A cutter head dynamic balance detection and correction device

Abstract

The application discloses a cutter head dynamic balance detection and correction device, which comprises a rack, a material conveying unit, a position adjustment unit, a transverse transfer unit, a detection and correction unit, a station transfer unit and a sorting and discharging unit arranged on the rack; the detection and correction unit is longitudinally provided with a dynamic balance preliminary detection station, a drilling correction station and a dynamic balance re-detection station, a connecting tool matched with a unified reference and a pressing type clamping and locking mechanism, and the drilling correction station is integrated with a turnover indexing drilling structure. The device can be connected with a production assembly line, and can automatically complete cutter head turnover and position adjustment, multi-station synchronous transfer, dynamic balance detection, indexing drilling weight removal and qualified sorting full-process operation, is suitable for a cutter head of a kitchen waste disposer with a pendulum hammer structure, and replaces manual repeated transfer and correction, so that production efficiency and correction precision are effectively improved, and labor cost is reduced.

Description

Technical Field

[0001] This invention belongs to the technical field of dynamic balancing correction equipment for rotating parts, and specifically relates to a dynamic balancing detection and correction device for a cutter head. Background Technology

[0002] Food waste disposers are the core equipment for on-site processing of household food waste. Their core working component is a high-speed rotating grinding disc, which pulverizes food waste into fine particles through impact and grinding, which are then discharged through the drain pipe. The dynamic balance performance of the grinding disc directly determines the equipment's maximum operating speed, operating noise, and service life, and is a core quality control indicator in the disc's manufacturing process.

[0003] Currently, the dynamic balancing of the blade discs in domestic food waste disposers largely relies on manual labor. Workers must repeatedly move the workpiece between the dynamic balancing tester and the drilling machine, performing multiple measurements and drilling until the standard is met. This process suffers from low production efficiency, poor positioning accuracy, insufficient product consistency, and high labor costs, making it unsuitable for large-scale assembly line production. Existing general-purpose dynamic balancing equipment is mostly designed for standard rotating parts such as motor rotors and hubs, making it difficult to adapt to thin disc-shaped blade discs with oscillating hammers. The dynamic balancing test of such blade discs requires the oscillating hammers to be in a free state with their faces upward, while drilling correction requires processing on the back of the blade disc, which places special requirements on the workpiece's posture adjustment. Furthermore, existing equipment is mostly for stand-alone operation, making it difficult to seamlessly integrate with upstream and downstream assembly lines and failing to meet the needs of fully automated production. Summary of the Invention

[0004] The purpose of this invention is to provide a tool turret dynamic balancing detection and correction device. This invention enables fully automated operation of the tool turret, including automatic feeding, position adjustment, initial dynamic balancing inspection, drilling correction, dynamic balancing re-inspection, and automatic sorting of qualified and unqualified products. It is suitable for machining thin-disc tool turrets with pendulum structures, can be seamlessly integrated with production lines, improves the production efficiency and machining accuracy of dynamic balancing correction, and reduces labor costs.

[0005] The technical solution of the present invention: a cutter head dynamic balance detection and correction device, comprising a frame, a material conveying unit, a position adjustment unit, a transverse transfer unit, a detection and correction unit, a station transfer unit and a sorting and discharging unit mounted on the frame; The material conveying unit is arranged longitudinally on one side of the frame, and includes a tray for carrying the cutter head and a pneumatic limiting component fixed to the side of its conveying path; the material conveying unit is used to continuously convey the tray carrying the cutter head, and to stop the cutter head to be processed at the loading station by means of the pneumatic limiting component. The pose adjustment unit is mounted on the frame and located beside the loading station. It is used to rotate the cutter head to adjust the detection pose. The lateral transfer unit is located between the pose adjustment unit and the detection and correction unit, and is used to laterally transfer the pose-adjusted cutter head from the loading station to the feeding end of the detection and correction station group. The detection and correction unit is set on the frame and located at the discharge end of the transverse transfer unit. It includes a dynamic balance initial inspection station, a drilling correction station and a dynamic balance re-inspection station arranged in sequence along the longitudinal direction. These stations are used to complete the initial measurement of the unbalance of the cutter head, the drilling weight removal correction and the re-inspection of the unbalance after correction, respectively. The station transfer unit is located above the detection and correction unit. It is arranged longitudinally across the dynamic balancing initial inspection station, the drilling correction station, and the dynamic balancing re-inspection station, and is used to simultaneously pick up, move, and place the cutter head between the three stations. The sorting and discharge unit is located at the discharge end of the detection and correction unit and below the end of the movement path of the station transfer unit. It is used to separate the cutter head into qualified products and unqualified products according to the detection results of the dynamic balance re-inspection station.

[0006] The aforementioned cutter head dynamic balance detection and correction device includes a connecting fixture at the center of the cutter head. The connecting fixture includes a connecting screw and a locking nut that pass through the center hole of the cutter head. The connecting screw and the locking nut are threaded together to fix the connecting fixture to the cutter head.

[0007] The aforementioned cutter head dynamic balancing detection and correction device includes a material conveying unit that is a closed-loop double-speed chain conveyor mechanism. This mechanism comprises a frame body, two parallel double-speed chain profiles, a transmission sprocket assembly, a drive motor, and multiple carrying trays. The double-speed chain profiles have an upper working channel and a lower return channel, with the double-speed chain embedded in the corresponding channel. The bottom of the tray contacts the rolling part of the double-speed chain to achieve follow-up conveying. The upper surface of the tray has a positioning groove adapted to the shape of the cutter head to limit offset during the cutter head conveying process. The pneumatic limiting assembly includes a limiting cylinder and a stop plate. The limiting cylinder is fixed to the side of the double-speed chain profile, and the stop plate is connected to the piston rod end of the limiting cylinder. The piston rod extends to drive the stop plate to block the tray, achieving precise positioning of the loading station.

