Stepped hole polishing device

Abstract

The utility model discloses a stepped hole polishing device which is characterized in that a master control module is respectively connected with a pneumatic clamping jaw, a turnover mechanism, a rotating mechanism, a visual inspection module and a polishing control module; the turnover mechanism is linked with the pneumatic clamping jaw; the rotating mechanism is linked with the pneumatic clamping jaw; the axis of the plane surrounded by the pneumatic clamping jaws coincides with the rotating axis of the rotating mechanism. The master control module is used for forming a first control signal, a second control signal, a third control signal and a fourth control signal; the turnover mechanism drives the pneumatic clamping jaw to turn over, and a turnover in-place signal is formed when turnover is finished; the visual detection module generates a rotation positioning angle signal according to the relative position image of the brush and the stepped hole of the to-be-polished workpiece; the rotating mechanism drives the pneumatic clamping jaw to rotate; and the polishing control module controls the brush to rotate and extend so as to polish the stepped hole of the workpiece to be polished. The brake disc stepped hole group polishing device achieves group automatic polishing of brake disc stepped holes, improves operation efficiency, and is controllable in polishing quality.

Description

TECHNICAL FIELD

[0001] The embodiment of the utility model relates to the field of locomotive braking, especially a stepped hole polishing device. BACKGROUND

[0002] Workpiece processing for motor vehicle brake discs includes polishing of stepped holes in the brake discs. Stepped holes are holes in the brake disc that are spaced 20 degrees apart around the circumference of the disc. The main purpose of the stepped holes is to allow more air or cooling fluid to pass through, thereby more effectively removing heat generated during braking. Alternatively, to reduce brake noise, improve brake disc durability and stability.

[0003] As the time of use increases, the brake disc surface can have uneven wear, grooves, rust marks and other problems that can affect the braking friction and stability. Polishing is needed to remove these surface imperfections to make the brake disc surface smoother and more even, thereby improving braking performance. In the prior art, the polishing of stepped holes is usually done manually: manual polishing with a steel wire brush.

[0004] The prior art polishing scheme for stepped holes has high labor intensity, low work efficiency, poor working environment due to dust pollution, and polishing quality varies from person to person. INVENTION CONTENTS

[0005] The utility model provides a kind of stepped hole polishing device, realize the automatic polishing of brake disc stepped hole group, improve the work efficiency high, polishing quality controllable.

[0006] The embodiment of the utility model provides a kind of stepped hole polishing device, the stepped hole polishing device includes:

[0007] General control module, pneumatic dog, turnover mechanism, rotating mechanism, visual detection module, polishing control module and brush;

[0008] The general control module is connected with pneumatic dog, the turnover mechanism, the rotating mechanism, the visual detection module and the polishing control module respectively;

[0009] The pneumatic dog is used to clamp the workpiece to be polished, and outputs a workpiece in-place signal according to the clamping state of the workpiece to be polished;The general control module is used to form a first control signal according to the workpiece in-place signal;

[0010] The turnover mechanism is connected with the pneumatic dog, and the turnover mechanism is used to drive the plane around the pneumatic dog to be the first angle or the second angle with the horizontal plane according to the first control signal, and forms a turnover in-place signal at the end of turnover;The general control module forms a second control signal according to the turnover in-place signal;

[0011] when the plane around which the pneumatic clamping jaw surrounds and the horizontal plane form a second angle, the circular plane formed by the stepped hole of the workpiece to be polished and the circular plane formed by the brush are parallel, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes;

[0012] The visual detection module is configured to collect a relative position image of the brush and the stepped hole of the workpiece to be polished according to a second control signal, and generate a rotation positioning angle signal according to the relative position image; and the general control module is configured to form a third control signal according to the rotation positioning angle signal.

[0013] The axes of the planes around which the plurality of pneumatic clamping jaws surround coincide with the rotation axis of the rotation mechanism, the rotation mechanism is connected with the pneumatic clamping jaw, the rotation mechanism is configured to drive the pneumatic clamping jaw to rotate according to the third control signal, and a polishing alignment signal is generated when the rotation mechanism stops rotating; and the general control module is configured to generate a fourth control signal according to the polishing alignment signal.

[0014] The polishing control module is configured to control the rotation and extension of the brush to polish the stepped hole of the workpiece to be polished according to the fourth control signal.

[0015] Optionally, the turnover mechanism comprises a first power input unit, a first switch unit, a first voltage conversion unit, a turnover unit, a first transistor output type controller, a first switching power supply and a turnover information detection unit.

[0016] The control end of the first transistor output type controller is connected with the general control module, and is configured to receive the first control signal.

[0017] The three-way output end of the first power input unit is connected with the power supply end of the first switch unit, the first transistor output type controller and the first switching power supply, respectively.

[0018] The output end of the first switch unit is connected with the input end of the first voltage conversion unit, and the output end of the first voltage conversion unit is connected with the first input end of the turnover unit.

[0019] The first output end of the first transistor output type controller is connected with the control end of the first switch unit, and the first transistor output type controller is configured to send a first power control signal to the first switch unit according to the first control signal to control the conduction or interruption between the turnover unit and the output end of the first power input unit.

[0020] The second output end of the first transistor output controller is connected with the second input end of the turnover unit, and the first transistor output controller is used for sending a first control positioning pulse train to the turnover unit according to the first control signal to control the turnover unit to perform turnover positioning control.

[0021] The power supply end of the turnover information detection unit is connected with the first switching power supply, and the first switching power supply supplies power for the turnover information detection unit.

[0022] The output end of the turnover information detection unit is connected with the input end of the first transistor output controller, which is used for collecting the turnover position information of the turnover mechanism and sending the turnover position information to the first transistor output controller; and the first transistor output controller sends the turnover to position signal to the total control module according to the turnover position information.

[0023] Optionally, the turnover unit comprises a turnover servo amplifier, a turnover servo motor, a first encoder and a turnover speed reducer.

[0024] The first input end of the turnover servo amplifier is used as the first input end of the turnover unit, the second input end of the turnover servo amplifier is used as the second input end of the turnover unit, the output end of the turnover servo amplifier is connected with the input end of the turnover servo motor, the input end of the first encoder is connected with the first output end of the turnover servo motor, and the first encoder is used for collecting the feedback signal of the turnover servo motor.

[0025] The output end of the first encoder is connected with the third input end of the turnover servo amplifier, and the turnover servo amplifier outputs a turnover control signal according to the first control positioning pulse train and the feedback signal of the turnover servo motor.

[0026] The second output end of the turnover servo motor is connected with the input end of the turnover speed reducer, and the turnover servo motor is used for driving the turnover speed reducer according to the turnover control signal.

[0027] Optionally, the visual detection module comprises a power input unit, a light source power supply unit, a light source, a visual detection computer and an industrial camera.

[0028] The two-way output ends of the power input unit are respectively connected with the power supply ends of the light source power supply unit and the visual detection computer.

[0029] The light source power supply unit is connected with the power supply end of the light source, and the output end of the industrial camera is connected with the input end of the visual detection computer; the visual detection computer is connected with the total control module, and the visual detection computer is used for controlling the industrial camera to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the total control module, and generating a rotating positioning angle signal according to the relative position image.

[0030] Optionally, the rotating mechanism comprises a second power supply input unit, a second switch unit, a second voltage conversion unit, a rotating unit and a second transistor output type controller.

[0031] The control end of the second transistor output type controller is connected with the total control module, and is used for receiving the third control signal.

