A tool setting device, tool sharpening apparatus and tool setting method

Abstract

This invention discloses a tool setting device, a tool sharpening equipment, and a tool setting method. The tool setting device includes a linear module, a support, a suspension plate, and multiple connecting rods. The support is connected to the linear module, and the linear module drives the support to move. The suspension plate has a bearing surface for connecting the grinding assembly. Multiple connecting rods are arranged in pairs, with multiple pairs spaced apart along the length of the suspension plate; two rods in each pair are located on opposite sides of the suspension plate; the upper end of each connecting rod is hinged to the support, and the lower end of each connecting rod is hinged to the suspension plate, allowing the suspension plate to swing and suspend from the support. The suspension plate has an initial position where it hangs naturally under gravity, and a tool setting position; the displacement of the support causes the grinding assembly on the suspension plate to move and press against the tool, and the suspension plate swings upward to the tool setting position under the reverse force of the tool; in the tool setting position, the grinding assembly on the suspension plate remains in contact with the tool under gravity to complete the tool setting. This provides a low-cost, high-precision, and easy-to-maintain tool setting technology for kitchen knife sharpening, filling the gap in the industry's lack of mature tool setting solutions.

Description

Technical Field

[0001] This invention relates to the field of cutting tool processing technology, and in particular to a tool setting device, a tool sharpening equipment, and a tool setting method. Background Technology

[0002] With the development of intelligent manufacturing technology, the production of kitchen knives and other knives has gradually shifted from traditional manual sharpening to automated equipment processing. In the automatic sharpening process, industrial robots typically hold the knife and sharpen it on a high-speed rotating disc grinding wheel according to a preset motion trajectory.

[0003] In actual production, accurately determining the relative position between the grinding wheel surface and the cutting edge (i.e., tool setting) is crucial for ensuring machining quality. However, the tool setting methods used for sharpening cutting tools have the following shortcomings:

[0004] On the one hand, disc grinding wheels wear down continuously during grinding, causing their surface to change in real time. If grinding is carried out solely by the fixed trajectory of a robotic arm, the wear of the grinding wheel will lead to the accumulation of errors, resulting in inconsistent grinding depths and severely affecting the sharpness and consistency of cutting edges in mass production.

[0005] On the other hand, theoretically, to ensure the machining accuracy of each tool, the ideal solution is to perform tool setting on each tool before grinding. However, currently, there is no mature and reliable tool setting solution in the industry for tool grinding. Without performing tool setting one by one, it is impossible to overcome the machining deviations caused by the fixed trajectory of the robotic arm and the wear of the disc grinding wheel.

[0006] Therefore, how to achieve efficient and accurate knife sharpening and tool setting has become a pressing technical problem to be solved in the field of automatic kitchen knife sharpening. Summary of the Invention

[0007] To address the technical problems existing in the prior art, the present invention aims to provide a tool setting device, a tool sharpening equipment, and a tool setting method, which overcomes the limitation of traditional rigid trajectory machining that cannot perform tool setting one by one, and does not rely on any sensors or complex closed-loop control. It provides a low-cost, high-precision, and easy-to-maintain technical path for kitchen knife sharpening, filling the gap in the industry where there is a lack of mature tool setting solutions.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] In a first aspect, the present invention provides a tool setting device for a grinding assembly to perform tool setting, the tool setting device comprising:

[0010] Linear module;

[0011] A bracket, which is connected to the linear module, and the linear module drives the bracket to move.

[0012] A suspension plate having a bearing surface for connecting the grinding assembly;

[0013] Multiple links are arranged in pairs, and multiple pairs are arranged at intervals along the length of the suspension plate; two links in each pair are located on both sides of the suspension plate; the upper end of each link is hinged to the bracket, and the lower end of each link is hinged to the suspension plate, so that the suspension plate can be swung and suspended from the bracket.

[0014] The suspension plate has an initial position where it hangs naturally under gravity and a tool-setting position.

[0015] The displacement of the bracket causes the grinding assembly on the suspension plate to move and abut against the cutting tool. The suspension plate swings upward to the tool setting position under the reverse force of the cutting tool. In the tool setting position, the grinding assembly on the suspension plate is held in contact with the cutting tool by gravity to complete the tool setting.

[0016] In conjunction with the first aspect, the present invention also provides a first specific embodiment of the first aspect, wherein the bearing surface of the suspension plate remains horizontal in both the initial position and the blade-setting position.

[0017] In conjunction with the first aspect, the present invention also provides a second specific embodiment of the first aspect, specifically, the tool setting device includes four connecting rods;

[0018] The bracket, the suspension plate, and the two connecting rods located on the same side of the suspension plate together form a parallelogram mechanism, so that the bearing surface remains horizontal when the suspension plate swings from the initial position to the tool setting position.

[0019] In conjunction with the first aspect, the present invention also provides a third specific embodiment of the first aspect, wherein the bracket is connected to a position detection sensor and the suspension plate is connected to a sensing element;

[0020] When the suspension plate swings to the tool setting position under force, the sensing element moves with the suspension plate and triggers the position detection sensor to generate a tool setting feedback signal.

[0021] In conjunction with the first aspect, the present invention also provides a fourth specific embodiment of the first aspect, specifically, the support includes:

[0022] A connecting plate is bolted to the linear module;

[0023] A support frame, which is connected to the connecting plate, is a gantry structure with accommodating space, and the suspension plate is located within the accommodating space of the support frame;

[0024] The support frame has two symmetrically distributed connecting lugs along its length, and the upper ends of the multiple connecting rods are hinged to the connecting lugs of the support frame.

