A sanding deburring method and device based on parameter recipe mapping and multi-station cooperation

Abstract

The present application relates to the technical field of automatic sanding deburring control, and discloses a sanding deburring method and device based on parameter formula mapping and multi-station cooperation. The present application aims to solve the problems of burr residue, local over-grinding and inconsistent connection between front and rear stations when the existing sanding deburring equipment uses fixed parameters or single-station parameters for processing. The present application obtains standard processing data and actual detection data of a workpiece, forms basic data for deburring of the workpiece, generates processing control data by mapping in a preset parameter formula library, generates station control data according to station responsibilities, controls multi-station cooperative processing, and corrects subsequent processing parameters according to intermediate detection and final detection results.

Description

Technical Field

[0001] This invention relates to the field of automatic sanding and deburring control technology, specifically, to a sanding and deburring method and apparatus based on parameter formula mapping and multi-station collaboration. Background Technology

[0002] Sanding and deburring equipment is typically used to remove edge burrs, orifice burrs, and small surface protrusions formed on workpieces after cutting, stamping, milling, drilling, trimming, and other processing. Existing sanding and deburring production lines generally include a conveyor mechanism, inspection components, sanding actuators, and a controller. After the workpiece enters the processing position along the conveyor mechanism, the actuators such as sanding belts, brushes, grinding wheels, or finishing rollers sand and deburr the area to be processed. To accommodate workpieces of different models, materials, and thicknesses, existing equipment usually pre-sets several processing parameters, such as sanding pressure, feed speed, pressure, and number of passes, and selects the appropriate parameters based on the workpiece type or the operator's experience.

[0003] However, in actual production, the burr height, continuous range, distribution density, and distance between burrs and size-sensitive locations are not entirely consistent for the same type of workpiece. If processing is still performed according to fixed parameters or single-station parameters, problems such as burr residue in some areas, excessive sanding in local areas, and inconsistencies in the processing results between previous and subsequent stations can easily occur, affecting the edge condition and surface consistency of the workpiece after deburring. Therefore, how to enable sanding and deburring equipment to generate more suitable processing control data for different processing areas based on the actual burr condition and processing location characteristics of the workpiece is a technical problem that needs to be solved in this field. Summary of the Invention

[0004] In view of the aforementioned problems that existing sanding and deburring equipment, when using fixed parameters or single-station parameters, is prone to burr residue, localized over-grinding, and inconsistencies in the connection between preceding and following stations, this invention provides the following technical solution to solve these technical problems: This invention provides a sanding deburring method based on parameter formula mapping and multi-station collaboration, which includes the following steps: S1. Read the workpiece identification information and retrieve the workpiece standard processing data. Collect the actual detection data of the workpiece through the detection sensor, divide the processing area and generate burr status data to form the basic data for workpiece deburring. S2. Based on the basic data of deburring the workpiece, perform mapping and matching in the preset parameter formula library, establish the correspondence of processing parameters, and generate processing control data arranged by region number; S3. Based on the processing control data, the processing responsibilities of the sanding and deburring station, and the connection relationship between the preceding and following stations, generate station control data corresponding to the sanding and deburring station group. S4. Control the actuators in the sanding and deburring station group to process sequentially according to the station control data, and correct the station control data of the next station based on the intermediate detection results of the previous station. S5. Perform final inspection on the completed workpiece, generate rework control data, manual verification marks and processing parameter correction records, and update the corresponding relationship of the processing parameters according to the processing parameter correction records.

[0005] As a preferred embodiment of the sanding deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of forming basic deburring data for the workpiece in step S1 is as follows: Retrieve standard machining data of the workpiece corresponding to the workpiece from the database according to the workpiece identification information; confirm the position of the workpiece entering the detection position and obtain actual detection data of the workpiece through a detection sensor; determine the workpiece's pending processing position, restricted processing position, and burr distribution state according to the workpiece's standard machining data and the workpiece's actual detection data; map the workpiece's standard machining data, the workpiece's actual detection data, the pending processing position, the restricted processing position, and the burr distribution state to the same workpiece identification information to form basic deburring data for the workpiece.

[0006] As a preferred embodiment of the sanding deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of acquiring actual workpiece detection data in step S1 is as follows: controlling the image detection sensor and the height detection sensor to acquire data on the workpiece at the detection position, and establishing the same detection coordinates based on the reference point of the detection position, the reference line of the conveying direction, and the reference line of the width direction; performing coordinate correspondence between the image detection results and the height detection results to obtain the position deviation, edge change state, surface change state, and height change state of the workpiece relative to the processing reference; determining a preset processing range based on the standard processing data of the workpiece, the preset processing range consisting of the edge to be deburred, the periphery of the orifice, and the surface to be sanded; determining the position to be removed within the preset processing range based on edge continuity, surface grayscale change, height protrusion change, and a preset burr height threshold, and determining the degree of protrusion of the position to be removed based on the height change state; forming actual workpiece detection data based on the detection coordinates, the position deviation, the position to be removed, and the degree of protrusion.

[0007] As a preferred embodiment of the sanding deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of dividing the processing area and generating burr state data in step S1 is as follows: based on the actual detection data of the workpiece and the standard processing data of the workpiece, the workpiece is divided into a processing area that allows sanding and a restricted area that requires restricted sanding; based on the position, degree, continuous range and distribution density of the protrusions in the processing area, the burr state of the corresponding processing area is determined; based on the distance between the processing area and the adjacent restricted area, the degree to which the corresponding processing area is affected by the restricted area is determined; based on the burr state and the degree to which the processing area is affected by the restricted area, burr state data is generated, and the burr state data is written into the corresponding processing area.

[0008] As a preferred embodiment of the sanding deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of establishing the correspondence between processing parameters and generating processing control data in step S2 is as follows: Based on the basic deburring data of the workpiece, a corresponding parameter formula is matched from a preset parameter formula library; a target parameter formula is determined based on the workpiece material, workpiece thickness, processing area type, burr state, and the degree of influence of the restricted area; when the matching result simultaneously meets both conventional processing conditions and restriction protection conditions, the parameter formula that meets the restriction protection conditions is selected as the target parameter formula; the processing target, station allocation requirements, and initial processing intensity of the corresponding processing area are determined based on the target parameter formula; the initial processing intensity is corrected based on the degree of influence of the restricted area on the processing area, and the control requirements of the corresponding processing area are determined based on the corrected processing intensity; the processing target, station allocation requirements, and control requirements are written into the processing control data according to the area number.

[0009] As a preferred embodiment of the sanding and deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of generating station control data in step S3 is as follows: Based on the processing target in the processing control data, determine the processing responsibilities that the corresponding processing area needs to undertake; based on the processing responsibilities and the station sequence of the sanding and deburring station group, determine the transmission relationship between the corresponding processing area and the preceding and following stations; based on the transmission relationship, allocate the total processing requirements of the same processing area to consecutive sanding and deburring stations; and write the allocated control requirements, post-processing inspection requirements, and the connection mark passed to the next station into the corresponding station control data.

[0010] As a preferred embodiment of the sanding and deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the sanding and deburring station group in step S3 is configured as follows: the sanding and deburring station group includes, in sequence according to the workpiece conveying direction, a main removal station, an edge trimming station, a shape adaptation processing station, and a surface finishing station; the main removal station is used to handle the removal task of positions with high protrusion; the edge trimming station is used to handle the trimming task of continuous edge positions; the shape adaptation processing station is used to handle the trimming task of positions with contour changes; the surface finishing station is used to handle the task of light surface trimming; the subsequent station adjusts the processing intensity of the corresponding processing area according to the connection mark of the previous station and the intermediate detection results.

[0011] As a preferred embodiment of the sanding and deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of controlling the collaborative processing of the sanding and deburring station group in step S4 is as follows: Based on the actual position of the workpiece in the current station, the processing position of the corresponding processing area in the current station is corrected; the actuator in the current station is controlled to perform sanding and deburring on the corresponding processing area according to the station control data, and the actual execution status of the current station is recorded; after the current station completes processing, intermediate detection is performed on the corresponding processing area to obtain intermediate detection results; based on the actual execution status and the intermediate detection results, the processing completion degree of the current station is determined; based on the processing completion degree, the station control data of the next station for the corresponding processing area is corrected.

[0012] As a preferred embodiment of the sanding deburring method based on parameter formula mapping and multi-station collaboration described in this invention, the process of finally detecting and updating the processing parameter correspondence in step S5 is as follows: Final detection data is collected for the completed workpiece; the burr residue state, edge processing state, and surface treatment state of each processing area are determined based on the final detection data; when the corresponding processing area meets the processing requirements, the corresponding processing area is marked as completed; when the corresponding processing area can still be corrected through online processing, rework control data is generated based on the corresponding area number; when there are abnormal situations in the corresponding processing area that require manual confirmation, a manual review mark is generated based on the corresponding area number; the abnormal area, abnormal type, actual execution status, intermediate detection results, and final detection results are written into the processing parameter correction record; when the same workpiece model, the same processing area, and the same abnormal type reach a preset number of abnormalities, a candidate parameter formula is generated based on the processing parameter correction record; the candidate parameter formula is verified on similar workpieces, the processing parameter correspondence is updated based on the verification results, and the original processing parameter correspondence is retained when the verification does not meet the processing requirements.

