Control method of sharpening machine and sharpening machine

Abstract

The invention provides a control method of a sharpening machine and the sharpening machine. The method comprises the steps that a sharpening assembly is controlled to be pressed down at a first speed so as to be close to a sharpening target; under the condition that the grinding assembly is pressed down to the speed switching position, the grinding assembly is controlled to be pressed down at a second speed; wherein the second speed is smaller than the first speed, and the speed switching position is located in the middle section of the stroke of pressing the grinding assembly down to the grinding target; and after the grinding assembly makes contact with the grinding target, the set grinding pressure, rotating speed and time are kept, and secondary operation after grinding and grinding effect detection and judgment is conducted on the grinding target. According to the control method of the sharpening machine, the whole sharpening process and parameter setting are controlled through servo driving, pressure detection, visual detection and background logic program setting, so that the accuracy of controlling the movement speed, the movement position, the sharpening effect and the sharpening parameters of the sharpening assembly is improved; and the grinding automation rate, the grinding yield and the grinding blade use efficiency are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a control method for a grinding machine and a grinding machine. Background Art

[0002] Grinding machines are usually used to grind the target. For example, during the spot welding process of the welding gun, the resistance releases a lot of heat energy when working for a long time. The heat energy will accelerate the oxidation speed of the electrode cap surface. Since the electrode cap is made of brass, the copper-zinc oxide film formed on its surface will affect the spot welding operation, thereby reducing the quality of welding. In this case, it is usually necessary to use a grinding machine to grind the electrode cap.

[0003] At present, during the grinding process, most grinding machines usually fail to meet expectations in terms of overall grinding automation rate, grinding yield rate and grinding blade utilization efficiency due to inaccurate control of the grinding component's movement speed, movement position, grinding effect and grinding parameters. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method for a grinding machine and a grinding machine, which can accurately control the downward pressure of the grinding component by switching the downward pressure speed of the grinding component during the downward pressure process, maintain the set grinding pressure, speed and time after the grinding component contacts the grinding target, grind the grinding target and perform secondary operations after the grinding effect is detected and judged, thereby improving the grinding effect of the grinding component.

[0005] In a first aspect, the present application provides a control method for a grinding machine, comprising: controlling a grinding component to be pressed down at a first speed to approach a grinding target; when the grinding component is pressed down to a speed switching position, controlling the grinding component to be pressed down at a second speed; wherein the second speed is less than the first speed, and the speed switching position is located in the middle of the stroke of the grinding component pressing down toward the grinding target; and when the grinding component contacts the grinding target, grinding the grinding target.

[0006] The control method of the above-mentioned grinding machine reduces the pressing speed of the grinding component when the grinding component is pressed down to a speed switching position that is closer to the grinding target, so that when the grinding component is pressed down to contact with the target component, the excess distance that the grinding component continues to press down due to inertia is reduced. The grinding target is ground by the grinding component using segmented grinding parameters, thereby improving the accuracy of controlling the grinding component, ensuring the stability of the grinding quality, and extending the service life of the blade. In combination with the first aspect, optionally, when the grinding component contacts the grinding target, the grinding target is ground, including: determining whether the current height of the grinding component is lower than the preset grinding height; if it is determined that the current height is lower than the preset grinding height, determining that the grinding target is scrapped.

[0007] The control method of the above-mentioned grinding machine determines whether the current grinding height of the grinding target by the grinding component is lower than the preset grinding height, and determines that the grinding target is scrapped when the current height is lower than the preset grinding height, thereby reducing the waste of resources and time caused by grinding targets that do not require much grinding, thereby improving the grinding efficiency.

[0008] In combination with the first aspect, optionally, when the grinding component contacts the grinding target, grinding the grinding target also includes: if it is determined that the current height is not lower than the preset grinding height, grinding the grinding target and recording an actual grinding number of the grinding target once; judging whether the grinding of the grinding target meets the standard; if it is determined that the grinding of the grinding target does not meet the standard, further judging whether the actual grinding number exceeds the preset grinding number; if it is determined that the actual grinding number does not exceed the preset grinding number, continuing to grind the grinding target until the grinding of the grinding target meets the standard or the actual grinding number exceeds the preset grinding number.

[0009] The control method of the above-mentioned grinding machine, after grinding the grinding target at least once, if the grinding effect of the grinding target does not meet the standard, judges whether the actual grinding times of the grinding target exceed the preset grinding times, and if the actual grinding times do not exceed the preset grinding times, continues to grind the grinding target at least once, until the grinding effect of the grinding target meets the standard or the actual grinding times exceed the preset grinding times. Through such judgment, it is avoided to a certain extent that due to the reasons of the grinding target itself or the reasons of the grinding components, no matter how many times the grinding target is ground, the grinding effect cannot meet the standard, or the situation that the defect after one grinding needs to be re-fed and repaired for a second time. By reducing the waste of manpower, material resources and time, the efficiency of grinding is correspondingly improved.