[0025] In a second aspect, the present invention also provides a tool sharpening device, comprising a grinding assembly and a tool setting device as described in the first aspect and any one of the first to fourth aspects, wherein the grinding assembly is connected to the tool setting device.

[0026] Thirdly, the present invention also provides a tool sharpening device, comprising:

[0027] frame;

[0028] The tool setting device as described in the first aspect and any one of the first to fourth aspects of the first aspect, wherein the tool setting device is disposed on the frame;

[0029] A grinding assembly, the grinding assembly being connected to the tool setting device, the tool setting device driving the grinding assembly to move;

[0030] A robotic arm, located on the side of the frame, is configured to grasp a tool to be ground and move the tool to the side of the grinding assembly for tool setting and grinding.

[0031] In conjunction with the third aspect, the present invention also provides a first specific embodiment of the third aspect, wherein the tool sharpening device includes two tool setting devices symmetrically arranged on the frame, and a grinding component is connected to the suspension plate of each tool setting device;

[0032] The grinding assembly includes a first drive motor and a disc grinding wheel connected to the first drive motor, with the disc grinding wheels of the two grinding assemblies arranged opposite to each other;

[0033] The two disc-shaped grinding wheels form a tool-grinding zone for the robotic arm to grasp the cutting tool.

[0034] In conjunction with the third aspect, the present invention also provides a second specific embodiment of the third aspect, specifically, the tool sharpening device includes:

[0035] A grinding assembly is mounted on the frame; the grinding assembly includes a second drive motor and a flap wheel connected to the second drive motor.

[0036] The robotic arm is configured to grasp the cutting tool after the grinding assembly has completed grinding, and then move the cutting tool to the polishing assembly for polishing.

[0037] Fourthly, the present invention also provides a tool setting method, implemented based on the tool sharpening equipment described in the third aspect and the first to second specific embodiments of the third aspect, wherein the tool setting method includes the following steps:

[0038] The robot arm is instructed to grasp the tool to be ground and move the tool to the side of the disc grinding wheel of the grinding assembly;

[0039] The linear module is instructed to drive the support to move, thereby moving the grinding assembly toward the tool and abutting the tool; under the reverse force of the tool, the suspension plate swings upward to the tool setting position to complete the tool setting.

[0040] The synchronous command activates the grinding assembly and instructs the robotic arm to drive the cutting tool along a preset path to complete the grinding operation.

[0041] Compared with the prior art, the present invention has at least the following beneficial effects:

[0042] This invention provides a tool setting device for grinding components to perform tool setting. The tool setting device includes a linear module, a support, a suspension plate, and multiple connecting rods. The support is connected to the linear module, and the linear module drives the support to move. The suspension plate has a bearing surface for connecting the grinding components. Multiple connecting rods are arranged in pairs, with multiple pairs spaced apart along the length of the suspension plate; two rods in each pair are located on opposite sides of the suspension plate; the upper end of each connecting rod is hinged to the support, and the lower end of each connecting rod is hinged to the suspension plate, allowing the suspension plate to swing and suspend from the support. The suspension plate has an initial position where it hangs naturally under gravity, and a tool setting position; the displacement of the support causes the grinding components on the suspension plate to move and press against the tool, and the suspension plate swings upward to the tool setting position under the reverse force of the tool; in the tool setting position, the grinding components on the suspension plate are held in contact with the tool by gravity to complete the tool setting.

[0043] This application utilizes a linkage suspension structure to enable the suspension plate to adaptively swing under external force, thus allowing for independent physical tool setting before each tool is ground. When the linear module drives the grinding assembly to press against the tool, the suspension plate swings upward to the tool setting position due to the reverse force of the tool. At this point, the grinding assembly maintains contact with the tool solely through gravity, achieving tool setting. This application ensures the smoothness and reliability of the tool setting process through the parallel support of multiple pairs of linkages, significantly improving the efficiency of automated production. It not only overcomes the limitation of traditional rigid trajectory machining in not being able to perform tool setting one by one, but also eliminates the need for any sensors or complex closed-loop control, providing a low-cost, high-precision, and easy-to-maintain technical path for kitchen knife grinding, filling the gap in the industry's lack of mature tool setting solutions.

[0044] Meanwhile, the gravity self-balancing characteristic in this solution not only ensures the stability and fit of the grinding reference, but also automatically accommodates dimensional differences caused by continuous wear of the grinding wheel or changes in tool specifications, without requiring adjustment of the robot's preset trajectory. This purely mechanical adaptive mechanism offers better reliability and significantly improves the processing consistency and production efficiency of automated kitchen knife grinding.