[0032] The two-way output ends of the second power supply input unit are respectively connected with the power supply ends of the second switch unit and the second transistor output type controller.

[0033] The output end of the second switch unit is connected with the input end of the second voltage conversion unit, and the output end of the second voltage conversion unit is connected with the first input end of the rotating unit.

[0034] The first output end of the second transistor output type controller is connected with the control end of the second switch unit, and the second transistor output type controller is used for sending a second power control signal to the second switch unit according to the first control signal to control the conduction or turn-off between the rotating unit and the output end of the second power supply input unit.

[0035] The second output end of the second transistor output type controller is connected with the second input end of the rotating unit, and the second transistor output type controller is used for sending a second control positioning pulse train to the rotating unit according to the second control signal to control the rotating positioning control of the rotating unit.

[0036] Optionally, the rotating unit comprises a rotating servo amplifier, a rotating servo motor, a second encoder and a rotating speed reducer.

[0037] The first input end of the rotating servo amplifier is used as the first input end of the rotating unit, the second input end of the rotating servo amplifier is used as the second input end of the rotating unit, the output end of the rotating servo amplifier is connected with the input end of the rotating servo motor, the input end of the second encoder is connected with the first output end of the rotating servo motor, and the second encoder is used for collecting the feedback signal of the rotating servo motor.

[0038] The output end of the second encoder is connected with a third input end of the rotary servo amplifier, and the rotary servo amplifier outputs a rotary control signal according to the second control positioning pulse train and a feedback signal of the rotary servo motor;

[0039] A second output end of the rotary servo motor is connected with an input end of the rotary speed reducer, and the rotary servo motor is used for driving the rotary speed reducer according to the rotary control signal.

[0040] Optionally, the polishing control module comprises a third power supply input unit, a third switch unit, a third switch power supply, a third voltage conversion unit, a brush telescopic movement unit, a brush pneumatic rotation unit, a third transistor output type controller and a brush position information detection unit.

[0041] The control end of the third transistor output type controller is connected with the total control module, and is used for receiving the fourth control signal.

[0042] The three-way output end of the third power supply input unit is connected with the power supply end of the third switch unit, the third transistor output type controller and the third switch power supply respectively.

[0043] The output end of the third switch unit is connected with the input end of the third voltage conversion unit, and the output end of the third voltage conversion unit is connected with the first input end of the brush telescopic movement unit.

[0044] The first output end of the third transistor output type controller is connected with the control end of the third switch unit, and the third transistor output type controller is used for sending a third power control signal to the third switch unit according to the fourth control signal to control the conduction or the turn-off between the brush telescopic movement unit and the output end of the third power supply input unit.

[0045] The second output end of the third transistor output type controller is connected with the second input end of the brush telescopic movement unit, and the third transistor output type controller is used for sending a third control positioning pulse train to the brush telescopic movement unit according to the fourth control signal to control the brush telescopic movement unit to perform brush telescopic positioning control.

[0046] The power supply end of the brush pneumatic rotation unit is connected with the third switch power supply, and the third switch power supply supplies power for the brush pneumatic rotation unit.

[0047] The third output end of the third transistor output type controller is connected with the control end of the brush pneumatic rotation unit, and the third transistor output type controller is used for sending a brush rotation control signal to the brush pneumatic rotation unit according to the fourth control signal to control the brush rotation.

[0048] The power supply end of the brush position information detection unit is connected with the third switching power supply, and the third switching power supply supplies power for the brush position information detection unit;

[0049] The output end of the brush position information detection unit is connected with the input end of the third transistor output type controller, used for collecting the telescopic position information of the brush and sending to the third transistor output type controller.

[0050] Optionally, the brush pneumatic rotation unit comprises an electromagnetic valve and a pneumatic driver.

[0051] The power supply end of the electromagnetic valve is used as the power supply end of the brush pneumatic rotation unit, and the control end of the electromagnetic valve is used as the control end of the brush pneumatic rotation unit.

[0052] The first end of the electromagnetic valve is connected with an external air source, and the second end is connected with the input end of the pneumatic driver.

[0053] The electromagnetic valve controls the conduction or turn-off of the pneumatic driver and the external air source according to the brush rotation control signal.

[0054] Optionally, the brush telescopic movement unit comprises a brush telescopic servo amplifier, a brush telescopic servo motor, a third encoder and a brush telescopic speed reducer.

[0055] The first input end of the brush telescopic servo amplifier is used as the first input end of the brush telescopic movement unit, the second input end of the brush telescopic servo amplifier is used as the second input end of the brush telescopic movement unit, the output end of the brush telescopic servo amplifier is connected with the input end of the brush telescopic servo motor, the input end of the third encoder is connected with the first output end of the brush telescopic servo motor, and the third encoder is used for collecting the feedback signal of the brush telescopic servo motor.

[0056] The output end of the third encoder is connected with the third input end of the brush telescopic servo amplifier, and the brush telescopic servo amplifier outputs a brush telescopic control signal according to the third control positioning pulse train and the feedback signal of the brush telescopic servo motor.

[0057] The second output end of the brush telescopic servo motor is connected with the input end of the brush telescopic speed reducer, and the brush telescopic servo motor is used for driving the brush telescopic speed reducer according to the brush telescopic control signal.

[0058] Optionally, the total control module comprises a fourth power supply input unit and a control unit.

[0059] The fourth power supply input unit is connected with the power supply end of the control unit.

[0060] The first output end of the control unit is connected with the pneumatic clamping jaw, the turnover mechanism, the rotating mechanism, the visual detection module and the polishing control module.

[0061] The first input end of the control unit is connected with an external host computer.

[0062] The utility model embodiment provides a kind of stepped hole polishing device, wherein pneumatic clamping jaw is responsible for clamping workpiece, and sends workpiece in place signal. Turnover mechanism is adjusted according to the signal of total control module, and workpiece is formed to specific angle, and forms turnover in place signal. After workpiece is turned over in place, visual detection module collects the relative position image of brush and workpiece stepped hole of polishing control module, and generates rotating positioning angle signal. Rotating mechanism is adjusted according to signal, and it is ensured that brush and stepped hole are aligned. Polishing control module is controlled according to the signal of total control module, and brush is rotated and elongated, and polishing operation is carried out. The stepped hole polishing device provided in the utility model embodiment realizes the automation of stepped hole polishing by the cooperative work of each module, reduces manual operation, reduces the security risk caused by human factors, improves operation safety, and improves production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical scheme in the utility model embodiment, the drawings needed to be used in the description of the utility model embodiment will be simply introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the contents of the utility model embodiment and these drawings without creative labor for those skilled in the art.

[0064] Figure 1 It is a structure schematic view of the stepped hole polishing device provided by the utility model embodiment.

[0065] Figure 2 It is a flow chart of the stepped hole polishing method provided in the utility model embodiment.

[0066] Figure 3 It is a structure schematic view of the turnover mechanism provided by the utility model embodiment.

[0067] Figure 4 It is a structure schematic view of the visual detection module provided by the utility model embodiment.

[0068] Figure 5 It is a structure schematic view of the rotating mechanism provided by the utility model embodiment.

[0069] Figure 6 It is a structure schematic view of the polishing control module provided by the utility model embodiment.

