Grinding equipment

Abstract

The utility model discloses grinding equipment, and belongs to the field of machining. The grinding equipment comprises a driving assembly, a first coupler, a grinding wheel assembly, a moving assembly and a control assembly, the driving assembly is provided with an output shaft, one end of the first coupler is connected with the output shaft, the grinding wheel assembly comprises a grinding wheel structure and a grinding force sensor which are connected, and the grinding wheel structure is connected with the other end of the first coupler and used for grinding a workpiece; the grinding force sensor is used for detecting grinding force of the grinding wheel structure; the moving assembly is located on one side of the grinding wheel structure and used for clamping a workpiece and driving the workpiece to move to the position where the grinding wheel assembly is located. And the driving assembly, the grinding force sensor and the moving assembly are all electrically connected with the control assembly. The driving assembly and the grinding wheel assembly are connected through the first coupler, and the dismounting and mounting difficulty of the grinding wheel assembly can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of machining, especially relates to a grinding equipment. BACKGROUND

[0002] With the development of technology, the requirement for cutting tools is higher and higher. At present, in order to ensure the performance of cutting tools, the cutting tools are usually opened by machining grinding, and the cutting tools are opened by precise grinding and trimming of the cutting tool edge, which can improve the sharpness and cutting ability of the cutting tools. The equipment used in machining grinding is usually a grinding equipment, and the grinding equipment refers to the equipment for precise machining of the surface of a workpiece by using a grinding tool (such as a grinding wheel) in the grinding process.

[0003] Usually, the cutting tool opening machining mainly includes manual, special machine tool machining, numerical control machine tool machining and robot grinding machining and the like. Among them, the cutting tool opening machining system based on the robot has high production efficiency, can ensure the machining quality and consistency, and has high flexibility, and can adapt to workpieces of different sizes and different materials.

[0004] In the field of robot grinding machining, a floating mechanism or a floating polishing tool is usually used to ensure that the contact force between the workpiece and the grinding tool (such as a grinding wheel) is stable during the machining process, so as to polish, deburr and the like. However, when the cutting tool is opened by using the above grinding equipment, the cutting tool opening machining needs accurate feed amount, and the retreat displacement generated by the floating will offset the machining feed displacement, resulting in poor machining quality of the grinding equipment during the cutting tool opening machining. UTILITY MODEL CONTENTS

[0005] The utility model embodiment provides a kind of grinding equipment.Can solve the poor machining quality problem of prior art grinding equipment when cutting tool opening machining, and the technical solution is as follows:

[0006] The grinding equipment includes:

[0007] Drive assembly, the drive assembly has output shaft;

[0008] First coupling, one end of the first coupling is connected with the output shaft;

[0009] Grinding wheel assembly, the grinding wheel assembly includes connected grinding wheel structure and grinding force sensor, the grinding wheel structure is connected with the other end of the first coupling, for grinding workpiece, the grinding force sensor is used to detect the grinding force of the grinding wheel structure;

[0010] Moving assembly, the moving assembly is located at one side of the grinding wheel structure, for clamping the workpiece, and drives the workpiece to move to the position where the grinding wheel assembly is located;

[0011] A control component, the driving component, the grinding force sensor and the moving component are electrically connected with the control component.

[0012] Optionally, the grinding force sensor comprises a torque sensor for detecting driving torque and rotational angular velocity of the grinding wheel structure.

[0013] The torque sensor is located between the first coupling and the grinding wheel structure, and the torque sensor is connected with the first coupling and the grinding wheel structure respectively.

[0014] Optionally, the grinding force sensor comprises a torque sensor and a rotation sensor, the torque sensor is for detecting driving torque of the grinding wheel structure, and the rotation sensor is for detecting rotational angular velocity of the grinding wheel structure.

[0015] The rotation sensor is connected with the output shaft of the driving component, the torque sensor is located between the first coupling and the grinding wheel structure, and the torque sensor is connected with the first coupling and the grinding wheel structure respectively.

[0016] Optionally, the grinding wheel assembly further comprises a second coupling.

[0017] The second coupling is located between the torque sensor and the grinding wheel structure, and the second coupling is connected with the torque sensor and the grinding wheel structure respectively.

[0018] Optionally, the grinding wheel structure comprises a grinding wheel member, a chuck member and a mounting bracket.

[0019] The grinding wheel member is mounted on the chuck member.

[0020] The chuck member is rotationally connected with the mounting bracket and connected with the second coupling.

[0021] Optionally, the chuck member comprises a first chuck and a second chuck.

[0022] The first chuck and the second chuck are located on two sides of the grinding wheel member respectively, and the first chuck and the second chuck are abutted with the two sides of the grinding wheel member and are rotationally connected with the mounting bracket.

[0023] The first chuck is located on a side of the grinding wheel member close to the torque sensor and is connected with the second coupling.

[0024] Optionally, the grinding wheel member has a connecting through hole, the first chuck has a connected first abutment part and a first connecting part, and the second chuck has a connected second abutment part and a second connecting part.

