Device and method for intelligently detecting and removing inner hole burrs

Abstract

The invention discloses a device and a method for intelligently detecting and removing inner hole burrs. The main controller is connected with a crawling motor driver, a roller motor driver, an expansion motor driver, a first-stage motor driver, a second-stage motor driver, a third-stage motor driver, a data collecting and processing unit A, a data collecting and processing unit B and a grinding motor driver through signal lines. The method is used for motion function coordination control of all parts in the scanning detection and deburring machining process. Intelligent detection and removal of the burrs in the inner hole of the part are completed by presetting machining parameters and surface quality requirements, placing the device, performing quick inspection, positioning the burrs, expanding and fixing, scanning the morphology, selecting the machining parameters, grinding and removing the burrs, and detecting and evaluating the surface quality and feeding back. According to the invention, intelligent and full-automatic detection and removal of burrs in a complex cavity can be realized, the overall working efficiency is greatly improved, the dependence on technicians is reduced, and the improvement of the consistency of product quality is facilitated.

Description

Technical Field

[0001] The invention relates to a burr treatment technology in high-precision machining of mechanical parts, and in particular to a device and method for intelligently detecting and removing burrs of inner holes. Background Art

[0002] Burrs are a common manufacturing defect in the process of machining and manufacturing mechanical parts. The generation of burrs not only affects the appearance of the parts, but more importantly, it has adverse effects on the dimensional accuracy, assembly performance and service performance of the parts. In particular, some parts with non-through and large aspect ratio inner holes are of irreplaceable importance in the aerospace and military fields, and at the same time, there are extremely high requirements for the surface roughness and machining accuracy of these parts. In order to meet the needs of burr removal of different parts, there are many burr removal methods in the prior art, such as: traditional processing methods such as manual deburring, chamfering end mills, and rolling deburring, as well as non-traditional processing methods such as abrasive flow deburring, thermal energy deburring, and electrochemical deburring. Among them: abrasive flow deburring is to grind and polish the workpiece surface to remove burrs through the fluidity of the abrasive, and it has a wide range of applications. However, the necessary conditions for abrasive flow removal of burrs in non-through deep holes of mechanical parts cannot be met. Thermal energy deburring is achieved by instantly generating high temperature, high pressure and shock waves to melt the burrs on the workpiece, and then the excess oxygen will oxidize the burrs into ash, thereby removing the burrs. This method is highly efficient and pollution-free, and is suitable for parts with any complex shapes and structures. However, it is not suitable for removing burrs on thin-walled parts, and the facility investment is large, and the oxidized ash is not easy to remove. Electrochemical deburring utilizes the connection between the electrode and the part to form an electric current under the conductive action of the electrolyte, so that the anode, that is, the part with burrs on the part, is continuously dissolved, thereby removing the burrs. This method has high quality, stable and reliable burr removal, especially for burrs that are difficult to remove mechanically and parts of various complex shapes. It is more effective in removing burrs on some high-hardness alloy parts, but it cannot remove burrs on insulating parts.

[0003] The Chinese patent with publication number CN119188481A discloses "a deburring device for the production of mechanical parts". The synchronous drive mechanism moves synchronously along the axial direction of the pipe when working. The adaptive grinding mechanism is installed on the positioning cross bar and the movable block. The movable block is elastically and movably installed with a longitudinal axis. The end of the longitudinal axis is connected to a grinding head that abuts against the inner wall of the pipe. The position of the grinding head is adjusted during movement. The grinding depth can be automatically adjusted during deburring, and it can automatically adapt to regular and irregular inner and outer surfaces of the pipe during grinding and polishing to remove burrs, so as to improve the grinding efficiency while ensuring that the grinding quality of uneven surfaces remains consistent.

[0004] The development of the above methods has played an important role in the deburring of mechanical parts. However, for high-precision parts with large aspect ratios and complex internal cavities in the fields of aviation, aerospace, and military industry, traditional processing methods cannot reach them, and non-traditional methods cannot remove burrs or are prone to cause new adverse effects on the parts and cannot be applied.

