forces in multiple directions, as well as force components in the three orthogonal directions X, Y, and Z and possible torques, etc. Through real-time monitoring by the multi-dimensional force sensor 15, dynamic information during the grinding process can be obtained instantly. The data collected by the multi-dimensional force sensor 15 is transmitted to the control system in real time. The control system evaluates the current grinding state based on this data and makes necessary adjustments accordingly. For example, if a sudden increase in radial force is detected, it may mean that the grinding tool 13 has encountered a hard spot or an uneven surface. 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.

[0047] 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 disposed 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 processing, and can be in the form of mechanical grippers, magnetic clamps, or vacuum chucks, to adapt to workpieces of different shapes and materials. The displacement mechanism, through a servo motor or other precision drive device, enables the clamping mechanism to rotate and translate, thereby changing the posture of the workpiece. The design of the clamping mechanism being rotatable or movable relative to the positioning fixture 20 allows the robot 10 and the polishing tool 13 to approach the workpiece from multiple directions, processing complex geometries or polyhedral structures without reloading the workpiece.

[0048] 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 ground, the deburring device is equipped with a variety of clamping mechanisms adapted to the workpieces. Specifically, the clamping mechanism is designed in a modular and replaceable form, allowing selection of a suitable clamping mechanism according to the shape, size, and material of different workpieces, thus improving the flexibility of the device and enabling it to handle various types of workpieces. Preferably, the clamping mechanism is mounted on the positioning fixture 20 via a quick-connect mechanism (such as a quick-change interface or magnetic connection) for easy and rapid replacement. To adapt to different types of workpieces, the deburring device can be equipped with various clamping mechanisms. For example: mechanical grippers, suitable for workpieces with regular shapes, providing a stable clamping force; magnetic clamps, suitable for metal workpieces, especially thin plates or small parts that are difficult to fix with mechanical grippers; vacuum suction cups, suitable for workpieces with flat and non-porous surfaces, which can fix the workpiece through negative pressure adsorption; and custom clamps, for workpieces with special shapes or non-standard sizes, where a special clamping mechanism can be designed to ensure optimal fixing effect.

[0049] According to a deburring device of the present invention, a robot 10 includes: a base 31 connected to power supply lines and control lines; a rotating seat 32 rotatably mounted on the base 31 about a vertical axis; a first swing arm 33, the leading end of which is rotatably mounted on the rotating seat 32 about a first horizontal axis; a second swing arm 34, the leading end of which is rotatably mounted on the trailing end of the first swing arm 33 about a second horizontal axis; and a working arm 35 rotatably mounted on the trailing end of the second swing arm 34, with a movable end 11 oscillatingly 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, mounted on the base 31, is capable of rotating 360 degrees about a vertical axis. The first swing arm 33 and the second swing arm 34, through a multi-joint design, rotate about horizontal axes respectively, enabling the robot 10 to perform complex movements in both vertical and planar directions, increasing height adjustment capability and spatial flexibility. The working arm 35 is mounted at the end of the second swing arm 34, enabling multi-directional rotation and translation to ensure that the grinding tool 13 accurately contacts all surfaces of the workpiece. The moving end 11 is oscillatingly mounted on the working arm 35 and is used to mount the electric spindle 12 and the grinding tool 13, further increasing the robot 10's degrees of freedom and allowing it to approach the workpiece from multiple angles to achieve high-precision deburring. Through its multi-joint, multi-degree-of-freedom design, combined with a vision recognition system and multi-dimensional force sensors 15, the robot 10 can achieve complex spatial movements and adaptive deburring operations, improving production efficiency and product quality.

[0050] According to a deburring device of the present invention, it includes one or more of the following structures: a tool holder 41, disposed on one side of a robot 10, for storing various grinding tools 13; a filter screen, located below a positioning fixture 20, for collecting waste chips; a liquid supply mechanism, located below the positioning fixture 20, for providing coolant; and a device housing 42, the interior of which forms a working space, and the deburring device is integrated into the working space.

[0051] The tool holder 41 is located on one side of the robot 10 and is used to store various grinding tools 13. The tool holder 41 is designed to be quick-changeable and can accommodate different types of grinding tools 13, such as grinding wheels, grinding heads, and cutting tools. The appropriate tool can be quickly changed when needed to adapt to the processing requirements of different workpieces.

[0052] The filter screen is located below the positioning fixture 20 and is used to collect debris generated during the deburring process. The filter screen can effectively capture and collect metal shavings and other impurities generated during the grinding process, keep the working area clean, prevent debris from damaging the equipment, and simplify the cleaning process.

[0053] The coolant supply mechanism, located below the positioning fixture 20, provides coolant and prevents it from obstructing the working space of the robot 10. The mechanism sprays coolant onto the grinding area via nozzles or other means to reduce the heat generated during grinding, protect the workpiece surface from heat damage, and extend the service life of the grinding tool 13. The coolant also helps remove debris generated during grinding, improving processing quality and efficiency.

[0054] The equipment housing 42 forms a working space within which the deburring device is integrated. The housing 42 not only provides physical protection against external dust and impurities entering the working area but also ensures operational safety. The housing is typically designed with a transparent observation window, allowing operators to monitor the processing. Furthermore, the working space within the housing can be equipped with environmental control devices (such as temperature or dehumidification devices) to help control environmental conditions, such as temperature and humidity, thereby further improving processing quality.