[0025] The first connecting part and the second connecting part are arranged in the connecting through hole and fixedly connected, and the first abutting part and the second abutting part abut with two sides of the grinding wheel respectively.

[0026] Optionally, the first chuck and the second chuck each have a rotating shaft part.

[0027] The grinding wheel structure further comprises two rolling bearings, two rigid bearing pressing rings and two elastic bearing pressing rings, the two rigid bearing pressing rings and the two elastic bearing pressing rings each correspond to one of the two rolling bearings, and the two rolling bearings are respectively sleeved on the two rotating shaft parts.

[0028] The mounting bracket has two mounting grooves, the two rolling bearings are respectively located in the two mounting grooves, the elastic bearing pressing ring is located between the corresponding rolling bearing and the groove bottom of the mounting groove, and the rigid bearing is pressed against the side of the corresponding rolling bearing away from the elastic bearing pressing ring and fixedly connected with the mounting bracket.

[0029] Optionally, the grinding wheel member comprises a grinding wheel base body and an abrasive layer, and the abrasive layer comprises a diamond abrasive layer or a cubic boron nitride abrasive layer.

[0030] The abrasive layer covers at least part of the surface of the grinding wheel base body.

[0031] Optionally, the grinding equipment further comprises a camera assembly located on one side of the grinding wheel structure and used for shooting the grinding wheel structure and the workpiece.

[0032] The technical scheme provided by the embodiments of the utility model has at least the following beneficial effects:

[0033] The grinding equipment provided by the present application comprises a driving assembly, a first coupling, a grinding wheel assembly, a moving assembly and a control assembly, the driving assembly and the grinding wheel assembly are connected through the first coupling, the difficulty of dismounting and mounting the grinding wheel assembly can be reduced, a plurality of sets of grinding wheel assemblies are backed up, and dynamic balance correction is performed on each grinding wheel assembly, so that the downtime of the processing system can be reduced, and the vibration of the grinding wheel assembly during the grinding process can be reduced through dynamic balance correction, wherein the grinding wheel assembly can comprise a connected grinding wheel structure and a grinding force sensor, the grinding wheel structure is used for grinding a workpiece, and the grinding force sensor is used for detecting the grinding force of the grinding wheel structure; when the tool is subjected to the opening blade processing through the grinding wheel structure, the control assembly can adjust the rotating speed of the driving assembly and the moving speed of the moving assembly according to the grinding force value detected by the grinding force sensor, that is, when the cutting force of the grinding wheel structure deviates from the preset cutting force, the rotating speed of the grinding wheel structure can be adjusted by adjusting the rotating speed of the driving assembly, and the moving speed of the moving assembly is adjusted at the same time, the rotating speed of the grinding wheel structure and the moving speed of the moving assembly are adjusted at the same time, so that the cutting force of the grinding wheel structure is kept stable, and the vibration of the grinding wheel assembly during the grinding process is inhibited. The grinding equipment can control the relevant processing physical quantities in the grinding process, so that the grinding process has high processing precision. The problem that the retreat displacement caused by the floating in the related art offsets the processing feed displacement, so that the processing quality of the grinding equipment during the tool opening blade processing is poor can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 is a structural schematic diagram of a grinding equipment provided by the present application;

[0036] Figure 2 is an exploded structural schematic diagram of a grinding wheel structure provided by the present application;

[0037] Figure 3 is an exploded structural schematic diagram of a grinding wheel and a chuck provided by the present application;

[0038] Figure 4 is a sectional structural schematic diagram of a grinding wheel and a chuck provided by the present application;

[0039] Figure 5 is a local sectional structural schematic diagram of a grinding wheel structure provided by the present application;

[0040] Figure 6 is a local structure schematic view of the grinding wheel structure provided by the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application clearer, the following will make further detailed description to the embodiments of the present application in combination with the drawings.

[0042] Although the present application can be easily embodied in different forms of embodiments, only some specific embodiments are shown in the drawings and will be described in detail in the present specification, and it can be understood that the present specification should be regarded as the exemplary description of the principles of the present application, and is not intended to limit the present application to that described herein.

[0043] Therefore, one feature indicated in the present specification will be used to explain one feature of one embodiment of the present application, and is not intended to imply that each embodiment of the present application must have the explained feature. In addition, it should be noted that the present specification describes many features. Although certain features can be combined together to show the possible system design, these features can also be used in other combinations which are not explicitly described. Therefore, unless otherwise specified, the explained combination is not intended to be limited.

[0044] In the embodiments shown in the drawings, the indication of direction (such as up, down, left, right, front and back) used to explain the structure and movement of various elements of the present application is not absolute but relative. When these elements are in the position shown in the drawings, these descriptions are appropriate. If the description of the position of these elements changes, the indication of direction also changes accordingly.