[0010] In combination with the first aspect, optionally, grinding the grinding target when the grinding component contacts the grinding target also includes: if it is determined that the actual grinding number exceeds the preset grinding number, grinding the next grinding target, and recording the actual grinding number of a grinding target that exceeds the preset grinding number but does not meet the standard.

[0011] The control method of the grinding machine judges whether the actual grinding times of the grinding target exceed the preset grinding times, and replaces the grinding target when the actual grinding times exceed the preset grinding times, thereby further avoiding the situation that the grinding is not up to standard after multiple grindings due to problems of the grinding component itself, thereby further reducing the waste of manpower, material resources and time, and improving the efficiency of grinding.

[0012] In combination with the first aspect, optionally, grinding the grinding target when the grinding component contacts the grinding target also includes: judging whether the actual grinding number exceeds the preset grinding number; if it is judged that the actual grinding number exceeds the preset grinding number, increasing the preset pressure value of the grinding component during the grinding process; and grinding the grinding target according to the preset pressure value.

[0013] The control method of the grinding machine described above determines whether the actual grinding number exceeds the preset grinding number, and when the actual grinding number exceeds the preset grinding number, increases the pressure of the grinding component during the grinding process to determine whether this situation is caused by insufficient pressure applied by the grinding component to the grinding target. In addition to determining that the reason why the grinding effect of multiple grinding targets does not meet the standard lies in the grinding machine, the range of possible reasons is further narrowed. This facilitates the investigation and handling of abnormal situations during the grinding process, and correspondingly improves the grinding efficiency.

[0014] In combination with the first aspect, optionally, the grinding the grinding target according to the preset pressure value includes: clearing the recorded actual grinding number and recording again from zero; judging whether the preset pressure value applied by the grinding component to the grinding target exceeds the pressure limit value during the grinding of the grinding target; if it is judged that the preset pressure value does not exceed the pressure limit value, judging again whether the actual grinding number exceeds the preset grinding number; if it is judged that the actual grinding number does not exceed the preset grinding number, the grinding component continues the next round of grinding operation; if it is judged that the preset pressure value exceeds the pressure limit value, stopping the grinding to replace the grinding component.

[0015] The control method of the grinding machine clears the recorded actual grinding number and starts recording from zero when the preset pressure value is increased, and when the actual grinding number still exceeds the preset grinding number, it is determined that the grinding does not meet the standard because the grinding component needs to be replaced. That is, the specific cause of the abnormality is determined through the above judgment process, which makes it convenient for users to handle the abnormality according to the specific cause, thereby further improving the grinding efficiency.

[0016] In combination with the first aspect, optionally, the grinding target includes an electrode cap of a welding gun.

[0017] The control method of the above-mentioned grinder improves the control accuracy of the grinding components in the grinder by applying the control method of the grinder provided in the previous part of the present application to the grinding of the electrode cap, realizes the adaptation to the grinding rhythm and the grinding of electrode caps of different lengths, and improves the grinding automation rate, grinding yield rate and grinding blade utilization efficiency of the electrode cap.

[0018] In a second aspect, the present application further provides a grinding machine, comprising: a grinding component, a controller and a drive component; the grinding component is connected to the drive component, and the drive component is electrically connected to the controller; the controller is used to control the grinding component to be pressed down at a first speed through the drive component to approach a grinding target; when the grinding component is pressed down to a speed switching position, the grinding component is controlled to be pressed down at a second speed; wherein the second speed is less than the first speed, and the speed switching position is located in the middle of the stroke of the grinding component pressing down toward the grinding target; when the grinding component contacts the grinding target, the grinding target is ground.

[0019] The above-mentioned grinding machine has the same beneficial effects as the above-mentioned first aspect, or the control method of the grinding machine provided by any optional implementation manner of the first aspect, which will not be described in detail here.

[0020] In combination with the second surface, optionally, the driving assembly includes a rotating driving member, a gear and a rack; the output end of the rotating driving member is connected to the gear; the gear is meshed with the rack; and the rack is connected to the grinding assembly.

[0021] The above-mentioned grinding machine converts the torque output by the rotating driving part into linear motion through the combination of gears and racks to control the grinding component to approach or move away from the grinding target. In actual contact grinding, a grinding method of segmented speed and pressure regulation is adopted. Compared with the constant speed and pressure grinding method of the grinding component by a linear cylinder, the control accuracy of the speed and position of the grinding component is improved, and the grinding effect is correspondingly improved.