[0045] The present invention also provides a tool sharpening device that uses the above-mentioned tool setting device and has the same technical effect. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a three-dimensional structural diagram of a tool sharpening device provided in an embodiment of this application;

[0048] Figure 2 A three-dimensional structural diagram of a tool setting device in its initial position, provided for an embodiment of this application;

[0049] Figure 3 A three-dimensional structural diagram of a tool setting device at the tool setting position, provided for an embodiment of this application;

[0050] Figure 4 A side view of a tool setting device at the tool setting position, provided in an embodiment of this application;

[0051] Figure 5 A schematic diagram of the support, connecting rod, and suspension plate of a tool setting device provided in an embodiment of this application;

[0052] Figure 6 A schematic diagram of the assembly structure of a tool setting device, including a bracket, connecting rod, and suspension plate, provided for an embodiment of this application;

[0053] Figure 7 A schematic flowchart illustrating a tool setting method provided in an embodiment of this application;

[0054] In the picture:

[0055] 100-Tool setting device; 110-Linear module; 120-Bracket; 130-Suspension plate; 131-Sensing element; 140-Linkage; 150-Position detection sensor;

[0056] 200-Grinding assembly;

[0057] 300-robotic arm;

[0058] 400-rack;

[0059] 500-Grinding component. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] With the development of intelligent manufacturing technology, the production of kitchen knives and other knives has gradually shifted from traditional manual sharpening to automated equipment processing. In automated sharpening, industrial robots typically hold the knife and sharpen it on a high-speed rotating disc grinding wheel according to a preset trajectory. In actual production, accurately determining the relative position between the grinding wheel surface and the blade (i.e., tool setting) is crucial for ensuring processing quality. However, the tool setting method for knife sharpening has the following shortcomings:

[0065] On the one hand, disc grinding wheels wear down continuously during grinding, causing their surface to change in real time. If grinding is carried out solely based on the fixed trajectory of the robotic arm, the wear of the grinding wheel will lead to accumulated errors, resulting in inconsistent grinding depths and severely affecting the sharpness and consistency of cutting edges in mass production. On the other hand, theoretically, to ensure the machining accuracy of each tool, the ideal solution is to perform tool setting for each tool before grinding. However, currently, there is no mature and reliable tool setting solution in the industry for tool grinding. Without individual tool setting, it is impossible to overcome the machining deviations caused by the fixed trajectory of the robotic arm and the wear of the disc grinding wheel.

[0066] To address this issue, this application provides a tool setting device. Through a linkage suspension structure, the suspension plate can adaptively swing under external force, enabling independent physical tool setting before each tool is ground. When the linear module drives the grinding assembly to press against the tool, the suspension plate swings upwards to the tool setting position due to the reverse force of the tool. At this point, the grinding assembly maintains contact with the tool solely through gravity, achieving tool setting. This application ensures the stability and reliability of the tool setting process through the parallel support of multiple pairs of linkages, significantly improving the efficiency of automated production. It not only overcomes the limitation of traditional rigid trajectory machining in not being able to set tools one by one, but also eliminates the need for any sensors or complex closed-loop control, providing a low-cost, high-precision, and easy-to-maintain technical path for kitchen knife grinding, filling the gap in the industry's lack of mature tool setting solutions.

[0067] Please see Figures 1 to 6 This application provides an embodiment of a tool setting device 100. The tool setting device 100 is used for tool setting in a grinding assembly 200. In this embodiment, the tool setting device 100 includes a linear module 110, a support 120, a suspension plate 130, and multiple connecting rods 140. The support 120 is connected to the linear module 110, and the linear module 110 drives the support 120 to move. The suspension plate 130 has a bearing surface for connecting the grinding assembly 200. Multiple connecting rods 140 are arranged in pairs, and multiple pairs are arranged at intervals along the length direction of the suspension plate 130; two connecting rods 140 in each pair are located on both sides of the suspension plate 130; the upper end of each connecting rod 140 is hinged to the support 120, and the lower end of each connecting rod 140 is hinged to the suspension plate 130, so that the suspension plate 130 can be oscillatingly suspended from the support 120.

[0068] In this embodiment, the tool setting device achieves flexible support and displacement control of the grinding components through a mechanical linkage structure. Specifically, the tool setting device includes a linear module, a support, a suspension plate, and multiple connecting rods. The linear module serves as a power source, with its output end connected to the support. The reciprocating driving force of the linear module drives the entire support to move precisely along a preset axial direction, thereby providing basic stroke coverage for the tool setting operation.

[0069] In one specific implementation, the linear module can be either an electric linear module or a pneumatic linear module. Specifically, the linear module can be an electric linear module. Driven by a servo motor or stepper motor and a lead screw or synchronous belt, the electric linear module can provide extremely high positioning accuracy and repeatability. By utilizing precise control of pulse signals through a control system, micron-level adjustment of the feed speed and position of the grinding components can be achieved. Alternatively, the linear module can also be a pneumatic linear module. In scenarios where accuracy requirements are relatively moderate and cost-effectiveness or environmental adaptability is desired, pneumatic drive can provide stable linear thrust, meeting the basic displacement and contact requirements between the grinding components and the tool.

[0070] It should be noted that the linear module is a commercially available product, and will not be discussed further here.

[0071] In practical implementation, the core support structure of this device lies in the linkage design between the suspension plate and the bracket. The suspension plate has a flat bearing surface, which is specifically used to connect and fix the grinding assembly, ensuring that the grinding assembly can move synchronously with the suspension plate. To achieve stable suspension and flexible swing of the suspension plate, the device uses multiple pairs of connecting rods for support.

[0072] Specifically, multiple links are arranged in pairs and distributed at intervals along the length of the suspension plate. This multi-point distribution structure can effectively disperse the weight of the grinding components, improving the structural strength and stability of the suspension system.

