Stepped hole polishing device

Abstract

The invention discloses a stepped hole grinding device. A master control module is connected with a pneumatic clamping jaw, a turnover mechanism, a rotating mechanism, a visual detection module and a grinding control module. The turnover mechanism is linked with the pneumatic clamping jaw; the rotating mechanism is linked with the pneumatic clamping jaw; the axis of the plane surrounded by the pneumatic clamping jaws coincides with the rotating axis of the rotating mechanism. The master control module is used for forming a first control signal, a second control signal, a third control signal and a fourth control signal; the turnover mechanism drives the pneumatic clamping jaw to turn over, and a turnover in-place signal is formed when turnover is finished; the visual detection module generates a rotation positioning angle signal according to the relative position image of the brush and the stepped hole of the to-be-polished workpiece; the rotating mechanism drives the pneumatic clamping jaw to rotate; and the polishing control module controls the brush to rotate and extend so as to polish the stepped hole of the workpiece to be polished. The brake disc stepped hole group polishing device realizes group automatic polishing of brake disc stepped holes, improves the operation efficiency, and is controllable in polishing quality.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of locomotive braking, and in particular to a stepped hole grinding device. Background Art

[0002] Workpiece processing for motor vehicle brake discs includes grinding the stepped holes of motor vehicle brake discs. Stepped holes refer to the holes punched on the brake disc of a locomotive, with 18 stepped holes evenly spaced at 20 degrees along the circumference of the brake disc. The main function of the stepped holes is to allow more air or cooling fluid to pass through, thereby more effectively removing the heat generated during the braking process. Alternatively, it can reduce braking noise and improve the durability and stability of the brake disc.

[0003] As the use time increases, the brake disc surface may have uneven wear, grooves, rust and other problems, which will affect the friction and stability of the brake. It is necessary to polish to remove these surface defects to make the brake disc surface smoother and smoother, thereby improving the braking performance. In the prior art, the polishing of the stepped holes is usually done manually: manually polishing one by one with a wire brush.

[0004] In the prior art, the step hole grinding scheme has high labor intensity, low working efficiency, poor working environment caused by dust pollution, and the grinding quality varies from person to person. Summary of the invention

[0005] The invention provides a stepped hole grinding device, which realizes automatic group grinding of stepped holes of a brake disc, improves operation efficiency and makes grinding quality controllable.

[0006] An embodiment of the present invention provides a stepped hole grinding device, the stepped hole grinding device comprising:

[0007] General control module, pneumatic claws, flip mechanism, rotation mechanism, visual inspection module, grinding control module and brush;

[0008] The general control module is respectively connected with the pneumatic claw, the flipping mechanism, the rotating mechanism, the visual inspection module and the polishing control module;

[0009] The pneumatic clamping claw is used to clamp the workpiece to be polished, and output a workpiece in place signal according to the clamping state of the workpiece to be polished; the general control module is used to form a first control signal according to the workpiece in place signal;

[0010] The flipping mechanism is linked with the pneumatic claw, and is used to drive the plane surrounded by the pneumatic claw to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the general control module generates a second control signal according to the flipping in place signal;

[0011] When the plane surrounded by the pneumatic jaws forms a second angle with the horizontal plane, the circular plane formed by the stepped holes of the workpiece to be polished is parallel to the circular plane formed by the brushes, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes;

[0012] The visual detection module is used to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal, and the visual detection module generates a rotation positioning angle signal according to the relative position image; the general control module forms a third control signal according to the rotation positioning angle signal;

[0013] The axis of the plane surrounded by the plurality of pneumatic jaws coincides with the rotation axis of the rotating mechanism, the rotating mechanism is linked with the pneumatic jaws, the rotating mechanism is used to drive the pneumatic jaws to rotate according to the third control signal, and generates a grinding alignment signal when the rotating mechanism stops rotating; the general control module generates a fourth control signal according to the grinding alignment signal;

[0014] The grinding control module is used to control the rotation and extension of the brush according to the fourth control signal to perform step hole grinding of the workpiece to be ground.

[0015] Optionally, the flip mechanism includes: a first power supply input unit, a first switch unit, a first voltage transformation unit, a flip unit, a first transistor output type controller, a first switch power supply and a flip information detection unit;

[0016] The control end of the first transistor output type controller is connected to the general control module and is used to receive the first control signal;

[0017] The three output ends of the first power supply input unit are respectively connected to the first switch unit, the first transistor output type controller and the power supply end of the first switch power supply;

[0018] The output end of the first switch unit is connected to the input end of the first transformer unit, and the output end of the first transformer unit is connected to the first input end of the flip unit;

[0019] The first output end of the first transistor output type controller is connected to the control end of the first switch unit, and the first transistor output type controller is used to send a first power control signal to the first switch unit according to the first control signal to control the conduction or disconnection between the flip unit and the output end of the first power input unit;

[0020] The second output terminal of the first transistor output type controller is connected to the second input terminal of the flip unit, and the first transistor output type controller is used to send a first control positioning pulse string to the flip unit according to the first control signal to control the flip unit to perform flip positioning control;

[0021] The power supply end of the flip information detection unit is connected to the first switch power supply, and the first switch power supply supplies power to the flip information detection unit;

[0022] The output end of the flip information detection unit is connected to the input end of the first transistor output type controller, and is used to collect the flip position information of the flip mechanism and send it to the first transistor output type controller; the first transistor output type controller sends the flip position signal to the main control module according to the flip position information.

[0023] Optionally, the flip unit includes: a flip servo amplifier, a flip servo motor, a first encoder and a flip reducer;

[0024] The first input end of the flip servo amplifier is used as the first input end of the flip unit, the second input end of the flip servo amplifier is used as the second input end of the flip unit, the output end of the flip servo amplifier is connected to the input end of the flip servo motor, the input end of the first encoder is connected to the first output end of the flip servo motor, and the first encoder is used to collect the feedback signal of the flip servo motor;

[0025] The output end of the first encoder is connected to the third input end of the flip servo amplifier, and the flip servo amplifier outputs a flip control signal according to the first control positioning pulse string and the feedback signal of the flip servo motor;

[0026] The second output end of the flip servo motor is connected to the input end of the flip reducer, and the flip servo motor is used to drive the flip reducer according to the flip control signal.

[0027] Optionally, the visual inspection module includes: a power input unit, a light source power supply unit, a light source, a visual inspection computer and an industrial camera;

[0028] The two output ends of the power input unit are respectively connected to the light source power supply unit and the power supply end of the visual inspection computer;

[0029] The light source power supply unit is connected to the power supply end of the light source, and the output end of the industrial camera is connected to the input end of the visual inspection computer; the visual inspection computer is connected to the general control module, and the visual inspection computer is used to control the industrial camera to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the general control module, and generate a rotation positioning angle signal according to the relative position image.