[0005] To this end, in order to meet the demand for burr removal of high-precision parts with hole structures and complex internal cavities with large aspect ratios in the fields of aviation, aerospace, and military industry, it is urgent to develop a device and method for intelligent detection and removal of internal hole burrs. Summary of the invention

[0006] In order to solve the above-mentioned problems existing in the prior art, the present invention proposes a device and method for intelligent detection and removal of burrs on internal holes, so as to meet the requirements of automatic inspection and scanning identification of the above-mentioned special internal holes including thin-walled or insulating material burrs, non-penetrating burrs and large aspect ratio burrs, realize intelligent and precise removal of burrs and intelligent detection and analysis of the surface quality of the removed area, and perform precision grinding after automatic feedback to improve the efficiency and quality of burr removal.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: A device for intelligent detection and removal of internal hole burrs, comprising a main controller, a crawling system, a tightening system, a mechanical arm, a detection system and a grinding system; The main controller is connected to the creeping motor driver, the roller motor driver, the expansion motor driver, the primary motor driver, the secondary motor driver, the tertiary motor driver, the data acquisition processing unit A, the data acquisition processing unit B and the grinding motor driver through signal lines, respectively, for coordinated control of the motion functions of various components during scanning detection and burr removal processing; The crawling system includes an adjusting drive device, a motor wheel and an adapter plate; the adjusting drive device includes a bottom cover, a first motor, a shell and a transmission gear set; the first motor is fixedly installed in the middle of the bottom cover by bolts and is connected to the crawling motor driver circuit, and the outer periphery of the bottom cover is fixedly connected to the shell by bolts; the boss above the shell is provided with three bearing mounting holes, and the center of the boss is provided with a threaded hole for fixed connection with the lower guide rail frame; a driving gear is installed at the shaft end of the first motor, and the driving gear is meshed with three boss gears evenly distributed on its periphery to form a transmission gear set, and the transmission gear set is located in the cavity of the shell; a countersunk threaded hole is provided in the middle of the lower guide rail frame, and three lower bearing mounting grooves are evenly distributed on the periphery, and the lower guide rail frame is fixedly connected to the boss on the top of the shell by bolts, and at the same time, the lower bearing is fixed to the bearing hole in the boss on the top of the shell and matches the lower bearing mounting groove The gear train is a series of holes which are connected to the upper and lower guide rails of the upper and lower bearings, and the holes are connected to the upper and lower guide rails of the upper and lower bearings of ... The expansion system includes a transmission column and an expansion drive device; the expansion drive device is provided with an upper shell and a lower shell in a triangular shape, and is installed in the middle of the screw rod, the upper shell and the lower shell are matched to form an inner cavity, and a second motor is installed in the inner cavity, and the second motor is a double-axis motor; three through holes for inserting the screw rod are correspondingly provided on the upper shell and the lower shell, and an axial hole for the second motor shaft is provided in the middle; positioning grooves and threaded holes for fixing the ear fork support by bolts are provided at the outer triangular parts of the upper shell and the lower shell; both ends of the second motor The rotating shaft passes through the shaft hole and is connected to the inner ends of the transmission columns on the two outer sides of the expansion drive device through the coupling; the outer ends of the two transmission columns are fixedly connected to the transmission rotating frame through the transmission flanges, and the transmission rotating frame is provided with three ears evenly distributed along the tangent to the circular edge protrusions, and the ears are respectively connected to one end of the transmission rod through studs; three guide rail holes are evenly distributed on the periphery of the guide rail frame, the inner end of the expansion slide rod is inserted into the guide rail hole, and the outer end of the expansion slide rod is connected to the bracket and the other end of the transmission rod through the screw; the second motor is connected to the motor driver circuit of the expansion system; The mechanical arm includes a third motor and a driving base, the third motor and the driving base are fixedly connected on the adapter plate by bolts, the third motor is installed in the inner cavity of the driving base, the third motor is connected to the primary motor driver circuit, a turntable is installed on the top of the driving base, the center hole of the turntable is connected to the third motor shaft by bolts, a connecting seat is fixedly installed on the top of the turntable by bolts, a fourth motor is installed in the clamping ring of the connecting seat, the fourth motor is connected to the secondary motor driver circuit, and the fourth motor shaft is connected to one end of the rotating arm; the sensor bracket is in a frame shape, and a fifth motor is fixedly installed on its tail by bolts, the fifth motor is connected to the primary motor driver circuit, and the fifth motor shaft is connected to the other end of the rotating arm; The detection system includes a preliminary scanning positioning sensor and a precise scanning detection sensor, wherein the preliminary scanning positioning sensor is fixedly mounted on the outside of the sensor bracket, and the precise scanning detection sensor is fixedly mounted on the top surface of the sensor bracket; the preliminary scanning positioning sensor is connected to a data acquisition processing unit A, and the precise scanning detection sensor is connected to a data acquisition processing unit B; The grinding system consists of a sixth motor, a grinding tool holder and a cutter head. The sixth motor is fixedly installed in the sensor bracket by bolts. The rotating shaft of the sixth motor is connected to the cutter head through the grinding tool holder. The sixth motor is connected to the grinding motor driver.