[0073] Furthermore, in each pair of links, the two links are symmetrically located on opposite sides of the suspension plate. This symmetry ensures the balance of the suspension plate under load, preventing rollover or twisting during displacement. The upper end of each link is hinged to the bracket, while the lower end is hinged to the suspension plate. Through this double-hinged design at both ends, the suspension plate can be oscillatingly suspended below the bracket. When the linear module drives the bracket to move or is subjected to external forces, the suspension plate can oscillate using the hinged characteristics of the links.

[0074] like Figure 2 and Figure 3 As shown in the embodiment of this application, the tool setting principle is as follows: The suspension plate 130 has an initial position where it hangs naturally under gravity, and a tool setting position. The displacement of the bracket 120 causes the grinding assembly 200 on the suspension plate 130 to move and abut against the tool. Under the reverse force of the tool, the suspension plate 130 swings upward to the tool setting position. In the tool setting position, the grinding assembly 200 on the suspension plate 130 is kept in contact with the tool under gravity to complete the tool setting.

[0075] In this embodiment, the tool setting device achieves a flexible tool setting mechanism based on gravity compensation through the swing characteristics of the suspension plate. Specifically, the suspension plate has two key states in space: the initial position where it hangs naturally under gravity, and the tool setting position when performing the tool setting action.

[0076] Specifically, at the start of the tool setting operation, the linear module drives the support to shift, which in turn moves the grinding assembly mounted on the suspension plate bearing surface synchronously toward the tool to be sharpened. When the grinding assembly moves to contact the tool and continuously presses against it, the tool generates a reverse force on the grinding assembly, causing the suspension plate to swing upward in an arc through the hinge points of each link, thus switching from the initial position to the tool setting position.

[0077] When in the tool setting position, the suspension plate and the grinding assembly it supports are in a swinging and rising state, and their overall center of gravity is deviated from the lowest point. This allows the grinding assembly to maintain a continuous and stable contact with the tool under its own weight, thus completing the tool setting operation.

[0078] Based on the above principles, the tool setting device in this embodiment utilizes the degrees of freedom of the linkage suspension system to transform the linear motion of the support into flexible contact between the grinding components and the tool. After the grinding operation is completed, the linear module drives the support to retract the suspension plate, which automatically returns to its initial naturally hanging position under gravity, preparing for the next tool setting and grinding operation.

[0079] like Figure 5 and Figure 6 As shown, in one specific embodiment, the bracket 120 includes a connecting plate and a support frame. Specifically, the connecting plate is bolted to the linear module 110. The support frame is connected to the connecting plate and is a gantry structure with accommodating space, with the suspension plate 130 located within the accommodating space of the support frame. The support frame has two symmetrically distributed connecting lugs along its length, and the upper ends of multiple connecting rods 140 are hinged to the connecting lugs of the support frame.

[0080] In this embodiment, the bracket adopts a split structure with an open accommodating space to effectively enclose and support the suspension system. Specifically, the bracket mainly consists of a connecting plate and a support frame. The connecting plate is fixed to the output end of the linear module by bolts. This bolted connection structure not only ensures the rigidity of power transmission but also facilitates subsequent maintenance, disassembly, and replacement.

[0081] The support frame is fixedly connected to the connecting plate, and its overall structure is a gantry structure with internal accommodating space. This gantry structure design provides ample room for the suspension plate and connecting rod assembly to move. The suspension plate is properly placed within the accommodating space of the support frame, making the tool setting device more compact in structure and protecting the internal swing mechanism by utilizing the frame rigidity of the gantry.

[0082] For example, the support frame includes two side plates and a top plate. The two side plates are bolted to the top plate, and the two side plates can be fixedly connected to the connecting plate by bolting or welding.

[0083] To facilitate connection with multiple links, the support frame has two symmetrically distributed connecting lugs along its length. These two connecting lugs serve as fixed fulcrums for the suspension system, providing a stable hinged base for the multiple links. In practice, the upper end of each pair of links is hinged to the connecting lugs on either side of the support frame.

[0084] In one specific implementation, the connecting rod has through holes at both its upper and lower ends, and multiple threaded holes are formed on the side walls of the bracket and suspension plate. The upper and lower ends of the connecting rod are hinged to the bracket and suspension plate respectively by semi-threaded bolts. The semi-threaded bolt has threads on only one end, with the remaining part being a smooth rod (without threaded sections). The through holes of the connecting rod are fitted onto the smooth rod portion of the bolt to achieve the hinge.

[0085] In one specific implementation, the bearing surface of the suspension plate remains horizontal in both the initial position and the tool-setting position. Specifically, the bearing surface of the suspension plate remains horizontal in both the initial position where it naturally droops under gravity and the tool-setting position after it has reached the tool. This characteristic means that no matter where the suspension plate is in its swing stroke driven by the connecting rod, its bearing surface always remains parallel to the horizontal reference plane and will not tilt or flip.

[0086] This design is achieved through the principle of a parallelogram linkage mechanism. By controlling the relative position between the hinge points on the support and the hinge points on the suspension plate, the suspension plate undergoes only translational displacement during oscillation. Maintaining the horizontal state of the bearing surface ensures that the grinding components mounted on it always maintain a constant angle of contact with the tool, effectively avoiding tool setting deviations caused by changes in the oscillation angle. This significantly improves the repeatability and consistency of the tool setting device.

[0087] In one embodiment of this application, the tool setting device 100 includes four links 140. The bracket 120, the suspension plate 130, and the two links 140 located on the same side of the suspension plate 130 are configured together as a parallelogram mechanism so that the bearing surface of the suspension plate 130 remains horizontal when it swings from the initial position to the tool setting position.