[0030] Optionally, the rotating mechanism includes: a second power supply input unit, a second switch unit, a second transformer unit, a rotating unit and a second transistor output controller;

[0031] The control end of the second transistor output type controller is connected to the general control module and is used to receive the third control signal;

[0032] The two output ends of the second power supply input unit are respectively connected to the power supply ends of the second switch unit and the second transistor output type controller;

[0033] The output end of the second switch unit is connected to the input end of the second transformer unit; the output end of the second transformer unit is connected to the first input end of the rotation unit;

[0034] The first output terminal of the second transistor output type controller is connected to the control terminal of the second switch unit; the second transistor output type controller is used to send a second power control signal to the second switch unit according to the first control signal to control the conduction or disconnection between the rotating unit and the output terminal of the second power input unit;

[0035] The second output end of the second transistor output type controller is connected to the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse string to the rotating unit according to the second control signal to control the rotating unit to perform rotation positioning control.

[0036] Optionally, the rotating unit includes: a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating reducer;

[0037] The first input end of the rotary servo amplifier serves as the first input end of the rotary unit, the second input end of the rotary servo amplifier serves as the second input end of the rotary unit, the output end of the rotary servo amplifier is connected to the input end of the rotary servo motor, the input end of the second encoder is connected to the first output end of the rotary servo motor, and the second encoder is used to collect a feedback signal of the rotary servo motor;

[0038] The output terminal of the second encoder is connected to the third input terminal of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and the feedback signal of the rotary servo motor;

[0039] The second output end of the rotary servo motor is connected to the input end of the rotary reducer, and the rotary servo motor is used to drive the rotary reducer according to the rotary control signal.

[0040] Optionally, the polishing control module includes: a third power supply input unit, a third switch unit, a third switch power supply, a third transformer unit, a brush telescopic motion unit, a brush pneumatic rotation unit, a third transistor output type controller and a brush position information detection unit;

[0041] The control end of the third transistor output type controller is connected to the general control module for receiving the fourth control signal;

[0042] The three output ends of the third power supply input unit are respectively connected to the third switch unit, the third transistor output type controller and the power supply end of the third switch power supply;

[0043] The output end of the third switch unit is connected to the input end of the third transformer unit, and the output end of the third transformer unit is connected to the first input end of the brush telescopic motion unit;

[0044] The first output end of the third transistor output type controller is connected to the control end of the third switch unit, and the third transistor output type controller is used to send a third power supply control signal to the third switch unit according to the fourth control signal to control the conduction or disconnection between the brush telescopic motion unit and the output end of the third power supply input unit;

[0045] The second output end of the third transistor output type controller is connected to the second input end of the brush telescopic motion unit, and the third transistor output type controller is used to send a third control positioning pulse string to the brush telescopic motion unit according to the fourth control signal to control the brush telescopic motion unit to perform brush telescopic positioning control;

[0046] The power supply end of the brush pneumatic rotating unit is connected to the third switch power supply, and the third switch power supply supplies power to the brush pneumatic rotating unit;

[0047] The third output terminal of the third transistor output type controller is connected to the control terminal of the brush pneumatic rotation unit, and the third transistor output type controller is used to send a brush rotation control signal to the brush pneumatic rotation unit according to a fourth control signal to control the brush rotation;

[0048] The power supply end of the brush position information detection unit is connected to the third switch power supply, and the third switch power supply supplies power to the brush position information detection unit;

[0049] The output end of the brush position information detection unit is connected to the input end of the third transistor output type controller, and is used to collect the telescopic position information of the brush and send it to the third transistor output type controller.

[0050] Optionally, the brush pneumatic rotation unit comprises: a solenoid valve and a pneumatic driver;

[0051] The power supply end of the solenoid valve serves as the power supply end of the brush pneumatic rotating unit, and the control end of the solenoid valve serves as the control end of the brush pneumatic rotating unit;

[0052] The first end of the solenoid valve is connected to an external air source, and the second end is connected to an input end of a pneumatic driver;

[0053] The solenoid valve controls the connection or disconnection between the pneumatic driver and the external steam source according to the brush rotation control signal.

[0054] Optionally, the brush telescopic motion unit comprises: a brush telescopic servo amplifier, a brush telescopic servo motor, a third encoder and a brush telescopic reducer;

[0055] The first input end of the brush telescopic servo amplifier serves as the first input end of the brush telescopic motion unit, the second input end of the brush telescopic servo amplifier serves as the second input end of the brush telescopic motion unit, the output end of the brush telescopic servo amplifier is connected to the input end of the brush telescopic servo motor, the input end of the third encoder is connected to the first output end of the brush telescopic servo motor, and the third encoder is used to collect the feedback signal of the brush telescopic servo motor;

[0056] The output end of the third encoder is connected to the third input end of the brush extension and retraction servo amplifier, and the brush extension and retraction servo amplifier outputs a brush extension and retraction control signal according to the third control positioning pulse train and the feedback signal of the brush extension and retraction servo motor;

[0057] The second output end of the brush extension and retraction servo motor is connected to the input end of the brush extension and retraction reducer, and the brush extension and retraction servo motor is used to drive the brush extension and retraction reducer according to the brush extension and retraction control signal.

[0058] Optionally, the general control module includes: a fourth power supply input unit and a control unit;

[0059] The fourth power supply input unit is connected to the power supply terminal of the control unit;

[0060] The first output end of the control unit is connected to the pneumatic claw, the flipping mechanism, the rotating mechanism, the visual inspection module and the grinding control module;

[0061] The first input terminal of the control unit is connected to an external host computer.

[0062] An embodiment of the present invention provides a step hole grinding device, in which a pneumatic clamp is responsible for clamping a workpiece and sending a workpiece in place signal. The flipping mechanism adjusts the workpiece to a specific angle according to the signal of the main control module to form a flipping in place signal. After the workpiece is flipped into place, the visual inspection module collects the relative position image of the brush of the grinding control module and the step hole of the workpiece, and generates a rotation positioning angle signal. The rotating mechanism adjusts the position of the workpiece according to the signal to ensure that the brush is aligned with the step hole. The grinding control module controls the rotation and extension of the brush according to the signal of the main control module to perform the grinding operation. In the step hole grinding device provided by the embodiment of the present invention, the coordinated work of each module realizes the automation of step hole grinding, reduces manual operation, reduces safety hazards caused by human factors, improves operation safety, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0064] Figure 1 It is a structural schematic diagram of a stepped hole grinding device provided by an embodiment of the present invention;

[0065] Figure 2 A flow chart of a step hole grinding method provided in an embodiment of the present invention;

[0066] Figure 3 A schematic structural diagram of a flip mechanism provided by an embodiment of the present invention;

[0067] Figure 4 is a structural schematic diagram of a visual detection module provided by an embodiment of the present invention;

[0068] Figure 5 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present invention;

[0069] Figure 6 is a structural schematic diagram of a grinding control module provided by an embodiment of the present invention;

[0070] Figure 7It is a schematic structural diagram of another stepped hole grinding device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0072] Figure 1 is a schematic diagram of the structure of a stepped hole grinding device provided by an embodiment of the present invention, such as Figure 1 As shown, the step hole grinding device includes:

[0073] A general control module 101, a pneumatic clamping claw 102, a flipping mechanism 103, a rotating mechanism 105, a visual inspection module 104, a polishing control module 106 and a brush;

[0074] The overall control module 101 is respectively connected to the pneumatic gripper 102, the flipping mechanism 103, the rotating mechanism 105, the visual inspection module 104 and the grinding control module 106;