[0022] In combination with the second aspect, optionally, the driving assembly further includes a torque sensor; and the output end of the rotating driving member is connected to the gear through the torque sensor.

[0023] The grinding machine mentioned above, by configuring a torque sensor at the output end of the driving member, makes the control of the grinding pressure applied to the rotating driving member more precise, thereby further improving the control accuracy of the grinding assembly.

[0024] In combination with the second surface, optionally, it also includes a sorting unit; the sorting unit includes a camera quality inspector and a sorting component, and the camera quality inspector is arranged on the side of the sorting component; the camera quality inspector and the sorting device are electrically connected to the controller respectively.

[0025] In summary, the control method and grinding machine provided by the present application reduce the pressing speed of the grinding component when the grinding component is pressed down to a speed switching position that is relatively close to the grinding target, so that when the grinding component is pressed down to contact with the target component, the excess distance that the grinding component continues to press down due to inertia is reduced. The grinding of the grinding target by the grinding component adopts segmented grinding parameters, thereby improving the accuracy of controlling the grinding component and improving the effect of grinding the grinding component. By judging whether the current height of the grinding target being ground by the grinding component is lower than the preset grinding height, and judging that the grinding target is scrapped when the current height is lower than the preset grinding height, the grinding efficiency is improved. By judging whether the actual number of grindings for the grinding target exceeds the preset number of grindings, and if the actual number of grindings does not exceed the preset number of grindings, the grinding target is continued to be ground at least once until the grinding effect of the grinding target meets the standard or the actual number of grindings exceeds the preset number of grindings, the situation of wasting manpower, material resources and time is reduced, and the grinding efficiency and grinding yield are correspondingly improved. By judging whether the actual number of grindings exceeds the preset number of grindings, and if the actual number of grindings exceeds the preset number of grindings, the pressure of the grinding component during the grinding process is increased, so as to facilitate the investigation and handling of abnormal situations in the grinding process, and the grinding efficiency is correspondingly improved. By clearing the recorded actual number of grindings and starting to record from zero when the preset pressure value is increased, and if the actual number of grindings still exceeds the preset number of grindings, it is determined that the grinding does not meet the standard due to the need to replace the grinding component. It is convenient for users to handle abnormalities according to specific reasons, thereby further improving the grinding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A flow chart of a control method for a grinding machine provided in an embodiment of the present application;

[0028] Figure 2 A specific flow chart of step S160 in the control method of the grinding machine provided in an embodiment of the present application;

[0029] Figure 3 A specific flow chart of step S1610 in the control method of the grinding machine provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the first structure of the grinding machine provided in the embodiment of the present application;

[0031] Figure 5 A second structural schematic diagram of the grinding machine provided in an embodiment of the present application;

[0032] Figure 6 This is a schematic diagram of the structure of a sorting unit in a grinding machine provided in an embodiment of the present application.

[0033] Icons: 100, grinding machine; 110, grinding assembly; 130, driving assembly; 131, rotating driving member; 132, gear; 133, rack; 134, torque sensor; 140, sorting unit; 141, camera quality inspector; 142, sorting assembly; 150, positioning unit. DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0036] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0037] Please refer to Figure 1 , Figure 1 : is a flow chart of a control method for a grinding machine provided in an embodiment of the present application. The control method for a grinding machine provided in an embodiment of the present application may include:

[0038] Step S120: Control the grinding assembly to press down at a first speed to approach the grinding target.

[0039] In the above step S120, the first speed may be a faster speed, and the grinding assembly is controlled to be pressed down at the first speed until it is close to the grinding target, and the distance between the grinding assembly and the grinding target may be 3 cm, 4 cm or 5 cm, etc. Those skilled in the art may also determine other distances according to actual application scenarios.

[0040] Step S140: When the grinding assembly is pressed down to the speed switching position, the grinding assembly is controlled to be pressed down at a second speed, wherein the second speed is lower than the first speed, and the speed switching position is located in the middle of the stroke of the grinding assembly pressing down toward the grinding target.

[0041] In the above step S140, the speed switching position may be the position described in the above step S120 where the distance between the grinding component and the grinding target is 3 cm, 4 cm or 5 cm, etc. The second speed may be a lower speed.

[0042] Step S160: When the grinding component contacts the grinding target, grinding is performed on the grinding target.

[0043] In the above step S160, when the grinding assembly is pressed down at the second speed and contacts the grinding target, the grinding assembly can be controlled to start grinding the grinding target.