[0008] A method for intelligent detection and removal of inner hole burrs, the steps of which are as follows: A. Debug and install the device: Preset multiple sets of appropriate processing parameters and surface quality requirements according to the structural morphology and material properties of the parts to be processed, and place the device at the opening of the inner hole of the parts to be processed; B. Quick inspection to locate the burr position: The crawling system driving device moves rapidly in the inner hole, and at the same time, the mechanical arm drives the preliminary scanning positioning sensor 41 to quickly scan the inner hole, identify and locate the position of the inner hole burr, and determine the change of the hole diameter; C. Tightening and fixing, precise scanning: When burrs are found during the rapid inspection, the expansion system will expand the expansion belt to contact the inner wall to achieve the fixation of the device. The precise scanning detection sensor will scan and identify the burr morphology of the area where the burr is located in the inner hole, and automatically select the appropriate preset processing parameters to output to the grinding system. D. Grinding: The robot arm adjusts the grinding system to the spatial position of the inner hole, and finally performs the first round of inner hole burr removal according to the selected preset processing parameters; E. Testing and evaluation: The precise scanning detection sensor scans the area after burr removal and evaluates the surface quality. If the preset surface quality requirements are met, the device continues to conduct rapid inspections; if the preset surface quality requirements are not met, it returns to step C) for precise scanning and performs subsequent finishing work according to the preset processing parameters of fine grinding until the burr removal area meets the preset surface quality requirements; F. Complete intelligent detection and removal of burrs on the inner holes of parts.

[0009] The present invention realizes rapid scanning, identification, precise positioning and detection of burrs based on a high-precision detection sensor device, and realizes burr removal in complex spaces with the help of a robotic arm. Compared with the prior art, it realizes the integration of intelligent detection, removal and evaluation of burrs inside complex cavities. By intelligently and automatically selecting preset processing parameters for burr removal, quality evaluation and feedback of the processed surface, and then refining, it can realize intelligent and fully automated removal and detection of burrs inside complex cavities, greatly improving the overall intelligence level and efficiency of the work, reducing the dependence of processing quality on technical personnel, and facilitating the improvement of product quality consistency and easy automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic diagram of an electrical system of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention; Figure 4 It is a three-dimensional structural diagram of the crawling system 1 of the present invention; Figure 5 for Figure 4 Installation structure diagram between transfer tray 110 and housing 1103; Figure 6 It is a partial cross-sectional three-dimensional structural diagram of the expansion system 2 of the present invention; Figure 7 It is a three-dimensional structural assembly diagram of the grinding system 5 of the present invention; Figure 8 It is a structural schematic diagram of the transfer plate 110 of the present invention; Fig. 9 It is a planar structural diagram of the transmission gear set 1104 in the present invention; Fig.10 It is a planar structural diagram of the transmission rotating frame 25 in the present invention; Fig.11 It is a flow chart of the detection and removal method of the present invention; In the figure: 01-main controller, 02-crawling motor driver, 03-roller motor driver, 04-tensioning motor driver, 05-primary motor driver, 06-secondary motor driver, 07-tertiary motor driver, 08-data acquisition processing unit A, 09-data acquisition processing unit B, 010-grinding motor driver; 1-crawling system, 11-adjusting drive device, 111-driving gear, 112-boss gear, 12-lower bearing, 121-upper bearing, 13-lower guide frame, 131-upper guide frame, 14-screw, 15-ear fork support, 16-thin connecting rod, 17-motor wheel, 18-roller bracket, 19-slider support, 110-adapter plate, 1101-bottom cover, 1102-first motor, 1103-housing, 1104-transmission gear set; 2- expansion system, 21- transmission flange, 22- transmission column, 23- coupling, 24- expansion drive device, 25- transmission rotating frame, 251- ear piece, 26- transmission rod, 27- bracket, 28- expansion belt, 29- expansion slide bar, 2401- second motor, 2402- upper shell, 2403- lower shell; 3-mechanical arm, 31-third motor, 32-driving base, 33-turntable, 34-connecting seat, 35-fourth motor, 36-rotating arm, 37-fifth motor, 38-sensor bracket; 4-detection system, 41-preliminary scanning and positioning sensor, 42-precision scanning and detection sensor; 5-grinding system, 51-tool head, 52-grinding tool holder, 53-sixth motor. DETAILED DESCRIPTION

