A deburring method based on real-time data analysis

Abstract

The present invention relates to the field of deburring technology, and in particular to a deburring method based on real-time data analysis, comprising: obtaining a real-time surface image of a workpiece; analyzing the real-time surface image to obtain the height and maximum width of each burr on the workpiece surface; calculating and estimating burr distribution characterization parameters based on each height and each maximum width to determine the burr distribution state; determining grinding equipment operating parameters based on the burr distribution state, including rotation speed and grinding pressure; pre-grinding the workpiece surface burrs based on the grinding equipment operating parameters; obtaining the remaining distribution area of ​​burrs on the workpiece surface that are in the same grinding direction; and determining whether the effective grinding degree meets the standard based on the remaining distribution area. The present invention solves the problem that small burrs are easily softened due to frictional heat during the grinding process, resulting in poor grinding effect of the grinding equipment, thereby improving the deburring quality of the grinding equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of deburring, and in particular to a deburring method based on real-time data analysis. Background Art

[0002] In the field of mechanical processing, burrs on workpiece surfaces and edges caused by processes like cutting and stamping are a common technical challenge. These burrs not only damage the product's surface finish, leading to deviations in assembly precision and the risk of functional failure, but also induce stress concentration under dynamic loads, significantly shortening the workpiece's service life. Therefore, deburring, a critical step in precision manufacturing, directly impacts product reliability and market acceptance.

[0003] Chinese Patent Publication No.: CN119407613A discloses a deburring method and a deburring device, which include: fixing the workpiece to be polished on a positioning fixture; visually identifying the position of the workpiece to be polished to generate a first position signal; adjusting the workpiece to be polished to a preset position according to the first position signal; visually identifying the position of the workpiece to be polished to generate a second position signal; and moving the polishing tool to the area to be processed inside or outside the workpiece according to the second position signal to perform a deburring operation. This solution is used to solve the defect of poor deburring effect caused by inaccurate positioning in the prior art, and to achieve a more accurate and efficient deburring operation. It can be seen that the deburring method and the deburring device have the problem that small burrs are easily softened due to frictional heat during the grinding process, resulting in poor grinding effect of the grinding equipment. Summary of the Invention

[0004] To this end, the present invention provides a deburring method based on real-time data analysis to overcome the problem in the prior art that small burrs are easily softened due to frictional heat during the grinding process, resulting in poor grinding effect of the grinding equipment.

[0005] To achieve the above object, the present invention provides a deburring method based on real-time data analysis, comprising:

[0006] Acquire real-time surface images of workpieces;

[0007] Analyzing the real-time surface image to obtain the height and maximum width of each burr on the workpiece surface;

[0008] Calculate and estimate a burr distribution characterization parameter based on each of the heights and each of the maximum widths to determine a burr distribution state;

[0009] Determining grinding equipment operating parameters based on the burr distribution state, including rotational speed and grinding pressure;

[0010] Pre-grinding the burrs on the workpiece surface based on the operating parameters of the grinding equipment;

[0011] Obtain the remaining distribution area of ​​the burrs on the workpiece surface in the same direction as the grinding direction;

[0012] Determining whether the effective grinding degree meets the standard according to the remaining distribution area;

[0013] Based on the fact that the effective grinding degree does not meet the standard, the continuous grinding of the workpiece surface is adjusted to point-jump grinding;

[0014] Performing actual grinding of burrs on the workpiece surface based on the point-jump grinding;

[0015] Acquire a real-time surface image of the workpiece after the burr is actually ground, and determine whether the roughness of the workpiece is qualified;

[0016] determining an inclination angle between a grinding surface of a grinding head and a surface to be ground of the workpiece based on a qualified condition of the roughness;

[0017] The workpiece surface is repeatedly ground according to the tilt angle until the roughness of the workpiece surface meets the requirements, and a deburred finished workpiece is output.

