Thin-wall bearing machining equipment for industrial robot

Abstract

The invention discloses thin-wall bearing machining equipment for an industrial robot, and belongs to the technical field of bearing machining, the thin-wall bearing machining equipment comprises a bearing assembly, a polishing assembly, a liquid spraying assembly and a data analysis module, and the bearing assembly achieves accurate positioning and rotation of a bearing outer ring through a three-jaw chuck and a pressure sensor; the grinding component dynamically regulates and controls grinding wheel parameters by combining a linear motion mechanism; the liquid spraying assembly optimizes the spraying angle of the cooling lubricating liquid through an adjustable spraying head. And the data acquisition module acquires the pressing force, the grinding state and the liquid spraying parameters in real time, outputs a grinding state coefficient, a liquid matching degree and a cooperation coefficient through a grinding state evaluation model, a liquid matching model and a cooperation analysis model, and drives the liquid spraying assembly to adjust the liquid components and the spraying angle. Full-process intelligent regulation and control of thin-wall bearing machining are achieved, the machining precision, the surface quality and the equipment automation level are remarkably improved, and the method is suitable for batch production of high-precision industrial robot bearings.

Description

Technical Field

[0001] The present invention belongs to the technical field of bearing processing, and particularly relates to a processing device for thin-walled bearings used in industrial robots. Background Art

[0002] Thin-walled bearings for industrial robots have extremely high requirements for processing accuracy and surface quality. Traditional processing equipment often has the following problems: First, during the grinding process, parameters such as the grinding wheel pressure and rotational speed lack dynamic regulation, which easily leads to uneven surface roughness or local overheating; Second, the ratio of the cooling and lubricating fluid is fixed and cannot be adjusted according to the real-time working conditions, resulting in low cooling efficiency or insufficient lubrication, affecting the processing quality; Third, the spraying angle is fixed, making it difficult to accurately cover the grinding area, causing liquid waste or poor effects. In addition, existing equipment mostly relies on manual experience for adjustment, with low automation and poor processing consistency. Therefore, there is an urgent need for a processing equipment that integrates intelligent monitoring and adaptive regulation to improve the processing accuracy and efficiency of thin-walled bearings. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a processing device for thin-walled bearings used in industrial robots, which solves the above problems.

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: A processing device for thin-walled bearings used in industrial robots, including a placement plate, further including:

[0005] A bearing component, installed on the placement plate, for pressing and limiting the inner side of the bearing outer ring and pushing it to rotate;

[0006] A grinding component, installed on the placement plate, for grinding the bearing outer ring;

[0007] A liquid spraying component, installed on the placement plate, for providing cooling, lubrication, and extreme pressure performance to the bearing being ground;

[0008] A data acquisition module, for acquiring the pressing force of the bearing component on the inner side of the bearing outer ring, grinding state data, and liquid spraying state data;

[0009] A grinding state evaluation module, constructing a grinding state evaluation model based on the grinding state data and the pressing force to output a grinding state evaluation coefficient;

[0010] A liquid spraying analysis module, constructing a liquid matching model based on the grinding state coefficient and the liquid spraying state data to output the matching degree of the spraying liquid composition under the current grinding state coefficient;

[0011] A liquid synergy analysis module, constructing a liquid synergy analysis model based on the liquid spraying state data to output the liquid synergy;

[0012] The jet angle analysis module constructs a jet angle analysis model based on the current liquid jet angle, jet speed, matching degree of the jet liquid components, and liquid synergy to output the target jet angle;

[0013] The grinding state data includes the grinding pressure, grinding speed, grinding vibration information, and grinding area temperature of the grinding wheel in the grinding assembly;

[0014] The liquid spraying state data includes the mass ratio of water, sulfurized oil, lubricant in the mixed liquid, liquid jet angle, and jet speed.

[0015] Based on the above technical solutions, the present invention also provides the following alternative technical solutions:

[0016] Further technical solution: The method of constructing a grinding state evaluation model based on the grinding state data and the counter pressure to output the grinding state evaluation coefficient is as follows:

[0017] Perform ratio processing on the counter pressure and the grinding pressure, grinding speed, grinding vibration information, and grinding area temperature in the grinding state data respectively with the corresponding maximum allowable values to obtain the counter pressure index, grinding pressure index, grinding speed index, grinding vibration index, and temperature index;

[0018] Construct and import a grinding state evaluation model based on the counter pressure index, grinding pressure index, grinding speed index, grinding vibration index, and temperature index, and then output the grinding state evaluation coefficient. The grinding state evaluation model is expressed as:

[0019] Q = ∑w i I i

[0020] Wherein, Q represents the sum of the products of each index of the grinding state evaluation coefficient and the corresponding weight and Q ∈ [0, 1], w i represents the weight of each index, and I i represents each index.

