Splitting knife inner hole grinding device

Abstract

The utility model belongs to cleaver technical field discloses a cleaver inner hole grinding device. The cleaver inner hole grinding device includes grinding needle, CCD vision module and force sensor, grinding needle is used for along Z -axis downward to enter cleaver inner grinding, CCD vision module is used for identifying cleaver tail end's round hole profile of cleaver and obtains the center of circle coordinate of round hole, and CCD vision module is also used for measuring the needle point of grinding needle respectively on X -axis and Y -axis relative to the offset of center of circle coordinate, to make grinding needle move to make needle point and the center of circle coaxial of round hole according to the offset, force sensor is used for detecting the contact resistance between needle point and cleaver, when force sensor detects initial stress signal, corresponding processing position mark is the grinding processing start point, when force sensor detects that stress numerical value reduces to zero, corresponding processing position mark is the grinding processing end point. Can guarantee the quality consistency of the inner hole processing of each cleaver, and can improve the grinding processing efficiency to cleaver.

Description

Technical Field

[0001] This utility model relates to the field of cleaver technology, and in particular to a cleaver inner hole grinding device. Background Technology

[0002] A wire bonding tool, an axisymmetric tool with a vertical hole, is a precision microstructure ceramic component. It is a wire bonding tool used in the wire bonding process of microelectronics processing and plays an extremely important role in packaging technology. It is suitable for welding and packaging circuits of diodes, transistors, thyristors, LEDs, surface acoustic waves, IC chips, etc.

[0003] However, the current process of machining the inner hole of a chopping tool often results in poor consistency of the inner hole diameter within the same batch of chopping tools (the inner hole diameter tolerance is usually ≤ ±1 μm) and large concentricity error of the inner hole of each chopping tool, which affects the performance of the chopping tool. Utility Model Content

[0004] The purpose of this invention is to provide a grinding device for the inner hole of a chopping tool, which can maximize the consistency of the processing quality of the inner hole of each chopping tool, improve the performance of each chopping tool, and improve the grinding efficiency of a large number of chopping tools.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A grinding device for the inner hole of a cleaver, comprising:

[0007] A grinding needle is provided below the grinding needle, which is movable along the X-axis, Y-axis and Z-axis. The grinding needle is used to extend downward along the Z-axis into the chopping blade for grinding.

[0008] The CCD vision module is spaced apart on one side of the grinding needle. The CCD vision module is used to identify the outline of the circular hole at the tail end of the chopping knife and obtain the center coordinates of the circular hole. The CCD vision module is also used to measure the offset of the tip of the grinding needle relative to the center coordinates on the X-axis and Y-axis, respectively, so that the grinding needle moves according to the offset to make the tip of the needle coaxial with the center of the circular hole.

[0009] A force sensor is installed close to the grinding needle. The force sensor is used to detect the contact resistance between the needle tip and the chopping tool. When the force sensor detects an initial force signal, the corresponding processing position is marked as the grinding start point. When the force sensor detects that the force value decreases to zero, the corresponding processing position is marked as the grinding end point.

[0010] Optionally, the coaxial deviation between the needle tip and the center of the circular hole at the tail end of the cleaver is ≤2µm.

[0011] Optionally, the grinding needle moves downward along the Z-axis by a first moving distance per second and a second moving distance per second to reach the grinding start point. The first moving distance is 1mm to 2mm, and the second moving distance is 0.009mm to 0.011mm. The grinding needle moves downward along the Z-axis by the first moving distance per second until the distance between the needle tip and the circular hole is 0.9mm to 1.1mm, at which point the grinding needle moves downward along the Z-axis by the second moving distance per second.

[0012] Optionally, the CCD vision module is also used to detect the instantaneous deformation critical point when the needle tip begins to contact the chopping tool. When the CCD vision module detects the instantaneous deformation critical point, the corresponding processing position is marked as the grinding processing start point.