[0018] Furthermore, the estimated burr distribution characterization parameter is calculated based on each of the heights and each of the maximum widths, including:

[0019] Counting the number of burrs that at least meet one of the burr height conditions and / or the burr width conditions;

[0020] Calculating the estimated burr distribution characterization parameter according to the number of burrs;

[0021] The burr height condition is that the height is greater than a preset burr height; and the burr width condition is that the maximum width is greater than a preset burr width.

[0022] Furthermore, the estimated burr distribution characterization parameter is the ratio of the number of burrs that only meet the burr height condition to the total number of burrs × the first weight coefficient + the ratio of the number of burrs that only meet the burr width condition to the total number of burrs × the second weight coefficient + the ratio of the number of burrs that meet both the burr height condition and the burr width condition to the total number of burrs × the third weight coefficient.

[0023] Among them, the first weight coefficient+the second weight coefficient+the third weight coefficient=1.

[0024] Furthermore, the burr distribution state includes a first distribution state in which the estimated burr distribution characterization parameter is less than a preset characterization parameter, and a second distribution state in which the estimated burr distribution characterization parameter is greater than or equal to the preset characterization parameter.

[0025] Furthermore, determining the operating parameters of the grinding equipment based on the burr distribution state includes:

[0026] If the burr distribution state is the first distribution state, the grinding device operates at a first rotation speed and a first grinding pressure;

[0027] If the burr distribution state is the second distribution state, the grinding device operates at a second rotation speed and a second grinding pressure;

[0028] The first rotational speed is smaller than the second rotational speed, and the first grinding pressure is smaller than the second grinding pressure.

[0029] Furthermore, determining whether the effective grinding degree meets the standard according to the remaining distribution area includes:

[0030] Calculating the ratio of the remaining distribution area to the area of ​​the plane in which the burr is located in the same grinding direction;

[0031] If the ratio is greater than a preset ratio, it is determined that the effective grinding degree does not meet the standard;

[0032] If the ratio is less than or equal to the preset ratio, it is determined that the effective grinding degree meets the standard.

[0033] Furthermore, the grinding time of a single grinding area of ​​the to-be-ground surface of the workpiece in the point-jump grinding is shorter than that in the continuous grinding.

[0034] Furthermore, obtaining a real-time surface image of the workpiece after the burr is actually ground and judging whether the roughness of the workpiece is qualified includes:

[0035] Get the height and the maximum width of each;

[0036] Comparing each of the heights and each of the maximum widths with a preset qualified height and a preset qualified width respectively;

[0037] According to each of the heights being smaller than the preset qualified height and each of the maximum widths being smaller than the preset qualified width, it is determined that the roughness is qualified;

[0038] According to the fact that each of the heights is greater than or equal to the preset qualified height or each of the maximum widths is greater than or equal to the preset qualified width, it is determined that the roughness is unqualified.

[0039] Furthermore, determining the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece based on the qualified condition of the roughness includes:

[0040] If the roughness is qualified, controlling the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece to be within a preset inclination angle range;

[0041] If the roughness is unqualified, the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece is increased.

[0042] Furthermore, the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece is positively correlated with each of the heights and each of the maximum widths.

[0043] Compared with the prior art, the beneficial effect of the present invention is that, due to the different burr distribution states on the surface of the workpiece, grinding the surface of the workpiece using a fixed grinding mode may result in under-grinding or over-grinding, resulting in poor grinding effect, and the real-time surface image is analyzed to obtain the height and maximum width of each burr on the workpiece surface; the burr distribution characterization parameters are calculated and estimated based on each height and each maximum width to determine the burr distribution state, and the grinding equipment operating parameters are determined based on the burr distribution state, thereby realizing the division of the burr distribution state according to the burr characteristics of the workpiece surface, and adopting corresponding operating parameters based on the different distribution states of the burrs, thereby improving the grinding accuracy of the burrs on the surface of the workpiece.