[0075] The pneumatic clamping claw 102 is used to clamp the workpiece to be polished, and output a workpiece in place signal according to the clamping state of the workpiece to be polished; the general control module 101 is used to form a first control signal according to the workpiece in place signal;

[0076] The flipping mechanism 103 is linked with the pneumatic clamping claw 102. The flipping mechanism 103 is used to drive the plane surrounded by the pneumatic clamping claw 102 to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the main control module 101 generates a second control signal according to the flipping in place signal;

[0077] When the plane surrounded by the pneumatic jaws forms a second angle with the horizontal plane, the circular plane formed by the stepped holes of the workpiece to be polished is parallel to the circular plane formed by the brush, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes;

[0078] The visual inspection module 104 is used to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal, and the visual inspection module 104 generates a rotation positioning angle signal according to the relative position image; the overall control module 101 forms a third control signal according to the rotation positioning angle signal;

[0079] The axis of the plane surrounded by the multiple pneumatic jaws 102 coincides with the rotation axis of the rotating mechanism 105. The rotating mechanism 105 is linked with the pneumatic jaws 102. The rotating mechanism 105 is used to drive the pneumatic jaws 102 to rotate according to the third control signal, and generates a grinding alignment signal when the rotating mechanism 105 stops rotating. The main control module 101 generates a fourth control signal according to the grinding alignment signal.

[0080] The grinding control module 106 is used to control the rotation and extension of the brush according to the fourth control signal to grind the step hole of the workpiece to be ground.

[0081] Specifically, the general control module controls all mechanisms or modules of the step hole grinding device. When the workpiece to be ground is clamped by the pneumatic clamp 102, the pneumatic clamp 102 outputs a workpiece arrival signal to the general control module. The general control module 101 generates a first control signal based on the received workpiece arrival signal and sends it to the flip mechanism 103.

[0082] The flip mechanism 103 is linked to the pneumatic clamping jaw 102, and the flip mechanism 103 can drive the plane surrounded by the pneumatic clamping jaw to rotate from a first angle with the horizontal plane to a second angle with the horizontal plane. The first angle is the angle when the workpiece to be polished is just clamped by the pneumatic clamping jaw 102, and the second angle is the angle when the workpiece to be polished is being polished for step holes. Optionally, the plane surrounded by the pneumatic clamping jaw 102 changes from the first angle with the horizontal plane to the plane surrounded by the pneumatic clamping jaw 102 at 0° with the horizontal plane; the plane surrounded by the pneumatic clamping jaw 102 changes from the second angle with the horizontal plane to the plane surrounded by the pneumatic clamping jaw 102 at 90° with the horizontal plane.

[0083] At the end of the flipping, the circular plane formed by the stepped holes of the workpiece to be polished is parallel to the circular plane formed by the brushes of the polishing control module, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes; at this time, although the brushes of the polishing control module may be misaligned with the stepped holes, the workpiece to be polished can be rotated around the center of the circular plane formed by the stepped holes so that each brush can be aligned with the stepped holes, thereby facilitating subsequent step hole polishing operations.

[0084] The visual inspection module 104 collects the relative position image of the brush of the grinding control module 106 and the stepped hole of the workpiece to be ground, and the visual inspection module 104 generates a rotation positioning angle signal according to the relative position image; the general control module 101 forms a third control signal according to the rotation positioning angle signal to control the rotating mechanism 105 to rotate so that each brush can be aligned with the stepped hole to facilitate subsequent step hole grinding operations.

[0085] Exemplarily, the visual inspection module 104 generates a rotation positioning angle signal according to the relative position image, including: the visual inspection module 104 compares the current relative position image with the centering standard image, and obtains the rotation angle value according to the difference between the two images. The acquisition of the alignment standard image can be obtained only once. When the flip mechanism 103 drives the workpiece to be polished to the second angle, the rotating mechanism 105 is manually controlled to rotate so that each brush can be aligned with the stepped hole. The visual inspection module 104 collects and stores the relative position image of the brush of the polishing control module 106 and the stepped hole of the workpiece to be polished at this time. The relative position image at this time is the centering standard image.

[0086] The axis of the plane surrounded by the pneumatic jaws 102 coincides with the rotation axis of the rotating mechanism 105, and the rotating mechanism 105 is linked with the pneumatic jaws 102. The rotating mechanism 105 drives the workpiece to be polished to rotate according to the third control signal.

[0087] Optionally, the control information contained in the third control signal controls the rotating mechanism 105 to rotate intermittently. Assume that the workpiece to be polished has 18 stepped holes, and the 18 stepped holes are arranged at equal intervals on the workpiece to be polished. The polishing control module 106 has 6 brushes, and the 6 brushes are also arranged at equal intervals. If the brush of the grinding control module 106 is not aligned with the stepped hole after the flip mechanism 103 drives the workpiece to be polished to the second angle, the visual inspection module 104 generates a corresponding rotation positioning angle signal, and the total control module generates a third control signal according to the rotation positioning angle signal to control the rotating mechanism 105 to drive the control module to be polished to rotate 3 times, respectively: the first rotation: align the brush with the stepped hole to perform the first group of 6 stepped holes grinding; the second rotation: after the first group of 6 stepped holes are polished, the rotating mechanism 105 can perform a second rotation according to the third control signal to grind the second group of 6 stepped holes; the third rotation: after the second group of 6 stepped holes are polished, the rotating mechanism 105 can perform a third rotation according to the third control signal to grind the third group of 6 stepped holes. After three rotations, all 18 stepped holes of the workpiece to be polished are polished.

[0088] When the rotating mechanism 105 stops rotating, a grinding alignment signal is generated; the overall control module 101 generates a fourth control signal according to the grinding alignment signal; the grinding control module 106 is used to control the rotation and extension of the brush according to the fourth control signal to perform step hole grinding of the workpiece to be ground.

[0089] Specifically, since the rotating mechanism 105 is intermittent when driving the workpiece to be polished to rotate according to the third control signal. When the rotation starts, the brush of the polishing control module 106 is aligned with the stepped hole to be polished; when the rotation stops, it means that the brush has been aligned with the stepped hole and the stepped hole can be polished. When the rotating structure stops rotating, a polishing alignment signal is generated; the main control module 101 generates a fourth control signal according to the polishing alignment signal to control the rotation and extension of the brush of the polishing control module 106 to polish the stepped hole of the workpiece to be polished.

[0090] Figure 2 A flow chart of a step hole grinding method provided in an embodiment of the present invention is as follows: Figure 2 As shown, for example, assuming that the workpiece to be polished has 18 stepped holes, and the 18 stepped holes are arranged at equal intervals on the workpiece to be polished. The polishing control module 106 has 6 brushes, and the 6 brushes are also arranged at equal intervals. In combination with the above, in one case, 3 polishings are performed to complete the polishing of all the stepped holes, that is, the preset number of polishings is 3.