[0021] Further technical solution: The method of constructing a liquid matching model based on the grinding state coefficient and the liquid spraying state data to output the matching degree of the jet liquid components under the current grinding state coefficient is as follows:

[0022] Construct and import a liquid matching model based on the mass ratio of water, sulfurized oil, lubricant in the mixed liquid, and the current grinding state coefficient, and then output the matching degree of the jet liquid components;

[0023] Compare the obtained matching degree of the injection liquid components with the preset matching degree threshold. If the matching degree of the injection liquid components is not within the matching degree threshold, adjust the proportion of water quality, the proportion of sulfide oil quality, and the proportion of lubricant quality until the matching degree of the injection liquid components is within the matching degree threshold;

[0024] The liquid matching model is expressed as:

[0025] M = exp(-μ|Q-(k1W + k2S + k3L)|)

[0026] Wherein, M represents the matching degree of the injection liquid components and M ∈ (0, 1], W represents the proportion of water quality, S represents the proportion of sulfide oil quality, L represents the proportion of lubricant quality, Q represents the current grinding state evaluation coefficient, μ represents the sensitivity factor, k1 represents the weight and ∑K i = 1, W + S + L = 1, W ≥ 0.6, S ≤ 0.15, L ≤ 0.25.

[0027] Further technical solution: The liquid synergy analysis model is expressed as:

[0028]

[0029] Wherein, C s represents the liquid synergy coefficient, W represents the proportion of water quality, S represents the proportion of sulfide oil quality, and L represents the proportion of lubricant quality.

[0030] Further technical solution: The method for constructing an injection angle analysis model to output the target injection angle based on the current liquid injection angle, injection speed, matching degree of injection liquid components, and liquid synergy is as follows:

[0031] Perform normalization processing on the injection speed by using the maximum-minimum normalization method to obtain the injection speed index;

[0032] Construct an injection angle analysis model based on the current injection angle, injection speed index, matching degree of injection liquid components, and liquid synergy to output the target injection angle;

[0033] Adjust the injection angle value of the liquid injection component to the target injection angle, and the angle adjustment step size is limited to plus or minus five degrees;

[0034] The injection angle analysis model is expressed as:

[0035] θ tar = θ cur + Δθsign(C s V - γQ)

[0036] Wherein, θ tar represents the target injection angle, θ curLet θ represent the current spraying angle, Δθ represent the spraying angle correction amount, and C s represent the liquid synergy coefficient, v represent the spraying speed exponent, γ represent the process correction factor, and Q represent the grinding state evaluation coefficient.

[0037] Further technical solution: The Δθ represents the spraying angle correction amount, and its calculation formula is:

[0038]

[0039] where Δθ represents the spraying angle correction amount, represents the liquid synergy coefficient, v represents the spraying speed exponent, and θ cur represents the current spraying angle.

[0040] Further technical solution: The γ represents the process correction factor, and its calculation formula is:

[0041] γ = 0.3Q + 0.7M

[0042] where γ represents the process correction factor, Q represents the grinding state evaluation coefficient, and M represents the matching degree of the spraying liquid components.

[0043] Further technical solution: The bearing component includes a three-jaw chuck, a jaw, a pressure sensor A, a pressing block, and a rotating table. The three-jaw chuck is fixedly connected to the rotating table rotatably installed on the placement plate. The three jaws are evenly slidably installed on the three-jaw chuck. The jaw is fixedly connected to the pressure sensor A fixedly connected with the pressing block. The pressing block is slidably arranged relative to the jaw. A gear for driving the rotating table to rotate is sleeved on the rotating table.

[0044] Further technical solution: The grinding component includes a grinding wheel, a mounting seat A, and a motor A. The grinding wheel is detachably installed on the output shaft of the motor A. The motor A is detachably installed on the mounting seat A. A pressure sensor B is fixedly connected to the mounting seat A. The pressure sensor B is fixedly connected to the output shaft of a linear motion member A detachably installed on the placement plate.