[0070] Figure 7 is a structural schematic view of another stepped hole polishing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0071] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, in order to facilitate the description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0072] Figure 1 is a structural schematic view of a stepped hole polishing device provided by an embodiment of the present application, as shown in Figure 1 , the stepped hole polishing device comprises:

[0073] a total control module 101, a pneumatic clamping jaw 102, a turnover mechanism 103, a rotating mechanism 105, a visual detection module 104, a polishing control module 106 and a brush;

[0074] The total control module 101 is connected with the pneumatic clamping jaw 102, the turnover mechanism 103, the rotating mechanism 105, the visual detection module 104 and the polishing control module 106 respectively;

[0075] The pneumatic clamping jaw 102 is used for clamping the workpiece to be polished, and outputs a workpiece positioning signal according to the clamping state of the workpiece to be polished; the total control module 101 is used for forming a first control signal according to the workpiece positioning signal;

[0076] The turnover mechanism 103 is connected with the pneumatic clamping jaw 102, and the turnover mechanism 103 is used for driving the plane around the pneumatic clamping jaw 102 to be at a first angle or a second angle with the horizontal plane according to the first control signal, and forming a turnover positioning signal at the end of the turnover; the total control module 101 forms a second control signal according to the turnover positioning signal;

[0077] When the plane around the pneumatic clamping jaw is at the second angle with the horizontal plane, the circular plane composed of the stepped hole of the workpiece to be polished is parallel to the circular plane composed of the brush, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes;

[0078] The visual detection module 104 is used for collecting the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal, and the visual detection module 104 generates a rotating positioning angle signal according to the relative position image; the total control module 101 forms a third control signal according to the rotating positioning angle signal;

[0079] The axis of the plane surrounded by the plurality of pneumatic clamps 102 coincides with the rotation axis of the rotating mechanism 105, the rotating mechanism 105 is connected with the pneumatic clamps 102, the rotating mechanism 105 is used to rotate the pneumatic clamps 102 according to the third control signal, and a polishing alignment signal is generated when the rotating mechanism 105 stops rotating; the general control module 101 generates a fourth control signal according to the polishing alignment signal;

[0080] The polishing control module 106 is used to control the rotation and elongation of the brush to polish the stepped hole of the workpiece to be polished according to the fourth control signal.

[0081] Specifically, the general control module controls all mechanisms or modules of the stepped hole polishing device. After the workpiece to be polished is clamped by the pneumatic clamps 102, the pneumatic clamps 102 output a workpiece-to-position signal to the general control module. The general control module 101 forms a first control signal according to the received workpiece-to-position signal and sends the first control signal to the overturning mechanism 103.

[0082] The overturning mechanism 103 is connected with the pneumatic clamps 102, and the overturning mechanism 103 can drive the plane surrounded by the pneumatic clamps to change from a first angle with the horizontal plane to a second angle with the horizontal plane. The first angle is the angle when the workpiece to be polished is just clamped by the pneumatic clamps 102, and the second angle is the angle when the workpiece to be polished is polished. Optionally, the plane surrounded by the pneumatic clamps 102 at the first angle with the horizontal plane is that the plane surrounded by the pneumatic clamps 102 is 0° with the horizontal plane, and the plane surrounded by the pneumatic clamps 102 at the second angle with the horizontal plane is that the plane surrounded by the pneumatic clamps 102 is 90° with the horizontal plane.

[0083] At the end of the overturning, the circular plane composed of the stepped hole of the workpiece to be polished is parallel to the circular plane composed of the brush of the polishing control module, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes; at this time, the brush of the polishing control module may be misaligned with the stepped hole, but the workpiece to be polished can be rotated around the center of the circular plane composed of the stepped hole to make each brush align with the stepped hole, so as to facilitate subsequent stepped hole polishing operation.

[0084] The vision detection module 104 collects the relative position image of the brush of the polishing control module 106 and the stepped hole of the workpiece to be polished, and generates a rotation positioning angle signal according to the relative position image; the general control module 101 forms a third control signal according to the rotation positioning angle signal to control the rotation of the rotating mechanism 105 so that each brush can align with the stepped hole to facilitate subsequent stepped hole polishing operation.

[0085] For example, the visual detection module 104 generates the rotation positioning angle signal according to the relative position image, which includes: the visual detection module 104 compares the current relative position image with the alignment standard image, and obtains the rotation angle value according to the difference between the two images. The alignment standard image can be obtained only once. When the turning mechanism 103 drives the workpiece to be polished to the second angle, the rotation mechanism 105 is manually controlled to rotate so that each brush can align with the stepped hole. The visual detection module 104 collects and stores the relative position image of the brush of the polishing control module 106 and the stepped hole of the workpiece to be polished at this time. The relative position image at this time is the alignment standard image.

[0086] The axis of the plane surrounded by the plurality of pneumatic clamps 102 coincides with the rotation axis of the rotation mechanism 105, and the rotation mechanism 105 is connected with the pneumatic clamps 102. The rotation mechanism 105 drives the workpiece to be polished to rotate according to the third control signal.

[0087] Optionally, the third control signal contains control information for controlling the rotation mechanism 105 to rotate intermittently. Assuming that the workpiece to be polished has 18 stepped holes, which are arranged at equal intervals on the workpiece to be polished. The brush of the polishing control module 106 has 6, and the 6 brushes are also arranged at equal intervals. If the brush of the polishing control module 106 is not aligned with the stepped hole after the turning mechanism 103 drives the workpiece to be polished to the second angle, the visual detection module 104 generates the corresponding rotation positioning angle signal, and the total control module generates the third control signal according to the rotation positioning angle signal, which can control the rotation mechanism 105 to drive the polishing control module to rotate 3 times, which are: the first rotation: the brush is aligned with the stepped hole to polish the first group of 6 stepped holes; the second rotation: after the first group of 6 stepped holes is polished, the rotation mechanism 105 can rotate according to the third control signal to polish the second group of 6 stepped holes; the third rotation: after the second group of 6 stepped holes is polished, the rotation mechanism 105 can rotate according to the third control signal to polish the third group of 6 stepped holes. After three rotations, the 18 stepped holes of the workpiece to be polished are all polished.

[0088] The polishing alignment signal is generated when the rotation mechanism 105 stops rotating; the total control module 101 generates the fourth control signal according to the polishing alignment signal; and the polishing control module 106 is used to control the brush to rotate and extend according to the fourth control signal to polish the stepped hole of the workpiece to be polished.

[0089] Specifically, since the rotating mechanism 105 is intermittent when driving the workpiece to be polished to rotate according to the third control signal. When starting to rotate, the brush of the polishing control module 106 is aligned with the stepped hole to be polished; when stopping to rotate, it indicates that the brush has been aligned with the stepped hole and can polish the stepped hole. When the rotating mechanism stops rotating, a polishing alignment signal is generated; the total control module 101 generates a fourth control signal according to the polishing alignment signal to control the brush of the polishing control module 106 to rotate and extend to polish the stepped hole of the workpiece to be polished.

[0090] Figure 2 The flowchart of the stepped hole polishing method provided in the embodiment of the utility model is shown in Figure 2 For example, it is assumed that the workpiece to be polished has 18 stepped holes, and the 18 stepped holes are arranged at equal intervals on the workpiece to be polished. The brush of the polishing control module 106 has 6 brushes, and the 6 brushes are also arranged at equal intervals. Then, in one case, 3 times of polishing are performed to polish all the stepped holes, that is, the preset number of polishing times is 3.