[0013] Optionally, the grinding needle includes:

[0014] cylindrical rod;

[0015] The needle tip is connected to the bottom end of the cylindrical rod. The needle tip has an inverted conical structure, and its outer diameter gradually increases along the Z-axis and in the direction close to the cylindrical rod.

[0016] Optionally, the internal grinding device for the cleaver also includes:

[0017] A vibration table, on which the chopping blade is positioned, is used to vibrate the chopping blade up and down along the Z-axis. The vibration table is connected to the CCD vision module and the force sensor.

[0018] A rotary motor is connected to the vibration table drive and is used to drive the vibration table to rotate around the Z-axis. The rotary motor is also connected to the CCD vision module and the force sensor signal.

[0019] Optionally, the chopping cutter has a pre-set initial hole with a diameter of d, which penetrates the chopping cutter along the Z-axis. The initial hole has a circular shape at the tail end of the chopping cutter. The grinding needle is used to grind the initial hole to an inner hole with a diameter of D. The hole enlargement amount of the chopping cutter is ΔD = Dd. The grinding distance a of the grinding needle along the Z-axis downwards is related to the number ΔD. The vibration table vibrates the chopping cutter with an amplitude of A along the Z-axis. From the starting point of the grinding process, the total step distance Z of the grinding needle along the Z-axis downwards is Z = A + a.

[0020] Optionally, the distance between the lowest and highest points of the chopping blade on the Z-axis is the amplitude A. When the diameter of the inner hole is ground to D, the chopping blade is located at the lowest point, the needle tip is not under force, and the force value detected by the force sensor is zero.

[0021] Optionally, the internal grinding device for the cleaver also includes:

[0022] First three-axis motion module;

[0023] A support frame, one end of which is connected to the first three-axis moving module, the first three-axis moving module being used to drive the support frame to move along the X-axis, Y-axis and Z-axis;

[0024] A chuck is connected to the other end of the support frame, the chuck is clamped on the top of the grinding needle away from the needle tip, and the force sensor is mounted on the chuck.

[0025] Optionally, the internal grinding device for the cleaver also includes:

[0026] The second three-axis motion module is connected to the CCD vision module, and the second three-axis motion module is used to drive the CCD vision module to move along the X-axis, Y-axis and Z-axis.

[0027] The beneficial effects of this utility model are:

[0028] The grinding device for the inner hole of a chopping tool in this invention comprises a grinding needle, a CCD vision module, and a force sensor that work in concert. When the grinding needle needs to extend downward along the Z-axis into the chopping tool for grinding: first, the CCD vision module identifies the outline of the circular hole at the tail end of the chopping tool and obtains the coordinates of the center of the circular hole (as the reference origin coordinates); then, the CCD vision module measures the offset of the grinding needle tip relative to the center coordinates on the X and Y axes, respectively, and moves the grinding needle accurately along the X and Y axes according to the obtained offsets until the needle tip is coaxial with the center of the circular hole; at this point, The grinding needle tip is positioned precisely above the circular hole to ensure coaxiality correction before grinding. Then, the grinding needle is moved downwards along the Z-axis towards the wedge. During this process, when the force sensor detects a change in contact resistance between the needle tip and the wedge from zero (i.e., when the force sensor detects an initial force signal), the corresponding processing position is marked as the grinding start point. Finally, the grinding needle is moved downwards along the Z-axis into the wedge to begin grinding. During this process, when the force sensor detects a decrease in force to zero, the corresponding processing position is marked as the grinding end point. At this point, the inner diameter of the chopping tool has been ground to the required diameter, and the tip of the grinding needle is fully extended, ceasing further grinding (the chopping tool is at its lowest vibration point). The above-mentioned method allows for accurate correction of the grinding needle's position before grinding to ensure coaxiality, accurate determination of the grinding start point, and accurate determination of the grinding end point (accurate judgment of grinding completion). This enables a high degree of standardization, accuracy, and uniformity throughout the grinding process. When processing each chopping tool sequentially, it ensures good consistency in the inner diameter of each tool after processing, guaranteeing the uniformity of each tool's inner diameter. The inner diameter tolerance of each chopping cutter is ≤ ±1µm; and the concentricity error of the inner hole of each chopping cutter is kept small, that is, the concentricity of the inner hole of each chopping cutter is kept within a preset range, thereby maximizing the consistency of the machining quality of the inner holes of each chopping cutter and improving the performance of each chopping cutter; at the same time, since the entire grinding process is carried out in an automated mode and the processing standardization is high, the required diameter inner hole can be quickly and accurately ground in each chopping cutter in a manner similar to an assembly line operation, thereby improving the grinding efficiency of a large number of chopping cutters. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the grinding device for the inner hole of the cleaver provided in this embodiment of the utility model (the grinding needle has not been ground);