[0045] The utility model embodiment provides a kind of grinding equipment 10 comprising drive assembly 11, first coupling 13, grinding wheel assembly 14 and moving assembly 15, wherein, grinding wheel assembly 14 can include connected grinding wheel structure 141 and grinding force sensor 142, grinding wheel structure 141 is used to grind workpiece, and grinding force sensor 142 is used to detect the grinding force of grinding wheel structure 141;Drive assembly 11 and grinding wheel structure 141 can be connected by first coupling 13, the difficulty of disassembly and installation of grinding wheel structure 141 can be reduced, by backup multiple grinding wheel structure 141, and each grinding wheel structure 141 is individually balanced and corrected, the downtime of processing system due to replacement of worn grinding wheel can be reduced, and, by dynamic balance correction, the vibration of grinding wheel structure 141 in the grinding process can be weakened.And, when cutting tool is carried out by grinding wheel structure 141, grinding force sensor 142 can monitor the cutting force of grinding wheel structure 141 in real time, and control component 17 can adjust the rotational speed of drive assembly 11 and the moving speed of moving assembly 15 according to the grinding force value detected by grinding force sensor, that is, when the cutting force of grinding wheel structure 141 deviates from the preset cutting force, the rotational speed of drive assembly 11 can be adjusted, so that the rotational speed of grinding wheel structure 141 is adjusted, and the moving speed of moving assembly 15 is adjusted, by simultaneously adjusting the rotational speed of grinding wheel structure 141 and the moving speed of moving assembly 15, so that the cutting force of grinding wheel structure 141 remains stable, to suppress the vibration of grinding wheel assembly 14 in the grinding process.Grinding equipment 10 controls relevant processing physical quantities in the grinding process, to ensure that the grinding process has high processing accuracy.It can solve the problem that the retreat displacement generated by floating in the related art cancels the processing feed displacement, resulting in poor processing quality of grinding equipment 10 when cutting tool is opened.

[0046] Please refer to Figure 1 , Figure 1 It is a structure schematic view of the grinding equipment 10 provided by the utility model embodiment, and the grinding equipment 10 can include: drive assembly 11, first coupling 13, grinding wheel assembly 14, moving assembly 15, camera assembly 16 and control component 17.

[0047] Grinding wheel assembly 14 can include connected grinding wheel structure 141 and grinding force sensor 142, and grinding wheel structure 141 can be used to grind workpiece, and grinding force sensor 142 is used to detect the grinding force of grinding wheel structure 141.

[0048] Grinding force sensor 142 can include multidimensional force sensor or torque sensor 1421, or, grinding force sensor 142 can include torque sensor 1421 and rotation sensor 1422.

[0049] Drive assembly 11 has output shaft, and drive assembly 11 can include servo motor, servo driver and rotation sensor.

[0050] One end of the first coupling 13 can be connected with the output shaft of the driving assembly 11, and the other end of the first coupling 13 can be connected with the grinding wheel assembly 14. The coupling is a mechanical component used to firmly connect the driving shaft and the driven shaft in different mechanisms to rotate together and transmit motion and torque. The coupling can also compensate for the offset (including axial offset, radial offset, angular offset, or comprehensive offset) between the two shafts due to manufacturing and installation inaccuracies, deformation during operation, or thermal expansion, etc., and can also have the functions of impact absorption and vibration absorption.

[0051] The grinding wheel structure 141 and the driving assembly 11 can be indirectly connected through the first coupling 13 and the grinding force sensor 142, so that the driving assembly 11 drives the grinding wheel structure 141 to rotate, and at the same time, the grinding force sensor 142 can monitor the grinding force on the grinding wheel structure 141 in real time when the grinding wheel structure 141 grinds the workpiece.

[0052] The moving assembly 15 can be located on one side of the grinding wheel structure 141 and can be used to clamp the workpiece. The moving assembly 15 can include a robot and can drive the workpiece to move to the position of the grinding wheel assembly 14. The workpiece can include a tool before being subjected to the opening blade treatment. The camera assembly 16 can be located on one side of the grinding wheel structure 141 and can be used to shoot the grinding wheel structure 141 and the workpiece.

[0053] The driving assembly 11, the grinding force sensor 142, the moving assembly 15, and the camera assembly 16 are all electrically connected with the control assembly 17. The control assembly 17 can include a controller and a display that are electrically connected.

[0054] Since the size of the grinding force on the grinding wheel structure 141 is positively correlated with the radial feed speed of the grinding wheel during the use of the grinding wheel structure 141 to open the blade of the tool, and if the radial feed amount is consistent each time, the size of the grinding force is positively correlated with the rotation speed of the grinding wheel, therefore, according to the machine learning algorithm, the mapping relationship between the grinding force of the grinding wheel structure 141 and the rotation speed of the grinding wheel structure 141 can be established in advance in the control assembly 17. In this way, during the grinding process, the size of the grinding force of the grinding wheel structure 141 can be corrected by changing the rotation speed of the grinding wheel structure 141, so that the grinding force of the grinding wheel structure 141 during the machining process can be kept within a predetermined range, to ensure that the grinding process is relatively smooth. That is, when the moving assembly 15 clamps the tool to perform the opening blade machining of the tool through the grinding wheel structure 141 according to the predetermined machining track, the grinding force sensor 142 can monitor the cutting force of the grinding wheel structure 141 in real time. When the cutting force of the grinding wheel structure 141 is greater than the predetermined cutting force, the rotation speed of the driving assembly 11 can be reduced by adjusting the driving voltage or the driving current of the driving assembly 11, so as to reduce the rotation speed of the grinding wheel structure 141, so as to keep the cutting force of the grinding wheel structure 141 stable.