[0044] Furthermore, small burrs are softened due to frictional heat during the grinding process, making them easy to fall down and the falling direction is consistent with the grinding direction, resulting in a reduction in the height of the burrs that are heated and fallen down. The reduced height of the burrs causes them to leave the effective processing range of the grinding head, resulting in the grinding equipment being unable to remove them and still remaining on the surface of the workpiece, resulting in a reduction in the grinding accuracy of the grinding equipment. By obtaining the remaining distribution area of ​​the burrs on the workpiece surface that are in the same grinding direction, it is determined whether the effective grinding degree meets the standard based on the remaining distribution area, and based on the effective grinding degree not meeting the standard, the continuous grinding of the workpiece surface is adjusted to point-jump grinding, so that when the grinding equipment is grinding a single grinding area, the heat generated by friction causes the grinding head to leave the grinding area before the small burrs are softened, and then enter the next grinding area in turn, and the burrs on the grinding area cool down naturally, which solves the problem that small burrs are easily softened due to frictional heat during the grinding process, resulting in poor grinding effect of the grinding equipment, and improves the deburring quality of the grinding equipment.

[0045] Furthermore, since burrs are stuck in the grinding groove of the grinding head during the grinding process, occupying the space in the grinding groove, other burrs cannot enter the grinding groove during grinding, resulting in poor grinding effect of the grinding head. By adjusting the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece, the probability of burrs being stuck in the grinding groove is reduced, and even if the burrs are stuck in the grinding groove, they can still be thrown out, effectively freeing up the space in the grinding groove, ensuring that the grinding head can continuously accommodate newly generated burrs and complete effective cutting, solving the problem of burrs being stuck in the grinding groove resulting in poor grinding effect of the grinding head, and improving the grinding efficiency of the grinding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is an overall flow chart of a deburring method based on real-time data analysis according to an embodiment of the present invention;

[0047] Figure 2 A flowchart of obtaining a real-time surface image of a workpiece after the burrs have been actually ground off and determining whether the roughness of the workpiece is qualified in a deburring method based on real-time data analysis according to an embodiment of the present invention;

[0048] Figure 3 This is a flow chart of determining whether the effective grinding degree meets the standard according to the remaining distribution area in the deburring method based on real-time data analysis according to an embodiment of the present invention;

[0049] Figure 4 Schematic diagram of the structure of a grinding device in a deburring method based on real-time data analysis according to an embodiment of the present invention;

[0050] In the figure, 1-workpiece, 2-grinding equipment, 21-grinding head, 22-first robotic arm, 23-first gear, 24-first rotating shaft, 25-first bearing, 26-second gear, 27-first spindle, 28-first motor, 211-grinding groove. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with 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.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0053] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0055] See also Figure 1 、 Figure 2 、 Figure 3 as well as Figure 4 As shown, they are respectively an overall flow chart of the deburring method based on real-time data analysis according to an embodiment of the present invention, a flow chart for obtaining a real-time surface image of a workpiece after the burrs are actually ground and determining whether the roughness of the workpiece is qualified, a flow chart for determining whether the effective grinding degree meets the standard according to the remaining distribution area, and a structural schematic diagram of the grinding equipment;

[0056] The deburring method based on real-time data analysis according to an embodiment of the present invention includes:

[0057] Step S1, obtaining a real-time surface image of the workpiece 1;

[0058] Step S2, analyzing the real-time surface image to obtain the height and maximum width of each burr on the surface of the workpiece 1;

[0059] Specifically, a real-time surface image of the workpiece 1 is collected by a 3D line laser displacement sensor installed 5 cm to 15 cm behind the grinding device 2 and at an inclination angle of 30° to 45° to the surface of the workpiece 1.

[0060] Step S3, calculating an estimated burr distribution characterization parameter based on each of the heights and each of the maximum widths to determine the burr distribution state;

[0061] Step S4, determining the operating parameters of the grinding device 2 based on the burr distribution state, including the rotation speed and the grinding pressure;

[0062] Specifically, the grinding pressure is the pressure applied by the grinding head 21 to the workpiece 1 during grinding.