[0013] The present invention also provides a sanding and deburring device based on parameter formula mapping and multi-station collaboration, specifically including a detection sensor, a sanding and deburring station group, a processor, and a memory communicatively connected to the processor; The detection sensor is communicatively connected to the processor and is used to collect actual detection data of the workpiece and send it to the processor. The sanding and deburring station group is controlled and connected to the processor, and the sanding and deburring station group includes an actuator for performing sanding and deburring. The memory stores control instructions, which, when executed by the processor, cause the processor to generate station control data based on the actual detection data of the workpiece.

[0014] The beneficial effects of this invention are as follows: This invention can generate corresponding processing control data based on the actual burr state of the workpiece, the location of the processing area, and the degree of influence of the restricted area, enabling different processing areas to match corresponding sanding pressure, feed speed, downward pressure, processing times, and inspection requirements; it can allocate processing tasks of the same processing area to consecutive stations based on the processing responsibilities of the sanding and deburring station, reducing burr residue or local over-grinding caused by single-station processing; it can correct the station control data of the next station based on the intermediate inspection results of the previous station, ensuring continuous connection between main removal, edge trimming, shape adaptation processing, and surface finishing; and it can generate rework control data, manual verification marks, and processing parameter correction records based on the final inspection results, and update the corresponding processing parameters for subsequent similar workpieces. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of a sanding deburring method based on parameter formula mapping and multi-station collaboration.

[0017] Figure 2 A schematic diagram for dividing the workpiece processing area and generating burr status data.

[0018] Figure 3 This is a schematic diagram of parameter formulation mapping and processing intensity correction.

[0019] Figure 4 This is a schematic diagram of multi-station collaborative processing and subsequent station control data correction.

[0020] Figure 5This is a schematic diagram of a sanding and deburring device based on parameter formula mapping and multi-station collaboration. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "example" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. The appearance of an embodiment in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0024] Example 1 Reference Figures 1-4 This is one embodiment of the present invention, which provides a sanding deburring method based on parameter formula mapping and multi-station collaboration, including the following steps: S1. Read the workpiece identification information and retrieve the workpiece standard processing data. Collect the actual detection data of the workpiece through the detection sensor, divide the processing area and generate burr status data to form the basic data for workpiece deburring. Based on the workpiece identification information, retrieve the corresponding standard machining data of the workpiece from the database; confirm the position of the workpiece entering the detection position, and obtain the actual detection data of the workpiece through the detection sensor; determine the workpiece's pending position, restricted processing position, and burr distribution state based on the workpiece's standard machining data and actual detection data; map the workpiece's standard machining data, actual detection data, pending position, restricted processing position, and burr distribution state to the same workpiece identification information to form the basic data for workpiece deburring.

[0025] The control image detection sensor and height detection sensor collect data on the workpiece at the detection position and establish the same detection coordinates based on the reference point of the detection position, the reference line of the conveying direction, and the reference line of the width direction. The image detection results and height detection results are correlated with coordinates to obtain the positional deviation, edge change state, surface change state, and height change state of the workpiece relative to the processing datum. A preset processing range is determined based on the workpiece's standard processing data. The preset processing range consists of the edge to be deburred, the periphery of the opening, and the surface to be sanded. Based on edge continuity, surface grayscale change, height protrusion change, and a preset burr height threshold, the position to be removed is determined within the preset processing range, and the degree of protrusion of the position to be removed is determined based on the height change state. The actual detection data of the workpiece is formed based on the detection coordinates, positional deviation, position to be removed, and degree of protrusion.

[0026] Based on the actual inspection data and standard machining data of the workpiece, the workpiece is divided into a machining area where sanding is allowed and a restricted area where sanding is restricted. The burr status of the corresponding machining area is determined based on the location, degree, continuous range, and density of the protrusions within the machining area. The degree to which the corresponding machining area is affected by the restricted area is determined based on the distance between the machining area and the adjacent restricted area. Burr status data is generated based on the burr status and the degree to which the machining area is affected by the restricted area, and the burr status data is written into the corresponding machining area.

[0027] In this embodiment, after the workpiece enters the sanding and deburring production line, the processor first reads the workpiece identification information. In this embodiment, the workpiece identification information is provided by an identification code set on the workpiece surface. A barcode scanning component is installed at the production line entrance. After reading the workpiece identification code, the scanning component sends the workpiece identification information to the processor. The processor then retrieves the corresponding standard processing data for the workpiece from the database based on the workpiece identification information.

[0028] The standard machining data for a workpiece includes the workpiece model, workpiece material, workpiece thickness, workpiece outline, hole position, surface to be sanded, edge to be deburred, allowable chamfer range, prohibited sanding area, assembly reference surface position, marking position, dimensionally sensitive edge, and final surface requirements.

[0029] Standard machining data for a workpiece is used to describe the corresponding machining requirements. The workpiece's outline is used to determine the theoretical boundaries; the hole position is used to determine the deburring range around the hole; the surface to be sanded is used to determine the surface that the sanding head can contact; the edge to be deburred is used to determine the edge that needs to be treated; the allowable chamfer range is used to limit the degree of edge trimming; the prohibited sanding area is used to limit the position where the sanding head needs to avoid; the assembly reference surface and dimensionally sensitive edges are used to prevent sanding from affecting assembly dimensions; and the final surface requirements are used to determine the degree of treatment at the surface finishing station. The above data serves as the standard basis for subsequent inspection, area division, and parameter formula matching.

[0030] After the workpiece is conveyed to the inspection position, the processor controls the positioning mechanism to confirm its position. The positioning mechanism aligns the front end of the workpiece with the front reference of the inspection position and brings the side of the workpiece close to the lateral reference. The conveyor encoder records the conveying distance of the workpiece into the inspection position, and the positioning detection device confirms whether the workpiece has reached the predetermined inspection position. If the workpiece has not reached the predetermined inspection position, the processor pauses subsequent inspection and outputs a positioning error message; if the workpiece has reached the predetermined inspection position, the processor starts controlling the detection sensors to collect the actual inspection data of the workpiece. The position confirmation process is used to establish a correspondence between the inspection data and the standard machining data of the workpiece, reducing errors in identifying the processing area caused by workpiece offset.

[0031] In this embodiment, the detection sensors include an image detection sensor and a height detection sensor. The image detection sensor is positioned above the detection location and is used to acquire an overall image of the workpiece, identifying the workpiece's outer boundary, opening boundary, surface burr location, marking location, and obvious defect location. The height detection sensor is a line laser height detection sensor used to acquire edge height, opening perimeter height, local protrusion height, and surface undulation height along the workpiece conveying direction. The image detection results are used to determine the location to be removed, and the height detection results are used to determine the degree of protrusion at the location to be removed. The two types of detection results are correlated according to the same detection coordinates to form the actual workpiece detection data.

[0032] Before collecting actual workpiece inspection data, the processor first calls the inspection calibration data. The inspection calibration data includes the conversion relationship between the pixel coordinates of the image inspection sensor and the inspection position coordinates, the zero point of the height inspection sensor, the transport direction baseline, the width direction baseline, and the inspection resolution. The inspection resolution is determined based on the single-pixel corresponding size of the image inspection sensor, the height repeatability of the height inspection sensor, and the minimum allowable burr height of the workpiece, and is written into a preset parameter formula library. When determining the location to be removed, the processor only identifies locations where the height change exceeds a preset burr height threshold, the location falls within a preset processing range, and the edge continuity conforms to the burr distribution characteristics as the location to be removed. For locations with significant grayscale changes but whose height changes do not exceed the preset burr height threshold, the processor marks them as candidate locations for surface marks and stains; for locations consistent with the design edges, hole edges, and chamfer boundaries in the workpiece's standard machining data, the processor does not treat them as burr locations.

[0033] The actual inspection data of the workpiece includes the positional deviation of the workpiece relative to the machining datum, edge change status, surface change status, height change status, the location to be removed, and the degree of protrusion.

[0034] Positional deviations include the workpiece's forward / backward deviation in the conveying direction, its left / right deviation in the width direction, and its placement angle deviation. The processor writes the positional deviations into the actual workpiece detection data and uses these deviations for compensation when generating the subsequent machining position.

[0035] Edge variation status is used to reflect whether there are protrusions, flanges, gaps, and discontinuities at the edges of the workpiece. Surface change status is used to reflect whether there are fine burrs, local protrusions, obvious scratches and attached impurities on the workpiece surface; The height change status is used to reflect the height of the protrusion of the area to be removed relative to the surrounding normal surface.

[0036] The processor maps the actual workpiece inspection data to the workpiece's standard machining data. First, the processor determines the theoretical boundary based on the workpiece's outline in the standard machining data. Then, it determines the actual boundary based on the edge variation state in the actual inspection data. Next, it matches the theoretical and actual boundaries to confirm whether the actual protrusion is located near the edge to be deburred, around an opening, on a local surface, or in a restricted area. For abnormal protrusions that clearly do not correspond to the theoretical boundary, the processor marks them as anomalies requiring verification and reduces the initial machining intensity at that location during subsequent processing, awaiting intermediate inspection or manual verification.

[0037] Subsequently, the processor divides the workpiece into a processing area where sanding is allowed and a restricted area where sanding needs to be restricted, based on the actual inspection data and standard processing data of the workpiece.