[0091] When the workpiece is clamped in place by the pneumatic clamp, the flip mechanism flips so that the plane surrounded by the pneumatic clamp is at a second angle to the horizontal plane. The visual inspection module collects the relative position image of the brush and the stepped hole of the workpiece to be polished, and calculates the angle at which the rotating mechanism needs to rotate, and the rotating mechanism rotates. After the rotation is completed, the general control module generates a fourth control signal according to the polishing alignment signal, and the polishing control module 106 controls the brush to rotate and extend into the stepped hole for polishing according to the fourth control signal. After the first preset time, the polishing control module 106 controls the brush to retract, and the polishing times counter increases by 1. At this time, the first group of 6 stepped holes are polished. The rotating mechanism 105 can perform a second rotation according to the third control signal to polish the second group of 6 stepped holes. After the second rotation stops, the rotating mechanism 105 generates a polishing alignment signal, the general control module 101 generates a fourth control signal, and the polishing control module 106 controls the brush to rotate and extend into the stepped hole for polishing after the second rotation according to the fourth control signal.

[0092] Similarly, after grinding three groups of stepped holes, all 18 stepped holes of the workpiece to be ground have been ground, and the number of grinding times is greater than the preset number. Then the brush returns to the limited state after extension; the flip mechanism flips so that the plane surrounded by the pneumatic clamping claw is at the first angle to the horizontal plane; the grinding times are reset to zero, and the step hole grinding process is ended.

[0093] It should be pointed out that the first preset time mentioned above is the time for grinding each group of stepped holes, that is, the time for the brush to extend into the stepped holes.

[0094] Optionally, the extension and retraction states of the brush in the grinding control module 106 may include: a telescopic front limit state, a telescopic middle limit state, and a telescopic rear limit state. Among them, in the telescopic rear limit state, the brush is farthest from the workpiece to be ground at the second angle, and this is the telescopic state of the brush when the workpiece to be ground has not yet been ground; the telescopic middle limit state refers to the brush being close to the workpiece to be ground but not extending into the stepped hole, and the telescopic middle limit state exists when the visual inspection module 104 collects the relative position image of the brush of the grinding control module 106 and the stepped hole of the workpiece to be ground, and when the rotating mechanism 106 drives the workpiece to be ground to rotate. The telescopic front limit state is the telescopic state of the brush when the brush extends into the stepped hole for step hole grinding. The extension and retraction states of the brush of the grinding control module 106 can be controlled by the general control module 101, which is not limited here.

[0095] Optionally, after the step hole of the workpiece to be polished is polished, the main control module 101 controls the brush of the polishing control module 106 to stop rotating and retract. The main control module 101 controls the flipping mechanism 103 to drive the plane surrounded by the pneumatic clamping claw 102 to be horizontal with the horizontal plane, and the pneumatic clamping claw is released to place the brake disc on the brake disc transmission line, and the processing of the workpiece to be polished is completed.

[0096] An embodiment of the present invention provides a step hole grinding device, in which a pneumatic clamp is responsible for clamping a workpiece and sending a workpiece in place signal. The flipping mechanism adjusts the workpiece to a specific angle according to the signal of the main control module to form a flipping in place signal. After the workpiece is flipped into place, the visual inspection module collects the relative position image of the brush of the grinding control module and the step hole of the workpiece, and generates a rotation positioning angle signal. The rotating mechanism adjusts the position of the workpiece according to the signal to ensure that the brush is aligned with the step hole. The grinding control module controls the rotation and extension of the brush according to the signal of the main control module to perform the grinding operation. In the step hole grinding device provided by the embodiment of the present invention, the coordinated work of each module realizes the automation of step hole grinding, reduces manual operation, reduces safety hazards caused by human factors, improves operation safety, and improves production efficiency.

[0097] Figure 3 A schematic diagram of a structure of a flip mechanism provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the flip mechanism 103 includes: a first power supply input unit 1031, a first switch unit 1032, a first voltage transformation unit 1033, a flip unit 1034, a first transistor output type controller 1035, a first switch power supply 1036 and a flip information detection unit 1037;

[0098] The control end of the first transistor output type controller 1035 is connected to the main control module 101 and is used to receive a first control signal;

[0099] The three output terminals of the first power supply input unit 1031 are respectively connected to the power supply terminals of the first switch unit 1032, the first transistor output type controller 1035 and the first switch power supply 1036;

[0100] The output end of the first switch unit 1032 is connected to the input end of the first transformer unit 1033 , and the output end of the first transformer unit 1033 is connected to the first input end of the flip unit 1034 ;

[0101] The first output terminal of the first transistor output type controller 1035 is connected to the control terminal of the first switch unit 1032, and the first transistor output type controller 1035 is used to send a first power control signal to the first switch unit 1032 according to the first control signal to control the conduction or disconnection between the flip unit 1034 and the output terminal of the first power input unit 1031;

[0102] The second output terminal of the first transistor output type controller 1035 is connected to the second input terminal of the flip unit 1034, and the first transistor output type controller 1035 is used to send a first control positioning pulse string to the flip unit 1034 according to the first control signal to control the flip unit 1034 to perform flip positioning control;

[0103] The power supply end of the flip information detection unit 1037 is connected to the first switch power supply 1036, and the first switch power supply 1036 supplies power to the flip information detection unit 1037;

[0104] The output end of the flip information detection unit 1037 is connected to the input end of the first transistor output type controller 1035, and is used to collect the flip position information of the flip mechanism 103 and send it to the first transistor output type controller 1035; the first transistor output type controller 1035 sends a flip position signal to the main control module 101 according to the flip position information.

[0105] The flip unit 1034 includes: a flip servo amplifier 10341, a flip servo motor 10342, a first encoder 10343 and a flip reducer 10344;

[0106] The first input end of the flip servo amplifier 10341 serves as the first input end of the flip unit 1034, the second input end of the flip servo amplifier 10341 serves as the second input end of the flip unit 1034, the output end of the flip servo amplifier 10341 is connected to the input end of the flip servo motor 10342, the input end of the first encoder 10343 is connected to the first output end of the flip servo motor 10342, and the first encoder 10343 is used to collect the feedback signal of the flip servo motor 10342;

[0107] The output end of the first encoder 10343 is connected to the third input end of the flip servo amplifier 10341, and the flip servo amplifier 10341 outputs a flip control signal according to the first control positioning pulse train and the feedback signal of the flip servo motor 10342;

[0108] The second output end of the flip servo motor 10342 is connected to the input end of the flip reducer 10344, and the flip servo motor 10342 is used to drive the flip reducer 10344 according to the flip control signal.

[0109] Specifically, in the flip mechanism 103, when the first transistor output type controller 1035 receives the first control signal of the main control module 101, the first transistor output type controller 1035 generates a first power control signal according to the first control signal and sends it to the first switch unit 1032 to control the power supply of the flip unit 1034; generates a first control positioning pulse string and sends it to the flip unit 1034 for flip positioning control. The first transformer unit 1033 transforms the input voltage into the working voltage of the flip unit 1034. During the flipping process, the flip information detection unit 1037 collects the flip position information of the flip mechanism 103 and sends it to the first transistor output type controller 1035. The first transistor output type controller 1035 processes and judges the flip position information. When it is detected that the current flip position meets the preset position, it generates and sends a flip position signal to the main control module. Optionally, the preset position is that the angle between the workpiece to be polished and the horizontal plane is 90°.

[0110] In the flip unit 1034, the first encoder 10343 collects the feedback signal of the flip servo motor 10342, and encodes it and sends it to the flip servo amplifier 10341. The flip servo amplifier 10341 outputs a flip control signal to the flip servo motor 10342 according to the first control positioning pulse train and the feedback signal of the flip servo motor 10342, so as to control the flip reducer 10344 to realize the flipping of the workpiece to be polished.