[0045] Further technical solution: The liquid spraying component includes a spray head, a mounting seat B, and a linear motion member B. The spray head is installed on the output shaft of the linear motion member B through a bendable pipe to enable the spray head to adjust its position in space relative to the linear motion member B. The linear motion member B is fixedly connected to the output shaft of a motor B detachably installed on the mounting seat B. The mounting seat B is fixedly connected to the output shaft of a linear motion member C detachably installed on the placement plate.

[0046] The present invention provides a thin-wall bearing processing device for an industrial robot, which has the following beneficial effects compared with the prior art:

[0047] 1. The present invention analyzes data such as pressure, rotational speed, and temperature in real time through a grinding state evaluation model, automatically adjusts the working parameters of the grinding wheel, improves the grinding accuracy and surface consistency. At the same time, based on the liquid matching model and the synergy analysis model, the composition ratio of the cooling and lubricating fluid is dynamically adjusted to ensure the optimal matching of cooling, lubrication, and extreme pressure performance. Finally, by combining the process correction factor and the synergy coefficient, the liquid spraying direction is optimized in real time through the spraying angle analysis model, improving the liquid utilization rate and enhancing the cooling effect in the processing area. Description of the Drawings

[0048] Figure 1 It is a three-dimensional structure schematic diagram of the present invention.

[0049] Figure 2 It is a structure schematic diagram of the bearing component and the grinding component in the present invention.

[0050] Figure 3 It is a structure schematic diagram of the bearing component in the present invention.

[0051] Figure 4 It is a structure schematic diagram of the liquid spraying component in the present invention.

[0052] Description of the reference numerals in the drawings: 1. Placing plate; 2. Bearing component; 201. Three-jaw chuck; 202. Chuck jaw; 203. Pressure sensor A; 204. Pressing block; 205. Rotary table; 206. Gear; 3. Grinding component; 301. Grinding wheel; 302. Mounting seat A; 303. Motor A; 304. Pressure sensor B; 305. Linear motion part A; 4. Liquid spraying component; 401. Nozzle; 402. Mounting seat B; 403. Linear motion part B; 404. Linear motion part C. Detailed Description of the Embodiment

[0053] In order to make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] The following describes the specific implementation of the present invention in detail with specific embodiments.

[0055] Please refer to Figures 1 to 4 , a thin-walled bearing processing device for an industrial robot provided by an embodiment of the present invention, includes a placing plate 1, and further includes:

[0056] A bearing component 2, installed on the placing plate 1, for pressing and limiting the inner side of the bearing outer ring and pushing it to rotate;

[0057] A grinding component 3, installed on the placing plate 1, for grinding the bearing outer ring;

[0058] The liquid spraying assembly 4 is installed on the placement plate 1 and is used to provide cooling, lubrication, and extreme pressure performance for the bearings being polished.

[0059] The data acquisition module is used to acquire the pressing force of the bearing component 2 against the inner side of the outer ring of the bearing, the grinding state data, and the liquid spraying state data.

[0060] The grinding state evaluation module constructs a grinding state evaluation model based on the grinding state data and the pressing force and outputs a grinding state evaluation coefficient.

[0061] The liquid spraying analysis module constructs a liquid matching model based on the grinding state coefficient in combination with the liquid spraying state data and outputs the matching degree of the sprayed liquid composition (the matching degree between the liquid ratio and the current processing requirements) under the current grinding state coefficient.

[0062] The liquid synergy analysis module constructs a liquid synergy analysis model based on the liquid spraying state data and outputs the liquid synergy (reflecting the synergy effect between the liquid components, that is, the ratio of sulfide oil and lubricant to water, which is used to evaluate the comprehensive effect of different components in terms of cooling, lubrication, and extreme pressure performance).

[0063] The spraying angle analysis module constructs a spraying angle analysis model based on the current liquid spraying angle, spraying speed, matching degree of the sprayed liquid composition, and liquid synergy and outputs the target spraying angle.

[0064] The grinding state data includes the grinding pressure, grinding speed, grinding vibration information, and grinding area temperature of the grinding wheel in the grinding assembly 3.

[0065] The liquid spraying state data includes the mass ratio of water, the mass ratio of sulfide oil, the mass ratio of lubricant, the liquid spraying angle, and the spraying speed in the mixed liquid.

[0066] Preferably, the method of constructing a grinding state evaluation model based on the grinding state data and the pressing force and outputting a grinding state evaluation coefficient is as follows:

[0067] The pressing force, the grinding pressure, the grinding speed, the grinding vibration information, and the grinding area temperature in the grinding state data are respectively subjected to a ratio process with the corresponding maximum allowable values to obtain a pressing force index, a grinding pressure index, a grinding speed index, a grinding vibration index, and a temperature index.