[0008] The aforementioned cutter head dynamic balance detection and correction device includes a tilting mechanism, comprising a tilting shaft, a gripper assembly, a counterweight, and a tilting drive assembly. The tilting shaft is rotatably mounted on a side support of the loading station. The gripper assembly is fixed to the end of the tilting shaft facing the cutter head and is used to grip the connecting screw at the center of the cutter head. The counterweight is fixed on the tilting shaft on the side opposite to the gripper assembly and is used to balance the tilting load of the gripper assembly and the cutter head. The tilting drive assembly is connected to the tilting shaft via a belt drive structure and is used to drive the tilting shaft to rotate the gripper assembly, thereby achieving the switching of the cutter head's forward and reverse orientations. The gripper assembly includes a fixed gripper, a gripper seat, a movable gripper, and a return spring. The fixed gripper is fixed to one side of the gripper seat, the movable gripper is hinged to the other side of the gripper seat, and the return spring abuts against the movable gripper and the gripper seat, so that the gripper assembly remains in a closed clamping state when no external force is applied.

[0009] The aforementioned cutter head dynamic balancing detection and correction device is provided with a station base for the initial dynamic balancing inspection station, the drilling correction station, and the dynamic balancing re-inspection station. A clamping and locking mechanism is installed at the center of each station base. The clamping and locking mechanism is coaxially engaged with the connecting screw at the center of the cutter head to achieve the positioning and fixing of the cutter head. The clamping and locking mechanism includes multiple sets of parallelogram clamping components arranged equidistantly around the center of the workstation, a synchronous drive ring, and an intermittent locking component that is linked to the synchronous drive ring. Each parallelogram clamping assembly includes a fixed hinge seat, an upper connecting rod, a lower connecting rod, and a clamping block. The fixed hinge seat is fixed inside the workstation base. The upper and lower connecting rods are arranged parallel to each other vertically, with their outer ends hinged to the fixed hinge seat and their inner ends hinged to the side of the clamping block, together forming a horizontally movable parallelogram linkage structure. The clamping blocks of all parallelogram clamping assemblies are arranged facing the center of the workstation. The synchronous drive ring is a ring structure and is coaxially sleeved in the mounting cavity of the workstation base. All clamping blocks are slidably mounted on the circumferential surface of the synchronous drive ring. When the synchronous drive ring is driven by a vertical downward pressing force, it moves downward, causing all the lower connecting rods to swing downward synchronously. Through the parallelogram connecting rod structure, it drives all the clamping blocks to move horizontally towards the center synchronously and clamp the rod body of the connecting screw. The intermittent locking assembly includes a guide sleeve and a locking element. The guide sleeve is fixed to the bottom center of the workstation base and located directly below the synchronous drive ring. The inner wall of the guide sleeve is integrally provided with an annular guide tooth. The annular guide tooth consists of multiple deep grooves, shallow grooves, and guide ramps. The deep grooves and shallow grooves are arranged alternately along the circumference of the guide sleeve. Adjacent deep grooves and shallow grooves are smoothly transitioned by inclined guide ramps. The axial depth of the bottom of the deep groove is greater than that of the bottom of the shallow groove. The locking element is coaxially inserted into the guide sleeve in the vertical direction; the side wall of the locking element is uniformly provided with multiple locking teeth in the circumferential direction, and the locking teeth are adapted to the groove shape of the deep groove and the shallow groove, and can be embedded in the corresponding groove. The locking member moves up and down along the axial direction of the guide sleeve. When the locking teeth are engaged in the deep groove, the synchronous drive ring is in a high position and the clamping block is in a retracted and released state. When the locking teeth are engaged in the shallow groove, the synchronous drive ring is in a low position and the clamping block is in an extended and clamped state. When the synchronous drive ring is pressed vertically to drive the locking member downward, the locking teeth slide along the guide slope and drive the locking member to deflect circumferentially by one tooth position. By pressing the synchronous drive ring vertically twice, the locking teeth can be driven to alternately engage in the deep groove and the shallow groove, thereby realizing the cyclic switching between the clamped state and the released state.

[0010] The aforementioned cutter head dynamic balancing detection and correction device includes a transverse transfer unit comprising a synchronous belt linear module, a transverse slide, a transverse sliding platform, and a pawl. The synchronous belt linear module is fixed transversely to the frame, and the transverse sliding platform is positioned between the posture adjustment unit and the dynamic balancing initial inspection station to provide horizontal movement support for the cutter head. The transverse slide is slidably mounted on the guide rail of the synchronous belt linear module, and the pawl is fixed to the bottom of the transverse slide. The lower end of the pawl is provided with a latch adapted to a locking nut. When the transverse slide moves, the latch engages with the locking nut, causing the cutter head to disengage from the gripper assembly of the posture adjustment unit and transversely transport the cutter head directly above the clamping and locking mechanism of the dynamic balancing initial inspection station.

[0011] The aforementioned cutter head dynamic balancing detection and correction device includes a workstation transfer unit comprising a longitudinal ball screw module, a longitudinal guide rail, a mounting beam, multiple sets of lifting cylinders, and mechanical grippers. The longitudinal ball screw module and the longitudinal guide rail are arranged parallel to each other, both positioned along the longitudinal direction of the detection and correction workstation on the upper part of the frame. The bottom of the mounting beam is fixedly connected to the screw slide of the longitudinal ball screw module and slidably engaged with the longitudinal guide rail, driven by the longitudinal ball screw module to perform linear reciprocating motion along the longitudinal guide rail. Multiple lifting cylinders... The cylinders are fixed to the mounting beam at equal intervals along the longitudinal direction, and the center distance between adjacent lifting cylinders is the same as the center distance between adjacent workstations. Each lifting cylinder has a mechanical gripper installed at the lower end of its piston rod. The mechanical gripper is a three-jaw centering clamping structure used to grip the locking nut at the center of the cutter head. The longitudinal ball screw module drives the mounting beam to move longitudinally, and in conjunction with the extension and retraction of the lifting cylinders, the multiple mechanical grippers can synchronously transfer the cutter head between the three workstations: the initial dynamic balancing inspection station, the drilling correction station, and the dynamic balancing re-inspection station.