[0111] Optionally, the first power supply input unit 1031 includes a two-way circuit breaker and a first motor protector, wherein the input end of the first motor protector is connected to a three-phase AC 380V power supply, and the output end is connected to the first switch unit 1032. When the device is overloaded or short-circuited, the first motor protector cuts off the system power supply to protect the system.

[0112] Optionally, the first switch unit 1032 includes an electromagnetic contactor.

[0113] Optionally, the first transistor output type controller 1035 can also be connected to a pneumatic clamping jaw unit; the pneumatic clamping jaw unit includes a solenoid valve and a pneumatic clamping jaw, the first input end of the solenoid valve is connected to an external steam source, and the second input end is connected to the pneumatic clamping jaw. The first transistor output type controller 1035 also includes a third output end, and the third output end is connected to the control end of the solenoid valve. The first transistor output type controller 1035 controls the conduction and disconnection of the pneumatic clamping jaw and the external steam source according to the pneumatic clamping jaw drive signal input to the solenoid valve, thereby controlling the clamping or loosening of the pneumatic clamping jaw. At the same time, the first transistor output type controller 1035 outputs a workpiece arrival signal to the general control module according to the clamping state of the pneumatic clamping jaw for the workpiece to be polished.

[0114] By collecting the feedback signal of the flip servo motor 10342 through the first encoder 10343, the operating status and position of the motor can be monitored in real time. This feedback mechanism makes the flip control more precise and can ensure that the workpiece to be polished is accurately flipped to a predetermined angle. The flip servo amplifier 10341 outputs a flip control signal based on the first control positioning pulse train and the feedback signal of the motor. This closed-loop control method can maintain the stability and reliability of the flip process. Even in the face of load changes or external interference, the accuracy and consistency of the flip can be maintained by adjusting the control signal.

[0115] Figure 4 is a structural diagram of a visual detection module provided by an embodiment of the present invention, such as Figure 4 As shown, the visual inspection module 104 includes: a power input unit 1041, a light source power unit 1042, a light source 1045, a visual inspection computer 1043 and an industrial camera 1044; the two output ends of the power input unit 1041 are respectively connected to the power supply ends of the light source power unit 1042 and the visual inspection computer 1043; the light source power unit 1042 is connected to the power supply end of the light source 1045, and the output end of the industrial camera 1044 is connected to the input end of the visual inspection computer 1043; the visual inspection computer 1043 is connected to the main control module, and the visual inspection computer is used to control the industrial camera 1044 to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the main control module 101; and generate a rotation positioning angle signal according to the relative position image.

[0116] Specifically, after the visual inspection computer 1043 receives the second control signal from the general control module 101, the industrial camera 1044 captures the relative position image of the brush and the stepped hole of the workpiece to be polished, and sends the image to the visual inspection computer 1043 for processing. The visual inspection computer 1043 compares the relative position image with the centering standard image and calculates the rotation positioning angle signal. The general control module can generate a third control signal to control the rotation of the rotating mechanism 105 according to the rotation positioning angle signal. The combination of the visual inspection module 104 and the rotating mechanism 105 ensures high-precision alignment of the brush and the stepped hole, thereby improving the polishing quality.

[0117] Optionally, the industrial camera 1044 is connected to the network card of the visual inspection computer 1043 via Ethernet, and the serial port of the visual inspection computer 1043 is connected to the main control module 101 via RS485.

[0118] Optionally, the centering standard image may be an image pre-stored by the visual inspection computer 1043, and the centering standard image includes image information of the centering of the brush and the stepped hole.

[0119] The light source power supply unit 1042 supplies power to the light source 1045 , and the light source 1045 provides lighting for collecting image information of the industrial camera 1044 .

[0120] Optionally, the power input unit 1041 includes two circuit breakers. When one circuit is overloaded or short-circuited, the circuit breaker cuts off the system power supply to protect the system. The input end of the power input unit 1041 is connected to an AC 220V power supply.

[0121] Figure 5 is a structural schematic diagram of a rotating mechanism provided by an embodiment of the present invention, such as Figure 5 As shown, the rotating mechanism 105 includes: a second power supply input unit 1051, a second switch unit 1052, a second transformer unit 1053, a rotating unit 1054 and a second transistor output type controller 1055;

[0122] The control end of the second transistor output type controller 1055 is connected to the main control module 101 for receiving a third control signal;

[0123] Two output ends of the second power supply input unit 1051 are respectively connected to the second switch unit 1052 and the power supply end of the second transistor output type controller 1055;

[0124] The output end of the second switch unit 1052 is connected to the input end of the second transformer unit 1053; the output end of the second transformer unit 1053 is connected to the first input end of the rotation unit 1054;

[0125] The first output terminal of the second transistor output type controller 1055 is connected to the control terminal of the second switch unit 1052; the second transistor output type controller 1055 is used to send a second power control signal to the second switch unit 1052 according to the first control signal to control the conduction or disconnection between the rotating unit 1054 and the output terminal of the second power input unit 1051;

[0126] The second output terminal of the second transistor output type controller 1055 is connected to the second input terminal of the rotation unit 1054, and the second transistor output type controller 1055 is used to send a second control positioning pulse string to the rotation unit 1054 according to the second control signal to control the rotation unit 1054 to perform rotation positioning control.

[0127] The rotating unit 1054 includes: a rotating servo amplifier 10541, a rotating servo motor 10542, a second encoder 10543 and a rotating reducer 10544;

[0128] The first input end of the rotary servo amplifier 10541 serves as the first input end of the rotary unit 1054, the second input end of the rotary servo amplifier 10541 serves as the second input end of the rotary unit 1054, the output end of the rotary servo amplifier 10541 is connected to the input end of the rotary servo motor 10542, the input end of the second encoder 10543 is connected to the first output end of the rotary servo motor 10542, and the second encoder 10543 is used to collect the feedback signal of the rotary servo motor 10542;

[0129] The output terminal of the second encoder 10543 is connected to the third input terminal of the rotation servo amplifier 10541, and the rotation servo amplifier 10541 outputs a rotation control signal according to the second control positioning pulse train and the feedback signal of the rotation servo motor 10542;

[0130] The second output end of the rotary servo motor 10542 is connected to the input end of the rotary reducer 10544, and the rotary servo motor 10542 is used to drive the rotary reducer 10544 according to the rotary control signal.

[0131] Specifically, in the rotating mechanism 105, when the second transistor output type controller 1055 receives the second control signal from the general control module 101, the second transistor output type controller 1055 generates a second power control signal according to the second control signal and sends it to the second switch unit 1052 to perform power control on the rotating unit 1054; the second transformer unit 1053 transforms the input voltage into the working voltage of the rotating unit 1054. A second control positioning pulse string is generated and sent to the rotating unit 1054 for rotation positioning control.

[0132] In the rotating unit 1054, the second encoder 10543 collects the feedback signal of the rotating servo motor 10542, and encodes it and sends it to the rotating servo amplifier 10541. The rotating servo amplifier 10541 outputs a flip control signal to the rotating servo motor 10542 according to the first control positioning pulse train and the feedback signal of the rotating servo motor 10542, so as to control the rotating reducer 10544 to realize the rotation of the workpiece to be polished.