[0030] Figure 2 This is a schematic diagram of the assembly structure of the grinding needle inserted into the chopping tool provided in this embodiment of the utility model;

[0031] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at point B in the middle.

[0032] In the picture:

[0033] 10-Cleaving blade; 101-Inner hole; 102-Cleaving blade tail end;

[0034] 1-Grinding needle; 11-Cylindrical rod; 12-Needle tip;

[0035] 2-CCD vision module; 3-force sensor; 4-first three-axis moving module; 5-support frame; 6-clamp; 7-second three-axis moving module. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] This embodiment provides a device for grinding the inner hole of a chopping tool. This device can automatically, quickly, accurately, and systematically grind the inner hole of each chopping tool sequentially to obtain the required diameter D, while maximizing the consistency of the quality of the machined inner holes of each chopping tool. This improves the performance of each chopping tool and increases the grinding efficiency for a large number of chopping tools. The chopping tool is a common structure in the prior art, and its specific structure and working principle will not be described in detail here.

[0041] Specifically, such as Figures 1 to 3 As shown, the grinding device for the inner hole of a chopping tool includes a grinding needle 1, a CCD vision module 2, and a force sensor 3. The grinding needle 1 is movable along the X, Y, and Z axes. A chopping tool 10 to be ground is positioned below the grinding needle 1. The grinding needle 1 extends downward along the Z-axis into the chopping tool 10 to perform grinding, thereby forming an inner hole 101 of the required diameter D within the chopping tool 10. The CCD vision module 2 is spaced apart on one side of the grinding needle 1 to avoid interference between the CCD vision module 2 and the grinding needle 1. This also facilitates the CCD vision module 2's intuitive and accurate identification and acquisition of information parameters from the needle tip 12 and the chopping tool 10. The CCD vision module 2 is used to identify the circular hole at the chopping tool tail end 102 of the chopping tool 10. The contour is drawn and the center coordinates of the circular hole are obtained, and these center coordinates are used as the reference origin coordinates. Furthermore, the CCD vision module 2 is used to measure the offset of the tip 12 of the grinding needle 1 relative to the center coordinates on the X and Y axes, respectively, so that the grinding needle 1 can move according to this offset until the tip 12 is coaxial with the center of the circular hole. The force sensor 3 is installed close to the grinding needle 1 to allow for intuitive and accurate detection of the contact resistance between the tip 12 and the chopping tool 10. When the force sensor 3 detects an initial force signal, the corresponding processing position is marked as the grinding start point; when the force sensor 3 detects that the force value decreases to zero, the corresponding processing position is marked as the grinding end point. Specifically, the chopping end 102 of the chopping tool 10 refers to... Figure 1 and Figure 2 The upper end of the chopping knife 10 shown.