[0068] A grinding state evaluation model is constructed based on the pressing force index, the grinding pressure index, the grinding speed index, the grinding vibration index, and the temperature index and imported, and then a grinding state evaluation coefficient is output. The grinding state evaluation model is expressed as:

[0069] Q = ∑w i I i

[0070] Among them, Q represents the sum of the products of each index of the grinding state evaluation coefficient and the corresponding weight, and Q ∈ [0, 1], w i represents the weight of each index, I i represents each index;

[0071] Among them, the closer the Q value is to 1, the higher the grinding quality. On the contrary, the closer the value is to 0, the worse the grinding quality.

[0072] By establishing a grinding state evaluation model (weighting each parameter index), the grinding quality is dynamically quantified, providing an accurate basis for subsequent liquid spraying control, and avoiding surface defects or grinding wheel wear caused by the out-of-control of a single parameter.

[0073] Preferably, the method for constructing a liquid matching model based on the grinding state coefficient and the liquid spraying state data to output the matching degree of the spraying liquid composition under the current grinding state coefficient is as follows:

[0074] Construct a liquid matching model based on the mass ratio of water, sulfurized oil, lubricant in the mixed liquid and the current grinding state coefficient and import it, and then output the matching degree of the spraying liquid composition;

[0075] Compare the obtained matching degree of the spraying liquid composition with the preset matching degree threshold. If the matching degree of the spraying liquid composition is not within the matching degree threshold, adjust the mass ratio of water, sulfurized oil, lubricant until the matching degree of the spraying liquid composition is within the matching degree threshold;

[0076] The liquid matching model is expressed as:

[0077] M = exp(-μ|Q - (k1W + k2S + k3L)|)

[0078] Among them, M represents the matching degree of the spraying liquid composition and M ∈ (0, 1] (when the value approaches 1, it means that the liquid ratio perfectly matches the current working condition and can maximize the cooling, lubrication and extreme pressure performance. When the value approaches 0, the ratio seriously deviates from the requirements, which may lead to surface burns, grinding wheel adhesion or chip retention), W represents the mass ratio of water, S represents the mass ratio of sulfurized oil, L represents the mass ratio of lubricant, Q represents the current grinding state evaluation coefficient, μ represents the sensitivity factor (controlling the matching degree attenuation speed, for example, μ = 10, and for each 0.1 increase in deviation, M attenuates by about 63%), k1 represents the weight and ∑K i = 1;

[0079] Among them, W + S + L = 1, W ≥ 0.6 (the lower limit of the water ratio to ensure the basic cooling capacity), S ≤ 0.15 (the upper limit of the sulfurized oil ratio to avoid corrosion or environmental protection exceeding the standard), L ≤ 0.25 (the upper limit of the lubricant ratio to prevent foaming or too high viscosity).

[0080] Using a liquid matching model (relating the ratio and working conditions with an exponential decay function), the composition of the cooling and lubricating liquid (the ratio of water, sulfurized oil, and lubricant) is optimized in real time to ensure optimal liquid performance under different grinding states, reduce liquid waste, and prevent overheating or adhesion during processing.

[0081] Preferably, the liquid synergy analysis model is expressed as:

[0082]

[0083] where C s represents the liquid synergy coefficient, W represents the mass fraction of water, S represents the mass fraction of sulfurized oil, and L represents the mass fraction of lubricant. Quantify the synergy effect of liquid components, and reflect the comprehensive influence of the extreme pressure property of sulfurized oil and the friction reduction property of lubricant on the grinding quality.

[0084] Through the liquid synergy analysis model (quantifying the synergy effect of sulfide and lubricant on water), dynamically evaluate the comprehensive performance of the liquid, enhance the synergy of cooling, lubrication, and extreme pressure functions, and enhance the processing stability.