[0091] When the workpiece is clamped in place by the pneumatic clamp, the turnover mechanism is turned over, so that the plane surrounded by the pneumatic clamp and the horizontal plane form a second angle. The vision detection module collects the relative position image of the brush and the stepped hole of the workpiece to be polished, and calculates the angle at which the rotating mechanism needs to rotate. The rotating mechanism rotates. After the rotation is completed, the total control module generates a fourth control signal according to the polishing alignment signal, and the polishing control module 106 controls the brush to rotate and extend into the stepped hole for polishing according to the fourth control signal. After the first preset time, the polishing control module 106 controls the brush to retract, and the polishing times counter is incremented by 1. At this time, the first group of 6 stepped holes has been polished. The rotating mechanism 105 can be rotated according to the third control signal for the second time to polish the second group of 6 stepped holes. After the second rotation is stopped, the rotating mechanism 105 generates a polishing alignment signal, the total control module 101 generates a fourth control signal, and the polishing control module 106 controls the brush to rotate and extend into the stepped hole for polishing after the second rotation according to the fourth control signal.

[0092] Similarly, after 3 groups of stepped holes are polished, the 18 stepped holes of the workpiece to be polished are all polished, and the polishing times are greater than the preset number of times. Then the brush retracts to the extension limit state; the turnover mechanism is turned over, so that the plane surrounded by the pneumatic clamp and the horizontal plane form a first angle; the polishing times are cleared, and the stepped hole polishing process is ended.

[0093] It should be noted that the first preset time described above is the time for polishing each group of stepped holes, that is, the time for the brush to extend into the stepped hole.

[0094] Optionally, the above-mentioned elongation and retraction states of the brush in the polishing control module 106 can include: a pre-retraction limit state, a mid-retraction limit state, and a post-retraction limit state. In the post-retraction limit state, the brush is farthest away from the workpiece to be polished at the second angle, and at this time, the brush is in the retraction state before the workpiece to be polished is polished. The mid-retraction limit state refers to the state in which the brush is close to the workpiece to be polished but does not extend into the stepped hole. The mid-retraction limit state exists when the visual detection module 104 collects the image of the relative position of the brush of the polishing control module 106 and the stepped hole of the workpiece to be polished, and in the process of rotating the workpiece to be polished by the rotating mechanism 106. The pre-retraction limit state is the state of the brush when the brush extends into the stepped hole for polishing the stepped hole. The above-mentioned elongation and retraction states of the brush of the polishing control module 106 can be controlled by the total control module 101, which is not limited herein.

[0095] Optionally, after the polishing of the stepped hole of the workpiece to be polished is completed, the total control module 101 controls the brush of the polishing control module 106 to stop rotating and retract. The total control module 101 controls the overturning mechanism 103 to drive the plane surrounded by the pneumatic clamping jaw 102 to be horizontal to the horizontal plane, and the pneumatic clamping jaw releases the brake disc to be placed on the brake disc transmission line, and the processing of the workpiece to be polished is completed.

[0096] The utility model embodiment provides a stepped hole polishing device, wherein the pneumatic clamping jaw is responsible for clamping the workpiece and sending a workpiece in-place signal. The overturning mechanism adjusts the workpiece to a specific angle according to the signal of the total control module, and forms an overturning in-place signal. The visual detection module collects the image of the relative position of the brush of the polishing control module and the stepped hole of the workpiece after the workpiece is overturned in place, and generates a rotational positioning angle signal. The rotating mechanism adjusts the position of the workpiece according to the signal to ensure that the brush is aligned with the stepped hole. The polishing control module controls the rotation and elongation of the brush according to the signal of the total control module to perform the polishing operation. The stepped hole polishing device provided in the utility model embodiment realizes the automation of the polishing of the stepped hole through the cooperative work of the modules, reduces manual operation, reduces the safety hazards caused by human factors, improves the operation safety, and improves the production efficiency.

[0097] Figure 3 The structure diagram of the overturning mechanism provided in the utility model embodiment is shown in Figure 3 The overturning mechanism 103 includes: a first power input unit 1031, a first switch unit 1032, a first voltage conversion unit 1033, an overturning unit 1034, a first transistor output type controller 1035, a first switch power supply 1036, and an overturning information detection unit 1037.

[0098] The control end of the first transistor output type controller 1035 is connected with the total control module 101, and is used for receiving a first control signal.

[0099] The three-way output end of the first power supply input unit 1031 is connected with the power supply end of the first switch unit 1032, the first transistor output type controller 1035 and the first switch power supply 1036 respectively;

[0100] The output end of the first switch unit 1032 is connected with the input end of the first voltage transformation unit 1033, and the output end of the first voltage transformation unit 1033 is connected with the first input end of the turnover unit 1034;

[0101] The first output end of the first transistor output type controller 1035 is connected with the control end of the first switch unit 1032, and the first transistor output type controller 1035 is used for sending the first power supply control signal to the first switch unit 1032 according to the first control signal to control the conduction or shutdown between the turnover unit 1034 and the output end of the first power supply input unit 1031;

[0102] The second output end of the first transistor output type controller 1035 is connected with the second input end of the turnover unit 1034, and the first transistor output type controller 1035 is used for sending the first control positioning pulse train to the turnover unit 1034 according to the first control signal to control the turnover positioning control of the turnover unit 1034;

[0103] The power supply end of the turnover information detection unit 1037 is connected with the first switch power supply 1036, and the first switch power supply 1036 supplies power for the turnover information detection unit 1037;

[0104] The output end of the turnover information detection unit 1037 is connected with the input end of the first transistor output type controller 1035, which is used for collecting the turnover position information of the turnover mechanism 103 and sending it to the first transistor output type controller 1035; the first transistor output type controller 1035 sends the turnover to position signal to the total control module 101 according to the turnover position information.

[0105] The turnover unit 1034 comprises a turnover servo amplifier 10341, a turnover servo motor 10342, a first encoder 10343 and a turnover speed reducer 10344;

[0106] The first input end of the turnover servo amplifier 10341 is used as the first input end of the turnover unit 1034, the second input end of the turnover servo amplifier 10341 is used as the second input end of the turnover unit 1034, the output end of the turnover servo amplifier 10341 is connected with the input end of the turnover servo motor 10342, the input end of the first encoder 10343 is connected with the first output end of the turnover servo motor 10342, and the first encoder 10343 is used for collecting the feedback signal of the turnover servo motor 10342;

[0107] The output end of the first encoder 10343 is connected with the third input end of the flip servo amplifier 10341, and the flip servo amplifier 10341 outputs a flip control signal according to the first control positioning pulse train and the feedback signal of the flip servo motor 10342;

[0108] The second output end of the flip servo motor 10342 is connected with the input end of the flip speed reducer 10344, and the flip servo motor 10342 is used for driving the flip speed reducer 10344 according to the flip control signal.

[0109] Specifically, in the flip mechanism 103, when the first transistor output type controller 1035 receives the first control signal of the general control module 101, the first transistor output type controller 1035 generates a first power control signal according to the first control signal and sends it to the first switch unit 1032 for power control of the flip unit 1034; a first control positioning pulse train is generated and sent to the flip unit 1034 for flip positioning control. The first voltage transformation unit 1033 transforms the input voltage into the working voltage of the flip unit 1034. In the process of flipping, the flip information detection unit 1037 collects the flip position information of the flip mechanism 103 and sends it to the first transistor output type controller 1035, and the first transistor output type controller 1035 processes and judges the flip position information, and when it is detected that the current flip position meets the preset position, a flip to position signal is generated and sent to the general control module. Optionally, the preset position is that the angle between the workpiece to be polished and the horizontal plane is 90°.