[0012] The aforementioned cutterhead dynamic balancing detection and correction device includes a drilling correction station comprising a station base, a tilting assembly, an indexing drive assembly, and a drilling feed assembly. The tilting assembly includes a feed cylinder, a fork, and a tilting slider. The tilting slider has an L-shaped groove on its side. The fork is fixedly connected to the piston rod end of the feed cylinder, and the end of the fork is embedded in the L-shaped groove on the side of the tilting slider. The feed cylinder extends and retracts, causing the fork to slide along the L-shaped groove, thereby pushing the tilting slider to rotate around the hinge axis, switching the cutterhead from a horizontal detection posture to a vertical one. The drilling posture is straight. The indexing drive assembly includes a gear transmission seat and an indexing stepper motor. The output shaft of the indexing stepper motor is equipped with a driving bevel gear. The flipping slider is equipped with a driven bevel gear that drives the driving bevel gear. The output shaft of the driven bevel gear is connected to the workstation base and is used to drive the cutter head to rotate and index around its own axis to realize multi-point drilling. The drilling feed assembly includes a ball screw slide and an electric drill. The electric drill is fixed on the slide of the ball screw slide and feeds in the horizontal direction to complete the lateral reciprocating drilling and weight removal.

[0013] The aforementioned cutter head dynamic balance detection and correction device includes a sorting and discharge unit comprising a qualified product discharge chute and a defective product discharge port. The qualified product discharge chute is a smooth chute arranged at an incline, with its lower end connected to the upper part of the double-speed chain conveyor surface of the material conveying unit, used to send the qualified product cutter head back to the main conveyor line. The defective product discharge port is a through groove opened on the machine frame table, with a waste collection box set below the through groove. The station transfer unit transfers the cutter head to the upper part of the corresponding discharge port and releases it according to the detection signal of the dynamic balance re-inspection station, completing the automatic sorting of qualified and defective products.

[0014] The aforementioned cutterhead dynamic balancing detection and correction device also includes a control unit, which is electrically connected to the material conveying unit, the posture adjustment unit, the lateral transfer unit, the detection and correction unit, the station transfer unit, and the sorting and discharge unit. The control unit receives the magnitude and phase data of the imbalance collected by the initial dynamic balancing inspection station, calculates and controls the drilling depth and indexing rotation angle of the drilling correction station, and receives the final detection result of the dynamic balancing re-inspection station to control the station transfer unit and the sorting and discharge unit to complete the sorting and output of qualified and unqualified products.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention constructs a fully automated closed-loop operation system for cutterhead dynamic balance detection and correction through the coordinated operation of a material conveying unit, a position adjustment unit, a lateral transfer unit, a detection and correction unit, a workstation transfer unit, and a sorting and discharging unit. It can replace the traditional manual operation mode of repeated transfer, measurement, and drilling, directly connect to upstream and downstream production lines, significantly improve the production efficiency and product quality consistency of cutterhead dynamic balance correction, and effectively reduce labor costs and scrap rate.

[0016] 2. The connecting fixtures provided by this invention offer a unified benchmark for the transfer, clamping, and rotation of the cutter head, ensuring the positioning accuracy of each station. The closed-loop double-speed chain conveyor structure enables continuous material transport and precise stopping, adapting to the production rhythm of large-scale assembly lines. The counterweight-balanced flipping mechanism of this invention can smoothly complete the switching between the front and back postures of the cutter head, adapting to the detection posture requirements of cutter heads with pendulum structures. The spring-return gripper can automatically open and close, adapting to the connecting action of lateral transfer. This invention uses a parallelogram linkage structure clamping and locking mechanism combined with an intermittent locking structure, which can achieve the cyclic switching between clamping and releasing states simply by pressing, maintaining a stable clamping state without continuous power supply. The synchronous centering clamping of multiple clamping blocks provides higher positioning accuracy and more reliable clamping. The lateral transfer unit of this invention can smoothly complete the transfer. The material connection between the main conveyor line and the inspection station group is precise, and the transfer process is accurately positioned. The station transfer mechanism with multiple grippers arranged synchronously can complete the synchronous transfer of materials from all stations in one go, greatly reducing non-processing waiting time and improving the matching of processing cycle time of each station. The drilling correction station of this invention adopts a flipping side drilling structure, which allows drill chips to fall naturally, ensuring smooth chip removal and convenient speed adjustment and maintenance. The indexing transmission structure is integrated with the flipping slider, and the gear pair swings synchronously with the flipping action and maintains stable meshing throughout the process, enabling precise indexing drilling at multiple points and adapting to the need for tool head correction with large imbalance. The automatic sorting and discharge structure of this invention can realize the return of qualified products to the main production line and the centralized collection of unqualified products. Combined with the closed-loop control of the control unit's full-process data, it further improves the automation level and dynamic balance correction accuracy of the device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall layout of the cutterhead dynamic balance detection and correction device of the present invention; Figure 2 This is a side view of the cutterhead dynamic balance detection and correction device of the present invention; Figure 3 This is a schematic diagram of the assembly structure of the cutter head and connecting tooling of the present invention; Figure 4 This is a schematic diagram of the material conveying unit structure of the present invention; Figure 5 As shown Figure 4 A magnified view of part A shown in the diagram; Figure 6 This is a schematic diagram of the material conveying unit, posture adjustment unit, and lateral transfer unit of the present invention; Figure 7 This is a schematic diagram of the pose adjustment unit of the present invention; Figure 8 This is a schematic diagram of the workstation transfer unit of the present invention; Figure 9 This is a schematic diagram of the drilling correction station of the present invention; Figure 10 This is a schematic diagram of the clamping and locking mechanism of the workstation base of the present invention; Figure 11 This is a schematic diagram of the axial cross-sectional structure of the clamping and locking mechanism of the present invention; Figure 12 This is a schematic diagram showing the unfolded annular guide teeth of the clamping and locking mechanism of the present invention; Figure 13 This is a schematic diagram of the sorting and discharging unit of the present invention.