[0038] The areas that can be sanded are those that can be touched and processed by sanding heads, brush heads, or other deburring actuators, including areas that need to be deburred, areas that need to be edge trimmed, and areas that need to be surface finished.

[0039] Restricted areas are locations where contact intensity needs to be reduced, contact time reduced, or areas need to be avoided during processing. These include areas where sanding is prohibited, assembly reference surfaces, marking locations, dimensionally sensitive edges, and locations near the finished product outline boundaries.

[0040] The processor writes a region number to each processing area. The region number is used to maintain consistency at the same location in subsequent processing. The same region number is used throughout the entire process, from initial inspection, burr status assessment, parameter formula matching, station control data generation, intermediate inspection, and final inspection. The region number allows subsequent stations to identify the location processed by the previous station and also enables tracing back to the corresponding region and station if an anomaly is detected during final inspection.

[0041] For each processing area, the processor determines the burr state of the corresponding processing area based on the location, height, continuous range, and density of the protrusions within the processing area. The location of the protrusion is used to determine whether the burr is located at the edge, opening, contour change location, or surface location; the height of the protrusion is used to determine the degree of protrusion of the burr; the continuous range is used to determine whether the burr is distributed at a single point or continuously distributed along the edge; and the density of distribution is used to determine whether the protrusions are concentrated in the same area.

[0042] In this embodiment, the degree of burr protrusion is determined according to the protrusion height measured by the height detection sensor. The processor pre-stores mild height threshold, normal height threshold, and verification height threshold in a preset parameter recipe library.

[0043] Among them, the light height threshold is used to distinguish between small surface burrs and burrs that need to be removed by normal sanding; the regular height threshold is used to distinguish between regular burrs and heavier burrs that need to be treated in the main removal station; the verification height threshold is used to determine whether the protrusion may be due to excessive flange, local deformation, foreign object adhesion, or abnormal detection.

[0044] When the protrusion height is less than the slight height threshold, the processor will identify the corresponding position as a slight burr, which will be lightly processed by the surface finishing station. When the protrusion height is greater than or equal to the slight height threshold but less than the normal height threshold, the processor will identify the corresponding position as a normal burr, which will be sanded and deburred according to the normal parameter formula. When the burr height is greater than or equal to the normal height threshold but less than the verification height threshold, the processor will identify the corresponding position as a heavy burr. The main removal station will undertake the main removal task at this position and perform intermediate inspection after processing. When the height of the protrusion is greater than or equal to the verification height threshold, the processor will identify the corresponding position as a key verification burr and generate a key verification mark. It will require intermediate inspection or manual verification before deciding whether to compensate for the burr in the next station.

[0045] In this embodiment, the preset burr height threshold includes a mild burr height threshold. Standard height threshold and review height threshold Mild height threshold Used to distinguish between fine surface burrs and burrs that require normal sanding removal; standard height threshold. Used to distinguish between regular burrs and heavier burrs that require intensive processing at key removal stations; verification height threshold. This is used to determine whether the protrusion may be due to excessive flange, local deformation, foreign object attachment, or abnormal detection.

[0046] The determination is based on the results of trial machining of similar workpieces and historical inspection records. During trial machining, the processor records the protrusion height before machining, the residual burr state after machining, the edge treatment state, the surface treatment state, and whether excessive sanding occurred for similar workpieces. For the protrusion height range that can be lightly treated by the surface finishing station and meet the final inspection requirements, its upper limit is taken as... For the range of protrusion heights that can be reliably removed by conventional sanding deburring parameters, the upper limit is taken as... For protrusion heights that exceed the capabilities of conventional sanding and deburring and are likely to lead to over-sanding, excessive edge chamfering, or suspected workpiece deformation, the lower limit shall be taken as the threshold. . The workpieces are stored in a preset parameter recipe library according to their model, material, and thickness.

[0047] For example, for a metal plate workpiece with a thickness of 2.0 mm, the preset parameter recipe library records... It is 0.08mm. It is 0.25mm. The tolerance is 0.50mm. When the detected protrusion height is less than 0.08mm, the processor identifies the location as a light burr; when the protrusion height is greater than or equal to 0.08mm and less than 0.25mm, the processor identifies the location as a regular burr; when the protrusion height is greater than or equal to 0.25mm and less than 0.50mm, the processor identifies the location as a heavier burr; when the protrusion height is greater than or equal to 0.50mm, the processor identifies the location as a burr requiring special review and generates a special review mark, requiring intermediate inspection or manual review confirmation before deciding whether to compensate for it in the next workstation.

[0048] During trial processing, the processor records the protrusion height, corresponding sanding pressure, feed rate, sanding head depressor depth, number of processing cycles, and final burr residue status of similar workpieces before processing. For protrusion height ranges that can be lightly processed by the surface finishing station and meet the final inspection requirements, the upper limit is taken as the light height threshold; for protrusion height ranges that require conventional sanding deburring parameters for stable removal, the upper limit is taken as the conventional height threshold; for protrusion height ranges that exceed the conventional sanding deburring capability, are prone to over-sanding, or are suspected of workpiece deformation, the lower limit is taken as the verification height threshold. The above thresholds are stored in a preset parameter formula library according to workpiece model, material, and thickness.

[0049] The continuous range of burrs is determined by the length of the continuous distribution of protrusions along the edge or surface within the same processing area. The processor pre-stores short-range length thresholds and long-range length thresholds in a preset parameter recipe library.

[0050] Among them, the short range length threshold is used to distinguish between local point-like burrs and continuously distributed burrs; the long range length threshold is used to determine whether burrs have formed a long continuous distribution along the edge.

[0051] When the continuous length is less than the short range length threshold, the processor determines it as a short range glitch; when the continuous length is greater than or equal to the short range length threshold and less than the long range length threshold, the processor determines it as a medium range glitch. When the continuous length is greater than or equal to the long range length threshold, the processor identifies it as a long range burr. The short range length threshold and the long range length threshold are determined based on the workpiece edge length, orifice perimeter, detection sensor resolution, and historical burr distribution records of similar workpieces, and are written into the preset parameter formula library.

[0052] The density of burr distribution is determined by the number and spacing of protrusions within the same processing area. The processor pre-stores sparse spacing thresholds and dense spacing thresholds in a preset parameter recipe library. The sparse spacing threshold is used to determine whether the protrusions are independent of each other, while the dense spacing threshold is used to determine whether the protrusions are concentrated and require continuous processing.

[0053] When the distance between adjacent convex points is greater than the sparse spacing threshold, the processor determines it to be low density. When the distance between adjacent protrusions is less than or equal to the sparse spacing threshold and greater than the dense spacing threshold, the processor determines it to be of medium density. When the distance between adjacent protrusions is less than or equal to the density distance threshold, the processor determines it to be of high density.

[0054] The sparse spacing threshold and dense spacing threshold are determined based on the minimum protrusion spacing that the detection sensor can distinguish, the contact width of the sanding tool, and historical burr distribution records, and are written into the preset parameter formula library.

[0055] When generating glitch state data, the processor also considers the degree to which the processing area is affected by the restricted area. The processor obtains the first... The shortest distance between each processing area and its adjacent restricted area is denoted as . Restricted areas include areas where sanding is prohibited, assembly reference surfaces, marking locations, and dimensionally sensitive edges. The preset safety distance is denoted as... , Used to determine the range where the sanding intensity needs to be reduced when the processing area is close to the restricted area. The parameters are determined by the workpiece thickness, allowable chamfer range, sanding tool contact width, and trial machining results of similar workpieces, and stored in a preset parameter recipe library. For thin-walled workpieces, workpieces with many dimensionally sensitive edges, or workpieces with markings close to the edge to be machined, Choose a relatively large value; for workpieces with greater thickness and a wider allowable machining range at the edges, Take a relatively small value.

[0056] when Greater than or equal to When, explain the first With sufficient distance between each processing area and the restricted area, the processor will limit the impact value. Determined to be 0; when Less than When, explain the first Each processing area is located within a preset safety distance, and the processor operates according to:

[0057] Determine the limiting effect value . Indicates the first The extent to which each processing area is affected by the restricted area. The value range is from 0 to 1. The smaller, The larger the value, the closer the processing area is to the restricted area. When determining the corrected processing intensity for this processing area, the processor considers... Reduce the initial processing intensity and further generate corresponding sanding pressure, feed rate, sanding head depressor, number of processing cycles, and post-processing inspection requirements.

[0058] in, Indicates the first The extent to which each processing area is affected by the restricted area; Indicates the preset safe distance; Indicates the first The shortest distance between a processing area and an adjacent restricted area. The smaller, The larger the value, the closer the processing area is to the restricted area. When determining the corrected processing intensity for this processing area, the processor considers... The initial processing intensity is reduced, and corresponding sanding pressure, feed rate, sanding head deflection, number of processing passes, and post-processing inspection requirements are further generated. Therefore, processing areas near prohibited sanding areas, assembly reference surfaces, marking locations, and dimensionally sensitive edges will be protected and restricted in subsequent station control.

[0059] After completing the above processing, the processor will store the workpiece's standard machining data, actual workpiece inspection data, the position to be processed, the restricted processing position, burr status, area number, and shortest distance. and limiting influence value Corresponding to the same workpiece identification information, basic data for workpiece deburring is formed. This basic data serves as input for subsequent generation of machining control data.