[0133] Optionally, the second power supply input unit 1051 includes a circuit breaker and a second motor protector, wherein the input end of the second motor protector is connected to a three-phase AC 380V power supply, and the output end is connected to the second switch unit 1052. When the device is overloaded or short-circuited, the second motor protector cuts off the system power supply to protect the system.

[0134] The second switching unit 1052 includes an electromagnetic contactor.

[0135] Optionally, an information collection unit is provided to collect rotation information of the rotating mechanism, and the collected information includes whether the rotation of the rotating mechanism stops. The information collection unit collects the rotation information of the rotating mechanism and sends it to the second transistor output type controller 1055, and the second transistor output type controller 1055 obtains the rotation information for analysis. When the rotation of the rotating mechanism stops, the second transistor output type controller 1055 generates a polishing alignment signal and sends it to the general control module 101.

[0136] The process of the second transistor output type controller 1055 generating the polishing alignment signal can also be performed by setting a preset time as a standard. When the rotation mechanism 105 receives the third signal and starts to rotate, after the preset time, the second transistor output type controller 1055 automatically generates the polishing alignment signal. The preset time is set according to factors such as the arrangement of the step holes, and is not limited here.

[0137] Figure 6 is a structural diagram of a grinding control module provided by an embodiment of the present invention, such as Figure 6 As shown: the grinding control module 106 includes: a third power supply input unit 106, a third switch unit 1062, a third switch power supply 1066, a third transformer unit 1063, a brush telescopic movement unit 1064, a brush pneumatic rotation unit 1068, a third transistor output type controller 1065 and a brush position information detection unit 1067;

[0138] The control end of the third transistor output type controller 1065 is connected to the main control module 101 for receiving a fourth control signal;

[0139] The three output terminals of the third power supply input unit 106 are respectively connected to the power supply terminals of the third switch unit 1062, the third transistor output type controller 1065 and the third switch power supply 1066;

[0140] The output end of the third switch unit 1062 is connected to the input end of the third transformer unit 1063, and the output end of the third transformer unit 1063 is connected to the first input end of the brush telescopic motion unit 1064;

[0141] The first output terminal of the third transistor output type controller 1065 is connected to the control terminal of the third switch unit 1062, and the third transistor output type controller 1065 is used to send a third power control signal to the third switch unit 1062 according to the fourth control signal to control the conduction or disconnection between the brush telescopic motion unit 1064 and the output terminal of the third power input unit 106;

[0142] The second output terminal of the third transistor output type controller 1065 is connected to the second input terminal of the brush telescopic motion unit 1064, and the third transistor output type controller 1065 is used to send a third control positioning pulse string to the brush telescopic motion unit 1064 according to the fourth control signal to control the brush telescopic motion unit 1064 to perform brush telescopic positioning control;

[0143] The power supply end of the brush pneumatic rotating unit 1068 is connected to the third switch power supply 1066, and the third switch power supply 1066 supplies power to the brush pneumatic rotating unit 1068;

[0144] The third output terminal of the third transistor output type controller 1065 is connected to the control terminal of the brush pneumatic rotation unit 1068, and the third transistor output type controller 1065 is used to send a brush rotation control signal to the brush pneumatic rotation unit 1068 according to the fourth control signal to control the brush rotation;

[0145] The power supply end of the brush position information detection unit 1067 is connected to the third switch power supply 1066, and the third switch power supply 1066 supplies power to the brush position information detection unit 1067;

[0146] The output end of the brush position information detection unit 1067 is connected to the input end of the third transistor output type controller 1065 for collecting the extension and retraction position information of the brush and sending it to the third transistor output type controller 1065 .

[0147] The brush pneumatic rotation unit 1068 includes: a solenoid valve 10681 and a pneumatic driver 10682;

[0148] The power supply end of the solenoid valve 10681 serves as the power supply end of the brush pneumatic rotating unit 1068, and the control end of the solenoid valve 10681 serves as the control end of the brush pneumatic rotating unit 1068;

[0149] The first end of the solenoid valve 10681 is connected to an external air source, and the second end is connected to an input end of the pneumatic driver 10682;

[0150] The solenoid valve 10681 controls the connection or disconnection between the pneumatic driver 10682 and the external steam source according to the brush rotation control signal.

[0151] The brush telescopic motion unit includes: a brush telescopic servo amplifier 10641, a brush telescopic servo motor 10642, a third encoder 10643 and a brush telescopic reducer 10644;

[0152] The first input end of the brush telescopic servo amplifier 10641 serves as the first input end of the brush telescopic motion unit, the second input end of the brush telescopic servo amplifier 10641 serves as the second input end of the brush telescopic motion unit, the output end of the brush telescopic servo amplifier 10641 is connected to the input end of the brush telescopic servo motor 10642, the input end of the third encoder 10643 is connected to the first output end of the brush telescopic servo motor 10642, and the third encoder 10643 is used to collect the feedback signal of the brush telescopic servo motor 10642;

[0153] The output end of the third encoder 10643 is connected to the third input end of the brush extension and retraction servo amplifier 10641, and the brush extension and retraction servo amplifier 10641 outputs a brush extension and retraction control signal according to the third control positioning pulse train and the feedback signal of the brush extension and retraction servo motor 10642;

[0154] The second output end of the brush extension and retraction servo motor 10642 is connected to the input end of the brush extension and retraction reducer 10644, and the brush extension and retraction servo motor 10642 is used to drive the brush extension and retraction reducer 10644 according to the brush extension and retraction control signal.

[0155] Specifically, the pneumatic driver 10682 in the polishing control module 106 drives the brush to rotate, and the brush extension reducer 10644 in the polishing control module 106 can drive the brush to extend and retract. In the polishing control module 106, when the third transistor output type controller 1065 receives the fourth control signal from the general control module 101, the third transistor output type controller 1065 generates a third power supply control signal according to the fourth control signal and sends it to the third switch unit 1062 to control the power supply of the brush extension motion unit 1064; the third transformer unit 1063 transforms the input voltage into the working voltage of the brush extension motion unit 1064. The third transistor output type controller 1065 generates a third control positioning pulse string and sends it to the brush extension motion unit 1064 to perform brush extension positioning control. The third transistor output type controller 1065 generates a brush rotation control signal and sends it to the brush pneumatic rotation unit 1068 to control the rotation of the brush. Optionally, the brush rotation control signal is an on / off signal for the solenoid valve, and the on / off of the solenoid valve in the brush pneumatic rotation unit 1068 is controlled to control the on / off of the pneumatic drive and the external steam source to control the rotation of the brush.

[0156] In the brush extension motion unit 1064, the third encoder 10643 collects the feedback signal of the brush extension servo motor 10642, and encodes it and sends it to the brush extension servo amplifier 10641. The brush extension servo amplifier 10641 outputs a brush extension control signal to the brush extension servo motor 10642 according to the third control positioning pulse train and the feedback signal of the brush extension servo motor 10642, so as to control the brush extension reducer 10644 to realize the rotation of the brush.