[0018] The labels in the attached diagram are as follows: 1. Material conveying unit; 101. Frame body; 102. Special profile for double-speed chain; 103. Transmission sprocket assembly; 104. Drive motor; 105. Double-speed chain; 106. Pallet; 107. Positioning groove; 108. Pneumatic limit assembly; 109. Limit cylinder; 110. Stop plate; 2. Posture adjustment unit; 201. Flipping pivot; 202. Gripper assembly; 203. Counterweight; 204. Flipping drive assembly; 205. Fixed gripper; 206. Movable gripper; 207. Return spring; 208. Gripper base; 3. Lateral transfer unit; 301. Synchronous belt linear module; 302. Lateral slide table; 303. Pulley; 4. Inspection and Correction Unit; 401. Initial Dynamic Balancing Inspection Station; 402. Drilling Correction Station; 403. Re-inspection Dynamic Balancing Station; 404. Propulsion Cylinder; 405. Fork; 406. Tilting Slide; 407. Gear Transmission Seat; 408. Ball Screw Slide; 409. High-Speed ​​Electric Drill; 410. Indexing Stepper Motor; 5. Workstation transfer unit; 501. Longitudinal ball screw module; 502. Mounting beam; 503. Lifting cylinder; 504. Mechanical gripper; 505. Longitudinal guide rail; 6. Sorting and discharge unit; 601. Qualified product discharge chute; 602. Unqualified product discharge port; 603. Waste collection bin; 7. Cutter head; 701. Connecting screw; 702. Locking nut; 8. Workstation base; 801. Fixed hinge seat; 802. Upper connecting rod; 803. Lower connecting rod; 804. Clamping block; 805. Guide sleeve; 806. Locking component; 807. Synchronous drive ring; 808. Locking tooth; 809. Shallow slot; 810. Deep slot. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0020] Example 1: A dynamic balancing detection and correction device for a cutting disc, mainly used for fully automated dynamic balancing detection and drilling correction of the grinding disc in kitchen waste disposers. It can be directly connected to the cutting disc assembly line and subsequent final assembly line to achieve fully automated processing. The cutting disc 7 adapted in this example has a maximum diameter of 142mm, an overall height of 40mm, a 15mm diameter mounting hole in the center, and an overall weight of approximately 0.635kg. The first surface of the cutting disc has two freely swinging crushing hammers, and the second surface is a flat drilling correction surface. Figure 1 and Figure 2 As shown, this device includes a frame, and sequentially arranged on the frame are a material conveying unit 1, a posture adjustment unit 2, a transverse transfer unit 3, a detection and correction unit 4, a station transfer unit 5, a sorting and discharging unit 6, and a control unit. The cutter head 7 is equipped with connecting fixtures as a unified reference for transfer, clamping, and rotation. Figure 3 As shown, the connecting fixture includes a connecting screw 701 and a locking nut 702. The connecting screw 701 passes through the central mounting hole of the cutter head 7, and the upper end is locked by the locking nut 702, so that the connecting fixture is fixed to the cutter head 7 as one unit. The lower end of the connecting screw 701 extends out of the cutter head surface and serves as the force reference for clamping at each station.

[0021] like Figure 4 and Figure 5 As shown, the material conveying unit 1 is a closed-loop double-speed chain conveying mechanism, including a frame body 101 constructed of aluminum profiles, a transmission sprocket set 103, a drive motor 104, and multiple carrying trays 106. Two double-speed chain special profiles 102 are fixed parallel to each other on the inner side of the frame body 101. Each profile has an upper working channel and a lower return channel, and the double-speed chain 105 is embedded in the corresponding channel. The conveying power is provided by the drive motor 104, which drives the main shaft to rotate through the transmission sprocket set 103, thereby driving the two double-speed chains 105 to run synchronously. Multiple trays 106 are supported above the rolling part of the double-speed chain 105. The upper surface of the tray 106 has a positioning groove 107 that matches the shape of the cutter head 7. The cutter head 7 is placed in the groove to prevent displacement during the conveying process. A pneumatic limiting assembly 108 is installed at the loading station, including a limiting cylinder 109 and a stop plate 110. The limiting cylinder 109 is fixed to the side of the double-speed chain special profile 102, and the stop plate 110 is connected to the end of the piston rod. When the pallet 106 is conveyed to the loading station, the limiting cylinder 109 extends and drives the stop plate 110 to block the pallet 106, so as to achieve precise positioning of the cutter head. At this time, the double-speed chain 105 can continue to run and slide relative to the bottom of the pallet 106 without frequent start and stop.

[0022] In this embodiment, the single-segment conveyor unit of the double-speed chain is 1600mm long and can be spliced ​​into multiple segments to adapt to the overall length of the production line. The closed-loop structure enables the pallet to be recycled, and qualified cutter discs can be directly returned to the main conveyor line to enter the next process.

[0023] like Figure 6 and Figure 7 As shown, the posture adjustment unit 2 is a 180° flipping mechanism, mounted on the side support of the loading station. It includes a flipping shaft 201, a gripper assembly 202, a counterweight 203, and a flipping drive assembly 204. The flipping shaft 201 is rotatably mounted on the side support of the frame body 10 via bearing seats. The gripper assembly 202 is fixed to one end facing the cutter head, and the counterweight 203 is fixed to the other end. The counterweight 203 and the gripper assembly 202 are respectively located on both sides of the flipping shaft 201 to balance the flipping load of the gripper and the cutter head, reducing driving impact. The flipping drive assembly 204 uses a stepper motor with synchronous belt drive to drive the flipping shaft 201 to complete a 180° rotation. The gripper assembly 202 includes a gripper base 208, a fixed gripper 205, a movable gripper 206, and a return spring 207. The fixed gripper 205 is fixed to one side of the gripper base 208, and the movable gripper 206 is hinged to the other side of the gripper base 208. The return spring 207 abuts against the movable gripper 206 and the gripper base 208. Under normal conditions, the return spring 207 pushes the movable gripper 206 to close, clamping the connecting screw 701 of the cutter head. When subjected to a lateral external force, the movable gripper 206 compresses the return spring 207 to open, allowing the cutter head to smoothly disengage from the gripper.

[0024] like Figure 6 As shown, the transverse transfer unit 3 is mounted between the posture adjustment unit 2 and the detection and correction unit 4, and includes a synchronous belt linear module 301, a transverse slide 302, a transverse sliding platform, and a claw 303. The synchronous belt linear module 301 is fixed to the frame transversely. The transverse sliding platform is a smooth plane and is located on the discharge side of the posture adjustment unit, providing a support surface for the transverse movement of the cutter head. The transverse slide 302 is slidably mounted on the guide rail of the synchronous belt linear module 301, and a claw 303 is fixed at its bottom. The lower end of the claw 303 has a locking slot adapted to the connecting screw 701. After the posture adjustment is completed, the synchronous belt linear module 301 drives the transverse slide 302 to move, the claw 303 engages with the connecting screw 701, driving the cutter head to move along the transverse sliding platform, pushing open the movable gripper 206 to disengage from the flipping mechanism, and accurately conveying the cutter head to directly below the station transfer unit 5.