[0060] S2. Based on the basic data of deburring the workpiece, perform mapping and matching in the preset parameter formula library, establish the correspondence of processing parameters, and generate processing control data arranged by area number; Based on the basic data of workpiece deburring, the corresponding parameter formula is matched from the preset parameter formula library; the target parameter formula is determined according to the workpiece material, workpiece thickness, processing area type, burr state, and degree of influence of the restricted area; when the matching result meets both the conventional processing conditions and the restriction protection conditions, the parameter formula that meets the restriction protection conditions is selected as the target parameter formula; the processing target, station allocation requirements, and initial processing intensity of the corresponding processing area are determined according to the target parameter formula; the initial processing intensity is corrected according to the degree of influence of the restricted area on the processing area, and the control requirements of the corresponding processing area are determined according to the corrected processing intensity; the processing target, station allocation requirements, and control requirements are written into the processing control data according to the area number.

[0061] After forming the basic data for deburring the workpiece, the processor reads the workpiece attributes, processing requirements, processing area status, and burr status.

[0062] In this embodiment, the workpiece attributes include workpiece material, workpiece thickness, and workpiece structural strength; Processing requirements include permissible chamfer range, final surface requirements, and limitations on sanding requirements; The processing area status includes area location, area range, area type, and shortest distance. and limiting the impact value ; The condition of burrs includes their degree of protrusion, continuous range, and density. These factors collectively determine the required sanding intensity for the processing area, the appropriate workstation to assign it to, and whether post-processing inspection is necessary.

[0063] In this embodiment, the preset parameter formula library is pre-stored in the database and is jointly established by the equipment factory debugging data, trial processing data of similar workpieces, and historical production records.

[0064] The factory commissioning data is used to determine the pressure range, feed speed range, and sanding head depressing range that the sanding and deburring equipment can stably perform. Trial processing data of similar workpieces are used to determine the initial parameters that can achieve a qualified deburring effect under different materials, thicknesses, and burr conditions; Historical production records are used to record parameter changes corresponding to burr residue, excessive sanding, rework, and manual verification during actual production.

[0065] When the processor calls the preset parameter formula library in subsequent processing, it selects the parameter formula that matches the state of the workpiece based on the actual test results of the current workpiece.

[0066] A parameter formula refers to a set of control data that can be executed by the sanding and deburring station. Each parameter formula includes at least the workpiece material, workpiece thickness range, processing area type, burr protrusion degree, burr continuity range, burr distribution density, limiting influence value, processing target, station allocation requirements, sanding pressure, feed rate, sanding head depressor, number of processing cycles, and post-processing inspection requirements. The parameter formula library is used to record the correspondence between workpiece status and sanding and deburring control methods.

[0067] In this embodiment, the preset parameter formula library is established based on equipment debugging data, trial processing data of similar workpieces, and historical production records. The equipment debugging data is used to determine the processing pressure range, feed speed range, and sanding head pressing range that the sanding equipment can stably execute; the trial processing data of similar workpieces is used to determine the processing intensity range corresponding to different workpiece materials, workpiece thicknesses, and burr conditions; the historical production records are used to record burr residue, over-sanding, and rework situations that occur during processing, and are used to correct the corresponding parameter formulas.

[0068] Each parameter formula in the parameter formula library is associated with workpiece attributes, processing area status, burr status, and the degree of influence of restricted areas. After the processor obtains the basic data for deburring the workpiece, it matches the target parameter formula according to the above correspondence and generates the corresponding processing control data.

[0069] In this embodiment, processing intensity is used to indicate the degree to which the corresponding processing area needs to be sanded and deburred. Higher processing intensity typically corresponds to higher sanding pressure, lower feed speed, larger sanding head deflection, and more processing passes; lower processing intensity typically corresponds to lower sanding pressure, higher feed speed, smaller sanding head deflection, and fewer processing passes. The preset parameter formula library classifies processing intensity into low processing intensity, medium processing intensity, and high processing intensity.

[0070] Different processing intensities correspond to different sanding pressure ranges, feed speed ranges, sanding head pressure ranges, and processing number ranges. These ranges are determined by the equipment's allowable load, sanding tool type, workpiece material, workpiece thickness, and trial processing results, and are stored in a preset parameter formula library according to workpiece model.

[0071] The processor first calculates the processing intensity value for each processing area. For the i-th processing area, the processor calculates the processing intensity value according to the formula:

[0072] Indicates the first The processing intensity value of each processing area Indicates the first Burr height value of each processing area Indicates the first The burr continuity value of each processing area Indicates the first The density of burr distribution in each processing area Indicates the first The extent to which each processing area is affected by the restricted area. These are the weighting coefficients for the corresponding factors.

[0073] , , and All values ​​are between 0 and 1. The processor converts the detected protrusion height, continuous length, protrusion point spacing, and shortest distance between the processing area and the restriction area into values ​​according to the grading rules in the preset parameter recipe library. , , and Weighting coefficients Determined based on the results of trial machining of similar workpieces, and meeting the following requirements. .

[0074] When trial processing results show that burr height has a significant impact on residue, increasing... The proportion; continuous or dense burrs are more likely to cause residue, increasing or The proportion; when the area near the restricted area is prone to excessive sanding, excessive edge chamfering, or wear of markings, improve... The proportion of each component. The adjusted weighting coefficients are renormalized and written into the preset parameter formula library for the corresponding workpiece model.

[0075] The preset parameter recipe library stores low processing intensity thresholds. and high processing strength threshold .when Less than At that time, the processor is matched with a low processing intensity parameter formula; when Greater than or equal to and less than At that time, the processor matches the processing strength parameter formula; when Greater than or equal to At that time, the processor is matched with a high processing intensity parameter formula. The low processing intensity parameter formula corresponds to lower sanding pressure, higher feed rate, smaller sanding head deflection, and fewer processing cycles; the medium processing intensity parameter formula corresponds to medium sanding pressure, normal feed rate, normal sanding head deflection, and normal processing cycles; the high processing intensity parameter formula corresponds to higher sanding pressure, lower feed rate, larger sanding head deflection, and more processing cycles. and The formula is determined by the results of trial processing of similar workpieces and stored in the preset parameter formula library according to the workpiece model.

[0076] In a set of implementation data, a low processing strength threshold was recorded in the preset parameter formula library. The threshold value is 0.35, representing a high processing strength threshold. It is 0.65. The protrusion height detected in the processing area is 0.32 mm, the continuous length is 14 mm, and the average distance between adjacent protrusions is 4 mm. The shortest distance between this processing area and the adjacent dimension-sensitive edge is... The preset safety distance is 4mm. It is 10mm.

[0077] According to the grading rules in the preset parameter formula library, the protrusion height of 0.32mm is greater than or equal to... and less than The processor will determine the glitch height value Converted to 0.80; a continuous length of 14mm is within the medium continuity range, and the processor will adjust the burr continuity value. Converted to 0.55; the average distance between adjacent protrusions is 4mm, which is less than the dense spacing threshold, so the processor will adjust the burr distribution density value. Converted to 0.85; due to Less than The processor according to Calculate the limiting effect value, i.e. .

[0078] The weighting coefficients for the corresponding workpiece models in the preset parameter recipe library are: The processor follows

[0079] Calculate the processing strength value, i.e. because Greater than and less than The processor matches the processing area with a medium processing strength parameter formula.

[0080] In this embodiment, the preset parameter formula library also stores a conversion table between processing intensity and execution control parameters. For low processing intensity parameter formulas, the sanding pressure ranges from 15N to 22N, the feed speed ranges from 2.4m / min to 3.0m / min, the sanding head deflection ranges from 0.08mm to 0.15mm, and the number of processing cycles is 1. For medium processing intensity parameter formulas, the sanding pressure ranges from 23N to 30N, the feed speed ranges from 1.8m / min to 2.3m / min, the sanding head deflection ranges from 0.16mm to 0.25mm, and the number of processing cycles is 2. For high processing intensity parameter formulas, the sanding pressure ranges from 31N to 40N, the feed speed ranges from 1.2m / min to 1.7m / min, the sanding head deflection ranges from 0.26mm to 0.35mm, and the number of processing cycles is 3. The above parameter range is determined by the allowable load of the equipment, the type of sanding tool, the material of the workpiece, the thickness of the workpiece, and the results of trial processing of similar workpieces, and is stored in the preset parameter formula library according to the workpiece model.

[0081] In this embodiment, the basic control parameters corresponding to the medium processing strength parameter formula are: sanding pressure 26N, feed speed 2.0m / min, sanding head deflection 0.20mm, and processing times 2. Due to the limiting influence value of this processing area... If the value is 0.60, which is greater than the preset threshold of 0.50, the processor invokes a protective correction rule to reduce the basic control parameters. Specifically, the sanding pressure is reduced by 20%, the sanding head pressure is reduced by 25%, the feed rate is increased by 10%, the number of processing passes remains at 2, and an intermediate inspection requirement is added after processing. After correction, the processor generates the following control parameters: sanding pressure 20.8N, feed rate 2.2m / min, sanding head pressure 0.15mm, number of processing passes 2, and this processing area is written into the intermediate inspection range.

[0082] Based on the above calculations, the processor converts the actual detection data into burr height values. Burr continuity value , burr distribution density value and limiting influence value Then, based on the processing strength value The processing strength level is determined and further converted into sanding pressure, feed rate, sanding head depressor, number of processing cycles, and post-processing inspection requirements, so that the parameter formula mapping results can be directly executed by the actuators in the sanding and deburring station group.