[0042] Compared with the prior art, the grinding device for the inner hole of the chopping tool in this embodiment changes the specific structure and method of grinding the chopping tool 10. By setting up a grinding needle 1, a CCD vision module 2 and a force sensor 3 that cooperate with each other, when the grinding needle 1 needs to extend downward along the Z-axis into the chopping tool 10 for grinding: first, the CCD vision module 2 identifies the outline of the circular hole at the tail end 102 of the chopping tool 10 and obtains the center coordinates of the circular hole (as the reference origin coordinates). Then, the CCD vision module 2 measures and obtains the offset of the tip 12 of the grinding needle 1 relative to the center coordinates on the X-axis and Y-axis, respectively, and makes the grinding needle 1 move accurately along the X-axis and Y-axis according to the obtained offset. The grinding needle 1 is moved until the tip 12 is coaxial with the center of the circular hole. At this point, the tip 12 is accurately positioned directly above the circular hole, ensuring the coaxiality correction before grinding. Then, the grinding needle 1 is moved downward along the Z-axis towards the chopping tool 10. During this process, when the force sensor 3 detects that the contact resistance between the tip 12 and the chopping tool 10 changes from zero, i.e., when the force sensor 3 detects the initial force signal, the corresponding processing position is marked as the grinding start point. Finally, the grinding needle 1 is moved downward along the Z-axis into the chopping tool 10 to begin grinding. During this process, when the force sensor 3 detects that the force value decreases to zero, the corresponding processing position is marked as... At the end of the grinding process, the inner hole 101 of the chopping cutter 10 has been ground to the required diameter, and the tip 12 of the grinding needle 1 is fully extended and no longer grinds the chopping cutter 10 (the chopping cutter is at its lowest vibration point). The above-mentioned method allows for accurate correction of the position of the grinding needle 1 before grinding to ensure coaxiality, accurate determination of the start and end points of grinding (accurate judgment of the end of grinding), thereby achieving a high degree of standardization, accuracy, and uniformity throughout the grinding process. When processing each chopping cutter 10 sequentially, it ensures good consistency in the inner hole diameter 101 of each processed chopping cutter 10, guaranteeing the uniformity of each chopping cutter's inner hole diameter. The diameter tolerance of the inner hole 101 of the blade 10 is ≤ ±1µm; and it can ensure that the concentricity error of the inner hole 101 of each blade 10 is small, that is, ensure that the concentricity of the inner hole 101 of each blade 10 is within the preset range, thereby maximizing the consistency of the processing quality of the inner hole 101 of each blade 10, so as to improve the performance of each blade 10; at the same time, since the entire grinding process is carried out in an automated mode and the processing standardization is high, it is possible to quickly and accurately grind the inner hole 101 of the required diameter in each blade 10 in a manner similar to an assembly line operation, thereby improving the grinding efficiency of a large number of blades 10.

[0043] Furthermore, the coaxial deviation between the needle tip 12 and the center of the circular hole at the tail end 102 of the chopping cutter is ≤2µm, so as to ensure good coaxiality between the needle tip 12 and the center of the circular hole, which is beneficial to the subsequent precise grinding of the chopping cutter 10 by the grinding needle 1, thereby ensuring the grinding effect of the chopping cutter 10; at the same time, it can ensure that the position is consistent each time the grinding process begins, and better ensure the quality consistency of the inner hole 101 of each chopping cutter 10.

[0044] Specifically, the grinding needle 1 moves downward along the Z-axis by a first moving distance per second and a second moving distance per second to reach the grinding start point. The first moving distance is 1mm to 2mm, and the second moving distance is 0.009mm to 0.011mm. The grinding needle 1 moves downward along the Z-axis by the first moving distance per second until the needle tip 12 moves downward along the Z-axis to a distance of 0.9mm to 1.1mm from the circular hole. Then, the grinding needle 1 moves downward along the Z-axis by the second moving distance per second to accurately and smoothly reach the grinding start point.

[0045] That is, the first moving distance is larger and the second moving distance is smaller, so as to ensure that the grinding needle 1 moves downward along the Z-axis towards the chopping tool 10 in a fast-then-slow motion mode. On the one hand, this can save time and improve the grinding efficiency; on the other hand, it can ensure that the grinding needle 1 moves accurately to the grinding start point and will not miss the grinding start point, thus facilitating the orderly and accurate execution of subsequent grinding processes. In this embodiment, the first moving distance is 1mm and the second moving distance is 0.01mm; when the distance from the needle tip 12 to the circular hole on the Z-axis is 1mm, the grinding needle 1 moves downward along the Z-axis at a second moving distance step per second.