[0085] Preferably, the method for constructing a spray angle analysis model to output the target spray angle based on the current liquid spray angle, spray speed, spray liquid composition matching degree, and liquid synergy is as follows:

[0086] Perform normalization processing on the spray speed using the maximum-minimum normalization method to obtain the spray speed index;

[0087] Construct a spray angle analysis model based on the current spray angle, spray speed index, spray liquid composition matching degree, and liquid synergy to output the target spray angle;

[0088] Adjust the spray angle value of the liquid spraying component 4 to the target spray angle, and the angle adjustment step size is limited to plus or minus five degrees;

[0089] The spray angle analysis model is expressed as:

[0090] θ tar = θ cur +Δθsign(C s v - γQ)

[0091] where θ tar represents the target spray angle, θ cur represents the current spray angle, Δθ represents the spray angle correction amount, C s represents the liquid synergy coefficient, v represents the spray speed index, γ represents the process correction factor, and Q represents the grinding state evaluation coefficient.

[0092] Based on the spray angle analysis model (combining the cooperation coefficient, velocity exponent, etc.), the liquid spraying direction is adjusted in real time to ensure that the liquid precisely covers the grinding area, improving the cooling efficiency and reducing liquid splashing.

[0093] The Δθ represents the spray angle correction amount, and its calculation formula is:

[0094]

[0095] Among them, Δθ represents the spray angle correction amount, represents the liquid cooperation coefficient, v represents the spray velocity exponent, and θ cur represents the current spray angle, and C s vsinθ cur +γQ represents the momentum contribution of the liquid cooperation coefficient and the spray velocity in the vertical direction (relative to the tangent of the grinding wheel), and γQ represents the compensation requirement of the process state (weighted combination of the quality evaluation coefficient Q and the matching degree M) for the vertical momentum. C s vcosθ cur represents the momentum contribution of the liquid cooperation effect and the spray velocity in the horizontal direction (along the tangent of the grinding wheel). The arctangent function calculates the theoretical optimal angle of the vertical-to-horizontal momentum ratio, and then subtracts the current angle to obtain the correction amount Δθ.

[0096] Through the angle correction amount formula (combining the vertical and horizontal momentum contributions), the spray angle adjustment amount is accurately calculated to avoid local cooling insufficiency or lubrication failure caused by angle deviation.

[0097] The γ represents the process correction factor, and its calculation formula is:

[0098] γ = 0.3Q + 0.7M

[0099] Among them, γ represents the process correction factor, Q represents the grinding state evaluation coefficient, and M represents the matching degree of the spray liquid composition.

[0100] The process correction factor (weighting the grinding state and the liquid matching degree) dynamically balances the processing requirements and the liquid performance, enhancing the system's adaptability to different working conditions and improving the processing consistency.

[0101] The spray angle is the angle between the liquid spraying direction and the tangent direction at the contact point of the grinding wheel - workpiece, and can be measured and obtained through an inclination sensor or a vision sensor.

[0102] Preferably, the bearing component 2 includes a three-jaw chuck 201, jaws 202, a pressure sensor A 203, a pressing block 204, and a rotating table 205. The three-jaw chuck 201 is fixedly connected to the rotating table 205 rotatably mounted on the placing plate 1. The three jaws 202 are evenly and slidably mounted on the three-jaw chuck 201. The jaws 202 are fixedly connected to the pressure sensor A 203 fixedly connected with the pressing block 204. The pressing block 204 is slidably arranged relative to the jaws 202. A gear 206 for driving the rotation of the rotating table 205 is sleeved on the rotating table 205. The purpose of this setting is to drive the three-jaw chuck 201 to drive the three jaws 202 to perform radial movement, thereby pushing the pressing block 204 to press against the inner wall of the outer ring of the bearing, realizing the limit of the outer ring of the bearing. At the same time, the pressure sensor A 203 can detect the pressing force applied by the pressing block 204 to the outer ring of the bearing in real time. Further, by driving the gear 206 to drive 2105 to push the three-jaw chuck 201 to drive the outer ring of the bearing to rotate.

[0103] Preferably, the grinding component 3 includes a grinding wheel 301, a mounting seat A 302, and a motor A 303. The grinding wheel 301 is detachably mounted on the output shaft of the motor A 303. The motor A 303 is detachably mounted on the mounting seat A 302. A pressure sensor B 304 is fixedly connected to the mounting seat A 302. The pressure sensor B 304 is fixedly connected to the output shaft of a linear motion member A 305 detachably mounted on the placing plate 1. The purpose of this setting is to drive the grinding wheel 301 to rotate by the motor A 303. The linear motion member A 305 pushes the mounting seat A 302 to drive the grinding wheel 301 to contact the outer wall of the outer ring of the bearing, and perform grinding treatment on the outer wall of the outer ring of the bearing. At the same time, the pressure sensor B 304 can detect the grinding force in real time.