[0083] After obtaining the initial processing strength, the processor reduces the initial processing strength based on the limiting influence value. For the i-th processing region, the processor obtains the corrected processing strength according to the following formula:

[0084] in, Indicates the first Corrected processing strength for each processing area; Indicates the first The initial processing intensity of each processing zone is preliminarily determined based on the parameter formula; Indicates the first The extent to which each processing area is affected by the restricted area; This indicates the coefficient for reducing processing strength.

[0085] In this embodiment, the preset parameter formula library stores the processing intensity reduction coefficient. When the restricted area is the assembly reference plane, dimension-sensitive edge, or marking location, Take 0.30; when the restricted area is a normal avoidance area, The value is set to 0.15. The above parameters are determined based on the results of trial processing of similar workpieces. During the trial processing, the edge changes near the restricted area, the degree of excessive sanding, and the final inspection results are recorded, and the corresponding processing strength reduction coefficient is determined based on the inspection results.

[0086] Processing strength reduction coefficient The determination is based on the workpiece material, workpiece thickness, type of restricted area, and contact width of the sanding tool. When the restricted area is an assembly reference surface, a dimensionally sensitive edge, or a marking location... Taking a relatively high value significantly reduces the corrected machining strength; when the restricted area is just a normal avoidance position and the workpiece thickness is large, A relatively low value is chosen so that the modified processing strength is only slightly reduced. The processor determines the value of k through trial processing records. The processor also sets a minimum processing strength requirement in the preset parameter formula library; when When the processing intensity is below the minimum requirement, the processor writes the corresponding processing area into the intermediate detection range, and the next station decides whether to compensate for the processing based on the intermediate detection result.

[0087] After strength correction, the processor determines the control requirements for the corresponding processing area based on the corrected processing strength. These control requirements include the execution station, sanding pressure, feed rate, sanding head depressor depth, number of processing passes, processing path, depressurization entry distance, lifting exit distance, and post-processing inspection requirements. The depressurization entry distance controls the sanding head to reduce contact strength in advance when approaching the restricted area, while the lifting exit distance controls the sanding head to promptly disengage from contact when leaving the processing area, preventing the sanding head from dragging and grinding adjacent areas. The processor writes the processing target, station allocation requirements, and control requirements into the processing control data according to the area number.

[0088] S3. Based on the processing control data, the processing responsibilities of the sanding and deburring station, and the connection between the preceding and following stations, generate the station control data corresponding to the sanding and deburring station group. Based on the processing objectives in the processing control data, determine the processing responsibilities that the corresponding processing area needs to undertake; based on the processing responsibilities and the station sequence of the sanding and deburring station group, determine the transfer relationship between the corresponding processing area and the preceding and following stations; based on the transfer relationship, allocate the total processing requirements of the same processing area to the preceding and following sanding and deburring stations; write the allocated control requirements, post-processing inspection requirements, and the connection marks transferred to the next station into the corresponding station control data.

[0089] The sanding and deburring station group includes, in sequence according to the workpiece conveying direction, a main removal station, an edge trimming station, a shape adaptation processing station, and a surface finishing station. The main removal station is used to remove burrs from areas with high protrusion. The edge trimming station is used to trim continuous edges. The shape adaptation processing station is used to trim areas with contour changes. The surface finishing station is used to perform light surface finishing. Each subsequent station adjusts the processing intensity of the corresponding processing area based on the connection marks of the previous station and the intermediate inspection results.

[0090] After generating machining control data, the processor reads the processing objectives from the data and determines the machining responsibilities for the corresponding machining areas based on these objectives. Machining responsibilities translate the processing objectives of a machining area into task types that specific workstations can perform. For areas with high protrusion, the machining responsibility is primary removal; for continuous edge areas, the responsibility is edge trimming; for areas with contour changes, the responsibility is shape adaptation; and for areas with slight surface burrs, the responsibility is surface finishing.

[0091] In this embodiment, the sanding and deburring station group includes, in sequence according to the workpiece conveying direction, a main deburring station, an edge trimming station, a shape adaptation treatment station, and a surface finishing station.

[0092] The main removal station is responsible for removing burrs from areas with high protrusion, primarily used to reduce burr height and remove localized protrusion residue; The edge trimming station is responsible for trimming continuous edge positions, mainly used to deal with small burrs and sharp edges left after the main removal. The shape adaptation processing station undertakes the task of trimming the contour of the area, and is mainly used to process the openings, corners and curved surface transitions. The surface finishing station is responsible for light surface finishing tasks, mainly used to improve surface roughness, slight sanding marks and surface consistency.

[0093] The processor determines the transfer relationship between corresponding processing areas and preceding and following stations based on processing responsibilities and the station sequence of the sanding and deburring station group. For areas processed by the main removal station, the following station needs to receive the main removal completion status, residual status, and over-grind risk status; for areas processed by the edge trimming station, the following station needs to receive the judgment result on whether the edge is close to the upper limit of the allowable chamfer range; for areas processed by the shape adaptation processing station, the following station needs to receive the judgment result on whether the opening, corner, or contour change position needs to be checked in detail.

[0094] After determining the transfer relationship, the processor allocates the total processing requirements of the same processing area to the preceding and following sanding and deburring stations for execution. The total processing requirements include the removal target, edge trimming target, surface finishing target, and post-processing inspection requirements.

[0095] For areas with high processing intensity, the main removal station handles the larger target processing volume, the edge trimming station handles the remaining trimming volume, and the shape adaptation processing station and surface finishing station handle the light finishing volume. For areas with medium processing intensity, the main removal station and edge trimming station share the main processing workload, while subsequent stations handle supplementary finishing work. For areas with low processing intensity, the main removal station skips heavy sanding, while the edge trimming station, shape adaptation station, and surface finishing station handle the corresponding light processing tasks according to the type of processing area.

[0096] The target processing ratio for each workstation is determined by the workpiece material, burr condition, workstation processing capacity, and trial processing results, and is stored in a preset parameter formula library. When allocating the target processing volume, the processor calls the corresponding ratio based on the processing intensity value, workstation responsibility, and limiting influence value. When the preceding workstation is suitable for undertaking the main removal task and the processing area is far from the limiting area, the preceding workstation undertakes a higher ratio; when the preceding workstation is close to the limiting area or there is a risk of over-grinding, the preceding workstation undertakes a lower ratio, and the remaining portion is compensated by the following workstation based on intermediate inspection results.

[0097] In this embodiment, a station allocation ratio table is stored in the preset parameter formula library. This table represents the proportion of the total processing requirements for the same processing area among the main removal station, edge trimming station, shape adaptation station, and surface finishing station. For processing areas with high processing intensity and far from restricted areas, the main removal station handles 60% to 75% of the total processing requirements, the edge trimming station handles 15% to 25%, and the shape adaptation station and surface finishing station together handle 10% to 20%. For medium processing intensity areas, the main removal station handles 35% to 50%, the edge trimming station handles 25% to 40%, and the shape adaptation station and surface finishing station together handle 15% to 25%. For low processing intensity areas, the main removal station does not undertake heavy removal tasks, and the edge trimming station, shape adaptation station, and surface finishing station handle corresponding light processing tasks according to the processing area type.

[0098] when When the impact threshold exceeds a preset limit, the processor reduces the workload of the primary removal station and allocates the remaining processing volume to the next station. When the processing area is located at an opening, corner, or contour change location, the processor increases the workload of the shape adaptation processing station. When the final surface finish requirement is high, the processor increases the workload of the surface finishing station. The processor generates station control data based on the above station allocation ratio table and writes the station number, area number, target processing ratio, control requirements, and inspection requirements to the corresponding station.

[0099] The processor writes the allocated control requirements, post-processing inspection requirements, and connection markers to the next station into the corresponding station control data. The station control data includes workpiece identification information, area number, processing position, station number, control requirements, post-processing inspection requirements, and connection markers. Control requirements are used to control the actions of the actuators at the current station; post-processing inspection requirements are used to determine whether intermediate inspection is needed for the area after completion at the current station; connection markers are for the next station to read. Connection markers include main removal completion markers, compensation processing markers, over-grinding risk markers, and key verification markers. After reading the connection markers, the next station, in conjunction with the intermediate inspection results, determines whether to maintain, enhance, or reduce the processing intensity.

[0100] S4. Control the actuators in the sanding and deburring station group to process sequentially according to the station control data, and correct the station control data of the next station based on the intermediate inspection results of the previous station. Based on the actual position of the workpiece in the current station, correct the processing position of the corresponding processing area in the current station; control the actuator in the current station to perform sanding and deburring on the corresponding processing area according to the station control data, and record the actual execution status of the current station; after the current station completes processing, perform intermediate inspection on the corresponding processing area and obtain the intermediate inspection results; based on the actual execution status and intermediate inspection results, determine the degree of processing completion of the current station; and correct the station control data of the next station for the corresponding processing area based on the degree of processing completion.