[0055] The deburring device according to a preferred embodiment of the present invention may include the following main components and structures: a multi-dimensional force sensor 15, a vision camera 14, and an electric spindle 12 fixed to the end of a robot 10. The multi-dimensional force sensor 15 is concentrically assembled with the electric spindle 12, enabling real-time monitoring of the forces acting on the grinding tool 13 in multiple directions, ensuring accuracy and safety during processing. The electric spindle 12 carries the grinding tool 13 for performing deburring or chamfering operations. The robot 10 provides highly flexible multi-degree-of-freedom motion capabilities, enabling precise movement of the grinding tool 13 in three-dimensional space to adapt to workpieces of different shapes and sizes.

[0056] The robot 10, the positioning mechanism, and the tool holder 41 are all fixed to the base of the equipment housing 42. The clamping mechanism is fixed to the positioning 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 water tank are arranged below the positioning fixture 20 and the positioning mechanism. The clamping mechanism of the positioning fixture 20 can be customized or replaced according to the product characteristics. It can be a manual or automatic positioning system, or even a zero-point positioning system, to ensure the stability and consistency of the workpiece during processing. The positioning mechanism can drive the clamping mechanism to rotate and translate, thereby realizing multi-face deburring processing in one clamping, improving production efficiency. The tool holder 41 is used to store various grinding tools 13, such as grinding wheels, grinding heads, and cutting tools. Different cutting tools, grinding wheels, and drill bits can be configured according to the characteristics of the workpiece and cutting tools to achieve flexible production. The filter screen collects debris generated during deburring, keeping the work area clean. The water tank supplies coolant to the grinding area via a liquid supply mechanism, reducing the temperature during grinding, protecting the workpiece surface from heat damage, and extending the service life of the grinding tool 13. The equipment housing 42 contains a working space where all the aforementioned components are integrated. This provides not only physical protection against external dust and impurities entering the working area but also ensures operational safety, helps control environmental conditions, and improves processing quality.

[0057] The deburring device of the present invention preferably further includes a controller, which may include a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor can call logical instructions in the memory to execute the deburring method.

[0058] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0059] On the other hand, the controller can also be a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the deburring methods provided by the above methods.

[0060] On another front, the controller may include a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, is implemented to perform the deburring methods provided by the methods described above.

[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0062] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "method," "specific method," or "some methods," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or method is included in at least one embodiment or method of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or method. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or methods. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or methods described in this specification, as well as the features of different embodiments or methods.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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 onto the positioning fixture; The position of the workpiece to be polished is visually recognized to generate a first position signal. The first position signal is a digital signal generated by scanning the fixed workpiece, analyzing the scanned data through image processing software, determining the exact current position and posture of the workpiece, and then converting it into a digital signal. Adjust the workpiece to be polished to a preset position according to the first position signal; The position of the workpiece to be polished is visually recognized to generate a second position signal. The second position signal is formed by detecting the key feature points or areas to be processed of the workpiece again after the workpiece has been adjusted to the preset position, and provides accurate information about the local details of the workpiece. Based on the second position signal, move the grinding tool to the area to be processed inside or outside the workpiece to perform deburring.

2. The deburring method according to claim 1, characterized in that, The steps for performing the deburring operation also include: The force data of the polishing tool is monitored and fed back in real time; The grinding force of the grinding tool is controlled based on the force data.

3. The deburring method according to claim 1, characterized in that, The step of visually recognizing the position of the workpiece to be polished further includes: Identify the workpiece type of the workpiece to be polished; Select the appropriate automatic grinding program according to the workpiece type, and set the grinding contact force during the deburring process.

4. The deburring method according to any one of claims 1 to 3, characterized in that, Following the step of performing the deburring operation, the following is also included: Adjust the positioning angle of the workpiece to be polished; The position of the workpiece to be polished is visually identified to generate a new second position signal; The grinding tool is moved to the processing area inside or outside the workpiece according to the second position signal to perform deburring operation.

5. A deburring device, characterized in that, The apparatus for performing the deburring method according to any one of claims 1 to 4 comprises: Robot (10), the mobile end (11) of which is equipped with an electric spindle (12) for loading a grinding tool (13); A vision camera (14) is installed on one side of the mobile end (11) for position recognition of the workpiece to be polished; A positioning fixture (20) is set on one side of the robot (10) for positioning and installing 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 equipped with a multi-dimensional force sensor (15). The multidimensional 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 multiple directions in real time.

7. The deburring device according to claim 5, characterized in that, The positioning fixture (20) is equipped with a displacement mechanism and a clamping mechanism; The clamping mechanism is used to clamp the workpiece to be polished; The displacement mechanism is disposed 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 fixture (20). Based on the 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.

9. The deburring apparatus according to any one of claims 5 to 8, characterized in that, The robot (10) includes: The base (31) is connected to the power supply line and the control line; A rotating seat (32) is rotatably mounted on the base (31) about a vertical axis; The first swing arm (33) has its head end rotatably mounted on the rotating seat (32) about the first horizontal axis. The first end of the second swing arm (34) is rotatably mounted on the end of the first swing arm (33) around the second horizontal axis; The working arm (35) is rotatably mounted on the end of the second swing arm (34), and the moving end (11) is oscillatingly mounted on the working arm (35).

10. The deburring apparatus according to any one of claims 5 to 8, characterized in that, Includes one or more of the following structures: A tool holder (41) is provided on one side of the robot (10) for storing various grinding tools (13). A filter screen, located below the positioning fixture (20), is used to collect waste debris; A liquid supply mechanism, located below the positioning fixture (20), is used to supply coolant; The equipment casing (42) has a working space inside, and the deburring device is integrated into the working space.

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