[0011] The present invention is described in detail below with reference to the accompanying drawings and embodiments. Figures 1 to 11 , a device for intelligent detection and removal of inner hole burrs, comprising a main controller 01, a crawling system 1, a tightening system 2, a mechanical arm 3, a detection system 4 and a grinding system 5; The main controller 01 (such as Figure 1 As shown) are connected to the creeping motor driver 02, the roller motor driver 03, the tightening motor driver 04, the primary motor driver 05, the secondary motor driver 06, the tertiary motor driver 07, the data acquisition processing unit A08, the data acquisition processing unit B09 and the grinding motor driver 010 through signal lines, respectively, for coordinated control of the motion functions of various components during scanning detection and burr removal processing; The crawling system 1 (such as Figure 2 , Figure 3 , Figure 4 and Figure 5As shown) includes an adjustment drive device 11, a motor wheel 17 (Minebea Mitsumi BKL10 brushless motor) and an adapter plate 110; the adjustment drive device 11 includes a bottom cover 1101, a first motor (model: 57BYG350A stepper motor) 1102, a housing 1103 and a transmission gear set 1104; the first motor 1102 is fixedly installed in the middle of the bottom cover 1101 by bolts and is connected to the creeping motor driver 02 circuit, and the outer periphery of the bottom cover 1101 is fixedly connected to the housing 1103 by bolts; the boss above the housing 1103 is provided with three mounting holes for bearings 12, and the center of the boss is provided with a threaded hole for fixed connection with the lower guide rail frame 13; a driving gear 111 is installed at the shaft end of the first motor 1102, and the driving gear is meshed with three boss gears 112 evenly distributed on its periphery to form a transmission gear set 1104 (as shown Fig. 9 As shown in FIG. 1 ), the transmission gear set 1104 is located in the cavity of the housing 1103; a countersunk threaded hole is provided in the middle of the lower guide rail frame 13, and three mounting grooves for the lower bearing 12 are evenly distributed on the outer circumference. The lower guide rail frame 13 is fixedly connected to the boss on the top of the housing 1103 by bolts, and the lower bearing 12 is fixed in the cavity formed by matching the bearing hole in the boss on the top of the housing 1103 and the mounting groove of the lower bearing 12; the adapter plate 110 (as shown in FIG. Figure 8 The inner side of the adapter plate 110 is provided with three bearing grooves for accommodating the upper bearing 121 and a threaded hole in the middle, and the threaded hole is fixedly connected to the upper guide rail frame 131 by bolts. The upper bearing 121 is fixed in a cavity formed by matching the bearing groove on the inner side of the adapter plate 110 and the bearing hole provided on the upper guide rail frame 131; the lower ends of the three screw rods 14 all pass through the lower guide rail frame 13 and the lower bearing 12, and are connected to the boss gear 112 of the transmission gear set 1104 by means of a set screw and a flat key; the upper ends of the screw rods 14 pass through the upper guide rail frame 131 and the lower bearing 121; the upper ends of the screw rods 14 pass through the upper guide rail frame 131 and the lower bearing 121; the upper ends of the screw rods 14 pass through the upper guide rail frame 131 and the lower bearing 121; the upper ends of the screw rods 14 pass through the upper guide rail frame 131 and the upper ... The upper bearing 121 is connected, and the first motor 1102 drives the screw rod 14 to rotate left and right through the transmission gear set 1104; one end of the thin connecting rod 16 is connected to the ear fork support 15 through a screw, and the other end of the thin connecting rod 16 is connected to the middle through hole of the roller bracket 18 through a screw; the inner end through hole of the roller bracket 18 is connected to the slider support 19 threadedly matched with the screw rod 14 through a screw; the outer end of the roller bracket 18 is installed with a motor wheel 17 through a screw; the motor wheel 17 is connected to the roller motor driver 03 circuit; The expansion system 2 (such as Figure 62402 and the lower housing 2403 are respectively provided with three through holes for inserting the screw rod 14, and the upper housing ... The middle part is provided with an axial hole for the rotating shaft of the second motor 2401; the outer triangular parts of the upper shell 2402 and the lower shell 2403 are provided with positioning grooves and threaded holes for fixing the ear fork support 15 by bolts; the rotating shafts at both ends of the second motor 2401 pass through the axial holes and are respectively connected to the inner ends of the transmission columns 22 on the two outer sides of the expansion drive device 24 through the coupling 23; the outer ends of the two transmission columns 22 are respectively fixedly connected to the transmission rotating frame 25 through the transmission flange 21, and the transmission rotating frame 25 is provided with three ear pieces 251 (such as 251) uniformly distributed along the tangent to the circular edge protrusion Fig.10 As shown in the figure, the ear piece 251 is connected to one end of the transmission rod 26 through a stud respectively; three guide rail holes are evenly distributed on the periphery of the guide rail frame 13, the inner end of the expansion slide rod 29 is inserted into the guide rail hole, and the outer end of the expansion slide rod 29 is connected to the bracket 27 and the other end of the transmission rod 26 through a screw; the second motor 2401 is connected to the circuit of the expansion system motor driver 04; The mechanical arm 3 (such as Figure 2 and Figure 3 The sensor bracket 38 is a frame-shaped sensor bracket 38, and a fifth motor (model: 42 series two-phase hybrid stepper motor [42HS03-J]) 35 is installed in the clamping ring of the connection seat 34. The shaft of the fourth motor 35 is connected to one end of the rotating arm 36. The sensor bracket 38 is frame-shaped, and a fifth motor (model: 42 series two-phase hybrid stepper motor [42HS03-J]) 37 is installed in the tail of the sensor bracket 38 by bolts. The shaft of the fifth motor 37 is connected to the other end of the rotating arm 36. The detection system 4 (such as Figure 2 and Figure 338) includes a preliminary scanning positioning sensor 41 and a precise scanning detection sensor 42, wherein the preliminary scanning positioning sensor 41 is fixedly mounted on the outer side of the sensor bracket 38, and the precise scanning detection sensor 42 is fixedly mounted on the top surface of the sensor bracket 38; the preliminary scanning positioning sensor 41 is connected to the data acquisition processing unit A08, and the precise scanning detection sensor 42 is connected to the data acquisition processing unit B09; The grinding system 5 (such as Figure 7 The sixth motor 53 is composed of a sixth motor (model: 42 series two-phase hybrid stepper motor [42HS03-J]), a grinding tool holder 52 and a cutter head 51. The sixth motor 53 is fixedly installed in the sensor bracket 38 by screws, and the rotating shaft of the sixth motor 53 is connected to the cutter head 51 through the grinding tool holder 52; the sixth motor 53 is connected to the grinding motor driver 010.