[0101] In this process, after the workpiece enters the sanding and deburring station group, the processor controls the actuators in each station to process it sequentially according to the workpiece conveying sequence. When the workpiece arrives at the current station, the processor first corrects the processing position of the corresponding processing area in the current station based on the position detection result of the current station and the aforementioned workpiece position deviation. This correction is used to ensure that the processing position corresponding to the area number is consistent with the actual position of the workpiece, preventing the sanding head from deviating from the burr position or contacting the restricted area due to conveying errors.

[0102] After the machining position is corrected, the processor controls the actuators in the current station to perform sanding and deburring on the corresponding machining area according to the station control data. The actuators include corresponding structures from the sanding belt mechanism, grinding brush mechanism, grinding wheel mechanism, lifting mechanism, feed mechanism, and clamping mechanism. The processor adjusts the sanding pressure, feed speed, sanding head depressor, number of passes, and machining path of the actuators based on the station control data. Before entering the machining area, the actuators gradually contact the workpiece according to the depressurization entry requirements; within the machining area, they complete the sanding according to the target control requirements; and upon leaving the machining area, they exit the workpiece surface according to the lifting exit requirements.

[0103] During the current workstation's processing, the processor records the actual execution status of that workstation. This includes actual sanding pressure, actual feed rate, actual pressure applied, actual contact time, actual number of processing passes, actuator load changes, vibration status, and abnormal alarm information. After the current workstation completes processing, the processor performs intermediate inspections on the corresponding processing area according to post-processing inspection requirements, obtaining intermediate inspection results. Intermediate inspections focus on areas with heavy burrs, locations near restricted areas, locations where abnormalities occurred during the current workstation's execution, locations where compensation processing markers are written, and locations where key review markers are written.

[0104] The processor calculates the removal deviation based on the target removal amount at the current workstation and the actual removal amount obtained from intermediate detection. For the first... For each processing area, the processor calculates and removes deviations according to the following formula:

[0105] in, Indicates the first The removal deviation of each processing area after the current workstation; Indicates the current workstation's relationship to the first... Target removal amount for each processing area; Indicates the current workstation's relationship to the first... Actual removal volume in each processing area. Actual removal volume It is obtained by subtracting the height of the protrusion before processing from the remaining height of the protrusion obtained from intermediate detection. A value greater than 0 indicates that the current workstation has not removed enough material; When the value equals 0, it means that the current workstation has reached the target removal amount; When the value is less than 0, it indicates that the current workstation has exceeded the target removal amount, and attention should be paid to the risk of over-sanding.

[0106] If the current workstation does not remove enough burrs and the remaining burrs are within the range that the next workstation can handle, the processor calculates the compensation processing intensity for the next workstation according to the following formula:

[0107] in, Indicates the next workstation to the first Each processing area requires increased compensation processing intensity; This represents the compensation coefficient. In this embodiment, the compensation coefficient is stored in the preset parameter formula library. When the next workstation is an edge trimming workstation, Take 0.8; when the next station is a shape adaptation processing station, Take 0.5; when the next station is a surface finishing station, The value is set to 0.3. The processor calls the corresponding compensation coefficient based on the processing responsibility undertaken by the next station, and adjusts the control requirements of the next station according to the remaining burr status.

[0108] Compensation coefficient The determination is based on the processing responsibilities of the subsequent workstation, the type of sanding tools, the workpiece material, and the condition of any remaining burrs. When the subsequent workstation is responsible for edge finishing, and the sanding tools still have the capability to remove remaining burrs... Take a relatively high value; when the subsequent workstation mainly undertakes the responsibility of shape adaptation processing. Take the average value; when the subsequent workstation mainly undertakes surface finishing responsibilities. Choose relatively low values ​​to avoid turning light finishing stations into heavy removal stations. The processor determines the corresponding values ​​for different stations based on trial processing results of similar workpieces. The value is stored in the preset parameter recipe library.

[0109] The processor corrects the station control data for the next workstation based on the compensated processing intensity and intermediate inspection results. The processor will compensate for the processing intensity. This is converted into the control parameter correction amount for the next workstation. The preset parameter formula library stores the correspondence between compensation intensity and sanding pressure increment, feed rate reduction, sanding head depressor increment, processing number increment, and processing path extension. When When the compensation range is low, the processor only increases the post-processing inspection requirements of the next station and slightly reduces the feed rate; when When within the medium compensation range, the processor increases the sanding pressure of the next station, decreases the feed rate, and adds one local machining operation; when When in the high compensation range, the processor increases the sanding pressure and sanding head downward pressure of the next station, extends the processing path of the corresponding processing area, and writes the processing area into the key detection range.

[0110] The compensation processing intensity must not exceed the maximum reliable compensation limit of the subsequent workstation. The maximum reliable compensation limit is determined by the processing responsibilities of the subsequent workstation, the type of sanding tools, the workpiece material, the allowable chamfer range, and the results of trial processing of similar workpieces. If the maximum reliable compensation limit is exceeded, or if the intermediate detection results show that the edge is close to the upper limit of the allowable chamfer range, the processor will no longer increase the compensation intensity of the next station, but will generate a rework mark or a manual review mark.

[0111] If the previous station does not remove enough burrs and the remaining burrs are still within the processing range of the next station, the processor increases the sanding pressure of the corresponding processing area of ​​the next station, reduces the feed rate, increases the post-processing inspection requirements, and writes a compensation processing mark.

[0112] When the target removal amount has been reached at the previous station, the processor maintains the original station control data for the next station. When the removal amount at the previous station exceeds the target removal amount, or when intermediate detection shows that the edge is approaching the upper limit of the allowable chamfer range, the processor reduces the processing intensity of the corresponding processing area at the next station and writes an over-grind risk flag.

[0113] If the previous station does not remove enough burrs, but the remaining burrs exceed the reliable compensation range of the next station, the processor generates a rework mark and stops the next station from performing forced compensation processing on that area.

[0114] S5. Perform final inspection on the completed workpiece, generate rework control data, manual verification marks and processing parameter correction records, and update the corresponding relationship of processing parameters according to the processing parameter correction records; Collect final inspection data for completed workpieces, and determine the burr residue status, edge treatment status, and surface treatment status of each processing area based on the final inspection data. When the corresponding processing area meets the processing requirements, mark the corresponding processing area as completed. When the corresponding processing area can still be corrected through online processing, generate rework control data based on the corresponding area number. When there are abnormal situations in the corresponding processing area that require manual confirmation, generate a manual review mark based on the corresponding area number. Write the abnormal area, abnormal type, actual execution status, intermediate inspection results, and final inspection results into the processing parameter correction record. When the same workpiece model, the same processing area, and the same abnormal type reach the preset number of abnormalities, generate candidate parameter formulas based on the processing parameter correction record. Verify the candidate parameter formulas on similar workpieces, update the processing parameter correspondence based on the verification results, and retain the original processing parameter correspondence if the verification does not meet the processing requirements.

[0115] After the workpiece completes the sanding and deburring process, the processor controls the workpiece to enter the final inspection position and collects the final inspection data. The final inspection data is used to determine the burr residue status, edge treatment status, and surface treatment status of each processing area.

[0116] The burr residue status is used to confirm whether there are still protrusions, folds, or localized residues in the processing area; The edge processing status is used to confirm whether the edge meets the allowable chamfer range and whether there are sharp edges or excessive grinding. The surface treatment status is used to confirm whether there are fine burrs, obvious scratches, localized burns, or uneven sanding marks on the surface.

[0117] The processor evaluates each processing area based on the final inspection data. When a processing area meets the processing requirements, the processor marks it as complete and writes the final inspection result to the workpiece processing record. If a processing area can still be corrected through online processing, the processor generates rework control data based on the corresponding area number. The rework control data includes the rework area number, rework target, rework station, rework control requirements, and post-rework inspection requirements. After generating the rework control data, the workpiece enters the rework path, and the rework station performs local processing on the corresponding area.

[0118] When an anomaly requiring manual verification exists in a corresponding processing area, the processor generates a manual verification mark based on the corresponding area number. Anomalies requiring manual verification include unstable inspection data, unverifiable edge processing status, suspected dimensional risks, suspected over-sanding, inability to automatically judge processing results near restricted areas, and uncertain surface conditions resulting from actuator malfunctions. The manual verification mark records workpiece identification information, area number, anomaly type, and final inspection result, facilitating direct location of the area requiring inspection by the operator.

[0119] After the final inspection is completed, the processor writes the abnormal area, abnormal type, actual execution status, intermediate inspection results, and final inspection results into the processing parameter correction record. The processing parameter correction record includes the initial burr state of the area, the matched parameter formula, the assigned station control data, the actual execution status of each station, intermediate inspection results, and final inspection results. Based on the processing parameter correction record, the processor determines the source of the abnormality and corrects the processing objectives, processing intensity, and station allocation requirements for subsequent processing of similar workpieces.

[0120] When similar workpieces repeatedly show burr residue in the same area, the processor increases the processing target or initial processing intensity of the subsequent matching parameter formula for that area; when similar workpieces repeatedly show the risk of over-sanding in the same area, the processor reduces the subsequent processing intensity of that area and increases intermediate inspection requirements; when similar workpieces repeatedly show under-processing near the restricted area, the processor maintains the restricted area protection requirements and adjusts the compensation method of the next station; when the anomaly is related to changes in the actuator load or the status of consumables, the processor writes a consumables check prompt in the processing parameter correction record.