[0110] In the flip unit 1034, the first encoder 10343 collects the feedback signal of the flip servo motor 10342 and sends it to the flip servo amplifier 10341 after encoding. The flip servo amplifier 10341 outputs a flip control signal to the flip servo motor 10342 according to the first control positioning pulse train and the feedback signal of the flip servo motor 10342, so as to control the flip speed reducer 10344 to realize the flip of the workpiece to be polished.

[0111] Optionally, the first power supply input unit 1031 includes two circuit breakers and a first motor protector, wherein the input end of the first motor protector is connected with a three-phase alternating current 380V power supply, and the output end is connected with the first switch unit 1032. When the device is overloaded or short-circuited, the first motor protector cuts off the system power supply, thereby protecting the system.

[0112] Optionally, the first switch unit 1032 includes an electromagnetic contactor.

[0113] Optionally, the first transistor output type controller 1035 can also be connected to a pneumatic claw unit; the pneumatic claw unit includes a solenoid valve and a pneumatic claw, the first input end of the solenoid valve is connected to an external steam source, and the second input end is connected to the pneumatic claw. The first transistor output type controller 1035 further includes a third output end, and the third output end is connected to the control end of the solenoid valve. The first transistor output type controller 1035 inputs the pneumatic claw driving signal to the solenoid valve to control the conduction and shutdown of the pneumatic claw and the external steam source, thereby controlling the clamping or loosening of the pneumatic claw. At the same time, the first transistor output type controller 1035 outputs a workpiece in-place signal to the total control module according to the clamping state of the pneumatic claw to the workpiece to be polished.

[0114] The feedback signal of the overturning servo motor 10342 is collected by the first encoder 10343, which can monitor the running state and position of the motor in real time. This feedback mechanism makes the overturning control more accurate and ensures that the workpiece to be polished is accurately overturned to the predetermined angle. The overturning servo amplifier 10341 outputs the overturning control signal according to the first control positioning pulse train and the feedback signal of the motor, and this closed-loop control mode can maintain the stability and reliability of the overturning process. Even if the load changes or external disturbances are encountered, the accuracy and consistency of the overturning can be maintained by adjusting the control signal.

[0115] Figure 4 is a structural schematic diagram of a visual detection module provided by an embodiment of the present application, as shown in Figure 4 The visual detection module 104 includes: a power input unit 1041, a light source power supply unit 1042, a light source 1045, a visual detection computer 1043 and an industrial camera 1044; two output ends of the power input unit 1041 are respectively connected to the power supply ends of the light source power supply unit 1042 and the visual detection computer 1043; the light source power supply unit 1042 is connected to the power supply end of the light source 1045, and the output end of the industrial camera 1044 is connected to the input end of the visual detection computer 1043; the visual detection computer 1043 is connected to the total control module, and the visual detection computer is used to control the industrial camera 1044 to collect the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the total control module 101; and generate a rotation positioning angle signal according to the relative position image.

[0116] Specifically, after the second control signal of the total control module 101 is received by the visual detection computer 1043, the industrial camera 1044 takes an image of the relative position between the brush and the stepped hole of the workpiece to be polished and sends the image to the visual detection computer 1043 for processing. The visual detection computer 1043 compares the relative position image with the centering standard image and calculates a rotation positioning angle signal. The total control module can generate a third control signal to control the rotation of the rotation mechanism 105 according to the rotation positioning angle signal. The combination of the visual detection module 104 and the rotation mechanism 105 ensures high-precision alignment of the brush and the stepped hole and improves the polishing quality.

[0117] Optionally, the industrial camera 1044 is connected to the visual detection computer 1043 through Ethernet and a network card of the visual detection computer 1043, and the serial port of the visual detection computer 1043 is connected to the total control module 101 through RS485.

[0118] Optionally, the centering standard image can be an image stored in the visual detection computer 1043 in advance, and the centering standard image includes image information of the centering of the brush and the stepped hole.

[0119] The light source power supply unit 1042 supplies power to the light source 1045, and the light source 1045 provides illumination for the image information collection of the industrial camera 1044.

[0120] Optionally, the power input unit 1041 includes two circuit breakers, which cut off the system power when overload or short circuit occurs in a certain circuit, thereby playing a protection role. The input end of the power input unit 1041 is connected to an alternating current 220V power supply.

[0121] Figure 5 is a structure diagram of a rotation mechanism provided by an embodiment of the utility model, as shown in Figure 5 The rotation mechanism 105 includes a second power input unit 1051, a second switch unit 1052, a second voltage transformation unit 1053, a rotation unit 1054 and a second transistor output type controller 1055.

[0122] The control end of the second transistor output type controller 1055 is connected to the total control module 101 and is used for receiving a third control signal.

[0123] The two-way output ends of the second power input unit 1051 are respectively connected to the second switch unit 1052 and the power supply end of the second transistor output type controller 1055.

[0124] The output end of the second switch unit 1052 is connected to the input end of the second voltage transformation unit 1053, and the output end of the second voltage transformation unit 1053 is connected to the first input end of the rotation unit 1054.

[0125] The first output end of the second transistor output type controller 1055 is connected with the control end of the second switch unit 1052; the second transistor output type controller 1055 is used for sending a second power supply control signal to the second switch unit 1052 according to a first control signal to control the conduction or the turn-off between the rotating unit 1054 and the output end of the second power supply input unit 1051;

[0126] The second output end of the second transistor output type controller 1055 is connected with the second input end of the rotating unit 1054, and the second transistor output type controller 1055 is used for sending a second control positioning pulse train to the rotating unit 1054 according to a second control signal to control the rotating unit 1054 to perform the rotating positioning control.

[0127] The rotating unit 1054 comprises a rotating servo amplifier 10541, a rotating servo motor 10542, a second encoder 10543 and a rotating speed reducer 10544.

[0128] The first input end of the rotating servo amplifier 10541 is used as the first input end of the rotating unit 1054, the second input end of the rotating servo amplifier 10541 is used as the second input end of the rotating unit 1054, the output end of the rotating servo amplifier 10541 is connected with the input end of the rotating servo motor 10542, the input end of the second encoder 10543 is connected with the first output end of the rotating servo motor 10542, and the second encoder 10543 is used for collecting the feedback signal of the rotating servo motor 10542.

[0129] The output end of the second encoder 10543 is connected with the third input end of the rotating servo amplifier 10541, and the rotating servo amplifier 10541 outputs a rotating control signal according to the second control positioning pulse train and the feedback signal of the rotating servo motor 10542.

[0130] The second output end of the rotating servo motor 10542 is connected with the input end of the rotating speed reducer 10544, and the rotating servo motor 10542 is used for driving the rotating speed reducer 10544 according to the rotating control signal.

[0131] Specifically, in the rotating mechanism 105, when the second transistor output type controller 1055 receives the second control signal of the total control module 101, the second transistor output type controller 1055 generates a second power supply control signal according to the second control signal and sends it to the second switch unit 1052 to perform the power supply control on the rotating unit 1054; the second voltage transformation unit 1053 transforms the input voltage into the working voltage of the rotating unit 1054. A second control positioning pulse train is generated and sent to the rotating unit 1054 to perform the rotating positioning control.

[0132] In the rotating unit 1054, the second encoder 10543 collects the feedback signal of the rotating servo motor 10542 and sends the encoded feedback signal to the rotating servo amplifier 10541. The rotating servo amplifier 10541 outputs the flip control signal to the rotating servo motor 10542 according to the first control positioning pulse train and the feedback signal of the rotating servo motor 10542, so as to control the rotating speed reducer 10544 to realize the rotation of the workpiece to be polished.