[0044] In the above implementation process, when the grinding component is pressed down to a speed switching position that is closer to the grinding target, the pressing speed of the grinding component is reduced, so that when the grinding component is pressed down to contact the target component, the excess distance that the grinding component continues to press down due to inertia is reduced. The grinding of the grinding target by the grinding component adopts segmented grinding parameters. For example, the first segment is a slightly longer time, a slightly higher grinding pressure, and a slightly slower cutter head speed to ensure the cutting amount and reduce heat generation. The second segment is a slightly shorter time, a slightly lower pressure, and a slightly faster speed to ensure a high-speed polishing chip effect, thereby improving the accuracy of controlling the grinding component, ensuring the stability of the grinding quality, and extending the service life of the blade. Please refer to Figure 2 , Figure 2 is a specific flow chart of step S160 in the control method of the grinding machine provided in the embodiment of the present application. In some optional implementations, step S160 may include:

[0045] Step S161: determining whether the current height of the grinding assembly is lower than a preset grinding height.

[0046] In the above step S161, generally, as the number of grinding times increases, the size of the grinding target itself will become smaller and smaller, for example, the length. When the length of the grinding target becomes smaller, in order for the grinding assembly to normally contact the grinding target and perform grinding, the grinding assembly needs to be pressed down a greater distance, that is, the grinding position of the grinding assembly when grinding the grinding target will become lower.

[0047] If it is determined that the current height is lower than the preset grinding height, step S162 is executed: determining that the grinding target is scrapped.

[0048] In the above step S162, if it is determined that the current height is lower than the preset grinding height, it generally indicates that the length of the grinding target has been reduced to a certain extent. The preset grinding height may correspond to the threshold length of the grinding target being scrapped. Therefore, if the current height is lower than the preset grinding height, it may indicate that there is no need to grind the grinding target much, and thus the grinding target may be determined to be scrapped.

[0049] In the above implementation process, by judging whether the current height of the grinding target being ground by the grinding component is lower than the preset grinding height, and judging that the grinding target is scrapped when the current height is lower than the preset grinding height, the waste of resources and time caused by grinding targets that do not need much grinding is reduced, thereby improving the grinding efficiency. In addition, human resources are saved, production efficiency is improved, the working environment of employees is improved, the grinding quality of grinding targets such as electrode caps is ensured, the service life of grinding components such as blades is extended, and cost reduction and efficiency improvement are achieved.

[0050] Please continue to refer to Figure 2 In some optional implementations, step S160 may further include:

[0051] If it is determined that the current height is not lower than the preset grinding height, step S163 is executed: grinding the grinding target and recording the actual number of grinding times for the grinding target.

[0052] In the above step S163, that is, when the current height is not lower than the preset grinding height, it means that the length of the grinding target is not short enough to be scrapped, so it can be normally ground. Due to factors such as the long working time of the grinding blades in the grinding assembly and the problems of the grinding target itself, it may be necessary to grind the grinding target more than once. Therefore, after the grinding target is normally ground once, the actual number of grinding times of the grinding target can be recorded.

[0053] Step S164: Determine whether the grinding of the grinding target meets the standard.

[0054] In the above step S164, after the grinding target is normally ground once, it can be judged manually or by image recognition equipment whether the grinding effect meets the standard.

[0055] If it is determined that the grinding of the grinding target does not meet the standard, step S165 is executed: further determining whether the actual grinding times exceed the preset grinding times.

[0056] In the above step S165, if it is determined that the grinding of the grinding target does not meet the standard, if the grinding of the grinding target is continued, it is possible that the grinding effect of the grinding target meets the standard, or it is possible that the grinding effect of the grinding target still does not meet the standard. Therefore, the actual grinding number of a single grinding target can be limited by a preset grinding number. Thus, when the grinding of the grinding target does not meet the standard, it can be determined whether the actual grinding number exceeds the preset grinding number. Wherein, by way of example, the preset grinding number can be 2 or 3, etc.

[0057] If it is determined that the actual grinding times do not exceed the preset grinding times, step S166 is executed: the grinding target is continued to be ground until the grinding of the grinding target reaches the standard or the actual grinding times exceed the preset grinding times.

[0058] In the above step S166, if the actual grinding times do not exceed the preset grinding times, it can be determined that the grinding target can still meet the grinding effect of the grinding target by performing at least one more grinding. Therefore, the grinding of the grinding target can be continued until the grinding effect of the grinding target meets the grinding effect or the actual grinding times exceed the preset grinding times.