[0104] Preferably, the liquid spraying component 4 includes a spray head 401, a mounting seat B 402, and a linear motion member B 403. The spray head 401 is installed on the output shaft of the linear motion member B 403 through a bendable pipe (the spray head 401 can adjust its position in space relative to the linear motion member B 403). The linear motion member B 403 is fixedly connected to the output shaft of a motor B detachably mounted on the mounting seat B 402. The mounting seat B 402 is fixedly connected to the output shaft of a linear motion member C 404 detachably mounted on the placing plate 1. The purpose of this setting is to adjust the spraying angle of the spray head 401 by using the motor B, the linear motion member B 403, the linear motion member C 404, and the spray head 401 dampingly movably mounted on the output shaft of the linear motion member B 403.

[0105] In an embodiment of the present invention, the driving three-jaw chuck 201 drives the three jaws 202 to perform radial movement, thereby pushing the pressing block 204 to press against the inner wall of the bearing outer ring, realizing the limit of the bearing outer ring. At the same time, the pressure sensor A 203 can detect the pressing force applied by the pressing block 204 to the bearing outer ring in real time. Further, the driving gear 206 drives 2105 to push the three-jaw chuck 201 to drive the bearing outer ring to rotate. The motor A 303 drives the grinding wheel 301 to rotate, and the linear motion part A 305 pushes the mounting seat A 302 to drive the grinding wheel 301 to contact the outer wall of the bearing outer ring, and grind the outer wall of the bearing outer ring. At the same time, the pressure sensor B 304 can detect the grinding force in real time. During grinding, the spraying angle of the nozzle 401 can be adjusted by using the motor B, the linear motion part B 403, the linear motion part C 404 and the nozzle 401 dampingly movably mounted on the output shaft of the linear motion part B 403, so as to complete the high-quality grinding process of the bearing outer ring.

[0106] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusively, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0107] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A thin-walled bearing processing device for an industrial robot, comprising a placement plate, characterized in that: Also includes: The bearing assembly is mounted on the placement plate and is used to press and limit the inner side of the outer ring of the bearing and push it to rotate; A grinding assembly, mounted on the placement plate, is used to grind the outer ring of the bearing; A fluid spray assembly, mounted on the placement plate, is used to provide cooling, lubrication and extreme pressure performance to the bearing being ground; A data acquisition module, used to acquire the pressure of the bearing assembly against the inner side of the bearing outer ring, grinding status data, and liquid injection status data; A grinding state evaluation module, which constructs a grinding state evaluation model based on the grinding state data and the pressure, and outputs a grinding state evaluation coefficient; The liquid spray analysis module builds a liquid matching model based on the polishing state coefficient and the liquid spray state data to output the matching degree of the spray liquid composition under the current polishing state coefficient; Liquid synergy analysis module, which builds a liquid synergy analysis model based on the spray state data and outputs liquid synergy; The injection angle analysis module builds an injection angle analysis model to output the target injection angle based on the current liquid injection angle, injection speed, injection liquid component matching degree and liquid synergy; The grinding state data includes grinding pressure, grinding speed, grinding vibration information and grinding area temperature; The liquid spraying state data includes the mass proportion of water, the mass proportion of sulfide oil, the mass proportion of lubricant, the liquid spraying angle and the spraying speed in the mixed liquid.

2. The thin-walled bearing processing equipment for industrial robots according to claim 1, characterized in that: The method of constructing a grinding state evaluation model based on the grinding state data and the pressure to output the grinding state evaluation coefficient is as follows: Perform ratio processing on the grinding pressure, grinding speed, grinding vibration information, and grinding area temperature in the pressing force and grinding state data with the corresponding maximum allowable values ​​to obtain the pressing force index, grinding pressure index, grinding speed index, grinding vibration index, and temperature index; A grinding state evaluation model is constructed and imported according to the pressure index, grinding pressure index, grinding speed index, grinding vibration index and temperature index, and then a grinding state evaluation coefficient is output. The grinding state evaluation model is expressed as: Q=∑w i I i Where Q represents the sum of the products of the various indexes of the polishing state evaluation coefficient and the corresponding weights, and Q∈[0,1], w i Indicates the weight of each index, I i Represents various indices.