[0121] When the processor continuously reaches a preset number of anomalies for the same workpiece model, processing area, and anomaly type, it triggers a candidate update of the parameter recipe library. In this embodiment, the preset number of anomalies can be set to 5. When the same workpiece model, processing area, and anomaly type occur consecutively 5 times, the processor generates a candidate parameter recipe version. The candidate parameter recipe version is first applied to verify the workpiece. If the verification result meets the processing requirements, the parameter recipe library is updated; if the verification result does not meet the processing requirements, the original parameter recipe is retained. Candidate updates do not directly overwrite the original parameter recipe. Instead, candidate parameter recipe versions are first generated, and the update reason, abnormal area, abnormal type, original parameter recipe, new parameter recipe, and update time are recorded.

[0122] When the anomaly type is burr residue, the candidate parameter formula increases the processing target or initial processing intensity of the corresponding processing area, with a single increase not exceeding the preset adjustment limit of the original processing intensity. In this embodiment, the preset adjustment limit is set to 20% of the original processing intensity. Each time the processor adjusts the processing intensity, the adjustment range is limited to within the preset adjustment limit. When the anomaly type is excessive sanding or edge chamfering approaching the limit, the candidate parameter formula decreases the processing intensity of the corresponding processing area, with a single decrease not exceeding the preset adjustment limit of the original processing intensity, and intermediate detection requirements are added. When the anomaly type is related to the status of consumables or abnormal load of the actuator, the processor does not directly update the parameter formula, but instead writes a consumable inspection prompt or equipment inspection prompt in the processing parameter correction record.

[0123] After candidate parameter formulations are generated, the processor applies them to subsequent verification workpieces of the same type. If the final inspection results of the verification workpiece meet the requirements for burr residue, edge treatment, and surface treatment, the processor confirms the candidate parameter formulation as a valid version. If the verification workpiece still exhibits the same anomaly or shows a new risk of over-sanding, the processor reverts to the original parameter formulation and generates a manual review mark. Through this version retention, verification, and reverting process, the impact of accidental detection anomalies on the parameter formulation library is reduced.

[0124] After the preset parameter formula library is updated based on the processing parameter correction records, when subsequent workpieces of the same type enter the production line, new processing control data will be generated according to the updated processing parameter correspondence. Therefore, the sanding and deburring method can correct the parameter formula based on actual production results, forming a continuous closed loop of workpiece inspection, parameter mapping, station collaboration, final inspection, and parameter updating.

[0125] Example 2 Reference Figure 5 This is another embodiment of the present invention, which provides a sanding and deburring apparatus based on parameter formula mapping and multi-station collaboration. This apparatus is used to perform the sanding and deburring method of Embodiment 1.

[0126] Specifically, it includes a detection sensor, a sanding and deburring station group, a processor, and a memory that communicates with the processor. The detection sensor is connected to the processor to collect actual detection data of the workpiece and send it to the processor; The sanding and deburring station group is connected to the processor control and includes an actuator for performing sanding and deburring. The memory stores control instructions. When the control instructions are executed by the processor, the processor generates station control data based on the actual detection data of the workpiece.

[0127] The detection sensors are communicatively connected to the processor to collect actual workpiece detection data and send it to the processor. The detection sensors include an image detection sensor and a height detection sensor positioned at the detection location. The image detection sensor collects data on the workpiece's outer boundary, opening boundary, surface burr location, marking location, and obvious defect location; the height detection sensor collects data on the workpiece's edge height, opening perimeter height, local protrusion height, and surface undulation height. After receiving the data from the image detection sensor and the height detection sensor, the processor maps the image detection results and height detection results to the same workpiece identification information to form the actual workpiece detection data.

[0128] At the front end of the detection sensor, the device can also be equipped with a workpiece identification component and a positioning mechanism. The workpiece identification component is communicatively connected to the processor to read the identification code on the workpiece surface and send the workpiece identification information to the processor. The positioning mechanism is used to confirm the position of the workpiece when it enters the detection position, aligning the front end of the workpiece with the front reference of the detection position and bringing the side of the workpiece close to the lateral reference. Based on the workpiece identification information, the processor retrieves the corresponding standard machining data of the workpiece from the memory or an external database, and, combined with the position status feedback from the positioning mechanism, determines whether the data collected by the detection sensor can establish a correspondence with the standard machining data of the workpiece.

[0129] The memory stores control commands, standard workpiece machining data, a preset parameter formula library, machining control data, station control data, inspection results, and machining parameter correction records. Standard workpiece machining data includes workpiece model, material, thickness, outline, orifice location, surface to be sanded, edge to be deburred, allowable chamfering range, prohibited sanding area, assembly reference surface location, marking location, dimensionally sensitive edges, and final surface requirements. The preset parameter formula library includes the correspondence between different workpiece states and sanding / deburring control methods, and stores height thresholds, length thresholds, spacing thresholds, preset safety distances, weighting coefficients, machining intensity grading thresholds, machining intensity reduction coefficients, compensation coefficients, and preset anomaly counts.

[0130] The processor executes control instructions stored in memory. After reading the workpiece identification information, the processor retrieves the workpiece's standard machining data and controls the detection sensors to collect actual workpiece detection data. Based on the workpiece's standard machining data and actual detection data, the processor divides the machining area into machining areas and restriction areas, and writes an area number for each machining area. The processor then generates burr status data based on the burr height, continuous range, distribution density, and distance between the machining area and the restriction area within the machining area, forming the basic data for workpiece deburring.

[0131] The processor is also used to call a preset parameter formula library based on the basic data of workpiece deburring. Based on the workpiece material, workpiece thickness, processing area type, burr protrusion degree, burr continuity range, burr distribution density, and limiting influence value, the processor determines the processing objectives, processing intensity, station allocation requirements, and post-processing inspection requirements for the corresponding processing area, and generates processing control data according to the area number. After generating the processing control data, the processor converts the processing control data into station control data that each station can execute, according to the station sequence of the sanding and deburring station group and the processing responsibilities of each station.

[0132] The sanding and deburring station group is connected to the processor control. The sanding and deburring station group includes a main removal station, an edge trimming station, a shape adaptation station, and a surface finishing station arranged sequentially along the workpiece conveying direction. The main removal station performs main removal on machining areas with high protrusion; the edge trimming station performs edge trimming on continuous edge locations; the shape adaptation station performs adaptive trimming on openings, corners, and contour changes; and the surface finishing station performs finishing on minor burrs and slight sanding marks. Each station includes an actuator for performing the sanding and deburring action, which may include corresponding structures from a sanding belt mechanism, a grinding brush mechanism, a grinding wheel mechanism, a lifting mechanism, a feeding mechanism, and a clamping mechanism.

[0133] The processor is connected to the actuators at each workstation. Based on the workstation control data, the processor controls the sanding pressure, feed rate, sanding head depressor depth, number of passes, and processing path of the corresponding actuator. Before the actuator enters the processing area, the processor controls it to gradually contact the workpiece based on the workstation control data; after the actuator reaches the processing area, the processor controls it to perform sanding and deburring according to the control requirements of the corresponding area; when the actuator leaves the processing area, the processor controls it to lift or depressurize to minimize the impact on adjacent restricted areas.

[0134] An intermediate detection component can also be set up in the sanding and deburring station group. This component communicates with the processor and is used to collect intermediate detection results of the corresponding processing area after the previous station has completed processing. Based on the actual execution status of the previous station and the intermediate detection results, the processor determines whether the corresponding processing area has reached the target removal amount for the current station. When there is residue that can be compensated for by the next station, the processor corrects the station control data of the next station and writes a compensation processing mark; when the processing area approaches the risk of over-sanding, the processor reduces the processing intensity of the corresponding processing area in the next station and writes an over-grinding risk mark; when the remaining burrs exceed the reliable compensation range of the next station, the processor generates a rework mark.

[0135] The device may also include a final inspection component. This component is positioned after the sanding and deburring station and communicates with the processor to collect final inspection data after processing. The processor uses this final inspection data to determine the burr residue status, edge treatment status, and surface treatment status of each processing area. If a processing area meets the processing requirements, the processor marks it as complete; if the processing area can still be corrected through online processing, the processor generates rework control data; if the processing area exhibits unstable detection, suspected dimensional risks, suspected over-sanding, or automatic judgment anomalies due to proximity to restricted areas, the processor generates a manual review mark.

[0136] The processor is also used to update the mapping relationship of processing parameters based on the final inspection results. The processor writes the abnormal area, abnormal type, actual execution status, intermediate inspection results, and final inspection results into the processing parameter correction record. When the same workpiece model, the same processing area, and the same abnormal type continuously reach a preset number of abnormalities, the processor adjusts the processing target, processing intensity, station allocation requirements, compensation coefficient, or intermediate inspection requirements in the preset parameter formula library according to the processing parameter correction record. The updated preset parameter formula library is used for parameter formula matching and station control data generation for subsequent similar workpieces.

[0137] Therefore, the sanding and deburring device in this embodiment obtains the actual state of the workpiece through the detection sensor, completes the parameter formula mapping and station control data generation through the processor and memory, and completes multi-station collaborative processing through the actuator in the sanding and deburring station group, so that detection, parameter matching, execution control, intermediate detection, final detection and parameter updating can be continuously completed in the same device.