[0088] Specifically, the tool setting device 100 achieves high-precision parallel motion constraints through the configuration and geometric arrangement of a specific number of connecting rods 140. For example, these four connecting rods 140 are divided into two groups and symmetrically arranged on both sides of the suspension plate 130.

[0089] Specifically, the bracket, the suspension plate, and the two connecting rods located on the same side of the suspension plate together form a parallelogram mechanism. Since there is one set of this mechanism on each of the left and right sides of the suspension plate, and the geometric dimensions of the two sets of mechanisms are the same, it ensures that the degree of freedom of the suspension plate is constrained when it swings under force.

[0090] Based on the motion characteristics of the parallelogram mechanism, when the suspension plate swings upward from its initial position (naturally hanging down under gravity) to the tool setting position under the reverse counterforce of the tool, this structural design ensures that the bearing surface of the suspension plate remains horizontal at any position along the entire swing trajectory. Through the coordinated operation of the four links, not only is the lateral anti-swing strength of the suspension system enhanced, but the mechanical structure also ensures the consistency of the grinding components' posture during tool setting, effectively avoiding measurement deviations caused by mechanism tilting, thereby further improving the repeatability and measurement stability of the tool setting device.

[0091] In a preferred embodiment, the bracket 120 is connected to a position detection sensor 150, and the suspension plate 130 is connected to a sensor 131. When the suspension plate 130 is swung to the tool setting position under force, the sensor 131 moves with the suspension plate 130 and triggers the position detection sensor 150 to generate a tool setting feedback signal.

[0092] Understandably, the tool setting device also integrates a signal feedback system to accurately capture the completion status of tool setting. This signal feedback system mainly consists of a position detection sensor mounted on the bracket and a sensor mounted on the lower surface of the suspension plate.

[0093] For example, a position detection sensor is fixedly connected to the upper surface of the connecting plate of the bracket, and it can be a contact switch, photoelectric switch, or light sensor. The sensing element is correspondingly fixedly connected to the suspension plate and moves synchronously with the suspension plate. The specific installation position of the sensing element corresponds to the detection end of the position detection sensor to ensure that the two can interact in the tool setting position. For example, the sensing element is a block structure made of metal.

[0094] In actual operation, when the linear module drive bracket causes the grinding assembly to abut the tool and the suspension plate to swing to the tool setting position, the sensor moves synchronously with the suspension plate to the sensing area of ​​the position detection sensor. At this time, the sensor triggers the position detection sensor, causing it to generate a corresponding tool setting feedback signal.

[0095] For example, the tool setting feedback signal can be transmitted to the control system of the tool grinding equipment in real time as a logical instruction to complete the tool setting action. Through the cooperation of the position detection sensor and the sensing element, this device directly converts the mechanical displacement of the suspension plate into a switching signal that can be recognized by the electronic control system. This not only realizes the automated monitoring of the tool setting process, but also ensures the sensitivity of signal triggering and long-term operational stability by using a non-contact sensing method (or a light contact method), thereby ensuring the accurate capture of the tool setting position by the grinding components.

[0096] In one specific implementation, the tool setting feedback signal can serve as a control signal for starting the grinding assembly, and as a start signal for the robot arm to grind the tool according to a preset trajectory.

[0097] Specifically, when the control system of the tool grinding equipment receives the tool setting feedback signal, it first serves as the control signal to start the grinding assembly. After confirming that the grinding assembly and the tool have achieved stable contact through gravity compensation, the control system instructs the grinding assembly to enter a preset working state (such as starting spindle rotation and activating the cooling system), thereby ensuring that the grinding operation is started under accurate tool setting reference.

[0098] Meanwhile, the tool setting feedback signal is also used as the logic command to start the robot arm. Upon receiving the signal, the robot arm begins to perform the tool sharpening action according to the preset machining trajectory. Since the tool setting position has been accurately verified at the physical level through the swing of the suspension plate and the sensing of the sensor, the robot arm can use this tool setting position as the starting origin of the motion coordinate system, thereby ensuring a high degree of consistency between the sharpening trajectory and the actual spatial position of the tool.

[0099] By synchronously linking the tool setting feedback signal to the grinding assembly and the robotic arm, this device achieves automated closed-loop control of "immediate machining upon tool setting completion." This design not only eliminates the time required for manual confirmation or secondary verification, greatly improving the efficiency of multi-station continuous processing, but more importantly, it ensures through a signal interlocking mechanism that the grinding process will only begin if tool setting is successful. This effectively prevents tool damage or machining accuracy deviations caused by incomplete tool setting from a control perspective.

[0100] Furthermore, the tool setting feedback signal generated by the position detection sensor is not only used to trigger subsequent machining processes, but also serves as a control signal for the linear module itself to achieve closed-loop action logic. For example, when an electric linear module is used, this tool setting feedback signal is configured as a logic command to stop the electric linear module. During the tool setting operation, the electric linear module drives the support and grinding assembly to approach the tool. Once the grinding assembly contacts the tool and causes the suspension plate to swing to the tool setting position, the sensing element triggers the position detection sensor. At this time, the control system receives the tool setting feedback signal and immediately sends a stop command to the electric linear module, causing the module to stop precisely at the current position.

[0101] This logical design ensures that the linear module can stop feeding in time when tool setting is completed, which avoids mechanical crushing damage to the tool or grinding components caused by excessive displacement, and ensures the real-time and accuracy of tool setting coordinate locking.