[0012] A method for intelligent detection and removal of internal burrs, the steps are as follows (such as Fig.11 shown): A. Debug and install the device: Preset multiple sets of appropriate processing parameters and surface quality requirements according to the structural morphology and material properties of the parts to be processed, and place the device at the opening of the inner hole of the parts to be processed; B. Quick inspection to locate the burr position: The driving device of the crawling system 1 moves rapidly in the inner hole, and at the same time, the mechanical arm 3 drives the preliminary scanning positioning sensor 41 to rapidly scan the inner hole, identify and locate the position of the inner hole burr, and determine the change of the aperture; C. Tightening and fixing, precise scanning: When burrs are found during the rapid inspection, the expansion system 2 unfolds the expansion belt 28 to contact the inner wall to expand and fix the device, and the precise scanning detection sensor 42 scans and identifies the burr morphology of the area where the burr is located in the inner hole, and automatically selects appropriate preset processing parameters to output to the grinding system 5; D. Grinding: The robot arm 3 adjusts the grinding system 5 to the spatial position of the inner hole, and finally performs the first round of burr removal on the inner hole according to the selected preset processing parameters; E. Testing and evaluation: The precise scanning detection sensor 42 scans and evaluates the surface quality of the area after burr removal. If the preset surface quality requirement is met, the device continues the rapid inspection; if the preset surface quality requirement is not met, it returns to step C) for precise scanning and performs subsequent finishing work according to the preset processing parameters of fine grinding until the burr removal area meets the preset surface quality requirement; F. Complete intelligent detection and removal of burrs on the inner holes of parts. Example

[0013] This embodiment aims to demonstrate the application of the intelligent detection and removal device for inner hole burrs in actual industrial production. Taking the inner hole burr treatment of a large mechanical part as an example, the part is made of high-strength steel and has a Y-shaped non-through inner hole with a diameter of 200 mm and 180 mm. There are burrs of varying degrees at the junction of the two holes and the cross hole of the inner hole wall, which need to be accurately detected and removed.