[0059] In the above implementation process, after the grinding target is ground at least once, if the grinding effect of the grinding target does not meet the standard, it is determined whether the actual grinding times of the grinding target exceed the preset grinding times, and if the actual grinding times do not exceed the preset grinding times, the grinding target is further ground at least once until the grinding effect of the grinding target meets the standard or the actual grinding times exceed the preset grinding times. Through such a judgment, the situation that the grinding effect of the grinding target cannot meet the standard no matter how many times it is ground due to the reasons of the grinding target itself or the grinding components is avoided to a certain extent. By reducing the waste of manpower, material resources and time, the efficiency of grinding is correspondingly improved.

[0060] Please continue to refer to Figure 2 In some optional implementations, step S160 may further include:

[0061] If it is determined that the actual grinding times exceed the preset grinding times, step S167 is executed: grinding is performed on the next grinding target, and the actual grinding number of a grinding target that exceeds the preset grinding times but does not meet the standard is recorded.

[0062] In the above step S167, when the actual number of grinding times exceeds the preset number of grinding times, it is most likely that the grinding target itself is the cause of the grinding target, and it still does not meet the standard after multiple grindings. For example, in the process of grinding the electrode cap of the welding gun, the copper-zinc oxide film to be ground formed on the surface of one of the electrode caps is too stubborn. However, it cannot be completely ruled out that it is caused by problems with the grinder, for example: the downward pressure of the grinding component is not enough, the tool in the grinding component needs to be replaced, etc. Therefore, in order to further determine the reasons why the same grinding target is still not up to standard after multiple grindings, the actual number of grindings of a grinding target that exceeds the preset number of grindings but does not meet the standard can be recorded, so that subsequent judgments can be made based on the actual number of grindings. In addition, the grinding time and the speed of the cutter disc can be increased, which can improve the grinding effect of the existing blades to a certain extent.

[0063] In the above implementation process, by judging whether the actual number of grinding times for the grinding target exceeds the preset number of grinding times, and replacing the grinding target when the actual number of grinding times exceeds the preset number of grinding times, the situation where the target is not up to standard after multiple grindings due to problems of the grinding component itself is further avoided, thereby further reducing the waste of manpower, material resources and time, and improving the efficiency of grinding.

[0064] Please continue to refer to Figure 2 In some optional implementations, step S160 may further include:

[0065] Step S168: Determine whether the actual grinding number exceeds the preset grinding number.

[0066] In the above step S168, the preset number of grindings may be 4, 5, etc.

[0067] If it is determined that the actual grinding number exceeds the preset grinding number, step S169 is executed: increasing the preset pressure value during the grinding process of the grinding component.

[0068] In the above step S169, if the actual grinding number exceeds the preset grinding number, it usually means that the problem is most likely caused by the grinding machine itself. For example, the preset pressure value of the grinding assembly is too small, the tool in the grinding assembly needs to be replaced, etc. In order to further exclude whether the preset pressure value is too small, the preset pressure value of the grinding assembly during the grinding process can be increased.

[0069] Step S1610: Grinding the grinding target according to a preset pressure value.

[0070] In the above step S1610, the pressure applied to the grinding target during the grinding process of the grinding assembly is increased.

[0071] In the above implementation process, by judging whether the actual number of grindings exceeds the preset number of grindings, and if the actual number of grindings exceeds the preset number of grindings, increasing the pressure of the grinding assembly during the grinding process, it is determined whether this situation is caused by insufficient pressure applied by the grinding assembly to the grinding target. In addition to determining that the reason why the grinding effect of multiple grinding targets does not meet the standard lies in the grinding machine, the range of possible reasons is further narrowed. This facilitates the investigation and handling of abnormal situations during the grinding process, and correspondingly improves the grinding efficiency.

[0072] Please refer to Figure 3 , Figure 3 is a specific flow chart of step S1610 in the control method of the grinding machine provided in the embodiment of the present application. In some optional implementations, step S1610 may include:

[0073] Step S1611: clear the recorded actual number of grindings and start recording from zero again.

[0074] In the above step S1611, after adjusting the preset pressure value, in order to determine whether the grinding is not up to standard due to the grinding component, the recorded actual grinding number can be cleared to be re-recorded in the next cycle.

[0075] Step S1612: determining whether a preset pressure value applied by the grinding assembly to the grinding target during the grinding process exceeds a pressure limit value.

[0076] In the above step S1612, that is, when the preset pressure value is increased, it is determined whether the preset pressure value is less than the pressure limit value during the grinding process of the grinding component.