[0102] In the core technical concept of this application, the tool setting device is used for tool setting in the grinding assembly. As a key component of the machining equipment, the tool setting device, through the precise drive of the aforementioned linear module, the flexible suspension of the parallelogram linkage mechanism, and the signal feedback from the position detection sensor, together constitute a closed-loop tool setting system.

[0103] In practical applications, the tool setting device determines the tool position through physical contact between the grinding assembly and the tool to be processed. The grinding assembly, as the medium directly performing the tool setting contact, determines the machining quality of the subsequent grinding process. This application integrates the grinding assembly onto a suspension plate with gravity compensation, ensuring continued contact during tool setting. This not only achieves tool position capture by the grinding assembly but also provides a reliable reference for the subsequent grinding by the robotic arm along a predetermined trajectory, thus ensuring the versatility and accuracy of the entire machining system when setting tools of different sizes and specifications.

[0104] The above describes a tool setting device provided in this application embodiment. The gravity self-balancing characteristic of this solution not only ensures the stability and fit of the grinding reference, but also automatically accommodates dimensional differences caused by continuous wear of the grinding wheel or changes in tool specifications, without requiring adjustment of the robot's preset trajectory. This purely mechanical adaptive mechanism has better reliability and significantly improves the processing consistency and production efficiency of automatic kitchen knife grinding.

[0105] like Figure 1 As shown, this application provides a tool sharpening device, including a grinding assembly 200 and a tool setting device 100 as described in the foregoing embodiments, wherein the grinding assembly 200 is connected to the tool setting device 100.

[0106] In terms of overall assembly, the grinding assembly 200 and the tool setting device 100 are functionally connected. Specifically, the grinding assembly 200 is securely mounted on the bearing surface of the suspension plate 130 in the tool setting device 100. Through this integration, the grinding assembly 200 becomes an intelligent end effector with adaptive position capabilities and flexible tool setting functionality.

[0107] During the operation of the tool sharpening equipment, the tool setting device drives and guides the grinding assembly to complete the tool setting action through its internal linear module, parallelogram linkage mechanism, and signal feedback system. The grinding assembly rises with the swing of the suspension plate and uses its own gravity to make contact with the tool. This tool setting method based on mechanical feedback can not only automatically compensate for the positional deviation of the tool installation, but also trigger the electronic control feedback logic through the displacement changes of the mechanical structure, providing a precise and reliable tool setting reference for the start of subsequent grinding processes, thereby ensuring the consistency and machining accuracy of the entire grinding operation.

[0108] like Figure 1 As shown, the tool sharpening device of this application embodiment includes a frame 400, a tool setting device 100 as described in the foregoing embodiments, a grinding assembly 200, and a robot arm 300. The tool setting device 100 is disposed on the frame 400. The grinding assembly 200 is connected to the tool setting device 100, and the tool setting device 100 drives the grinding assembly 200 to move. The robot arm 300 is disposed beside the frame 400, and the robot arm 300 is configured to grasp the tool to be sharpened and move the tool to the side of the grinding assembly 200 for tool setting and sharpening.

[0109] Specifically, the frame serves as the physical support foundation for the entire equipment, providing a stable mounting plane and spatial reference for each functional module. The tool setting device is firmly mounted on the frame, with the guide axis of its linear module aligned with the frame's reference direction. The grinding assembly is connected to the suspension plate of the tool setting device, and the tool setting device drives the grinding assembly to perform controlled linear displacement and vertical oscillation above the frame, thereby achieving dynamic coverage of the processing position.

[0110] The robotic arm is positioned beside the frame, working in conjunction with the tool setting device. The robotic arm grasps the tool to be ground and moves it to the side of the grinding assembly according to a pre-programmed logic, where it remains stationary. In the actual operation, the robotic arm first picks up the tool from the storage bin and places it into the grinding station. Then, the tool setting device drives the grinding assembly to approach the tool, using the aforementioned parallel linkage swing mechanism to physically locate the tool setting point. A position detection sensor triggers a tool setting feedback signal, and the robotic arm moves the tool to perform the grinding.

[0111] Furthermore, the tool sharpening equipment also integrates a control system. This control system serves as the logical control center of the entire equipment, establishing bidirectional signal and data connections with the linear module, grinding assembly, and robotic arm.

[0112] At the hardware connectivity level, the control system uses an industrial bus or analog / digital interface to monitor and issue commands to each execution unit in real time. Specifically, the control system connects to the linear module to control the displacement, speed, and feed compensation pulses of the support. It also connects to the grinding assembly to control the start / stop and speed adjustment of the first drive motor and monitor the machining load. Finally, the control system connects to the robotic arm to synchronize coordinate data and direct the robotic arm to grasp the tool and execute a preset motion trajectory.

[0113] At the logical coordination level, the control system is responsible for connecting the independent components into a closed-loop machining system. For example, when the control system receives a positioning signal that the robot has transported the tool to the predetermined position, it automatically triggers the linear module to start the tool setting program; when it receives a tool setting completion signal from the position detection sensor, the control system immediately issues synchronous instructions for the operation of the grinding components and the robot's cutting in machining.

[0114] In one specific embodiment, the tool sharpening equipment includes two tool setting devices symmetrically arranged on a frame, with a grinding assembly connected to the suspension plate of each tool setting device. The grinding assembly includes a first drive motor and a disc-shaped grinding wheel connected to the first drive motor, with the disc-shaped grinding wheels of the two grinding assemblies arranged opposite to each other. A tool setting and sharpening zone is formed between the two disc-shaped grinding wheels for a robotic arm to grasp and enter the tool.