[0025] like Figure 8As shown, the workstation transfer unit 5 is mounted above the three inspection and correction workstations, and includes a longitudinal ball screw module 501, a longitudinal guide rail 505, a mounting beam 502, four sets of lifting cylinders 503, and four mechanical grippers 504. The longitudinal ball screw module 501 and the longitudinal guide rail 505 are arranged parallel to each other on the upper part of the frame. The mounting beam 502 connects the screw slide table and the guide rail slider, and is driven by the longitudinal ball screw module 501 to perform linear reciprocating motion along the longitudinal direction. The four sets of lifting cylinders 503 are fixed at equal intervals along the longitudinal direction on the mounting beam 502, and the center distance between adjacent lifting cylinders 503 is exactly the same as the center distance between adjacent workstations. A three-jaw centering mechanical gripper 504 is installed at the lower end of the piston rod of each lifting cylinder 503 for gripping the locking nut 702 on the upper end of the cutter head. During operation, the four mechanical grippers 504 move synchronously, simultaneously gripping the cutter heads at the four workstations. After the lifting cylinder 503 raises, the longitudinal ball screw module 501 drives the mounting beam 502 to move forward one workstation distance. The lifting cylinder 503 then lowers to place the cutter head into the next workstation. A single action can complete the synchronous transfer of materials to all workstations. The inspection and correction unit 4 includes a dynamic balancing initial inspection workstation 401, a drilling correction workstation 402, and a dynamic balancing re-inspection workstation 403 arranged longitudinally. Each of the three workstations is equipped with a workstation base 8, and a clamping and locking mechanism 8 is installed at the center of each workstation base 8 to fix the connecting fixtures of the cutter head.

[0026] like Figure 9As shown, the drilling correction station 402 includes a station base, a tilting assembly, an indexing drive assembly, and a drilling feed assembly. The tilting assembly includes a feed cylinder 404, a fork 405, and a tilting slider 406. The tilting slider 406 is hinged to the front end of the station base and has an L-shaped groove on its side. The fork 405 is fixed to the end of the piston rod of the feed cylinder 404, and its end pin is embedded in the L-shaped groove. When the feed cylinder 404 extends, the fork 405 slides along the L-shaped groove, pushing the tilting slider 406 to rotate 90° around the hinge axis, switching the horizontally placed cutter head to a vertical state, so that the drilling correction surface faces the side of the electric drill. The indexing drive assembly includes a gear drive seat 407, an indexing stepper motor 410, a driving bevel gear, and a driven bevel gear. The gear drive seat 407 is securely connected to the bottom of the tilting slider 406 and rotates synchronously with the tilting slider 406. The indexing stepper motor 410 is fixed to the lower end of the gear drive seat 407, with its output shaft extending into the inner cavity to mount the driving bevel gear. The driven bevel gear is coaxially fixed to the lower end of the rotating shaft of the rotary fixture and meshes perpendicularly with the driving bevel gear. The indexing stepper motor 410 can drive the rotary fixture to precisely rotate and index the cutter head, enabling multi-point drilling at different phases and adapting to the need for correcting large imbalances. The drilling feed assembly includes a ball screw slide 408 and a high-speed electric drill 409. The high-speed electric drill 409 is fixed on the slide seat and precisely feeds horizontally to complete drilling and weight removal. The chips generated during drilling fall naturally, making them easy to collect and clean, avoiding the problem of clogging during bottom drilling. After drilling is completed, the propulsion cylinder 404 retracts, and the tilting slider 406 drives the cutter head to return to a horizontal position, ready to be transferred to the re-inspection station. The clamping and locking mechanism of the drilling correction station is rotatably installed in the tilting slider 406 via a rotating shaft, and rotates synchronously with the driven bevel gear, which can drive the cutter head 7 to complete the indexing rotation; the clamping and locking mechanisms of the dynamic balancing initial inspection station and the dynamic balancing re-inspection station are fixedly installed on the corresponding station base 8, keeping them in a static state.

[0027] like Figure 10 , Figure 11 and Figure 12As shown, the clamping and locking mechanism 8 includes five sets of parallelogram clamping assemblies equidistantly arranged around the center of the workstation, a synchronous drive ring 807, and an intermittent locking assembly linked to the synchronous drive ring 807. Each set of parallelogram clamping assemblies includes a fixed hinge seat 801, an upper connecting rod 802, a lower connecting rod 803, and a clamping block 804. The fixed hinge seat 801 is fixed to the inner wall of the workstation base. The upper connecting rod 802 and the lower connecting rod 803 are arranged parallel to each other vertically. The outer ends of both are hinged to the fixed hinge seat 801, and the inner ends are hinged to the side of the clamping block 804, forming a horizontally movable parallelogram linkage structure. All five sets of clamping blocks 804 are arranged facing the center of the workstation. The synchronous drive ring 807 is a ring structure and is coaxially sleeved in the mounting cavity of the workstation base. The inner ends of all the lower connecting rods 803 overlap the outer edge of the top surface of the synchronous drive ring 807. When the synchronous drive ring 807 is displaced downwards under vertical downward pressure, it drives all the lower connecting rods 803 to swing downwards synchronously. Through the parallelogram connecting rod structure, it drives the five sets of clamping blocks 804 to move horizontally towards the center synchronously, clamping the rod body of the connecting screw 701. The intermittent locking assembly is located directly below the synchronous drive ring 807 and includes a guide sleeve 805 and a locking element 806. The guide sleeve 805 is fixed to the bottom center of the workstation base, and its inner wall is integrally provided with an annular guide tooth section, which is composed of multiple deep grooves 810, shallow grooves 809 and guide slopes arranged alternately. The axial depth of the deep grooves 810 is greater than that of the shallow grooves 809. The locking element 806 has multiple locking teeth 808 that are uniformly protruding circumferentially on its side wall, which are adapted to the groove shape. Its working principle is as follows: In the initial state, the locking tooth 808 is engaged in the deep groove 810, the synchronous drive ring 807 is in the high position, and the clamping block 804 is in the retracted and released state; when subjected to vertical downward pressing force, the synchronous drive ring 807 drives the locking member 806 downward, the locking tooth 808 disengages from the deep groove 810 and slides along the guide slope, causing the locking member 806 to deflect circumferentially by one tooth position; after the pressing force is removed, the locking tooth 808 springs back and engages in the adjacent shallow groove 809, the synchronous drive ring 807 is locked in the low position, and the clamping block 804 remains in the clamping state; when pressed again, the locking tooth 808 deflects again by one tooth position, springs back and engages in the deep groove 810, the synchronous drive ring 807 is reset, and the clamping block 804 is released. The clamping and releasing cycle can be achieved by pressing twice, and the clamping state can be stably maintained without continuous power supply.