[0055] In the process of grinding by the grinding wheel structure 141, the high-speed rotating grinding wheel structure 141 will vibrate due to imbalance, and excessive vibration will seriously affect the precision of grinding. Generally, when the grinding wheel structure 141 is worn to a certain extent, the imbalance of the grinding wheel structure 141 will be more serious, at which time a new grinding wheel structure 141 needs to be replaced in time to ensure the precision of grinding. In the embodiment of the utility model, the grinding wheel structure 141 is connected with the driving assembly 11 through the first coupling 13, which can reduce the difficulty of dismounting and mounting the grinding wheel structure 141, and by backing up multiple sets of grinding wheel structures 141 and individually correcting the dynamic balance of each grinding wheel structure 141, the downtime of the processing system can be reduced, and the vibration in the grinding process can be reduced through dynamic balance correction.

[0056] In an alternative embodiment, the grinding force sensor 142 can include a torque sensor 1421 for detecting the driving torque and rotational angular velocity of the grinding wheel structure 141. The torque sensor 1421 can include a dynamic torque sensor 1421, for example. The grinding wheel assembly 14 can further include a second coupling 143. The torque sensor 1421 is located between the first coupling 13 and the grinding wheel structure 141, and the torque sensor 1421 is connected with the first coupling 13 and the grinding wheel structure 141, respectively. The second coupling 143 is located between the torque sensor 1421 and the grinding wheel structure 141, and the second coupling 143 is connected with the torque sensor 1421 and the grinding wheel structure 141, respectively. That is, one end of the second coupling 143 is connected with the torque sensor 1421, and the other end of the second coupling 143 is connected with the grinding wheel structure 141. In this way, by connecting the torque sensor 1421 and the grinding wheel structure 141 through the second coupling 143, the torque sensor 1421 and the grinding wheel structure 141 can be divided into two independent structures. When the grinding wheel structure 141 is replaced after being worn, only the grinding wheel structure 141 needs to be replaced, without replacing the torque sensor 1421, which can reduce the maintenance and replacement time and cost of the grinding equipment 10.

[0057] Moreover, separating the high-speed rotating grinding wheel structure 141 and the torque sensor 1421 into two independent structures can reduce the interference of the centrifugal force of the grinding wheel structure 141 on the grinding force measurement.

[0058] In an exemplary embodiment, the grinding force sensor 141 can include a torque sensor 1421 for detecting the driving torque of the grinding wheel structure 141 and a rotation sensor 1422 for detecting the rotation angular velocity of the grinding wheel structure 141; the rotation sensor 1422 is connected with the output shaft of the driving assembly, and the torque sensor 1421 is located between the first coupling 13 and the grinding wheel structure 141 and connected with the first coupling 13 and the grinding wheel structure 141 respectively; the rotation sensor 1422 can include a rotary encoder, which can be installed on the servo motor, for example, the rotary encoder is a through-hole encoder, which can be directly sleeved on the motor shaft of the servo motor and fixed on the outside of the front flange of the servo motor, facilitating debugging and maintenance disassembly.

[0059] Since the grinding force received by the grinding wheel structure 141 during the driving of the grinding wheel structure 141 by the driving assembly 11 will affect the actual output rotation angular velocity of the driving assembly 11, there is a difference between the theoretical rotation angular velocity and the actual rotation angular velocity of the driving assembly 11, and the actual rotation angular velocity of the driving assembly 11 is measured by the rotation sensor 1421, which can improve the accuracy of the measurement data. And since the driving assembly 11 is connected with the grinding wheel structure 141 through the first coupling 13, the actual rotation angular velocity of the driving assembly 11 is the actual rotation angular velocity of the grinding wheel structure 141.

[0060] In an exemplary embodiment, the camera assembly 16 can include a machine vision camera, which transmits the collected tool image data to the control assembly 17 before the grinding process starts, the control assembly 17 compares and analyzes the data with the standard image database, converts the analysis result into the required machining trajectory signal through the control algorithm, and then transmits it to the moving assembly 15. The moving assembly 15 clamps the tool to realize the feed motion of the tool opening according to the predetermined machining trajectory obtained by the algorithm.

[0061] During the grinding process, the machine vision camera can transmit the collected tool image data to the control assembly 17, the control assembly 17 obtains the actual machining trajectory data of the tool through the target tracking algorithm, compares and analyzes the actual machining trajectory data with the previously generated predetermined machining trajectory data, and corrects the motion trajectory of the tool in real time through the interpolation motion algorithm, which can ensure the position accuracy of the tool opening feed motion.