[0014] According to the structural morphology (inner hole diameter, length, etc.) and material properties of the parts to be processed, multiple sets of appropriate processing parameters are preset in the main controller 01, including the rotation speed of the grinding motor, feed speed, grinding time, etc., and surface quality requirements such as surface roughness are set at the same time.

[0015] The inner hole burr intelligent detection and removal device is placed at the opening of the inner hole of the part to be processed.

[0016] The main controller 01 controls the creeping motor driver 02 to drive the first motor 1102 to rotate according to the inner hole diameter of 200mm, drives the screw 14 to rotate through the transmission gear set 1104, drives the upper and lower sets of slider supports 19 to move toward the direction of the tightening drive device 24, and adjusts the motor wheel 17 to contact the inner hole and expand through the cooperation of the ear fork support 15, the thin connecting rod 16 and the roller bracket 18.

[0017] The main controller 01 controls the roller motor driver 03 to drive the motor wheel 17 to rotate, and the data acquisition processing unit A08 starts to work to collect and process the data of the preliminary scanning positioning sensor 41. The main controller 01 controls the first-level motor driver 05 and the second-level motor driver 06 to drive the third motor 31 to drive the turntable 33 to rotate, and then drive the connecting seat 34 to rotate. The fourth motor 35 in the connecting seat 34 drives the rotating arm 36 to swing, so that the preliminary scanning positioning sensor 41 performs a rapid scan in the inner hole, continuously identifies and locates the position of the inner hole burr, and judges the change of the aperture at the same time, and transmits these data to the data acquisition processing unit A08 in real time, and then the data acquisition processing unit A08 processes and transmits them to the main controller 01. The device can perform rapid inspection in the inner hole with a diameter of 200mm.

[0018] When the preliminary scanning positioning sensor 41 finds a burr during the rapid inspection process and the positioning is completed, the device approaches the burr and stops the inspection, and the main controller 01 controls the tensioning motor driver 04 to drive the second motor 2401 to rotate, and the rotating shafts at both ends of the motor drive the transmission column 22 to rotate through the coupling 23, and the transmission column 22 drives the transmission rotating frame 25 to rotate. The ear piece 251 of the transmission rotating frame 25 drives the transmission rod 26 to move through the stud, and the transmission rod 26 pushes the tensioning slide bar 29 to move outward along the guide rail hole of the guide rail frame 13, so that the tensioning belt 28 is unfolded and contacts with the inner wall of the inner hole to tighten, thereby fixing the device.

[0019] When the preliminary scanning positioning sensor 41 finds the intersection of the 200 mm inner hole and the 180 mm inner hole during the rapid inspection process, the main controller 01 sends a command to the creeping motor driver 02 to adjust the motor wheel 17 to achieve variable diameter movement.

[0020] After the device is fixed, the main controller 01 controls the primary motor driver 05, the secondary motor driver 06 and the tertiary motor driver 07 to respectively drive the third motor 31, the fourth motor 35 and the fifth motor 37 to adjust the spatial position of the precise scanning detection sensor 42 and the grinding system 5 in the inner hole.

[0021] The precise scanning detection sensor 42 begins to scan and identify the burr morphology of the area where the inner hole burr is located. The precise scanning detection sensor 42 transmits the scanned data to the data acquisition processing unit B09, and the data acquisition processing unit B09 processes and analyzes the data and transmits it to the main controller 01. The main controller 01 automatically selects the appropriate preset processing parameters according to the preset rules. The main controller 01 controls the grinding motor driver 010 to drive the sixth motor 53. The sixth motor 53 drives the cutter head 51 to rotate through the grinding tool holder 52, and performs the first round of removal of the inner hole burrs according to the selected preset processing parameters. During the grinding process, the speed monitor and force sensor inside the sixth motor 53 monitor the motor speed and grinding force in real time, and feed back the data to the main controller 01. The main controller 01 adjusts the grinding process in real time according to the feedback data to ensure the grinding effect.

[0022] After the first round of burr removal is completed, the precise scanning detection sensor 42 scans the area after burr removal again and evaluates the surface quality. The precise scanning detection sensor 42 transmits the scanned data to the data acquisition processing unit B09, which analyzes the data to determine whether the area meets the preset surface quality requirements, and feeds back the judgment results to the main controller 01. If the preset surface quality requirements are met, the main controller 01 sends instructions to the creeping motor driver 02 and the tensioning motor driver 04 to retract the tensioning belt 28, and the device continues to quickly patrol the inner hole to find the next burr. If the preset surface quality requirements are not met, the precise scanning detection sensor 42 will scan again and perform subsequent finishing work according to the preset processing parameters of fine grinding until the burr removal area meets the preset surface quality requirements.