[0063] Step S5, pre-grinding the burrs on the surface of the workpiece 1 based on the operating parameters of the grinding equipment 2;

[0064] Step S6, obtaining the remaining distribution area of ​​the burrs on the surface of the workpiece 1 in the same grinding direction;

[0065] Step S7, determining whether the effective grinding degree meets the standard according to the remaining distribution area;

[0066] Specifically, the remaining distribution area is the remaining distribution area of ​​the burrs in the same grinding direction after pre-grinding.

[0067] Step S8: adjusting the continuous grinding of the surface of the workpiece 1 to point-jump grinding based on the fact that the effective grinding degree does not meet the standard;

[0068] Step S9, performing actual grinding of burrs on the surface of the workpiece 1 based on the point-jump grinding;

[0069] Step S10, obtaining a real-time surface image of the workpiece 1 after the burr is actually ground, and determining whether the roughness of the workpiece 1 is qualified;

[0070] Step S11, determining an inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 based on the qualified condition of the roughness;

[0071] Specifically, the grinding surface of the grinding head 21 is a surface of the grinding head 21 close to the surface to be ground.

[0072] Step S12: repeatedly grinding the surface of the workpiece 1 according to the tilt angle until the surface roughness of the workpiece 1 meets the requirements, and outputting a deburred finished workpiece.

[0073] Specifically, the grinding equipment 2 divides the surface to be ground into several grinding areas before grinding. Continuous grinding is that the grinding equipment 2 grinds the grinding areas in sequence, and after grinding the current grinding area, it enters the next grinding area for grinding. Point-jump grinding is that the grinding equipment 2 grinds the grinding areas in sequence, and the grinding time of the grinding head 21 in each grinding area is controlled within the preset grinding time, wherein the heat generated by the friction between the grinding head 21 and the workpiece 1 within the preset grinding time cannot soften small burrs.

[0074] Optionally, the grinding device 2 is set to a preset grinding time in the range of [0.1s, 1s] under external conditions of temperature: 20°C to 30°C, humidity: 30%RH to 60%RH, and vibration amplitude ≤ 0.02mm.

[0075] Preferably, the grinding device 2 is set to a preset grinding time of 0.3 s in an external condition of temperature: 20° C. to 30° C., humidity: 30% RH to 60% RH, and vibration amplitude ≤ 0.02 mm.

[0076] It can be understood by those skilled in the art that [0.1s, 1s], 0.3s are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset grinding time according to the actual application environment and application scenario.

[0077] In this embodiment, since the burr distribution states on the surface of the workpiece 1 are different, using a fixed grinding mode to grind the surface of the workpiece 1 may result in under-grinding or over-grinding, resulting in poor grinding effect. The real-time surface image is analyzed to obtain the height and maximum width of each burr on the surface of the workpiece 1; the burr distribution characterization parameters are calculated and estimated based on each height and each maximum width to determine the burr distribution state, and the operating parameters of the grinding equipment 2 are determined based on the burr distribution state, thereby realizing the division of the burr distribution state according to the burr characteristics of the surface of the workpiece 1, and adopting corresponding operating parameters based on the different distribution states of the burrs, thereby improving the grinding accuracy of the burrs on the surface of the workpiece 1.