[0077] If it is determined that the preset pressure value is less than the pressure limit value, step S1613 is executed: it is determined again whether the actual grinding number exceeds the preset grinding number; if it is determined that the actual grinding number does not exceed the preset grinding number, step S1614 is executed: the next round of grinding operation is continued. The principle and specific implementation of the above step S1614 can be the same as those in the previous step S168, and will not be repeated here.

[0078] If it is determined that the actual grinding number exceeds the preset grinding number, step S1615 is executed: the grinding is stopped to replace the grinding components.

[0079] In the above step S1615, when the preset pressure value is greater than or equal to the pressure limit value, the actual number of grinding times of the grinding target that does not meet the grinding standard still exceeds the preset number of grinding times, which means that the reason why the grinding of the grinding target still does not meet the standard is most likely due to the need to replace the tool in the grinding assembly, so the grinding can be stopped to replace the grinding assembly or the tool therein.

[0080] In the above implementation process, when the preset pressure value is increased, the recorded actual grinding number is cleared and recorded from zero, and when the actual grinding number still exceeds the preset grinding number, it is determined that the grinding does not meet the standard because the grinding component needs to be replaced. That is, the specific cause of the abnormality is determined through the above judgment process, which makes it convenient for users to handle the abnormality according to the specific cause, thereby further improving the grinding efficiency.

[0081] In some optional embodiments, the grinding target may include an electrode cap of a welding gun.

[0082] The main material of the car body in white is galvanized steel plate, which is fixedly connected between steel plates or between steel plates and steel frames by spot welding. After the welding gun used for spot welding works for a long time, a copper-zinc oxide film will form on the surface of the electrode cap, which will affect the spot welding operation and reduce the welding quality of the car body. Therefore, the electrode cap needs to be polished.

[0083] At present, there are two main ways to grind the electrode cap: one is manual grinding; the other is an automatic grinding machine driven by a cylinder and a proportional valve.

[0084] However, manual grinding has problems such as poor working environment, potential safety hazards, and is not conducive to the improvement of automation rate. The automatic grinding machine has the following problems: the thrust of the cylinder is greatly affected by the air pressure, resulting in the inability to accurately control the grinding pressure; the grinding pressurization action speed control is single and cannot be adapted to the grinding rhythm, and the adjustment range is limited; the cylinder action stroke is fixed and cannot adapt to the grinding of electrode caps of different lengths, which seriously affects the service life of the grinding blade and electrode cap, and the grinding effect is not good.

[0085] In the above implementation process, the control method of the grinding machine provided in the previous embodiments of the present application is used to grind the electrode cap, thereby improving the control accuracy of the grinding components in the grinding machine, achieving the adaptation to the grinding rhythm and the grinding of electrode caps of different lengths, and improving the grinding automation rate, grinding yield rate and grinding blade use efficiency of the electrode cap. Figure 4 , Figure 41 is a schematic diagram of the first structure of the grinding machine 100 provided in the embodiment of the present application. Based on the same concept, the embodiment of the present application provides a grinding machine 100, which may include: a grinding assembly 110, a controller and a drive assembly 130. The grinding assembly 110 may be connected to the drive assembly 130, and the drive assembly 130 may be electrically connected to the controller. The controller may be used to control the grinding assembly 110 to press down at a first speed through the drive assembly 130 to approach the grinding target. When the grinding assembly 110 is pressed down to the speed switching position, the grinding assembly 110 is controlled to press down at a second speed. The second speed is less than the first speed, and the speed switching position is located in the middle of the stroke of the grinding assembly 110 pressing down toward the grinding target. When the grinding assembly 110 contacts the grinding target, the grinding target is ground.

[0086] The above implementation process may be the same as the control method of the grinding machine 100 described above, and will not be described in detail here.

[0087] Please continue to refer to Figure 4 In some optional embodiments, the driving assembly 130 may include a rotary driving member 131, a gear 132, and a rack 133. The output end of the rotary driving member 131 may be connected to the gear 132. The gear 132 may mesh with the rack 133. The rack 133 may be connected to the grinding assembly 110.

[0088] The rotation driving member 131 may be a servo motor.

[0089] In the above implementation process, the torque output by the rotating driving member 131 is converted into linear motion through the combination of the gear 132 and the rack 133 to control the grinding assembly 110 to approach or move away from the grinding target. Compared with the grinding of the grinding assembly 110 by a linear cylinder, the control speed and position accuracy of the grinding assembly 110 are improved, and the grinding effect is correspondingly improved.

[0090] Please continue to refer to Figure 4 In some optional embodiments, the driving assembly 130 may further include a torque sensor 134. The output end of the rotary driving member 131 may be connected to the gear 132 via the torque sensor 134.