[0023] After the above series of detection, removal and evaluation processes, the device completes the intelligent detection and removal of the burrs on the inner hole of the part, ensuring that the surface quality of the inner hole meets the production requirements. At this time, the main controller 01 sends a signal to return to the hole opening along the original route, stop the work of each system, and the technician removes the device from the inner hole.

[0024] It can be seen from this embodiment that the intelligent detection and removal device for inner hole burrs can efficiently and accurately complete the detection and removal of inner hole burrs, realize the intelligent and fully automatic removal and detection of burrs inside complex cavities, greatly improve the overall intelligence level of work, improve work efficiency by 50%, reduce the dependence of processing quality on technical personnel, and help improve the consistency of product quality.

[0025] The above embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A device for intelligent detection and removal of internal hole burrs, comprising a main controller (01), a crawling system (1), a tightening system (2), a mechanical arm (3), a detection system (4) and a grinding system (5); The main controller (01) is connected to the creeping motor driver (02), the roller motor driver (03), the expansion motor driver (04), the primary motor driver (05), the secondary motor driver (06), the tertiary motor driver (07), the data acquisition processing unit A (08), the data acquisition processing unit B (09) and the grinding motor driver (010) respectively through signal lines, and is used for coordinated control of the motion functions of various components during scanning detection and burr removal processing; The crawling system (1) comprises an adjustment drive device (11), a motor wheel (17) and an adapter plate (110); the adjustment drive device (11) comprises a bottom cover (1101), a first motor (1102), a housing (1103) and a transmission gear set (1104); the first motor (1102) is fixedly installed in the middle of the bottom cover (1101) by means of bolts and is connected to the crawling motor driver (02) circuit; the outer periphery of the bottom cover (1101) is fixedly connected to the housing (1103) by means of bolts; a boss on the upper side of the housing (1103) is provided with mounting holes for three bearings (12); a boss is provided at the center of the boss A threaded hole for fixed connection with the lower guide rail frame (13); a driving gear (111) is installed at the shaft end of the first motor (1102), and the driving gear is meshed with three boss gears (112) evenly distributed on its periphery to form a transmission gear set (1104), and the transmission gear set (1104) is located in the cavity of the housing (1103); a countersunk threaded hole is provided in the middle of the lower guide rail frame (13), and three mounting grooves for the lower bearing (12) are evenly distributed on the periphery. The lower guide rail frame (13) is fixedly connected to the boss on the top of the housing (1103) by bolts, and the lower bearing (12) is fixed in the boss on the top of the housing (1103). The bearing hole matches the cavity formed by the mounting groove of the lower bearing (12); the inner side of the adapter plate (110) is evenly provided with three bearing grooves for accommodating the upper bearing (121) and a threaded hole is provided in the middle, and the threaded hole is fixedly connected to the upper guide rail frame (131) through bolts, and the upper bearing (121) is fixed to the bearing groove on the inner side of the adapter plate (110) and the cavity formed by the bearing hole provided in the upper guide rail frame (131); the lower ends of the three screw rods (14) all pass through the lower guide rail frame (13) and the lower bearing (12), and are connected to the boss gear (112) through a set screw and a flat key; the upper end of the screw rod (14) passes through the upper guide rail frame (131) is connected to the upper bearing (121), and the first motor (1102) drives the screw rod (14) to rotate left and right through the transmission gear set (1104); one end of the thin connecting rod (16) is connected to the ear fork support (15) through a screw rod, and the other end of the thin connecting rod (16) is connected to the middle through hole of the roller bracket (18) through a screw rod; the inner end through hole of the roller bracket (18) is connected to the slider support (19) threadedly matched with the screw rod (14) through a screw rod; the outer end of the roller bracket (18) is installed with a motor wheel (17) through a screw rod; the motor wheel (17) is connected to the roller motor driver (03) circuit; The expansion system (2) comprises a transmission column (22) and an expansion drive device (24); the expansion drive device (24) is provided with a triangular upper shell (2402) and a lower shell (2403), and is arranged at the middle section of the screw rod (14); the upper shell (2402) and the lower shell (2403) are matched to form an inner cavity, and a second motor (2401) is installed in the inner cavity, and the second motor (2401) is a double-axis motor; three through holes for inserting the screw rod (14) are correspondingly provided on the upper shell (2402) and the lower shell (2403), and an axial hole for the rotating shaft of the second motor (2401) is provided in the middle; positioning grooves and threaded holes for fixing the ear fork support (15) by bolts are provided at the outer triangular parts of the upper shell (2402) and the lower shell (2403). ; The rotating shafts at both ends of the second motor (2401) pass through the shaft holes and are connected to the inner ends of the transmission columns (22) on the two outer sides of the expansion drive device (24) through the couplings (23); the outer ends of the two transmission columns (22) are fixedly connected to the transmission rotating frame (25) through the transmission flanges (21), and the transmission rotating frame (25) is provided with three ear pieces (251) evenly distributed along the tangent to the circular edge protrusions, and the ear pieces (251) are respectively connected to one end of the transmission rod (26) through studs; three guide rail holes are evenly distributed on the periphery of the guide rail frame (13), and the inner ends of the expansion slide rods (29) are inserted into the guide rail holes, and the outer ends of the expansion slide rods (29) are connected to the bracket (27) and the other end of the transmission rod (26) through screws; the second motor (2401) is connected to the circuit of the expansion system motor driver (04); The mechanical arm (3) comprises a third motor (31) and a driving base (32); the third motor (31) and the driving base (32) are fixedly connected on the adapter plate (110) by bolts; the third motor (31) is installed in the inner cavity of the driving base (32); the third motor (31) is connected to the primary motor driver (05) circuit; a turntable (33) is installed on the top of the driving base (32); the center hole of the turntable (33) is connected to the rotating shaft of the third motor (31) by bolts; a connecting rod (33) is fixedly installed on the top of the turntable (33) by bolts A connecting seat (34), a fourth motor (35) is installed in the clamping ring of the connecting seat (34), the fourth motor (35) is connected to the secondary motor driver (06) circuit, and the fourth motor (35) shaft is connected to one end of the rotating arm (36); the sensor bracket (38) is in the shape of a frame, and a fifth motor (37) is fixedly installed at its tail by bolts, the fifth motor (37) is connected to the primary motor driver (07) circuit, and the fifth motor (37) shaft is connected to the other end of the rotating arm (36); The detection system (4) comprises a preliminary scanning positioning sensor (41) and a precise scanning detection sensor (42), wherein the preliminary scanning positioning sensor (41) is fixedly mounted on the outer side of the sensor bracket (38), and the precise scanning detection sensor (42) is fixedly mounted on the top surface of the sensor bracket (38); the preliminary scanning positioning sensor (41) is connected to a data acquisition processing unit A (08), and the precise scanning detection sensor (42) is connected to a data acquisition processing unit B (09); The grinding system (5) is composed of a sixth motor (53), a grinding tool holder (52) and a cutter head (51); the sixth motor (53) is fixedly installed in a sensor bracket (38) by means of bolts; the rotating shaft of the sixth motor (53) is connected to the cutter head (51) via the grinding tool holder (52); and the sixth motor (53) is connected to a grinding motor driver (010).