[0133] Optionally, the second power input unit 1051 comprises a circuit breaker and a second motor protector, wherein the input end of the second motor protector is connected with a three-phase alternating current 380V power supply, and the output end is connected with the second switch unit 1052. When the device is overloaded or short-circuited, the second motor protector cuts off the system power supply, thereby playing a role in protecting the system.

[0134] The second switch unit 1052 comprises an electromagnetic contactor.

[0135] Optionally, the information acquisition unit is arranged to acquire the rotation information of the rotating mechanism, and the acquired information includes whether the rotation of the rotating mechanism is stopped. The information acquisition unit acquires the rotation information of the rotating mechanism and sends the rotation information to the second transistor output type controller 1055. The second transistor output type controller 1055 analyzes the rotation information, and when the rotation of the rotating mechanism is stopped, the second transistor output type controller 1055 generates a polishing alignment signal and sends the polishing alignment signal to the total control module 101.

[0136] The process of generating the polishing alignment signal by the second transistor output type controller 1055 can also be set as a preset time as a standard. When the third signal is received from the rotating mechanism 105 to start rotating, after the preset time, the second transistor output type controller 1055 automatically generates the polishing alignment signal. The preset time is set according to the arrangement mode of the stepped holes and other factors, which is not limited herein.

[0137] Figure 6 is a structural schematic diagram of a polishing control module provided by an embodiment of the present application, as shown in the figure: Figure 6 The polishing control module 106 comprises a third power input unit 106, a third switch unit 1062, a third switch power supply 1066, a third voltage conversion unit 1063, a brush telescopic movement unit 1064, a brush pneumatic rotating unit 1068, a third transistor output type controller 1065 and a brush position information detection unit 1067.

[0138] The control end of the third transistor output type controller 1065 is connected with the total control module 101, and is used for receiving a fourth control signal.

[0139] The three-way output end of the third power supply input unit 106 is connected with the power supply end of the third switch unit 1062, the third transistor output type controller 1065 and the third switch power supply 1066 respectively;

[0140] The output end of the third switch unit 1062 is connected with the input end of the third voltage transformation unit 1063, and the output end of the third voltage transformation unit 1063 is connected with the first input end of the brush telescopic movement unit 1064;

[0141] The first output end of the third transistor output type controller 1065 is connected with the control end of the third switch unit 1062, and the third transistor output type controller 1065 is used for sending the third power control signal to the third switch unit 1062 according to the fourth control signal to control the conduction or turn-off between the brush telescopic movement unit 1064 and the output end of the third power supply input unit 106;

[0142] The second output end of the third transistor output type controller 1065 is connected with the second input end of the brush telescopic movement unit 1064, and the third transistor output type controller 1065 is used for sending the third control positioning pulse train to the brush telescopic movement unit 1064 according to the fourth control signal to control the brush telescopic positioning control of the brush telescopic movement unit 1064;

[0143] The power supply end of the brush pneumatic rotation unit 1068 is connected with the third switch power supply 1066, and the third switch power supply 1066 supplies power for the brush pneumatic rotation unit 1068;

[0144] The third output end of the third transistor output type controller 1065 is connected with the control end of the brush pneumatic rotation unit 1068, and the third transistor output type controller 1065 is used for sending the brush rotation control signal to the brush pneumatic rotation unit 1068 according to the fourth control signal to control the brush rotation;

[0145] The power supply end of the brush position information detection unit 1067 is connected with the third switch power supply 1066, and the third switch power supply 1066 supplies power for the brush position information detection unit 1067;

[0146] The output end of the brush position information detection unit 1067 is connected with the input end of the third transistor output type controller 1065, which is used for collecting the telescopic position information of the brush and sending it to the third transistor output type controller 1065.

[0147] The brush pneumatic rotation unit 1068 comprises an electromagnetic valve 10681 and a pneumatic driver 10682;

[0148] The power supply end of the electromagnetic valve 10681 is used as the power supply end of the brush pneumatic rotation unit 1068, and the control end of the electromagnetic valve 10681 is used as the control end of the brush pneumatic rotation unit 1068.

[0149] The first end of the electromagnetic valve 10681 is connected to an external air source, and the second end is connected to the input end of the pneumatic driver 10682.

[0150] The electromagnetic valve 10681 controls the conduction or turn-off of the pneumatic driver 10682 and the external air source according to the brush rotation control signal.

[0151] The brush extension and retraction movement unit includes a brush extension and retraction servo amplifier 10641, a brush extension and retraction servo motor 10642, a third encoder 10643, and a brush extension and retraction speed reducer 10644.

[0152] The first input end of the brush extension and retraction servo amplifier 10641 serves as the first input end of the brush extension and retraction movement unit, the second input end of the brush extension and retraction servo amplifier 10641 serves as the second input end of the brush extension and retraction movement unit, the output end of the brush extension and retraction servo amplifier 10641 is connected to the input end of the brush extension and retraction servo motor 10642, the input end of the third encoder 10643 is connected to the first output end of the brush extension and retraction servo motor 10642, and the third encoder 10643 is used to collect the feedback signal of the brush extension and retraction servo motor 10642.

[0153] The output end of the third encoder 10643 is connected to the third input end of the brush extension and retraction servo amplifier 10641, and the brush extension and retraction servo amplifier 10641 outputs a brush extension and retraction control signal according to the third control positioning pulse train and the feedback signal of the brush extension and retraction servo motor 10642.

[0154] The second output end of the brush extension and retraction servo motor 10642 is connected to the input end of the brush extension and retraction speed reducer 10644, and the brush extension and retraction servo motor 10642 is used to drive the brush extension and retraction speed reducer 10644 according to the brush extension and retraction control signal.

[0155] Specifically, the pneumatic driver 10682 in the polishing control module 106 drives the brush rotation, and the brush telescopic reducer 10644 in the polishing control module 106 can drive the brush to telescope. In the polishing control module 106, when the third transistor output type controller 1065 receives the fourth control signal of the total control module 101, the third transistor output type controller 1065 generates a third power control signal according to the fourth control signal and sends it to the third switch unit 1062 for power control of the brush telescopic movement unit 1064; the third voltage transformation unit 1063 transforms the input voltage into the working voltage of the brush telescopic movement unit 1064. The third transistor output type controller 1065 generates a third control positioning pulse train and sends it to the brush telescopic movement unit 1064 for brush telescopic positioning control. The third transistor output type controller 1065 generates a brush rotation control signal and sends it to the brush pneumatic rotation unit 1068 to control the brush rotation. Optionally, the brush rotation control signal is the on-off signal of the electromagnetic valve, and by controlling the on-off of the electromagnetic valve in the brush pneumatic rotation unit 1068, the on-off of the pneumatic driver and the external gas source is controlled to control the brush rotation.

[0156] In the brush telescopic movement unit 1064, the third encoder 10643 collects the feedback signal of the brush telescopic servo motor 10642 and sends it to the brush telescopic servo amplifier 10641 after encoding. The brush telescopic servo amplifier 10641 outputs a brush telescopic control signal to the brush telescopic servo motor 10642 according to the third control positioning pulse train and the feedback signal of the brush telescopic servo motor 10642 to control the brush telescopic reducer 10644 to realize the rotation of the brush.

[0157] In the polishing control module 106, the brush telescopic movement unit 1064 is used to control the extension and retraction of the brush; then, the brush pneumatic rotation unit 1068 is used to control the rotation of the brush. For the brush pneumatic rotation unit 1068, the third transistor output type controller 1065 is connected to the electromagnetic valve 10681, and the third transistor output type controller 1065 controls the on-off of the electromagnetic valve 10681 to the pneumatic driver 10682 and the external gas source to realize the rotation of the brush through the brush rotation control signal.