3. The thin-walled bearing processing equipment for industrial robots according to claim 1, characterized in that: According to the polishing state coefficient and the spraying state data, the liquid matching model is constructed to output the matching degree of the spraying liquid composition under the current polishing state coefficient: According to the mass proportion of water, mass proportion of sulfide oil, mass proportion of lubricant in the mixed liquid and the current polishing state coefficient, a liquid matching model is constructed and imported, and then the matching degree of the injection liquid composition is output; The obtained injection liquid composition matching degree is compared with a preset matching degree threshold. If the injection liquid composition matching degree is not within the matching degree threshold, the water mass proportion, the sulfide oil mass proportion, and the lubricant mass proportion are adjusted until the injection liquid composition matching degree is within the matching degree threshold. The liquid matching model is expressed as: M=exp(-μ|Q-(k1W+k2S+k3L)|) Where M represents the matching degree of the injection liquid composition and M∈(0,1], W represents the mass proportion of water, S represents the mass proportion of sulfide oil, L represents the mass proportion of lubricant, Q represents the current grinding state evaluation coefficient, μ represents the sensitivity factor, k1 represents the weight and ∑K i =1, W+S+L=1, W≥0.6, S≤0.15, L≤0.

25.

4. The thin-walled bearing processing equipment for industrial robots according to claim 1, characterized in that: The liquid synergy analysis model is expressed as: Among them, C s represents the liquid synergy coefficient, W represents the mass proportion of water, S represents the mass proportion of sulfide oil, and L represents the mass proportion of lubricant.

5. The thin-walled bearing processing equipment for industrial robots according to claim 1, characterized in that: The method of constructing the injection angle analysis model and outputting the target injection angle according to the current liquid injection angle, injection speed, injection liquid component matching degree and liquid synergy is as follows: The injection velocity is normalized by using the maximum-minimum normalization method to obtain the injection velocity index; According to the current injection angle, injection speed index, injection liquid composition matching degree and liquid synergy, the injection angle analysis model is constructed to output the target injection angle; Adjust the spray angle value of the spray assembly to a target spray angle and limit the angle adjustment step to plus or minus five degrees; The injection angle analysis model is expressed as: i tar =θ cur +Δθsign(C s v-γQ) Among them, θ tar represents the target injection angle, θ cur represents the current injection angle, Δθ represents the injection angle correction, C s represents the liquid synergy coefficient, v represents the injection velocity index, γ represents the process correction factor, and Q represents the polishing state evaluation coefficient.

6. The thin-wall bearing processing equipment for industrial robots according to claim 1, characterized in that: The Δθ represents the injection angle correction amount, and its calculation formula is: Among them, Δθ represents the injection angle correction, represents the liquid synergy coefficient, v represents the injection velocity index, and θ cur Indicates the current spray angle.

7. The thin-wall bearing processing equipment for industrial robots according to claim 1, characterized in that: The γ represents the process correction factor, and its calculation formula is: γ=0.3Q+0.7M Among them, γ represents the process correction factor, Q represents the polishing state evaluation coefficient, and M represents the matching degree of the spraying liquid composition.

8. The thin-wall bearing processing equipment for industrial robots according to claim 1, characterized in that: The bearing assembly includes a three-jaw chuck, claws, a pressure sensor A, a pressure block and a rotating table. The three-jaw chuck is fixedly connected to the rotating table rotatably installed on the placement plate. The three claws are evenly slidably installed on the three-jaw chuck. The claws are fixedly connected to the pressure sensor A fixedly connected to the pressure block. The pressure block is slidably arranged relative to the claws. The rotating table is provided with a gear for driving the rotating table to rotate.

9. The thin-walled bearing processing equipment for industrial robots according to claim 1, characterized in that: The grinding assembly includes a grinding wheel, a mounting seat A and a motor A. The grinding wheel is detachably mounted on the output shaft of the motor A. The motor A is detachably mounted on the mounting seat A. A pressure sensor B is fixedly connected to the mounting seat A. The pressure sensor B is fixedly connected to the output shaft of the linear motion part A detachably mounted on the placement plate.

10. The thin-wall bearing processing equipment for industrial robots according to claim 1, characterized in that: The liquid spray assembly includes a spray head, a mounting seat B, and a linear moving part B. The spray head is mounted on the output shaft of the linear moving part B through a bendable tube so that the spray head can be spatially adjusted relative to the linear moving part B. The linear moving part B is fixedly connected to the output shaft of a motor B detachably mounted on the mounting seat B, and the mounting seat B is fixedly connected to the output shaft of a linear moving part C detachably mounted on a placement plate.

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