2. A method for intelligent detection and removal of inner hole burrs, the steps of which are as follows: A. Debug and install the device: Preset multiple sets of appropriate processing parameters and surface quality requirements according to the structural morphology and material properties of the parts to be processed, and place the device at the opening of the inner hole of the parts to be processed; B. Quick inspection to locate the burr position: The crawling system (1) drives the device to move rapidly in the inner hole, and at the same time the mechanical arm (3) drives the preliminary scanning positioning sensor (41) to rapidly scan the inner hole, identify and locate the position of the inner hole burr, and determine the change of the hole diameter; C. Tightening and fixing, precise scanning: When burrs are found during the rapid inspection process, the expansion system (2) unfolds the expansion belt (28) to contact and expand the inner wall to achieve the fixation of the device, and the precise scanning detection sensor (42) scans and identifies the burr morphology of the area where the burr is located in the inner hole, and automatically selects appropriate preset processing parameters and outputs them to the grinding system (5); D. Grinding: The robot arm (3) adjusts the grinding system (5) to the spatial position of the inner hole, and finally performs a first round of removal of the inner hole burrs according to the selected preset processing parameters; E. Testing and evaluation: The precise scanning detection sensor (42) scans the area after the burr removal and evaluates the surface quality. If the preset surface quality requirement is met, the device continues the rapid inspection; if the preset surface quality requirement is not met, it returns to step C) to perform precise scanning and perform subsequent finishing work according to the preset processing parameters of fine grinding until the burr removal area meets the preset surface quality requirement; F. Complete intelligent detection and removal of burrs on the inner holes of parts.

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