[0158] Optionally, the third power supply input unit 1061 includes two circuit breakers and a third motor protector, wherein the input end of the third motor protector is connected to a three-phase alternating current 380V power supply, and the output end is connected to the third switch unit 1062. When the device is overloaded or short-circuited, the third motor protector cuts off the system power supply, which plays a role in protecting the system.

[0159] Optionally, the third switch unit 1062 includes an electromagnetic contactor.

[0160] The brush position information detection unit 1067 collects the brush extension position information of the polishing control module 106 and sends it to the third transistor output type controller 1065, which processes and judges the brush extension position information. Optionally, the third transistor output type controller 1065 sends the processing and judgment result of the brush extension position information to the total control module 101.

[0161] On the basis of the above embodiments, the brush extension position information of the polishing control module 106 includes three kinds of limit states of the brush: pre-extension limit state, mid-extension limit state, and post-extension limit state. When the stepped hole polishing device polishes the stepped hole of the workpiece to be polished, different stages correspond to different brush limit states; at the same time, different stages also prohibit the brush from being in the corresponding limit state. For example, when the rotating mechanism 105 is in the rotating state, the brush in the polishing control module 106 cannot extend into the stepped hole, otherwise, due to the rotation of the rotating mechanism 105, the brush will be broken. After the total control module 101 generates the third control signal, if the brush extension position information sent by the third transistor output type controller 1065 and received by the total control module 101 indicates that the brush is in the post-extension limit state, the corresponding safety measures are taken. Optionally, the safety measures include that the total control module 101 sends an emergency stop command to the rotating mechanism 105, and the specific safety measures are set according to the actual situation, which is not limited here.

[0162] Figure 7 is another structure schematic view of the stepped hole polishing device provided by the embodiment of the utility model, as Figure 7 shown, the stepped hole polishing device comprises a total control module 101, wherein the total control module 101 comprises a fourth power supply input unit 1011 and a control unit 1012; the fourth power supply input unit 1011 is connected with the power supply end of the control unit 1012; the first output end of the control unit 1012 is connected with the pneumatic dog 102, the turnover mechanism 103, the rotating mechanism 105, the visual detection module 104 and the polishing control module 106; the first input end of the control unit 1012 is connected with an external host computer.

[0163] Specifically, the control unit 1012 is connected with the first transistor output type controller 1035, the second transistor output type controller 1055 and the third transistor output type controller 1065 to receive signals and send corresponding control signals.

[0164] Specifically, the host computer is connected with the control unit 1012 so as to control the stepped hole polishing device through the host computer, or the host computer is connected with multiple stepped hole polishing devices in the above embodiments to control multiple stepped hole polishing devices through the host computer.

[0165] Optionally, the host computer and the control unit 1012 are connected by wireless or wired.

[0166] Optionally, the first transistor output type controller 1035, the second transistor output type controller 1055 and the third transistor output type controller 1065 can be the same transistor output type controller, which has multiple output ends to output corresponding signals to control the pneumatic clamp 102, the turnover mechanism 103, the visual detection module 104, the rotating mechanism 105 and the polishing control module 106 respectively after receiving the control signal of the total control module 101.

[0167] Optionally, the control unit 1012 and each transistor output type controller are connected by a communication line.

[0168] Optionally, the stepped hole polishing device further comprises a remote controller, which is connected with each transistor output type controller to manually control the pneumatic clamp 102, the turnover mechanism 103, the visual detection module 104, the rotating mechanism 105 and the polishing control module 106. The remote controller is connected with each transistor output type controller by wireless or wired, or the remote controller is connected with the visual detection computer 1043 by wireless or wired.

[0169] Optionally, on the basis of each of the above embodiments, when the remote controller is connected with the second transistor output type controller 1055 of the rotating mechanism 105 by wireless or wired. The method for obtaining the centering standard image comprises: when the turnover mechanism 103 drives the workpiece to be polished to be located at the second angle, the brush of the polishing control module 106 is in the telescopic limiting state, the alignment relationship between the brush and the stepped hole is observed by naked eyes, and the rotating mechanism 105 is manually controlled to rotate by the remote controller until the brush and the stepped hole center, and the industrial camera 1044 in the visual detection module 104 is controlled to take a picture, so as to obtain the centering standard image.

[0170] It should be noted that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A stepped hole grinding device, characterized in that, include: The system includes a main control module, pneumatic grippers, a flipping mechanism, a rotating mechanism, a vision inspection module, a grinding control module, and a brush. The main control module is connected to the pneumatic gripper, the flipping mechanism, the rotating mechanism, the vision inspection module, and the grinding control module, respectively. The pneumatic gripper is used to clamp the workpiece to be polished, and outputs a workpiece positioning signal according to the clamping state of the workpiece; the main control module is used to generate a first control signal according to the workpiece positioning signal. The flipping mechanism is linked to the pneumatic gripper. The flipping mechanism is used to drive the plane around the pneumatic gripper to form a first angle or a second angle with the horizontal plane according to the first control signal, and to generate a flipping-in signal when the flipping ends; the main control module generates a second control signal according to the flipping-in signal. When the plane surrounded by the pneumatic chuck forms a second angle with the horizontal plane, the circular plane formed by the stepped holes of the workpiece to be ground is parallel to the circular plane formed by the brush, and the line segment connecting the centers of the two circular planes is perpendicular to the two circular planes. The vision detection module is used to acquire the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal, and the vision detection module generates a rotation positioning angle signal according to the relative position image. The main control module generates a third control signal based on the rotation positioning angle signal; The axis of the plane surrounded by the pneumatic grippers coincides with the rotation axis of the rotating mechanism. The rotating mechanism is linked to the pneumatic grippers. The rotating mechanism is used to drive the pneumatic grippers to rotate according to the third control signal. When the rotating mechanism stops rotating, it generates a grinding alignment signal. The main control module generates a fourth control signal according to the grinding alignment signal. The grinding control module is used to control the rotation and extension of the brush according to the fourth control signal to perform stepped hole grinding on the workpiece to be ground.

2. The stepped hole grinding device according to claim 1, characterized in that, The flipping mechanism includes: a first power supply input unit, a first switching unit, a first transformer unit, a flipping unit, a first transistor output controller, a first switching power supply, and a flipping information detection unit; The control terminal of the first transistor output controller is connected to the main control module and is used to receive the first control signal; The three output terminals of the first power supply input unit are respectively connected to the power supply terminals of the first switching unit, the first transistor output controller, and the first switching power supply. The output terminal of the first switching unit is connected to the input terminal of the first transformer unit, and the output terminal of the first transformer unit is connected to the first input terminal of the flip unit. The first output terminal of the first transistor output controller is connected to the control terminal of the first switching unit. The first transistor output controller is used to send a first power control signal to the first switching unit according to the first control signal to control the conduction or cutoff between the output terminal of the flip unit and the first power input unit. The second output terminal of the first transistor output controller is connected to the second input terminal of the flip unit. The first transistor output controller is used to send a first control positioning pulse train to the flip unit according to the first control signal to control the flip unit to perform flip positioning control. The power supply terminal of the flip information detection unit is connected to the first switching power supply, and the first switching power supply supplies power to the flip information detection unit. The output of the flipping information detection unit is connected to the input of the first transistor output controller, and is used to collect the flipping position information of the flipping mechanism and send it to the first transistor output controller; the first transistor output controller sends the flipping position signal to the main control module according to the flipping position information.