[0062] In an exemplary embodiment, the use of the grinding device 10 for grinding tools can include the following three steps:

[0063] (1) The grinding device 10 calibrates the entire machining device before the machining system works. The fixed shaft rotation radius r of the grinding wheel structure 141 and the rotational inertia I of the grinding wheel structure 141 are measured by the rotational inertia measuring instrument; then the relevant calibration of the driving assembly 11, the grinding force sensor 142, the camera assembly 16, and the moving assembly 15, etc. is carried out, so that the relevant measurement results obtained by the control assembly 17 meet the accuracy requirements.

[0064] (2) Machine learning is carried out before the grinding device 10 works, and according to the machine learning algorithm, the original data of the grinding wheel structure 141 grinding process is collected, and the mapping relationship between the tangential grinding force F t , the normal grinding force F n and the grinding wheel structure 141 grinding parameters (the rotation angular velocity ω of the grinding wheel structure 141, the feed speed V w of the moving assembly 14, and the grinding wheel cutting depth a e ) is established in the control assembly 17.

[0065] (3) When the grinding device 10 works, the moving assembly 15 clamps the tool at the end, and through the feed movement of the moving assembly 15 and the rotation main movement of the grinding wheel structure 141, the predetermined machining track obtained by the control algorithm is followed, and the grinding parameters are continuously adjusted during machining to realize the tool opening blade machining.

[0066] Specifically, during the machining process, the rotation sensor 1422 measures the rotation angular velocity ω data of the grinding wheel structure 141, the torque sensor 1421 measures the driving torque M c of the grinding wheel structure 141, and the camera assembly 16 generates the grinding machining track data. The control assembly 17 calculates the adjustment data of the rotation angular velocity of the grinding wheel structure 141 according to the above data and inputs it to the driving assembly 11, calculates the adjustment data of the feed speed and inputs it to the moving assembly 15, so as to accurately control the grinding wheel grinding process.

[0067] Wherein, the tangential grinding force F t of the grinding wheel structure 141 during the grinding process can meet the following formula:

[0068]

[0069] Wherein, M c is the driving torque of the grinding wheel structure 141, which can be accurately measured by the torque sensor 1421; I is the rotational inertia of the grinding wheel structure 141, which can be accurately measured by the rotational inertia measuring instrument; ω is the rotation angular velocity of the grinding wheel structure 141, which can be accurately measured by the rotation sensor 1422; r is the fixed shaft rotation radius of the grinding wheel, which can be accurately measured by the rotational inertia measuring instrument. Therefore, the above data is transmitted to the control assembly 17, and the tangential grinding force Ft The accurate value.

[0070] The normal grinding force F of the grinding wheel structure 141 during the grinding process n The following formula can be satisfied:

[0071] F n =λ×F t ;

[0072] For a fixed workpiece material and grinding wheel characteristics, the ratio λ of the normal grinding force to the tangential grinding force is close to a constant, and the value of λ can be obtained through experiments.

[0073] In one exemplary embodiment, the tangential grinding force F t The derivation of the formula can include the following three steps:

[0074] (1) Due to the tangential grinding force F during the grinding process t The rotation of the grinding wheel structure 141 is hindered, thus the torque M acting on the grinding wheel structure 141 by the tangential grinding force can be reduced. t To measure the tangential grinding force F t The tangential grinding force F is obtained. t Satisfy the following formula: F t =M t / r; where r is the radius of rotation of the grinding wheel on its fixed axis.

[0075] (2)M 合 The resultant torque on the grinding wheel structure 141 is the moment M of the tangential grinding force about the grinding wheel structure 141. t The driving torque M of the grinding wheel structure 141 c Composition; During the grinding process, the tangential grinding force hinders the rotation of the grinding wheel, causing the grinding wheel speed to decrease, thus yielding the relationship M. 合 =M c -M t Thus, the moment M of the tangential grinding force acting on the grinding wheel structure 141 is obtained. t =M 合 -M c .

[0076] (3) According to the rigid body dynamics formula for fixed-axis rotation, the resultant torque M on the grinding wheel structure 141 can be known. 合 Satisfy the following formula: M 合 =Iβ; where β is the angular acceleration of the grinding wheel structure 141.

[0077] Since the driving assembly 11, the first coupling 13, the grinding force sensor 142 and the grinding wheel structure 141 are connected in sequence, the rotational angular velocity of the driving assembly is equal to the rotational angular velocity of the grinding wheel structure 141. The rotational angular velocity ω of the grinding wheel structure 141 is differentiated with respect to time t by a differential algorithm to obtain the angular acceleration β of the grinding wheel structure 141, i.e. β = dω / dt.

[0078] Thus, the tangential grinding force F t of the grinding wheel structure 141 in the grinding process can be calculated.

[0079] In an exemplary embodiment, a six-dimensional force sensor 18 can be arranged at the end of the moving assembly 15, and the calculated tangential grinding force F t and the normal grinding force F n can be substituted into the signal decoupling calculation process of the six-dimensional force sensor 18 to reduce the coupling error and the calculation difficulty of the control assembly 17, thereby obtaining more accurate grinding force measurement data.