[0115] Understandably, the tool sharpening equipment employs a symmetrical hardware layout to enable machining or simultaneous machining of both sides of the tool's cutting edge. Specifically, the tool sharpening equipment includes two tool setting devices symmetrically arranged on the frame, with a grinding component connected to the suspension plate of each tool setting device.

[0116] Specifically, each grinding assembly has an independent power system and grinding execution end, including a first drive motor and a disc grinding wheel driven by the first drive motor to rotate. In terms of spatial arrangement, the disc grinding wheels of the two grinding assemblies are arranged in a relatively opposite posture, that is, the grinding surfaces of the two grinding wheels are parallel to each other, thus forming an open tool-setting and sharpening zone between the two disc grinding wheels.

[0117] The tool setting and grinding area provides ample space for the robotic arm to operate. During actual machining, the robotic arm grasps the tool to be ground and feeds it directly between two opposing disc grinding wheels from the side of the frame. Thanks to the dual tool setting device design, the two grinding components can perform tool setting operations simultaneously or alternately from both sides of the tool. This symmetrical dual grinding unit structure has significant technical advantages: the opposing disc grinding wheels can simultaneously set and grind different side edges of the tool, greatly shortening the machining cycle of a single tool. Through this design, the equipment not only improves the consistency of tool setting references but also optimizes the space utilization and machining cycle time of the automated production line through the rational division of the tool setting and grinding area.

[0118] In one specific embodiment, the tool sharpening equipment further includes a grinding assembly, which is mounted on a frame and located above and beside the tool setting device. The grinding assembly includes a second drive motor and a flap wheel connected to the second drive motor. A robotic arm is configured to grasp the tool and move it to the grinding assembly for further grinding after the grinding assembly has completed its grinding process.

[0119] To further improve the surface quality of tool cutting edges, the tool grinding equipment integrates a fine grinding module in addition to its grinding function. Specifically, the equipment also includes a grinding component, which is mounted on the frame and positioned above and to the side of the tool setting device. This longitudinally staggered spatial layout effectively utilizes the redundant space above the frame and avoids motion interference between the various processing components.

[0120] For example, the grinding assembly is constructed to include a second drive motor and a flap wheel driven to rotate by the motor. The flap wheel is composed of multiple overlapping abrasive blades. Compared to a rigid disc grinding wheel, the flap wheel has better elasticity and flexibility when rotating, making it suitable for deburring, polishing, or fine grinding of tool edges, thereby reducing surface roughness.

[0121] In this embodiment, the robotic arm not only undertakes the tasks of loading and unloading materials and setting tools, but is also configured as a transfer actuator between processes, responsible for connecting the two core processes of "grinding" and "polishing". The specific operating logic is as follows: after the robotic arm picks up the tool and completes the grinding operation along the preset trajectory at the grinding component, it does not need to release the tool, but directly drives the robotic arm to pick up the tool and move it upwards into the working range of the polishing component.

[0122] like Figure 7 As shown, this application embodiment also provides a tool setting method, implemented based on the aforementioned tool sharpening equipment. The tool setting method includes the following steps:

[0123] Step S100: Instruct the robotic arm to grasp the tool to be ground and move the tool to the side of the disc grinding wheel of the grinding assembly.

[0124] Specifically, the robot arm is instructed to grasp the tool to be ground and move it to the side of the disc grinding wheel in the grinding assembly. During this process, the robot arm, through a preset path planning, feeds the tool into the tool-setting and sharpening area formed between the two disc grinding wheels, and keeps the tool in a ready-to-be-tested posture, preparing the space for subsequent tool-setting by touch.

[0125] Step S200: The linear module is instructed to drive the support to move, thereby moving the grinding assembly toward the tool and abutting the tool; under the reverse force of the tool, the suspension plate swings upward to the tool setting position to complete the tool setting.

[0126] Specifically, the linear module drives the support to move, causing the grinding assembly to approach the tool. When the grinding assembly contacts and abuts the tool, the suspension plate, which was originally in a state of natural downward movement due to gravity, swings upward against its own weight under the reaction force generated by the tool. When the suspension plate swings to the preset tool setting position, the sensor triggers the position detection sensor, and the system determines that tool setting is complete. At this time, the grinding assembly maintains constant contact with the tool due to gravity, ensuring the physical uniqueness of the tool setting reference.

[0127] Step S300: Synchronize the starting of the grinding component and the operation of the robot arm to drive the cutting tool along the preset path to complete the grinding operation.

[0128] Specifically, upon receiving the signal indicating that tool setting is complete, the system synchronously instructs the grinding assembly to start (the drive motor rotates the disc grinding wheel at high speed) and instructs the robotic arm to move the tool along the preset machining path, thereby completing the grinding operation. Because the grinding operation begins with precise contact between the grinding assembly and the tool, the robotic arm can perform high-precision trajectory compensation based on this tool setting contact point, ensuring that the geometric dimensions of each tool after grinding meet the preset standards.

[0129] Through the aforementioned tool setting method, this application achieves a seamless integration from physical contact and signal triggering to automated machining. By utilizing the swing characteristics of the suspension plate to replace cumbersome manual tool setting, it not only significantly reduces non-machining auxiliary time but also eliminates the mechanical stress caused by traditional hard supports through a gravity compensation mechanism, significantly improving the quality consistency and production efficiency of precision tool grinding.