[0028] like Figure 13As shown, the sorting and discharge unit 6 is located at the discharge end of the inspection and correction station group, and below the end of the movement path of the station transfer unit 5. A qualified product discharge chute 601 and a defective product discharge port 602 are arranged longitudinally. The qualified product discharge chute 601 is an inclined smooth chute, extending at its lower end above the double-speed chain conveyor surface, allowing the cutter head to slide back to the main conveyor line. The defective product discharge port 602 is a through groove on the machine frame table, with a waste collection box 603 placed below it. After dynamic balancing re-inspection, the control unit controls the movement distance of the station transfer unit based on the inspection results. Qualified products are moved to the qualified product discharge chute 601 for release, and defective products are moved to the defective product discharge port 602 for release, achieving automatic sorting.

[0029] The control unit is electrically connected to all power components and detection components. It receives the magnitude and phase data of the imbalance collected by the initial dynamic balancing inspection station, calculates the drilling depth and indexing rotation angle, and controls the drilling correction station to complete the weight removal operation at the corresponding position. It receives the final inspection results from the dynamic balancing re-inspection station and controls the station transfer unit and sorting and discharging unit to complete the sorting and output of qualified and unqualified products, realizing full-process automated closed-loop control.

[0030] Workflow (1) Loading and positioning: The front-end assembled cutter head 7 is conveyed by the material conveying unit 1 through the double-speed chain of the pallet 106. When it reaches the loading station, it is stopped and positioned by the pneumatic limit component 108. The cutter head 7 is placed in the positioning groove 107 of the pallet 106 with the pendulum face down.

[0031] (2) Flipping and adjusting posture: The gripper assembly 202 of the posture adjustment unit 2 clamps the locking nut 702 of the tool disc 7 and flips it 180° to adjust the pendulum surface to the upward detection posture.

[0032] (3) Lateral transfer: The claw 303 of the lateral transfer unit 3 engages with the connecting screw 701, driving the cutter head 7 to move along the lateral platform 302, disengaging from the gripper assembly 202, and being transported to the workstation transfer unit 5 directly below.

[0033] (4) Initial dynamic balance inspection: The mechanical gripper 504 of the station transfer unit 5 grabs the cutter head 7 and transfers it to the detection and correction unit 4. Pressing down triggers the clamping and locking mechanism in the station base 8 to clamp the cutter head 7, and the mechanical gripper 504 lifts out. The initial dynamic balance inspection station 401 measures the magnitude and phase of the imbalance of the cutter head 7 and transmits the data to the control unit.

[0034] (5) Synchronous station transfer: The mechanical gripper 504 descends and presses again to complete the release. After the cutter head 7 is lifted, the longitudinal ball screw module 501 drives the mounting beam 502 to move forward one station, sending the cutter head 7 that has completed the initial inspection to the drilling correction station 402, and at the same time sending the cutter head 7 that has completed the drilling to the dynamic balance re-inspection station 403.

[0035] (6) Drilling correction: After the cutter head 7 enters the drilling correction station 402, it is clamped and fixed. The push cylinder 404 of the flipping component drives the flipping slider 406 to flip 90°, so that the cutter head 7 switches to the vertical drilling posture. The control unit controls the feed depth of the high-speed electric drill 409 and the rotation angle of the indexing stepper motor 410 according to the initial inspection data to complete the drilling and weight removal at the corresponding position. After the drilling is completed, the flipping component is reset and the cutter head 7 returns to the horizontal state.

[0036] (7) Dynamic balance re-inspection: The cutter head 7 is transferred to the dynamic balance re-inspection station 403 to check the corrected imbalance and determine whether it meets the qualified standard.

[0037] (8) Sorting and discharge: According to the re-inspection results, the station transfer unit 5 transfers qualified products to qualified product discharge slide 601, and the cutter head 7 slides back to the double speed chain to enter the next production process; and transfers unqualified products to unqualified product discharge port 602, and the cutter head 7 falls to the waste collection box 603, completing the dynamic balance correction of a single cutter head 7 throughout the entire process.

[0038] In summary, this invention enables fully automated operation of the entire process of automatic feeding, position adjustment, initial dynamic balancing inspection, drilling correction, dynamic balancing re-inspection, and automatic sorting of qualified and unqualified products for the cutter head. It is suitable for the processing requirements of thin-disc cutter heads with pendulum structures, can be seamlessly connected with production lines, improves the production efficiency and processing accuracy of dynamic balancing correction, and reduces labor costs.

Claims

1. A tool turret dynamic balancing detection and correction device, comprising a frame, characterized in that: It also includes a material conveying unit (1), a position adjustment unit (2), a transverse transfer unit (3), a detection and correction unit (4), a workstation transfer unit (5), and a sorting and discharge unit (6) installed on the frame. The material conveying unit (1) is arranged longitudinally on one side of the frame, and includes a tray (106) for carrying the cutter head (7) and a pneumatic limiting component (108) fixed to the side of its conveying path; the material conveying unit (1) is used to continuously convey the tray (106) carrying the cutter head (7), and to stop the cutter head (7) to be processed at the loading station by means of the pneumatic limiting component (108); The pose adjustment unit (2) is set on the frame and located on the side of the loading station. It is used to flip the cutter head (7) to adjust the detection pose. The lateral transfer unit (3) is located between the pose adjustment unit (2) and the detection correction unit (4), and is used to laterally transfer the pose-adjusted cutter head (7) from the loading station to the feeding end of the detection correction station group. The detection and correction unit (4) is set on the frame and located at the discharge end of the transverse transfer unit (3). It includes a dynamic balance initial inspection station (401), a drilling correction station (402) and a dynamic balance re-inspection station (403) arranged in sequence along the longitudinal direction, which are used to complete the initial measurement of the unbalance of the cutter head (7), the drilling weight removal correction and the re-inspection of the unbalance after correction, respectively. The station transfer unit (5) is located above the detection and correction unit (4) and is arranged longitudinally across the dynamic balance initial inspection station (401), the drilling correction station (402) and the dynamic balance re-inspection station (403) for synchronously picking up, moving and placing the cutter head (7) between the three stations. The sorting and discharge unit (6) is located at the discharge end of the detection and correction unit (4) and below the end of the movement path of the station transfer unit (5). It is used to separate the cutter head (7) into qualified products and unqualified products according to the detection results of the dynamic balance re-inspection station (403).