[0078] In this embodiment, small burrs are softened by frictional heat during the grinding process, causing them to fall down easily and the falling direction is consistent with the grinding direction, resulting in a decrease in the height of the burrs that are heated and fallen down. The reduced height of the burrs causes them to be out of the effective processing range of the grinding head 21, resulting in the grinding device 2 being unable to remove them and still remaining on the surface of the workpiece 1, resulting in a decrease in the grinding accuracy of the grinding device 2. By obtaining the remaining distribution area of ​​the burrs on the surface of the workpiece 1 in the same direction as the grinding, the effective grinding range is determined based on the remaining distribution area. Whether the effective grinding degree meets the standard and based on the fact that the continuous grinding of the surface of the workpiece 1 does not meet the standard, the continuous grinding of the surface of the workpiece 1 is adjusted to point skip grinding, so that when the grinding equipment 2 is grinding a single grinding area, the heat generated by friction will leave the grinding area before the small burrs are softened, and then enter the next grinding area in turn, and the burrs on the grinding area are naturally cooled, which solves the problem that the small burrs are easily softened due to frictional heat during the grinding process, resulting in poor grinding effect of the grinding equipment 2, and improves the deburring quality of the grinding equipment 2.

[0079] In this embodiment, during the grinding process of the grinding head 21, burrs are stuck in the grinding groove 211 of the grinding head 21, occupying the space in the grinding groove 211, resulting in other burrs being unable to enter the grinding groove 211 during grinding, resulting in poor grinding effect of the grinding head 21. By adjusting the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1, the probability of the burrs being stuck in the grinding groove 211 is reduced, and even if the burrs are stuck in the grinding groove 211, they can still be thrown out, effectively releasing the space in the grinding groove 211, ensuring that the grinding head 21 continues to accommodate newly generated burrs and complete effective cutting, thereby solving the problem that burrs are stuck in the grinding groove 211, resulting in poor grinding effect of the grinding head 21, and improving the grinding efficiency of the grinding head 21.

[0080] Specifically, the estimated burr distribution characterization parameter is calculated based on each of the heights and each of the maximum widths, including:

[0081] Counting the number of burrs that at least meet one of the burr height conditions and / or the burr width conditions;

[0082] Calculating the estimated burr distribution characterization parameter according to the number of burrs;

[0083] The burr height condition is that the height is greater than a preset burr height; and the burr width condition is that the maximum width is greater than a preset burr width.

[0084] Optionally, under the external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm, the preset burr height of the grinding equipment 2 is generally in the range of [0.3mm, 0.5mm] in implementation, and the preset burr width is generally in the range of [0.4mm, 0.6mm] in implementation.

[0085] Preferably, under the external conditions of temperature: 20°C ~ 30°C, humidity: 30%RH ~ 60%RH, and vibration amplitude ≤ 0.02mm, the preferred embodiment of the preset burr height of the grinding device 2 is 0.4mm, and the preferred embodiment of the preset burr width is 0.5mm.

[0086] Those skilled in the art can understand that [0.3mm, 0.5mm], [0.4mm, 0.6mm], 0.4mm, 0.5mm are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset burr height and the preset burr width according to the actual application environment and application scenario.

[0087] Specifically, the estimated burr distribution characterization parameter is the ratio of the number of burrs that only meet the burr height condition to the total number of burrs × the first weight coefficient + the ratio of the number of burrs that only meet the burr width condition to the total number of burrs × the second weight coefficient + the ratio of the number of burrs that meet both the burr height condition and the burr width condition to the total number of burrs × the third weight coefficient,

[0088] Among them, the first weight coefficient+the second weight coefficient+the third weight coefficient=1.

[0089] In this embodiment, when the grinding device 2 is under the external conditions of temperature: 20°C to 30°C, humidity: 30%RH to 60%RH, and vibration amplitude ≤ 0.02mm, the third weight coefficient> the second weight coefficient> the first weight coefficient.

[0090] Specifically, the burr distribution state includes a first distribution state in which the estimated burr distribution characterization parameter is less than a preset characterization parameter, and a second distribution state in which the estimated burr distribution characterization parameter is greater than or equal to the preset characterization parameter.

[0091] Optionally, the grinding device 2 is under external conditions of temperature: 20° C. to 30° C., humidity: 30% RH to 60% RH, and vibration amplitude ≤ 0.02 mm. The preset characterization parameters generally take a value range of [35%, 45%] in implementation.