[0157] In the polishing control module 106, the brush extension and retraction unit 1064 is used to control the extension and retraction of the brush; then, the brush pneumatic rotation unit 1068 is used to control the rotation of the brush. Among them, for the brush pneumatic rotation unit 1068, the third transistor output type controller 1065 is connected to the solenoid valve 10681, and the third transistor output type controller 1065 controls the conduction of the solenoid valve 10681 to the pneumatic driver 10682 and the external steam source through the brush rotation control signal to realize the rotation of the brush.

[0158] Optionally, the third power supply input unit 1061 includes two circuit breakers and a third motor protector, wherein the input end of the third motor protector is connected to a three-phase AC 380V power supply, and the output end is connected to the third switch unit 1062. When the device is overloaded or short-circuited, the third motor protector cuts off the system power supply to protect the system.

[0159] Optionally, the third switch unit 1062 includes an electromagnetic contactor.

[0160] The brush position information detection unit 1067 collects the brush extension position information of the polishing control module 106 and sends it to the third transistor output type controller 1065, and the third transistor output type controller 1065 processes and judges the brush extension position information. Optionally, the third transistor output type controller 1065 sends the processing and judgment results of the brush extension position information to the general control module 101.

[0161] On the basis of the above embodiments, the brush telescopic position information of the grinding control module 106 includes three limit states of the brush: the limit state before telescopic, the limit state during telescopic, and the limit state after telescopic. When the step hole grinding device performs step hole grinding of the workpiece to be polished, different stages correspond to different brush limit states; at the same time, different stages also prohibit the brush from being in the corresponding limit state. Exemplarily, when the rotating mechanism 105 is in the rotating state, the brush in the grinding control module 106 cannot be inserted into the step hole, otherwise the rotation of the rotating mechanism 105 will cause the brush to break. When the main control module 101 generates the third control signal, if the brush telescopic position information sent by the third transistor output type controller 1065 received by the main control module 101 indicates that the brush is in the limit state after telescopic, then take corresponding safety measures. Optionally, the safety measures include: the main control module 101 sends an emergency stop command to the rotating mechanism 105, and the specific safety measures are set according to the actual situation and are not limited here.

[0162] Figure 7 is a schematic diagram of the structure of another stepped hole grinding device provided by an embodiment of the present invention. Figure 7 As shown, the stepped hole grinding device includes a main control module 101, wherein the main control module 101 includes: a fourth power supply input unit 1011 and a control unit 1012; the fourth power supply input unit 1011 is connected to the power supply end of the control unit 1012; the first output end of the control unit 1012 is connected to the pneumatic clamping claw 102, the flipping mechanism 103, the rotating mechanism 105, the visual detection module 104 and the grinding control module 106; the first input end of the control unit 1012 is connected to an external host computer.

[0163] Specifically, the control unit 1012 communicates with the first transistor output type controller 1035 , the second transistor output type controller 1055 , and the third transistor output type controller 1065 to receive signals and send corresponding control signals.

[0164] Specifically, the host computer is connected to the control unit 1012 so as to control the step hole grinding device through the host computer, or the host computer is connected to multiple step hole grinding devices in the above embodiments so as to perform unified control of multiple step hole grinding devices through the host computer.

[0165] Optionally, the host computer and the control unit 1012 are connected wirelessly or by wire.

[0166] Optionally, the first transistor output type controller 1035, the second transistor output type controller 1055 and the third transistor output type controller 1065 can be the same transistor output type controller, which has multiple output terminals. After receiving the control signal of the main control module 101, the multiple output terminals respectively output corresponding signals to control the pneumatic clamping jaws 102, the flipping mechanism 103, the visual inspection module 104, the rotation mechanism 105 and the grinding control module 106.

[0167] Optionally, the control unit 1012 is connected to each transistor output type controller using a communication line.

[0168] Optionally, the step hole grinding device further includes a remote controller, which is connected to each transistor output type controller to manually control the pneumatic clamping claw 102, the flipping mechanism 103, the visual inspection module 104, the rotating mechanism 105 and the grinding control module 106. The remote controller is connected to each transistor output type controller wirelessly or by wire, or the remote controller is connected to the visual inspection computer 1043 wirelessly or by wire.

[0169] Exemplarily, based on the above embodiments, when the remote control is connected to the second transistor output type controller 1055 of the rotating mechanism 105 by wireless or wired connection, the method for obtaining the centering standard image includes: when the flip mechanism 103 drives the workpiece to be polished to be located at the second angle, the brush of the polishing control module 106 is in the telescopic limit state, the alignment relationship between the brush and the stepped hole is observed with the naked eye, and the rotating mechanism 105 is manually controlled by the remote control to rotate electrically until the brush and the stepped hole are aligned, and the industrial camera 1044 in the visual inspection module 104 is controlled to take pictures, so as to obtain the centering standard image.

[0170] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A stepped hole grinding device, characterized in that: include: General control module, pneumatic claws, flip mechanism, rotation mechanism, visual inspection module, grinding control module and brush; The general control module is respectively connected with the pneumatic claw, the flipping mechanism, the rotating mechanism, the visual inspection module and the polishing control module; The pneumatic clamping claw is used to clamp the workpiece to be polished, and output a workpiece in place signal according to the clamping state of the workpiece to be polished; the general control module is used to form a first control signal according to the workpiece in place signal; The flipping mechanism is linked with the pneumatic claw, and is used to drive the plane surrounded by the pneumatic claw to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping in place signal when the flipping is completed; the general control module generates a second control signal according to the flipping in place signal; When the plane surrounded by the pneumatic jaws forms a second angle with the horizontal plane, the circular plane formed by the stepped holes of the workpiece to be polished is parallel to the circular plane formed by the brushes, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes; The visual detection module is used to collect a relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal, and the visual detection module generates a rotation positioning angle signal according to the relative position image; The general control module forms a third control signal according to the rotation positioning angle signal; The axis of the plane surrounded by the plurality of pneumatic jaws coincides with the rotation axis of the rotating mechanism, the rotating mechanism is linked with the pneumatic jaws, the rotating mechanism is used to drive the pneumatic jaws to rotate according to the third control signal, and generates a grinding alignment signal when the rotating mechanism stops rotating; the general control module generates a fourth control signal according to the grinding alignment signal; The grinding control module is used to control the rotation and extension of the brush according to the fourth control signal to perform step hole grinding of the workpiece to be ground.

2. The step hole grinding device according to claim 1, characterized in that: The flip mechanism comprises: a first power supply input unit, a first switch unit, a first voltage transformation unit, a flip unit, a first transistor output type controller, a first switch power supply and a flip information detection unit; The control end of the first transistor output type controller is connected to the general control module and is used to receive the first control signal; The three output ends of the first power supply input unit are respectively connected to the first switch unit, the first transistor output type controller and the power supply end of the first switch power supply; The output end of the first switch unit is connected to the input end of the first transformer unit, and the output end of the first transformer unit is connected to the first input end of the flip unit; The first output end of the first transistor output type controller is connected to the control end of the first switch unit, and the first transistor output type controller is used to send a first power control signal to the first switch unit according to the first control signal to control the conduction or disconnection between the flip unit and the output end of the first power input unit; The second output terminal of the first transistor output type controller is connected to the second input terminal of the flip unit, and the first transistor output type controller is used to send a first control positioning pulse string to the flip unit according to the first control signal to control the flip unit to perform flip positioning control; The power supply end of the flip information detection unit is connected to the first switch power supply, and the first switch power supply supplies power to the flip information detection unit; The output end of the flip information detection unit is connected to the input end of the first transistor output type controller, and is used to collect the flip position information of the flip mechanism and send it to the first transistor output type controller; the first transistor output type controller sends the flip position signal to the main control module according to the flip position information.