3. The stepped hole grinding device according to claim 2, characterized in that, The flipping unit includes: a flipping servo amplifier, a flipping servo motor, a first encoder, and a flipping reducer; The first input terminal of the flip servo amplifier serves as the first input terminal of the flip unit, the second input terminal of the flip servo amplifier serves as the second input terminal of the flip unit, the output terminal of the flip servo amplifier is connected to the input terminal of the flip servo motor, the input terminal of the first encoder is connected to the first output terminal of the flip servo motor, and the first encoder is used to collect the feedback signal of the flip servo motor. The output terminal of the first encoder is connected to the third input terminal of the flip servo amplifier, and the flip servo amplifier outputs a flip control signal according to the first control positioning pulse train and the feedback signal of the flip servo motor. The second output terminal of the flip servo motor is connected to the input terminal of the flip reducer, and the flip servo motor is used to drive the flip reducer according to the flip control signal.

4. The stepped hole grinding device according to claim 1, characterized in that, The vision inspection module includes: a power input unit, a light source power supply unit, a light source, a vision inspection computer, and an industrial camera; The two output terminals of the power input unit are respectively connected to the power supply terminals of the light source power supply unit and the vision inspection computer. The light source power supply unit is connected to the power supply terminal of the light source, and the output terminal of the industrial camera is connected to the input terminal of the vision inspection computer. The vision inspection computer is connected to the main control module, and the vision inspection computer is used to control the industrial camera to acquire the relative position image of the brush and the stepped hole of the workpiece to be polished according to the second control signal of the main control module, and generate a rotation positioning angle signal according to the relative position image.

5. The stepped hole grinding apparatus according to any one of claims 1-4, characterized in that, The rotating mechanism includes: a second power supply input unit, a second switching unit, a second transformer unit, a rotating unit, and a second transistor output controller; The control terminal of the second transistor output controller is connected to the main control module and is used to receive the third control signal; The two output terminals of the second power supply input unit are respectively connected to the power supply terminals of the second switching unit and the second transistor output controller; The output terminal of the second switching unit is connected to the input terminal of the second transformer unit; the output terminal of the second transformer unit is connected to the first input terminal of the rotary unit. The first output terminal of the second transistor output controller is connected to the control terminal of the second switching unit; the second transistor output controller is used to send a second power control signal to the second switching unit according to the first control signal to control the conduction or cutoff between the output terminals of the rotating unit and the second power input unit; The second output terminal of the second transistor output controller is connected to the second input terminal of the rotating unit. The second transistor output controller is used to send a second control positioning pulse train to the rotating unit to control the rotating unit to perform rotation positioning control according to the second control signal.

6. The stepped hole grinding device according to claim 5, characterized in that, The rotating unit includes: a rotary servo amplifier, a rotary servo motor, a second encoder, and a rotary reducer; The first input terminal of the rotary servo amplifier serves as the first input terminal of the rotary unit, the second input terminal of the rotary servo amplifier serves as the second input terminal of the rotary unit, the output terminal of the rotary servo amplifier is connected to the input terminal of the rotary servo motor, the input terminal of the second encoder is connected to the first output terminal of the rotary servo motor, and the second encoder is used to collect the feedback signal of the rotary servo motor. The output terminal of the second encoder is connected to the third input terminal of the rotary servo amplifier, and the rotary servo amplifier outputs a rotation control signal based on the second control positioning pulse train and the feedback signal of the rotary servo motor. The second output terminal of the rotary servo motor is connected to the input terminal of the rotary reducer, and the rotary servo motor is used to drive the rotary reducer according to the rotary control signal.

7. The stepped hole grinding device according to claim 1, characterized in that, The polishing control module includes: a third power supply input unit, a third switch unit, a third switching power supply, a third transformer unit, a brush telescopic motion unit, a brush pneumatic rotation unit, a third transistor output controller, and a brush position information detection unit; The control terminal of the third transistor output controller is connected to the main control module and is used to receive the fourth control signal; The three output terminals of the third power supply input unit are respectively connected to the power supply terminals of the third switching unit, the third transistor output controller, and the third switching power supply. The output terminal of the third switching unit is connected to the input terminal of the third transformer unit, and the output terminal of the third transformer unit is connected to the first input terminal of the brush telescopic motion unit. The first output terminal of the third transistor output controller is connected to the control terminal of the third switching unit. The third transistor output controller is used to send a third power control signal to the third switching unit according to the fourth control signal to control the conduction or cutoff between the output terminals of the brush telescopic motion unit and the third power input unit. The second output terminal of the third transistor output controller is connected to the second input terminal of the brush telescopic motion unit. The third transistor output controller is used to send a third control positioning pulse train to the brush telescopic motion unit according to the fourth control signal to control the brush telescopic motion unit to perform brush telescopic positioning control. The power supply terminal of the pneumatic rotating brush unit is connected to the third switching power supply, and the third switching power supply supplies power to the pneumatic rotating brush unit. The third output terminal of the third transistor output controller is connected to the control terminal of the pneumatic brush rotation unit. The third transistor output controller is used to send a brush rotation control signal to the pneumatic brush rotation unit according to the fourth control signal to control the brush rotation. The power supply terminal of the brush position information detection unit is connected to the third switching power supply, and the third switching power supply supplies power to the brush position information detection unit. The output terminal of the brush position information detection unit is connected to the input terminal of the third transistor output controller, and is used to collect the extension and retraction position information of the brush and send it to the third transistor output controller.

8. The stepped hole grinding device according to claim 7, characterized in that, The pneumatic rotating unit for the brush includes: a solenoid valve and a pneumatic actuator; The power supply terminal of the solenoid valve serves as the power supply terminal of the pneumatic rotating brush unit, and the control terminal of the solenoid valve serves as the control terminal of the pneumatic rotating brush unit. The first end of the solenoid valve is connected to an external air source, and the second end is connected to the input end of the pneumatic actuator. The solenoid valve controls the pneumatic actuator to switch on or off from the external steam source based on the brush rotation control signal.

9. The stepped hole grinding device according to claim 7, characterized in that, The brush telescopic motion unit includes: a brush telescopic servo amplifier, a brush telescopic servo motor, a third encoder, and a brush telescopic reducer; The first input terminal of the brush telescopic servo amplifier serves as the first input terminal of the brush telescopic motion unit, the second input terminal of the brush telescopic servo amplifier serves as the second input terminal of the brush telescopic motion unit, the output terminal of the brush telescopic servo amplifier is connected to the input terminal of the brush telescopic servo motor, the input terminal of the third encoder is connected to the first output terminal of the brush telescopic servo motor, and the third encoder is used to collect the feedback signal of the brush telescopic servo motor. The output terminal of the third encoder is connected to the third input terminal of the brush extension servo amplifier. The brush extension servo amplifier outputs a brush extension control signal based on the feedback signal of the third control positioning pulse train and the brush extension servo motor. The second output terminal of the brush extension servo motor is connected to the input terminal of the brush extension reducer, and the brush extension servo motor is used to drive the brush extension reducer according to the brush extension control signal.

10. The stepped hole grinding device according to claim 1, characterized in that, The overall control module includes: a fourth power input unit and a control unit; The fourth power input unit is connected to the power supply terminal of the control unit; The first output terminal of the control unit is connected to the pneumatic gripper, the flipping mechanism, the rotating mechanism, the vision inspection module, and the grinding control module; The first input terminal of the control unit is connected to an external host computer.

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