[0091] The drive assembly 130 can accurately control the longitudinal feed amount of grinding. The feed motor drives the coupling to rotate, and the gear 132 and rack 133 transmission pair are used to make the grinding assembly 110 move up and down in the vertical direction. The torque sensor measures the torque received by the feed motor. When the grinding tool contacts the electrode cap, the torque of the corresponding feed motor will increase, and the feed amount is calculated at this time. Through the control of the torque by the control unit, the feed amount can be accurately controlled to adapt to the grinding work of electrode caps of different lengths, and different grinding pressures, speeds and times can be maintained. Usually, segmented grinding parameters are adopted through electronic control, such as the first section is a slightly longer time, a slightly larger grinding pressure, and a slightly slower cutter head speed to ensure the cutting amount and reduce heat generation. The second section is a slightly shorter time, a slightly smaller pressure, and a slightly faster speed to ensure the high-speed polishing electrode effect, and finally ensure the stability of the grinding quality and extend the service life of the blade. This speed and pressure regulating grinding method is more efficient and effective than the conventional cylinder-driven constant speed and pressure grinding method.

[0092] In the above implementation process, by configuring the torque sensor 134 at the output end of the driving member, the grinding pressure applied to the rotating driving member 131 can be controlled more accurately, thereby further improving the control accuracy of the grinding assembly 110.

[0093] Please refer to Figure 5 and Figure 6 , Figure 5 is a second structural schematic diagram of the grinding machine 100 provided in an embodiment of the present application; Figure 6 1 is a schematic diagram of the structure of the sorting unit 140 in the grinding machine 100 provided in the embodiment of the present application. In some optional embodiments, the grinding machine 100 further includes a sorting unit 140; the sorting unit 140 includes a camera quality inspector 141 and a sorting assembly 142, the camera quality inspector 141 is arranged on the side of the sorting assembly 142; the camera quality inspector 141 and the sorting device are electrically connected to the controller respectively.

[0094] The camera quality inspector 141 is used to detect the grinding effect of the electrode cap after grinding. It can automatically identify through AI learning based on vision, ensure the quality inspection standard, reduce the errors caused by human visual judgment, and at the same time reduce the workload of workers and improve the inspection efficiency; the sorting component 142 is used to sort the products. According to the results of the judgment of the camera quality inspector 141, the ground electrode caps are divided into good products or defective products, and then the electrode caps are sorted, thereby controlling the operation of the camera quality inspector 141 and the sorting device. When the camera quality inspector 141 performs quality inspection on the electrode cap, the electrode cap is still located on the positioning unit 150. Therefore, after the camera quality inspector 141 performs the initial identification of the grinding effect of the electrode cap, if the grinding is unqualified, the electrode cap can be re-grinded by the grinding unit, which greatly shortens the process and time from the discovery of defective products to the secondary repair. In the prior art, the sorting device is generally set at the very end. After the product is processed, the product is first taken out of the production equipment and then inspected and sorted. At this time, if it is found that the product is poorly processed, the product needs to be re-clamped on the production equipment for reprocessing, which greatly reduces the rework process and rework time. After the grinding is completed, the sorting unit 140 detects the grinding state in real time to determine whether secondary grinding is required and automatic sorting and collection after the grinding is completed. When the controller determines that the electrode cap needs to be sorted, the positioning unit 150 releases the positioning of the electrode cap, and then uses the pushing component to drive the electrode cap into the discharging component to realize the automatic sorting and collection function of the electrode cap.

[0095] In summary, the control method and the grinding machine provided by each embodiment of the present application reduce the downward pressing speed of the grinding assembly when the grinding assembly is pressed down to a speed switching position that is relatively close to the grinding target, so that when the grinding assembly is pressed down to contact with the target assembly, the excess distance that the grinding assembly continues to press down due to inertia is reduced. The grinding of the grinding target by the grinding assembly adopts segmented grinding parameters, thereby improving the accuracy of controlling the grinding assembly and improving the effect of grinding the grinding assembly. By judging whether the current height of the grinding target being ground by the grinding assembly is lower than the preset grinding height, and judging that the grinding target is scrapped when the current height is lower than the preset grinding height, the grinding efficiency is improved. By judging whether the actual number of grindings for the grinding target exceeds the preset number of grindings, and if the actual number of grindings does not exceed the preset number of grindings, the grinding target is continued to be ground at least once until the grinding effect of the grinding target meets the standard or the actual number of grindings exceeds the preset number of grindings, the situation of wasting manpower, material resources and time is reduced, and the grinding efficiency is correspondingly improved. By judging whether the actual number of grindings exceeds the preset number of grindings, and if the actual number of grindings exceeds the preset number of grindings, the pressure of the grinding component during the grinding process is increased, so as to facilitate the investigation and handling of abnormal situations in the grinding process, and the grinding efficiency is correspondingly improved. By clearing the recorded actual number of grindings and starting to record from zero when the preset pressure value is increased, and if the actual number of grindings still exceeds the preset number of grindings, it is determined that the grinding does not meet the standard due to the need to replace the grinding component. It is convenient for users to handle abnormalities according to specific reasons, thereby further improving the grinding efficiency.