[0092] Preferably, the grinding device 2 is under the external conditions of temperature: 20° C. to 30° C., humidity: 30% RH to 60% RH, and vibration amplitude ≤ 0.02 mm. The preferred embodiment of the preset characterization parameter is 40%.

[0093] Those skilled in the art can understand that [35%, 45%], 40% are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20°C ~ 30°C, humidity: 30%RH ~ 60%RH, and vibration amplitude ≤ 0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset characterization parameters according to the actual application environment and application scenario.

[0094] Specifically, determining the operating parameters of the grinding device 2 based on the burr distribution state includes:

[0095] If the burr distribution state is the first distribution state, the grinding device 2 operates at a first rotation speed and a first grinding pressure;

[0096] If the burr distribution state is the second distribution state, the grinding device 2 operates at the second rotation speed and the second grinding pressure;

[0097] The first rotational speed is smaller than the second rotational speed, and the first grinding pressure is smaller than the second grinding pressure.

[0098] Specifically, judging whether the effective grinding degree meets the standard according to the remaining distribution area includes:

[0099] Calculating the ratio of the remaining distribution area to the area of ​​the plane in which the burr is located in the same grinding direction;

[0100] If the ratio is greater than a preset ratio, it is determined that the effective grinding degree does not meet the standard;

[0101] If the ratio is less than or equal to the preset ratio, it is determined that the effective grinding degree meets the standard.

[0102] Optionally, under the external conditions of temperature: 20° C. to 30° C., humidity: 30% RH to 60% RH, and vibration amplitude ≤ 0.02 mm, the preset ratio of the grinding device 2 is generally in the range of [8%, 10%] during implementation.

[0103] Preferably, the grinding device 2 is under the external conditions of temperature: 20° C. to 30° C., humidity: 30% RH to 60% RH, and vibration amplitude ≤ 0.02 mm. The preferred embodiment of the preset ratio is 9%.

[0104] It can be understood by those skilled in the art that [8%, 10%], and 9% are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20°C ~ 30°C, humidity: 30%RH ~ 60%RH, and vibration amplitude ≤ 0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset ratio according to the actual application environment and application scenario.

[0105] Specifically, the grinding time of a single grinding area of ​​the to-be-ground surface of the workpiece 1 in the point-jump grinding is shorter than that in the continuous grinding.

[0106] Specifically, obtaining a real-time surface image of the workpiece 1 after the burr is actually ground and determining whether the roughness of the workpiece 1 is qualified includes:

[0107] Get the height and the maximum width of each;

[0108] Comparing each of the heights and each of the maximum widths with a preset qualified height and a preset qualified width respectively;

[0109] According to each of the heights being smaller than the preset qualified height and each of the maximum widths being smaller than the preset qualified width, it is determined that the roughness is qualified;

[0110] According to the fact that each of the heights is greater than or equal to the preset qualified height or each of the maximum widths is greater than or equal to the preset qualified width, it is determined that the roughness is unqualified.

[0111] Optionally, under external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm, the preset qualified height of the grinding equipment 2 is generally in the range of [0.08mm, 0.14mm] in implementation, and the preset qualified width is generally in the range of [0.05mm, 0.07mm] in implementation.

[0112] Preferably, under the external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm, the preferred embodiment of the preset qualified height of the grinding device 2 is 0.10mm, and the preferred embodiment of the preset qualified width is 0.06mm.

[0113] Those skilled in the art can understand that [0.08mm, 0.14mm], [0.05mm, 0.07mm], 0.10mm, and 0.06mm are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20°C ~ 30°C, humidity: 30%RH ~ 60%RH, and vibration amplitude ≤0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset qualified height and the preset qualified width according to the actual application environment and application scenario.

[0114] Specifically, determining the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 based on the qualified condition of the roughness includes:

[0115] If the roughness is qualified, the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is controlled within a preset inclination angle range;

[0116] If the roughness is unqualified, the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is increased.

[0117] Specifically, the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is positively correlated with each of the heights and each of the maximum widths.