[0080] In an exemplary embodiment, the grinding force automatic adjustment process of the grinding device 10 can include the following two steps:

[0081] (1) Through experimental measurement and machine learning, a mapping relationship between the grinding force and three grinding parameters (i.e. the rotational angular velocity ω of the grinding wheel structure 141, the feed speed V w of the moving assembly 15, and the cutting depth a e of the grinding wheel structure 141) is established in the control assembly 17.

[0082] Since the workpiece material and the characteristics of the grinding wheel structure 141 are determined, the main factors affecting the grinding force include the following three factors: the rotational angular velocity ω of the grinding wheel structure 141, the feed speed V w of the moving assembly 15, and the cutting depth a e of the grinding wheel structure 141.

[0083] In the experimental measurement process, the tangential grinding force F t and the normal grinding force F n in the grinding process can satisfy the following experimental formulas, respectively:

[0084]

[0085] wherein α is a power index constant of the cutting depth a e of the grinding wheel structure 141, β is a power index constant of the peripheral speed (ωxr) of the grinding wheel structure 141 during rotation, wherein ω is the rotational angular velocity of the grinding wheel structure 141, and r is the fixed-axis rotational radius of the grinding wheel structure 141, γ is a power index constant of the feed speed V w of the moving assembly 15, and kt is the tangential grinding force constant related to grinding conditions. n is the normal grinding force constant related to grinding conditions.

[0086] According to the machine learning algorithm, the original data is collected, the control component 17 controls the driving component 11 to make the rotational angular velocity of the grinding wheel structure 141 ω, the control component 17 controls the moving component 15 to make the feed speed of the moving component 15 V w , the depth of cut a e of the grinding wheel structure 141 is measured by the camera component 16, and the fixed-axis rotational radius of the grinding wheel structure 141 is measured by the rotational inertia measuring instrument r. The above-mentioned original data is introduced into the algorithm model to obtain the specific values of the constants α, β, γ, k t , k n in the above-mentioned experimental formula, thereby establishing the mapping relationship between the grinding force and the three grinding parameters.

[0087] (2) Adjust the processing parameters according to the mapping relationship.

[0088] Since the mapping relationship between the grinding force and the three grinding parameters (i.e., the rotational angular velocity ω of the grinding wheel structure 141, the feed speed V w of the moving component 15, and the depth of cut a e of the grinding wheel structure 141) is pre-stored in the control component 17, in the subsequent processing process, the size of the grinding force can be adjusted by changing the rotational angular velocity ω of the driving component 11 and changing the feed speed V w of the moving component 15.

[0089] For example, when the grinding force starts to increase compared with the preset grinding force, the control component 17 can control to reduce the feed speed V w of the moving component 15 to reduce the grinding force, thereby inhibiting the increase of the grinding force; and the control component 17 controls the driving component 11 to increase the rotational angular velocity ω to offset the effect of reducing the feed speed V w of the moving component 15, thereby controlling the grinding force to remain stable.

[0090] For example, when the grinding force starts to decrease compared with the preset grinding force, the control component 17 can control to increase the feed speed V w of the moving component 15 to increase the grinding force, thereby inhibiting the decrease of the grinding force; and the control component 17 controls the driving component 11 to reduce the rotational angular velocity ω to offset the effect of increasing the feed speed V w of the moving component 15, thereby controlling the grinding force to remain stable.

[0091] Compared with the related art, the cutting tool opening blade grinding equipment 10 in the embodiment of the utility model can control the grinding force in a constant range by simultaneously adjusting the rotating angular velocity of the grinding wheel structure 141 and the feed speed of the moving assembly 15, that is, keeping the calculation result of a e ) α ×(V w ) γ / (ω) β in a constant range through a control algorithm, so as to control the grinding force to be stable, and the retreat displacement caused by floating can be avoided to offset the machining feed displacement, so that the cutting tool opening blade machining with a certain feed amount can be realized.

[0092] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , Figure 2 is an exploded structural schematic view of the grinding wheel structure 141 provided in the embodiment of the utility model, Figure 3 is an exploded structural schematic view of the grinding wheel piece 1411 and the chuck piece 1412 provided in the embodiment of the utility model, Figure 4 is a sectional structural schematic view of the grinding wheel piece 1411 and the chuck piece 1412 provided in the embodiment of the utility model. In an alternative embodiment, the grinding wheel structure 141 can include: a grinding wheel piece 1411, a chuck piece 1412 and a mounting bracket 1413; the grinding wheel piece 1411 is installed on the chuck piece 1412; the chuck piece 1412 is rotationally connected with the mounting bracket 1413 and connected with the second coupling 143. The grinding wheel piece 1411 can be used for grinding a cutting tool, and the grinding wheel structure 141 can be fixedly connected with the chuck piece 1412 to realize the rotation of the grinding wheel piece 1411 through the rotational connection of the chuck piece 1412 with the mounting bracket 1413.