2. The cutterhead dynamic balance detection and correction device according to claim 1, characterized in that: The cutter head (7) is provided with a connecting fixture at its center. The connecting fixture includes a connecting screw (701) and a locking nut (702) that pass through the center hole of the cutter head (7). The connecting screw (701) and the locking nut (702) are threaded together to fix the connecting fixture onto the cutter head (7).

3. The cutterhead dynamic balance detection and correction device according to claim 1, characterized in that: The material conveying unit (1) is a closed-loop double-speed chain conveying mechanism, including a frame body (101), two parallel double-speed chain special profiles (102), a transmission sprocket group (103), a drive motor (104), and multiple carrying trays (106); the double-speed chain special profile (102) is provided with an upper working channel and a lower return channel, and the double-speed chain (105) is embedded in the corresponding channel. The bottom of the tray (106) contacts the rolling part of the double-speed chain (105) to achieve follow-up conveying; the tray (106) The upper surface of 6) is provided with a positioning groove (107) that is adapted to the shape of the cutter head (7) to limit the offset of the cutter head (7) during the conveying process; the pneumatic limiting component (108) includes a limiting cylinder (109) and a stop plate (110). The limiting cylinder (109) is fixed to the side of the double speed chain special profile (102), and the stop plate (110) is connected to the piston rod end of the limiting cylinder (109). The piston rod extends and drives the stop plate (110) to block the tray (106) to achieve precise positioning of the loading station.

4. The cutterhead dynamic balance detection and correction device according to claim 2, characterized in that: The posture adjustment unit (2) is a flipping mechanism, including a flipping shaft (201), a gripper assembly (202), a counterweight (203), and a flipping drive assembly (204). The flipping shaft (201) is rotatably mounted on the side bracket of the loading station. The gripper assembly (202) is fixed to the end of the flipping shaft (201) facing the cutter head (7) and is used to hold the connecting screw (701) at the center of the cutter head (7). The counterweight (203) is fixed on the flipping shaft (201) on the side opposite to the gripper assembly (202) and is used to balance the flipping load of the gripper assembly (202) and the cutter head (7). The flipping drive assembly (204) is connected to the cutting head (7) by means of the flipping shaft (201) and the gripper assembly (202). The belt drive structure connects to the flipping shaft (201), which drives the flipping shaft (201) to rotate the gripper assembly (202) and realize the switching of the front and back postures of the cutter head (7). The gripper assembly (202) includes a fixed gripper (205), a gripper seat (208), a movable gripper (206), and a return spring (207). The fixed gripper (205) is fixed on one side of the gripper seat (208), the movable gripper (206) is hinged to the other side of the gripper seat (208), and the return spring (207) abuts between the movable gripper (206) and the gripper seat (208) so that the gripper assembly (202) remains in a closed clamping state when no external force is applied.

5. The cutterhead dynamic balance detection and correction device according to claim 2, characterized in that: The dynamic balancing initial inspection station (401), drilling correction station (402) and dynamic balancing re-inspection station (403) are all equipped with station bases (8). Each station base (8) is equipped with a clamping and locking mechanism at its center. The clamping and locking mechanism is coaxially engaged with the connecting screw (701) at the center of the cutter head (7) to achieve the positioning and fixing of the cutter head (7). The clamping and locking mechanism includes multiple sets of parallelogram clamping components arranged equidistantly around the center of the workstation, a synchronous drive ring (807), and an intermittent locking component that is linked to the synchronous drive ring (807). Each of the parallelogram clamping assemblies includes a fixed hinge seat (801), an upper connecting rod (802), a lower connecting rod (803), and a clamping block (804). The fixed hinge seat (801) is fixed inside the workstation base (8). The upper connecting rod (802) and the lower connecting rod (803) are arranged in parallel vertically, with their outer ends hinged to the fixed hinge seat (801) and their inner ends hinged to the side of the clamping block (804), together forming a horizontally translating parallelogram connecting rod structure. The clamping blocks (804) of all parallelogram clamping assemblies are arranged facing the center of the workstation. The synchronous drive ring (807) is a ring structure and is coaxially sleeved in the mounting cavity of the workstation base (8). All clamping blocks (804) are slidably mounted on the circumferential surface of the synchronous drive ring (807). When the synchronous drive ring (807) is driven by a vertical downward pressing force, it moves downward and drives all the lower connecting rods (803) to swing downward synchronously. Through the parallelogram connecting rod structure, it drives all the clamping blocks (804) to move horizontally towards the center synchronously and clamp the rod body of the connecting screw (701). The intermittent locking assembly includes a guide sleeve (805) and a locking element (806). The guide sleeve (805) is fixed to the bottom center of the workstation base (8) and located directly below the synchronous drive ring (807). The inner wall of the guide sleeve (805) is integrally provided with an annular guide tooth. The annular guide tooth is composed of multiple deep grooves (810), shallow grooves (809) and guide slopes. The deep grooves (810) and shallow grooves (809) are arranged alternately along the circumference of the guide sleeve (805). Adjacent deep grooves (810) and shallow grooves (809) are smoothly transitioned by inclined guide slopes. The axial depth of the bottom of the deep groove (810) is greater than the axial depth of the bottom of the shallow groove (809). The locking member (806) is coaxially inserted into the guide sleeve (805) in the vertical direction; the side wall of the locking member (806) is uniformly provided with a plurality of locking teeth (808) in the circumferential direction, and the locking teeth (808) are adapted to the groove shape of the deep groove (810) and the shallow groove (809) and are embedded in the corresponding groove; The locking member (806) moves up and down along the axial direction of the guide sleeve (805). When the locking tooth (808) is engaged in the deep groove (810), the synchronous drive ring (807) is in a high position and the clamping block (804) is in a retracted and released state. When the locking tooth (808) is engaged in the shallow groove (809), the synchronous drive ring (807) is in a low position and the clamping block (804) is in an extended and clamped state. When the synchronous drive ring (807) is pressed vertically to drive the locking member (806) downward, the locking tooth (808) slides along the guide slope and drives the locking member (806) to deflect circumferentially by one tooth position. By pressing the synchronous drive ring (807) vertically twice, the locking tooth (808) is driven to alternately engage in the deep groove (810) and the shallow groove (809), thereby realizing the cyclic switching between the clamping state and the released state.