[0118] Optionally, the grinding device 2 is under external conditions of temperature: 20°C to 30°C, humidity: 30%RH to 60%RH, and vibration amplitude ≤ 0.02mm. In implementation, the preset tilt angle range is generally in the range of [2°, 8°].

[0119] Preferably, the grinding device 2 is under the external conditions of temperature: 20°C to 30°C, humidity: 30%RH to 60%RH, and vibration amplitude ≤ 0.02mm. The preferred embodiment of the preset tilt angle range is [3°, 4°].

[0120] It can be understood by those skilled in the art that [2°, 8°], [3°, 4°] are several optional embodiments and preferred embodiments of the grinding equipment 2 under external conditions of temperature: 20°C ~ 30°C, humidity: 30%RH ~ 60%RH, and vibration amplitude ≤ 0.02mm. In actual application or implementation, those skilled in the art can adaptively adjust the preset inclination angle range according to the actual application environment and application scenario.

[0121] In implementation, when the grinding equipment 2 is under external conditions of temperature: 20℃~30℃, humidity: 30%RH~60%RH, and vibration amplitude ≤0.02mm, when the height is greater than the preset qualified height by within 0.02mm and the maximum width is greater than the preset qualified width by within 0.02mm, the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is adjusted to 1.1 times the current inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1. When the height is greater than the preset qualified height by more than 0.02mm, the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is adjusted to 1.1 times the current inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 for every 0.02mm increase. 1.1 times the inclination angle of the surface to be ground of the workpiece 1, when the maximum width is greater than the preset qualified width by more than 0.02 mm, the inclination angle of the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is adjusted to 1.1 times the current inclination angle of the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 for every 0.02 mm that exceeds. For example, in a possible embodiment, the height is greater than the preset qualified height by 0.04 mm, and the maximum width is greater than the preset qualified width by 0.02 mm. At this time, the inclination angle of the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 is adjusted to 1.1×1.1=1.21 times the original inclination angle of the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1.

[0122] Specifically, the grinding device 2 includes:

[0123] Grinding head 21;

[0124] A first robotic arm 22 is connected to the grinding head 21 and has a first gear 23 connected to the upper end of the grinding head 21. The upper end of the first gear 23 is connected to a first rotating shaft 24, which is fixedly connected to a first bearing 25 fixed to the first robotic arm 22. The first gear 23 is meshed with a second gear 26, which is connected to a first spindle 27, which is connected to a first motor 28.

[0125] The second robotic arm is hinged to the first robotic arm 22 . A second motor for driving the first robotic arm 22 to rotate is provided in the second robotic arm. A gas-liquid booster cylinder is connected above the second robotic arm.

[0126] It can be seen that the grinding pressure can be adjusted by adjusting the pressure of the gas-liquid booster cylinder, and the inclination angle between the grinding surface of the grinding head 21 and the surface to be ground of the workpiece 1 can be adjusted by adjusting the rotation angle of the second motor.

[0127] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A deburring method based on real-time data analysis, characterized in that: include: Acquire real-time surface images of workpieces; Analyzing the real-time surface image to obtain the height and maximum width of each burr on the workpiece surface; Calculate and estimate a burr distribution characterization parameter based on each of the heights and each of the maximum widths to determine a burr distribution state; Determining grinding equipment operating parameters based on the burr distribution state, including rotational speed and grinding pressure; Pre-grinding the burrs on the workpiece surface based on the operating parameters of the grinding equipment; Obtain the remaining distribution area of ​​the burrs on the workpiece surface in the same direction as the grinding direction; Determining whether the effective grinding degree meets the standard according to the remaining distribution area; Based on the fact that the effective grinding degree does not meet the standard, the continuous grinding of the workpiece surface is adjusted to point-jump grinding; Performing actual grinding of burrs on the workpiece surface based on the point-jump grinding; Acquire a real-time surface image of the workpiece after the burr is actually ground, and determine whether the roughness of the workpiece is qualified; determining an inclination angle between a grinding surface of a grinding head and a surface to be ground of the workpiece based on a qualified condition of the roughness; The workpiece surface is repeatedly ground according to the tilt angle until the roughness of the workpiece surface meets the requirements, and a deburred finished workpiece is output.