[0096] The above description is only an optional implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be covered within the protection scope of the embodiments of the present application.

Claims

1. A control method for a grinding machine, characterized in that: include: Controlling the grinding assembly to press down at a first speed to approach the grinding target; When the grinding assembly is pressed down to the speed switching position, the grinding assembly is controlled to be pressed down at a second speed; wherein the second speed is less than the first speed, and the speed switching position is located in the middle of the stroke of the grinding assembly pressing down toward the grinding target; as well as When the grinding component contacts the grinding target, the grinding target is ground.

2. The method according to claim 1, characterized in that The step of grinding the grinding target when the grinding component contacts the grinding target comprises: Determining whether the current height of the grinding assembly is lower than a preset grinding height; If it is determined that the current height is lower than the preset grinding height, the grinding target is determined to be scrapped.

3. The method according to claim 2, characterized in that The step of grinding the grinding target when the grinding component contacts the grinding target further comprises: If it is determined that the current height is not lower than the preset grinding height, the grinding target is ground, and an actual number of grinding times for the grinding target is recorded; Determining whether the grinding of the grinding target meets the standard; If it is determined that the grinding of the grinding target does not meet the standard, further determining whether the actual grinding times exceeds the preset grinding times; If it is determined that the actual grinding times do not exceed the preset grinding times, the grinding target continues to be ground until the grinding of the grinding target reaches the standard or the actual grinding times exceed the preset grinding times.

4. The method according to claim 3, characterized in that The step of grinding the grinding target when the grinding component contacts the grinding target further comprises: If it is determined that the actual grinding times exceed the preset grinding times, the next grinding target is ground, and the actual grinding number of a grinding target that exceeds the preset grinding times but does not meet the standard is recorded.

5. The method according to claim 4, characterized in that The step of grinding the grinding target when the grinding component contacts the grinding target further comprises: Determining whether the actual grinding number exceeds the preset grinding number; If it is determined that the actual grinding number exceeds the preset grinding number, increasing the preset pressure value of the grinding component during the grinding process; The grinding target is ground according to the preset pressure value.

6. The method according to claim 5, characterized in that The grinding of the grinding target according to the preset pressure value includes: Resetting the recorded actual number of grindings to zero and starting the recording again from zero; determining whether a preset pressure value applied by the grinding component to the grinding target during the grinding of the grinding target exceeds the pressure limit value; If it is determined that the preset pressure value does not exceed the pressure limit value, then determining again whether the actual grinding number exceeds the preset grinding number; If it is determined that the actual grinding number does not exceed the preset grinding number, the grinding component continues to perform the next round of grinding operation; If it is determined that the preset pressure value exceeds the pressure limit value, the grinding is stopped to replace the grinding component.

7. The method according to any one of claims 1 to 6, characterized in that in, The grinding target includes an electrode cap of a welding gun.

8. A grinding machine, characterized in that: include: Grinding components, controllers and drive components; The grinding assembly is connected to the driving assembly, and the driving assembly is electrically connected to the controller; The controller is used to control the grinding assembly to press down at a first speed through the driving assembly to approach the grinding target; When the grinding assembly is pressed down to the speed switching position, the grinding assembly is controlled to be pressed down at a second speed; wherein the second speed is less than the first speed, and the speed switching position is located in the middle of the stroke of the grinding assembly pressing down toward the grinding target; When the grinding component contacts the grinding target, the grinding target is ground.

9. The grinding machine according to claim 8, characterized in that: The driving assembly includes a rotating driving member, a gear and a rack; The output end of the rotary drive member is connected to the gear; The gear is meshed with the rack; The rack is connected to the grinding assembly; The drive assembly also includes a torque sensor; The output end of the rotary driving member is connected to the gear through the torque sensor.

10. The grinding machine according to claim 8, characterized in that: Also includes a sorting unit; The sorting unit comprises a camera quality inspector and a sorting component, wherein the camera quality inspector is arranged on the side of the sorting component; The camera quality inspector and the sorting device are electrically connected to the controller respectively.

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