3. The step hole grinding device according to claim 2, characterized in that: The flip unit comprises: a flip servo amplifier, a flip servo motor, a first encoder and a flip reducer; The first input end of the flip servo amplifier is used as the first input end of the flip unit, the second input end of the flip servo amplifier is used as the second input end of the flip unit, the output end of the flip servo amplifier is connected to the input end of the flip servo motor, the input end of the first encoder is connected to the first output end of the flip servo motor, and the first encoder is used to collect the feedback signal of the flip servo motor; The output end of the first encoder is connected to the third input end of the flip servo amplifier, and the flip servo amplifier outputs a flip control signal according to the first control positioning pulse string and the feedback signal of the flip servo motor; The second output end of the flip servo motor is connected to the input end of the flip reducer, and the flip servo motor is used to drive the flip reducer according to the flip control signal.

4. The step hole grinding device according to claim 1, characterized in that: The visual inspection module includes: a power input unit, a light source power supply unit, a light source, a visual inspection computer and an industrial camera; The two output ends of the power input unit are respectively connected to the light source power supply unit and the power supply end of the visual inspection computer; The light source power supply unit is connected to the power supply end of the light source, and the output end of the industrial camera is connected to the input end of the visual inspection computer; the visual inspection computer is connected to the general control module, and the visual inspection computer is used to control the industrial camera to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the general control module, and generate a rotation positioning angle signal according to the relative position image.

5. The step hole grinding device according to any one of claims 1 to 4, characterized in that: The rotating mechanism comprises: a second power supply input unit, a second switch unit, a second voltage transformation unit, a rotating unit, and a second transistor output type controller; The control end of the second transistor output type controller is connected to the general control module and is used to receive the third control signal; The two output ends of the second power supply input unit are respectively connected to the power supply ends of the second switch unit and the second transistor output type controller; The output end of the second switch unit is connected to the input end of the second transformer unit; the output end of the second transformer unit is connected to the first input end of the rotation unit; The first output terminal of the second transistor output type controller is connected to the control terminal of the second switch unit; the second transistor output type controller is used to send a second power control signal to the second switch unit according to the first control signal to control the conduction or disconnection between the rotating unit and the output terminal of the second power input unit; The second output end of the second transistor output type controller is connected to the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse string to the rotating unit according to the second control signal to control the rotating unit to perform rotation positioning control.

6. The stepped hole grinding device according to claim 5, characterized in that: The rotating unit comprises: a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating reducer; The first input end of the rotary servo amplifier serves as the first input end of the rotary unit, the second input end of the rotary servo amplifier serves as the second input end of the rotary unit, the output end of the rotary servo amplifier is connected to the input end of the rotary servo motor, the input end of the second encoder is connected to the first output end of the rotary servo motor, and the second encoder is used to collect a feedback signal of the rotary servo motor; The output terminal of the second encoder is connected to the third input terminal of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and the feedback signal of the rotary servo motor; The second output end of the rotary servo motor is connected to the input end of the rotary reducer, and the rotary servo motor is used to drive the rotary reducer according to the rotary control signal.

7. The step hole grinding device according to any one of claims 1, characterized in that: The polishing control module includes: a third power supply input unit, a third switch unit, a third switch power supply, a third transformer unit, a brush telescopic motion unit, a brush pneumatic rotation unit, a third transistor output type controller and a brush position information detection unit; The control end of the third transistor output type controller is connected to the general control module for receiving the fourth control signal; The three output ends of the third power supply input unit are respectively connected to the third switch unit, the third transistor output type controller and the power supply end of the third switch power supply; The output end of the third switch unit is connected to the input end of the third transformer unit, and the output end of the third transformer unit is connected to the first input end of the brush telescopic motion unit; The first output end of the third transistor output type controller is connected to the control end of the third switch unit, and the third transistor output type controller is used to send a third power supply control signal to the third switch unit according to the fourth control signal to control the conduction or disconnection between the brush telescopic motion unit and the output end of the third power supply input unit; The second output end of the third transistor output type controller is connected to the second input end of the brush telescopic motion unit, and the third transistor output type controller is used to send a third control positioning pulse string to the brush telescopic motion unit according to the fourth control signal to control the brush telescopic motion unit to perform brush telescopic positioning control; The power supply end of the brush pneumatic rotating unit is connected to the third switch power supply, and the third switch power supply supplies power to the brush pneumatic rotating unit; The third output terminal of the third transistor output type controller is connected to the control terminal of the brush pneumatic rotation unit, and the third transistor output type controller is used to send a brush rotation control signal to the brush pneumatic rotation unit according to a fourth control signal to control the brush rotation; The power supply end of the brush position information detection unit is connected to the third switch power supply, and the third switch power supply supplies power to the brush position information detection unit; The output end of the brush position information detection unit is connected to the input end of the third transistor output type controller, and is used to collect the telescopic position information of the brush and send it to the third transistor output type controller.

8. The step hole grinding device according to claim 7, characterized in that: The brush pneumatic rotating unit comprises: a solenoid valve and a pneumatic driver; The power supply end of the solenoid valve serves as the power supply end of the brush pneumatic rotating unit, and the control end of the solenoid valve serves as the control end of the brush pneumatic rotating unit; The first end of the solenoid valve is connected to an external air source, and the second end is connected to an input end of a pneumatic driver; The solenoid valve controls the connection or disconnection between the pneumatic driver and the external steam source according to the brush rotation control signal.

9. The step hole grinding device according to claim 7, characterized in that: The brush telescopic motion unit comprises: a brush telescopic servo amplifier, a brush telescopic servo motor, a third encoder and a brush telescopic reducer; The first input end of the brush telescopic servo amplifier serves as the first input end of the brush telescopic motion unit, the second input end of the brush telescopic servo amplifier serves as the second input end of the brush telescopic motion unit, the output end of the brush telescopic servo amplifier is connected to the input end of the brush telescopic servo motor, the input end of the third encoder is connected to the first output end of the brush telescopic servo motor, and the third encoder is used to collect the feedback signal of the brush telescopic servo motor; The output end of the third encoder is connected to the third input end of the brush extension and retraction servo amplifier, and the brush extension and retraction servo amplifier outputs a brush extension and retraction control signal according to the third control positioning pulse train and the feedback signal of the brush extension and retraction servo motor; The second output end of the brush telescopic servo motor is connected to the input end of the brush telescopic reducer, and the brush telescopic servo motor is used to drive the brush telescopic reducer according to the brush telescopic control signal.

10. The step hole grinding device according to claim 1, characterized in that: The general control module includes: a fourth power supply input unit and a control unit; The fourth power supply input unit is connected to the power supply terminal of the control unit; The first output end of the control unit is connected to the pneumatic claw, the flipping mechanism, the rotating mechanism, the visual detection module and the grinding control module; The first input terminal of the control unit is connected to an external host computer.

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