[0093] In an alternative embodiment, the chuck piece 1412 can include a first chuck k1 and a second chuck k2; the first chuck k1 and the second chuck k2 are respectively located on the two sides of the grinding wheel piece 1411, and both the first chuck k1 and the second chuck k2 abut against the two sides of the grinding wheel piece 1411 and are rotationally connected with the mounting bracket 1413; the first chuck k1 is located on the side of the grinding wheel piece 1411 close to the torque sensor 1421 and connected with the second coupling 143. The first chuck k1 and the second chuck k2 can clamp the grinding wheel piece 1411 to fix the grinding wheel piece 1411.

[0094] In an alternative embodiment, the grinding wheel member 1411 can have a connecting through hole c1, the first chuck k1 has a connected first abutting portion k11 and a first connecting portion k12, the second chuck k2 has a connected second abutting portion k21 and a second connecting portion k22; the first connecting portion k12 and the second connecting portion k22 are both arranged in the connecting through hole c1 and fixedly connected, and the first abutting portion k11 and the second abutting portion k21 abut the two sides of the grinding wheel member 1411 respectively. The first connecting portion k12 has a threaded hole, and the second connecting portion k22 includes a threaded rod located in the threaded hole to be screwed with the first connecting portion k12.

[0095] In an alternative embodiment, the chuck member 1412 further includes a first gasket k3 and a second gasket k4, the first gasket k3 is located between the first abutting portion k11 and the grinding wheel member 1411 and abuts the first abutting portion k11 and the grinding wheel member 1411 respectively; the second gasket k4 is located between the second abutting portion k21 and the grinding wheel member 1411 and abuts the second abutting portion k21 and the grinding wheel member 1411 respectively.

[0096] The chuck member 1412 further includes an elastic washer k5 located at the end of the first connecting portion k12, which can apply a pre-tightening force to the threaded connection between the first connecting portion k12 and the second connecting portion k22, and can improve the connection stability between the first connecting portion k12 and the second connecting portion k22.

[0097] Please refer to Figure 2 , Figure 5 and Figure 6 , Figure 5 is a partial cross-sectional structure schematic diagram of a grinding wheel structure 141 provided by an embodiment of the present application, Figure 6 is a partial structure schematic diagram of a grinding wheel structure 141 provided by an embodiment of the present application, in an alternative embodiment, please refer to Figure 2 , Figure 5 and Figure 6 , the first chuck k1 and the second chuck k2 both have a rotating shaft portion (k13 and k23); the grinding wheel structure 141 can further include two rolling bearings 1414, two rigid bearing pressing rings 1415 and two elastic bearing pressing rings 1416, the two rigid bearing pressing rings 1415 and the two elastic bearing pressing rings 1416 correspond to the two rolling bearings 1414 one by one, and the two rolling bearings 1414 are respectively sleeved on the two rotating shaft portions (k13 and k23); the mounting bracket 1413 has two mounting grooves a1, the two rolling bearings 1414 are respectively located in the two mounting grooves a1, the elastic bearing pressing ring 1416 is located between the corresponding rolling bearing 1414 and the groove bottom of the mounting groove a1, and the rigid bearing pressing ring is pressed against the side of the corresponding rolling bearing 1414 away from the elastic bearing pressing ring 1416, and is fixedly connected with the mounting bracket 1413.

[0098] Wherein, the elastic bearing pressing ring 1416 can include a wave spring, the rigid bearing pressing ring 1415 can include a bearing pressing ring convex ring h1 and a bearing pressing ring concave ring h2, the bearing pressing ring convex ring h1 and the bearing pressing ring concave ring h2 can surround the rotating shaft part (k13 and k23), and are clampedly connected.The outer ring of the rolling bearing 1414 is in small gap fit with the mounting groove on the mounting support 1413.The rigid bearing pressing ring 1415 and the mounting support 1413 can be bolted.

[0099] Wherein, the center hole of the rolling bearing 1414 is in transition fit with the rotating shaft part (k13 and k23); the first connecting part k12 of the first chuck k1 is in transition fit with the connecting through hole c1 of the grinding wheel piece 1411, and in the embodiment of the utility model, the structures of transition fit can be assembled by using a press-in machine or a temperature difference method.

[0100] In the process of assembling the grinding wheel structure 141, the rigid bearing pressing ring 1415 can be pressed to the rolling bearing 1414 by rotating the bolt, so that the rolling bearing 1414 is deformed, and the wave spring clamped between the rolling bearing 1414 and the mounting support 1413 is also deformed.In this way, a certain pre-tightening load and elastic pre-deformation can be generated between the rolling body and the sleeve ring of the rolling bearing 1414, and the actual deformation amount of the rolling bearing 1414 during work can be reduced; and the wave spring can keep the pre-tightening load unchanged during work, so that the vibration of the grinding wheel structure 141 during high-speed rotation can be reduced, thereby improving the grinding precision of the grinding wheel.