2. The deburring method based on real-time data analysis according to claim 1, characterized in that: Calculating and estimating burr distribution characterization parameters based on each of the heights and each of the maximum widths includes: Counting the number of burrs that at least meet one of the burr height conditions and / or the burr width conditions; Calculating the estimated burr distribution characterization parameter according to the number of burrs; The burr height condition is that the height is greater than a preset burr height; and the burr width condition is that the maximum width is greater than a preset burr width.

3. The deburring method based on real-time data analysis according to claim 2, characterized in that: The estimated burr distribution characterization parameter is the ratio of the number of burrs that only meet the burr height condition to the total number of burrs × the first weight coefficient + the ratio of the number of burrs that only meet the burr width condition to the total number of burrs × the second weight coefficient + the ratio of the number of burrs that meet both the burr height condition and the burr width condition to the total number of burrs × the third weight coefficient, Among them, the first weight coefficient+the second weight coefficient+the third weight coefficient=1.

4. The deburring method based on real-time data analysis according to claim 3, characterized in that: The burr distribution state includes a first distribution state in which the estimated burr distribution characterization parameter is less than a preset characterization parameter, and a second distribution state in which the estimated burr distribution characterization parameter is greater than or equal to the preset characterization parameter.

5. The deburring method based on real-time data analysis according to claim 4, characterized in that: Determining the operating parameters of the grinding equipment based on the burr distribution state includes: If the burr distribution state is the first distribution state, the grinding device operates at a first rotation speed and a first grinding pressure; If the burr distribution state is the second distribution state, the grinding device operates at a second rotation speed and a second grinding pressure; The first rotational speed is smaller than the second rotational speed, and the first grinding pressure is smaller than the second grinding pressure.

6. The deburring method based on real-time data analysis according to claim 5, characterized in that: Determining whether the effective grinding degree meets the standard based on the remaining distribution area includes: Calculating the ratio of the remaining distribution area to the area of ​​the plane in which the burr is located in the same grinding direction; If the ratio is greater than a preset ratio, it is determined that the effective grinding degree does not meet the standard; If the ratio is less than or equal to the preset ratio, it is determined that the effective grinding degree meets the standard.

7. The deburring method based on real-time data analysis according to claim 6, characterized in that: The grinding time of a single grinding area of ​​the to-be-ground surface of the workpiece in the point-jump grinding is shorter than that in the continuous grinding.

8. The deburring method based on real-time data analysis according to claim 7, characterized in that: Acquiring a real-time surface image of the workpiece after the burr is actually ground, and judging whether the roughness of the workpiece is qualified, including: Get the height and maximum width of each; Comparing each of the heights and each of the maximum widths with a preset qualified height and a preset qualified width respectively; According to each of the heights being smaller than the preset qualified height and each of the maximum widths being smaller than the preset qualified width, it is determined that the roughness is qualified; According to the fact that each of the heights is greater than or equal to the preset qualified height or each of the maximum widths is greater than or equal to the preset qualified width, it is determined that the roughness is unqualified.

9. The deburring method based on real-time data analysis according to claim 8, characterized in that: Determining an inclination angle between a grinding surface of a grinding head and a surface to be ground of the workpiece based on a qualified condition of the roughness includes: If the roughness is qualified, controlling the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece to be within a preset inclination angle range; If the roughness is unqualified, the inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece is increased.

10. The deburring method based on real-time data analysis according to claim 9, characterized in that: The inclination angle between the grinding surface of the grinding head and the surface to be ground of the workpiece is positively correlated with each of the heights and each of the maximum widths.

Images