6. The cutterhead dynamic balance detection and correction device according to claim 2, characterized in that: The transverse transfer unit (3) includes a synchronous belt linear module (301), a transverse slide (302), a transverse sliding platform (304), and a claw (303); the synchronous belt linear module (301) is fixed to the frame in the transverse direction, and the transverse sliding platform (304) is set between the posture adjustment unit (2) and the dynamic balancing initial inspection station (401) to provide horizontal movement support for the cutter head (7); the transverse slide (302) is slidably installed on the synchronous belt linear module. On the guide rail of the assembly (301), the claw (303) is fixed to the bottom of the transverse slide (302); the lower end of the claw (303) is provided with a slot that matches the locking nut (702). When the transverse slide (302) moves, the slot engages with the locking nut (702), and the cutter disc (7) is disengaged from the gripper assembly (202) of the position adjustment unit (2), and the cutter disc (7) is transversely transported to the clamping and locking mechanism of the dynamic balance initial inspection station (401).

7. The cutterhead dynamic balance detection and correction device according to claim 2, characterized in that: The workstation transfer unit (5) includes a longitudinal ball screw module (501), a longitudinal guide rail (505), a mounting beam (502), multiple sets of lifting cylinders (503), and mechanical grippers (504). The longitudinal ball screw module (501) and the longitudinal guide rail (505) are arranged parallel to each other, and are arranged on the upper part of the frame along the longitudinal direction of the inspection and correction workstation group. The bottom of the mounting beam (502) is fixedly connected to the screw slide of the longitudinal ball screw module (501) and slidably engaged with the longitudinal guide rail (505), and is driven by the longitudinal ball screw module (501) to perform linear reciprocating motion along the longitudinal guide rail (505). The multiple sets of lifting cylinders (503) are fixed at equal intervals along the longitudinal direction. On the mounting beam (502), the center distance between adjacent lifting cylinders (503) is consistent with the center distance between adjacent workstations; a mechanical gripper (504) is installed at the lower end of the piston rod of each lifting cylinder (503). The mechanical gripper (504) is a three-jaw centering clamping structure used to grip the locking nut (702) at the center of the cutter head (7); the longitudinal ball screw module (501) drives the mounting beam (502) to move longitudinally, and in conjunction with the extension and retraction of the lifting cylinder (503), the multiple mechanical grippers (504) can synchronously transfer the cutter head (7) between the three workstations: the initial dynamic balance inspection workstation (401), the drilling correction workstation (402), and the dynamic balance re-inspection workstation (403).

8. The cutterhead dynamic balance detection and correction device according to claim 1, characterized in that: The drilling correction station (402) includes a station base, a tilting assembly, an indexing drive assembly, and a drilling feed assembly; the tilting assembly includes a propulsion cylinder (404), a fork (405), and a tilting slider (406). The tilting slider (406) has an L-shaped groove on its side. The fork (405) is fixedly connected to the piston rod end of the propulsion cylinder (404). The end of the fork (405) is embedded in the L-shaped groove on the side of the tilting slider (406). The propulsion cylinder (404) extends and retracts, driving the fork (405) to move along the L-shaped groove. The sliding groove slides, thereby pushing the flip slider (406) to rotate around the hinge axis, so that the cutter head (7) switches from the horizontal detection posture to the vertical drilling posture; the indexing drive assembly includes a gear transmission seat (407) and an indexing stepper motor (410). The output shaft of the indexing stepper motor (410) is provided with an active bevel gear. The flip slider (406) is provided with a driven bevel gear that is in transmission cooperation with the active bevel gear. The output shaft of the driven bevel gear is connected to the workstation base (8) and is used to drive the cutter head (7) to rotate and index around its own axis to realize multi-point drilling; the drilling feed assembly includes a ball screw slide (408) and an electric drill (409). The electric drill (409) is fixed on the slide of the ball screw slide (408) and feeds in the horizontal direction to complete the lateral reciprocating drilling and weight removal.

9. The cutterhead dynamic balance detection and correction device according to claim 1, characterized in that: The sorting and discharge unit (6) includes a qualified product discharge chute (601) and an unqualified product discharge port (602). The qualified product discharge chute (601) is a smooth chute with an inclined setting. The lower end of the chute is connected to the upper part of the conveying surface of the double-speed chain (105) of the material conveying unit (1) to send the qualified product cutter head (7) back to the main conveying line. The unqualified product discharge port (602) is a through groove opened on the machine frame table. A waste collection box (603) is set below the through groove. The station transfer unit (5) transfers the cutter head (7) to the upper part of the corresponding discharge port and releases it according to the detection signal of the dynamic balance re-inspection station (403) to complete the automatic sorting of qualified and unqualified products.

10. The cutterhead dynamic balance detection and correction device according to claim 1, characterized in that: It also includes a control unit (9), which is electrically connected to the material conveying unit (1), the posture adjustment unit (2), the transverse transfer unit (3), the detection correction unit (4), the station transfer unit (5), and the sorting and discharge unit (6), respectively. The control unit (9) receives the magnitude and phase data of the imbalance collected by the dynamic balance initial inspection station (401), calculates and controls the drilling depth and indexing rotation angle of the drilling correction station (402). The control unit (9) receives the final detection result of the dynamic balance re-inspection station (403), and controls the station transfer unit (5) and the sorting and discharge unit (6) to complete the sorting and output of qualified and unqualified products.

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