[0130] In one specific implementation, the control system records the number of times the robotic arm grips the tool for effective sharpening. If the number of sharpening operations reaches a predetermined number, the control system controls the linear module to feed forward at a preset distance for position compensation. This takes into account the wear compensation of the disc grinding wheel.

[0131] In one specific implementation, in order to cope with the inevitable wear of the disc grinding wheel during the machining process and maintain long-term machining accuracy, the control system integrates wear compensation logic for the disc grinding wheel.

[0132] Specifically, the control system is configured to monitor and record in real time the number of times the robotic arm grasps the tool for effective sharpening. Due to the physical wear of the grinding layer on the disc grinding wheel during continuous grinding contact with the tool, the end face position of the disc grinding wheel shifts as the machining volume increases.

[0133] To counteract the impact of such wear on the tool setting reference, the system has a preset wear threshold (i.e., a predetermined number of times). When the cumulative number of recorded effective grinding operations reaches this predetermined number, the control system automatically triggers a compensation program, controlling the linear module to drive the entire support mechanism (including the bracket, suspension plate, and grinding components) to feed at a preset distance. This aims to recalibrate the grinding surface of the disc grinding wheel to the theoretical reference coordinates through fine-tuning of its physical position.

[0134] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, it will be understood 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 tool setting device for tool setting in a grinding assembly, characterized in that, The tool setting device includes: Linear module; A bracket, which is connected to the linear module, and the linear module drives the bracket to move. A suspension plate having a bearing surface for connecting the grinding assembly; Multiple links are arranged in pairs, and multiple pairs are arranged at intervals along the length of the suspension plate; two links in each pair are located on both sides of the suspension plate; the upper end of each link is hinged to the bracket, and the lower end of each link is hinged to the suspension plate, so that the suspension plate can be swung and suspended from the bracket. The suspension plate has an initial position where it hangs naturally under gravity and a tool-setting position. The displacement of the bracket causes the grinding assembly on the suspension plate to move and abut against the cutting tool. The suspension plate swings upward to the tool setting position under the reverse force of the cutting tool. In the tool setting position, the grinding assembly on the suspension plate is held in contact with the cutting tool by gravity to complete the tool setting.

2. The tool setting device according to claim 1, characterized in that, The bearing surface of the suspension plate remains horizontal in both the initial position and the tool setting position.

3. The tool setting device according to claim 2, characterized in that, The tool setting device includes four linkages; The bracket, the suspension plate, and the two connecting rods located on the same side of the suspension plate together form a parallelogram mechanism, so that the bearing surface remains horizontal when the suspension plate swings from the initial position to the tool setting position.

4. The tool setting device according to claim 1, characterized in that: The bracket is connected to a position detection sensor, and the suspension plate is connected to a sensing element; When the suspension plate swings to the tool setting position under force, the sensing element moves with the suspension plate and triggers the position detection sensor to generate a tool setting feedback signal.

5. A tool setting device according to claim 1, characterized in that, The support includes: A connecting plate is bolted to the linear module; A support frame, which is connected to the connecting plate, is a gantry structure with accommodating space, and the suspension plate is located within the accommodating space of the support frame; The support frame has two symmetrically distributed connecting lugs along its length, and the upper ends of the multiple connecting rods are hinged to the connecting lugs of the support frame.

6. A tool sharpening device, characterized in that, It includes a grinding assembly and a tool setting device as described in any one of claims 1 to 5, wherein the grinding assembly is connected to the tool setting device.

7. A tool sharpening device, characterized in that, include: frame; The tool setting device as described in any one of claims 1 to 5, wherein the tool setting device is disposed on the frame; A grinding assembly, the grinding assembly being connected to the tool setting device, the tool setting device driving the grinding assembly to move; A robotic arm, located on the side of the frame, is configured to grasp a tool to be ground and move the tool to the side of the grinding assembly for tool setting and grinding.

8. A tool sharpening device according to claim 7, characterized in that, The tool sharpening equipment includes two tool setting devices symmetrically arranged on the frame, and a grinding component is connected to the suspension plate of each tool setting device; The grinding assembly includes a first drive motor and a disc grinding wheel connected to the first drive motor, with the disc grinding wheels of the two grinding assemblies arranged opposite to each other; The two disc-shaped grinding wheels form a tool-grinding zone for the robotic arm to grasp the cutting tool.

9. A tool sharpening device according to claim 7, characterized in that, include: A grinding assembly is mounted on the frame; the grinding assembly includes a second drive motor and a flap wheel connected to the second drive motor. The robotic arm is configured to grasp the cutting tool after the grinding assembly has completed grinding, and then move the cutting tool to the polishing assembly for polishing.

10. A tool setting method, implemented based on the tool sharpening equipment according to any one of claims 7 to 9, characterized in that, The tool setting method includes the following steps: The robot arm is instructed to grasp the tool to be ground and move the tool to the side of the disc grinding wheel of the grinding assembly; The linear module is instructed to drive the support to move, thereby moving the grinding assembly toward the tool and abutting the tool; under the reverse force of the tool, the suspension plate swings upward to the tool setting position to complete the tool setting. The synchronous command activates the grinding assembly and instructs the robotic arm to drive the cutting tool along a preset path to complete the grinding operation.

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