[0138] In a trial processing example, workpieces of the same model, material, and thickness were selected as samples. After the processor read the standard processing data of the workpieces, the initial burr state was collected by an image detection sensor and a height detection sensor. The detection results showed that the first... The initial burr height in the processing area is between the normal height threshold and the verification height threshold, with a continuous range of moderate density and a moderate distribution density. The shortest distance between this area and the adjacent dimension-sensitive edge is also considered. Less than the preset safety distance The processor matches a protective parameter formula to a preset parameter formula library, reduces the processing intensity of the main removal station, and allocates the remaining processing amount to the edge trimming station.

[0139] After the main removal station completes processing, intermediate inspection results show that a small amount of residue remains in the area, but the remaining burrs are within the reliable compensation range of the edge trimming station. The processor calculates the compensation processing intensity based on the removal deviation and increases the sanding pressure and reduces the feed rate in the corresponding area of ​​the edge trimming station, while also increasing post-processing inspection requirements. After the edge trimming station completes the compensation processing, the final inspection results show that the burr residue state, edge treatment state, and surface treatment state of the area all meet the processing requirements. The processor marks this area as complete and writes the actual execution status, intermediate inspection results, and final inspection results into the processing parameter correction record. In summary, this invention can generate corresponding processing control data based on the actual burr state of the workpiece, the location of the processing area, and the degree of influence of the restricted area, so that different processing areas are matched with corresponding sanding pressure, feed speed, pressing amount, processing times, and inspection requirements; it can allocate the processing tasks of the same processing area to consecutive stations according to the processing responsibilities of the sanding and deburring station, reducing burr residue or local over-grinding caused by single-station processing; it can correct the station control data of the next station based on the intermediate inspection results of the previous station, so that the main removal, edge trimming, shape adaptation treatment, and surface finishing are continuously connected; it can generate rework control data, manual verification marks, and processing parameter correction records based on the final inspection results, and update the corresponding processing parameters for subsequent similar workpieces.

[0140] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A sanding deburring method based on parameter recipe mapping and multi-station coordination, characterized in that, The steps include the following: S1. Read the workpiece identification information and retrieve the workpiece standard processing data. Collect the actual detection data of the workpiece through the detection sensor, divide the processing area and generate burr status data to form the basic data for workpiece deburring. S2. Based on the basic data of deburring the workpiece, perform mapping and matching in the preset parameter formula library, establish the correspondence of processing parameters, and generate processing control data arranged by region number; S3. Based on the processing control data, the processing responsibilities of the sanding and deburring station, and the connection relationship between the preceding and following stations, generate station control data corresponding to the sanding and deburring station group. S4. Control the actuators in the sanding and deburring station group to process sequentially according to the station control data, and correct the station control data of the next station based on the intermediate detection results of the previous station. S5. Perform final inspection on the completed workpiece, generate rework control data, manual verification marks and processing parameter correction records, and update the corresponding relationship of the processing parameters according to the processing parameter correction records.

2. The sanding deburring method based on parameter recipe mapping and multi-station coordination according to claim 1, characterized in that, The process of forming the basic data for deburring the workpiece in step S1 is as follows: Based on the workpiece identification information, retrieve the standard processing data of the workpiece corresponding to the workpiece from the database; confirm the position of the workpiece entering the detection position, and obtain the actual detection data of the workpiece through the detection sensor; determine the workpiece's unprocessed position, restricted processing position, and burr distribution state based on the workpiece standard processing data and the workpiece actual detection data; map the workpiece standard processing data, the workpiece actual detection data, the unprocessed position, the restricted processing position, and the burr distribution state to the same workpiece identification information to form the basic data for workpiece deburring.

3. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 2, characterized in that, The process of collecting actual workpiece detection data in step S1 is as follows: The control image detection sensor and height detection sensor collect data on the workpiece at the detection position and establish the same detection coordinates based on the reference point of the detection position, the reference line of the conveying direction, and the reference line of the width direction. The image detection results and height detection results are correlated with coordinates to obtain the positional deviation, edge change state, surface change state, and height change state of the workpiece relative to the processing reference. A preset processing range is determined based on the workpiece's standard processing data. The preset processing range consists of the edge to be deburred, the periphery of the opening, and the surface to be sanded. Based on edge continuity, surface grayscale change, height protrusion change, and a preset burr height threshold, the position to be removed is determined within the preset processing range, and the degree of protrusion of the position to be removed is determined based on the height change state. Actual workpiece detection data is generated based on the detection coordinates, the positional deviation, the position to be removed, and the degree of protrusion.

4. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 3, characterized in that, The process of dividing the processing area and generating burr status data in step S1 is as follows: Based on the actual inspection data and standard processing data of the workpiece, the workpiece is divided into a processing area where sanding is allowed and a restricted area where sanding is restricted. The burr state of the corresponding processing area is determined based on the position, degree, continuous range, and distribution density of the protrusions within the processing area. The degree to which the processing area is affected by the restricted area is determined based on the distance between the processing area and the adjacent restricted area. Burr state data is generated based on the burr state and the degree to which the processing area is affected by the restricted area, and the burr state data is written into the corresponding processing area.

5. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 1, characterized in that, The process of establishing the correspondence between processing parameters and generating processing control data in step S2 is as follows: Based on the basic deburring data of the workpiece, a corresponding parameter formula is matched from the preset parameter formula library; a target parameter formula is determined based on the workpiece material, workpiece thickness, processing area type, burr state, and the degree of influence of the restricted area; when the matching result meets both the conventional processing conditions and the restriction protection conditions, the parameter formula that meets the restriction protection conditions is selected as the target parameter formula; the processing target, station allocation requirements, and initial processing intensity of the corresponding processing area are determined based on the target parameter formula; the initial processing intensity is corrected based on the degree of influence of the restricted area on the processing area, and the control requirements of the corresponding processing area are determined based on the corrected processing intensity; the processing target, station allocation requirements, and control requirements are written into the processing control data according to the area number.

6. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 1, characterized in that, The process of generating workstation control data in step S3 is as follows: Based on the processing objectives in the processing control data, determine the processing responsibilities that the corresponding processing area needs to undertake; based on the processing responsibilities and the station sequence of the sanding and deburring station group, determine the transmission relationship between the corresponding processing area and the preceding and following stations; based on the transmission relationship, allocate the total processing requirements of the same processing area to the preceding and following sanding and deburring stations; write the allocated control requirements, post-processing inspection requirements, and the connection mark to be transferred to the next station into the corresponding station control data.

7. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 6, characterized in that, The workstation configuration of the sanding and deburring station group in step S3 is as follows: The sanding and deburring station group includes, in sequence according to the workpiece conveying direction, a main removal station, an edge trimming station, a shape adaptation processing station, and a surface finishing station. The main removal station is used to remove burrs from areas with high protrusion. The edge trimming station is used to trim continuous edges. The shape adaptation processing station is used to trim areas with contour changes. The surface finishing station is used to perform light surface trimming. Each subsequent station adjusts the processing intensity of the corresponding processing area based on the connection marks and intermediate inspection results of the previous station.

8. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 1, characterized in that, The process of controlling the collaborative processing of the sanding and deburring station group in step S4 is as follows: Based on the actual position of the workpiece in the current station, the processing position of the corresponding processing area in the current station is corrected; the actuator in the current station is controlled to perform sanding and deburring on the corresponding processing area according to the station control data, and the actual execution status of the current station is recorded; after the processing is completed in the current station, intermediate inspection is performed on the corresponding processing area to obtain the intermediate inspection result; based on the actual execution status and the intermediate inspection result, the degree of completion of the processing in the current station is determined; based on the degree of completion of the processing, the station control data of the next station for the corresponding processing area is corrected.

9. The sanding and deburring method based on parameter formula mapping and multi-station collaboration according to claim 8, characterized in that, The process of finally detecting and updating the correspondence of the processing parameters in step S5 is as follows: The final inspection data of the completed workpiece is collected, and the burr residue status, edge treatment status, and surface treatment status of each processing area are determined based on the final inspection data. When the corresponding processing area meets the processing requirements, the corresponding processing area is marked as completed. When the corresponding processing area can still be corrected through online processing, rework control data is generated based on the corresponding area number. When there are abnormal situations in the corresponding processing area that require manual confirmation, a manual review mark is generated based on the corresponding area number. The abnormal area, abnormal type, actual execution status, intermediate inspection results, and final inspection results are written into the processing parameter correction record. When the same workpiece model, the same processing area, and the same abnormal type reach a preset number of abnormalities, a candidate parameter formula is generated based on the processing parameter correction record. The candidate parameter formula is verified on similar workpieces, and the processing parameter correspondence is updated based on the verification results. If the verification does not meet the processing requirements, the original processing parameter correspondence is retained.

10. A sanding and deburring device based on parameter formula mapping and multi-station collaboration, characterized in that, It includes a detection sensor, a sanding and deburring station assembly, a processor, and a memory that is communicatively connected to the processor; The detection sensor is communicatively connected to the processor and is used to collect actual detection data of the workpiece and send it to the processor. The sanding and deburring station group is controlled and connected to the processor, and the sanding and deburring station group includes an actuator for performing sanding and deburring. The memory stores control instructions. When the control instructions are executed by the processor, the processor generates station control data based on the actual detection data of the workpiece and controls the actuators in the sanding and deburring station group to perform the sanding and deburring method based on parameter formula mapping and multi-station collaboration as described in any one of claims 1 to 9.

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