[0101] Please refer to Figure 4 In an alternative embodiment, the grinding wheel piece 1411 can include a grinding wheel base s1 and an abrasive layer s2; the abrasive layer s2 covers at least part of the surface of the grinding wheel base.The abrasive layer includes a diamond abrasive layer or a cubic boron nitride abrasive layer, the diamond abrasive is an ultra-hard and ultra-fine abrasive formed by special process treatment of artificial diamond single crystal, and the cubic boron nitride is an ultra-hard abrasive with high strength and high wear resistance.The abrasive layer s2 has the characteristics of high hardness, good wear resistance, high compressive strength, etc., and can improve the grinding efficiency of the grinding wheel piece 1411 and the service life of the grinding wheel piece 1411.

[0102] It can be understood that, in the actual replacement process of the grinding wheel structure 141, since the mounting support 1413 is fixedly installed on the ground or other platform, the mounting support 1413 can not be replaced, and only the grinding wheel piece 1411, the chuck piece 1412 and the two rolling bearings 1414 in the grinding wheel structure 141 can be replaced; or the grinding wheel piece 1411, the chuck piece 1412, the two rolling bearings 1414, the two rigid bearing pressing rings 1415 and the two elastic bearing pressing rings 1416 in the grinding wheel structure 141 can be replaced.

[0103] In the utility model, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. The term "multiple" refers to two or more than two, unless otherwise explicitly limited.

[0104] The above only describes optional embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A grinding device, characterized in that, include: A drive assembly having an output shaft; A first coupling, one end of which is connected to the output shaft; A grinding wheel assembly, comprising a connected grinding wheel structure and a grinding force sensor, wherein the grinding wheel structure is connected to the other end of the first coupling for grinding a workpiece, and the grinding force sensor is used to detect the grinding force of the grinding wheel structure; A movable component, located on one side of the grinding wheel structure, is used to clamp the workpiece and move the workpiece to the position of the grinding wheel component; The control component, the drive component, the grinding force sensor and the moving component are all electrically connected to the control component.

2. The grinding equipment according to claim 1, characterized in that, The grinding force sensor includes a torque sensor, which is used to detect the driving torque and rotational angular velocity of the grinding wheel structure. The torque sensor is located between the first coupling and the grinding wheel structure, and the torque sensor is connected to both the first coupling and the grinding wheel structure.

3. The grinding equipment according to claim 1, characterized in that, The grinding force sensor includes a torque sensor and a rotation sensor. The torque sensor is used to detect the driving torque of the grinding wheel structure, and the rotation sensor is used to detect the rotational angular velocity of the grinding wheel structure. The rotation sensor is connected to the output shaft of the drive assembly, and the torque sensor is located between the first coupling and the grinding wheel structure, and the torque sensor is connected to both the first coupling and the grinding wheel structure.

4. The grinding equipment according to claim 2, characterized in that, The grinding wheel assembly also includes a second coupling; The second coupling is located between the torque sensor and the grinding wheel structure, and is connected to both the torque sensor and the grinding wheel structure.

5. The grinding equipment according to claim 4, characterized in that, The grinding wheel structure includes: a grinding wheel component, a chuck component, and a mounting bracket; The grinding wheel is mounted on the chuck. The chuck is rotatably connected to the mounting bracket and to the second coupling.

6. The grinding equipment according to claim 5, characterized in that, The chuck assembly includes a first chuck and a second chuck; The first chuck and the second chuck are respectively located on both sides of the grinding wheel. Both the first chuck and the second chuck abut against both sides of the grinding wheel and are rotatably connected to the mounting bracket. The first chuck is located on the side of the grinding wheel closer to the torque sensor and is connected to the second coupling.

7. The grinding equipment according to claim 6, characterized in that, The grinding wheel has a connecting through hole, the first chuck has a connecting first abutting part and a first connecting part, and the second chuck has a connecting second abutting part and a second connecting part. Both the first connecting part and the second connecting part are inserted into the connecting through hole and are fixedly connected. The first abutting part and the second abutting part abut against the two sides of the grinding wheel respectively.

8. The grinding equipment according to claim 6, characterized in that, Both the first chuck and the second chuck have a rotating shaft. The grinding wheel structure also includes two rolling bearings, two rigid bearing rings, and two elastic bearing rings. The two rigid bearing rings and the two elastic bearing rings correspond one-to-one with the two rolling bearings. The two rolling bearings are respectively sleeved on the two rotating shafts. The mounting bracket has two mounting slots, the two rolling bearings are respectively located in the two mounting slots, the elastic bearing pressure ring is located between the corresponding rolling bearing and the bottom of the mounting slot, the rigid bearing presses against the side of the corresponding rolling bearing away from the elastic bearing pressure ring, and is fixedly connected to the mounting bracket.

9. The grinding equipment according to any one of claims 5 to 8, characterized in that, The grinding wheel includes a grinding wheel base and an abrasive layer, wherein the abrasive layer includes a diamond abrasive layer or a cubic boron nitride abrasive layer; The abrasive layer covers at least a portion of the surface of the grinding wheel substrate.

10. The grinding equipment according to any one of claims 1 to 8, characterized in that, The grinding equipment also includes a camera assembly located on one side of the grinding wheel structure, used to photograph the grinding wheel structure and the workpiece.

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