[0046] Furthermore, such as Figure 1 As shown, the CCD vision module 2 is also used to detect the instantaneous deformation critical point when the needle tip 12 begins to contact the chopping tool 10. When the CCD vision module 2 detects the instantaneous deformation critical point, the corresponding processing position is marked as the grinding processing start point. That is, when the grinding needle 1 moves downward along the Z-axis at a second moving distance per second, the CCD vision module 2 continuously captures the specific shape of the needle tip 12 of the grinding needle 1 in real time. When the CCD vision module 2 detects that the needle tip 12 shows a slight bending trend, this is the instantaneous deformation critical point of the needle tip 12, and the corresponding processing position is marked as the grinding processing start point.

[0047] It is worth noting that the grinding start point corresponding to when the force sensor 3 detects the initial force signal mentioned above and the grinding start point corresponding to when the CCD vision module 2 detects the instantaneous deformation critical point are essentially the same processing position.

[0048] The grinding start point is accurately determined by detecting the contact resistance between the needle tip 12 and the chopping tool 10 using a force sensor 3, and by detecting the instantaneous deformation critical point when the needle tip 12 begins to contact the chopping tool 10 using a CCD vision module 2. On the one hand, this provides redundancy for marking the grinding start point, achieving a double-insurance marking method, thus enabling more accurate marking of the grinding start point. On the other hand, if the CCD vision module 2 fails to detect the instantaneous deformation critical point when the needle tip 12 begins to contact the chopping tool 10 in time due to acquisition time, acquisition frequency, and / or acquisition angle, the grinding start point can be accurately determined by detecting the contact resistance between the needle tip 12 and the chopping tool 10 using a force sensor 3, thereby improving the reliability of marking the grinding start point.

[0049] Specifically, the CCD vision module 2 involved in this embodiment may include multiple CCD cameras and a controller connected to the corresponding signals of the multiple CCD cameras, so as to accurately and comprehensively identify and acquire data through each CCD camera, and enable the controller to perform calculations and analysis based on the identification and acquisition information of each CCD camera to output the required results. The specific number and location of the CCD cameras need to be determined according to the actual identification and acquisition requirements, and are not specifically limited here; the controller can adopt a computer control structure commonly used in the prior art.

[0050] For example, in the coaxiality correction process before grinding: First, the corresponding CCD camera acquires the outline image of the circular hole at the tail end 102 of the chopping cutter 10, and determines the center coordinates of the circular hole based on the acquired outline image; simultaneously, the corresponding CCD camera acquires the specific coordinates of the needle tip 12 relative to the center coordinates on the X-axis and Y-axis respectively; then the controller uses the center coordinates as the reference origin coordinates, and calculates the specific offset between the needle tip 12 and the center of the circular hole using an image recognition algorithm based on the center coordinates and the specific coordinates of the needle tip 12; then the controller controls the movement of the grinding needle 1 on the X-axis and Y-axis according to the calculated specific offset, until the needle tip 12 is accurately coaxially positioned directly above the circular hole.

[0051] It is worth noting that the force sensor 3 involved in this embodiment can be a high-precision force sensor to ensure the detection accuracy of the force sensor 3.

[0052] Furthermore, such as Figures 1 to 3As shown, the grinding needle 1 includes a cylindrical rod 11 and the aforementioned needle tip 12. The needle tip 12 is fixedly connected to the bottom end of the cylindrical rod 11. The needle tip 12 has an inverted conical structure, and its outer diameter gradually increases along the Z-axis and in the direction close to the cylindrical rod 11. That is, the diameter D of the required inner hole 101 mentioned above can be either the outer diameter of the cylindrical rod 11 or any diameter of the needle tip 12; no specific limitation is made here. The cylindrical rod 11 and the needle tip 12 can be integrally formed.

[0053] Specifically, the grinding device for the inner hole of the chopping tool also includes a vibration table and a rotary motor. The chopping tool 10 is positioned on the vibration table, which vibrates the chopping tool 10 up and down along the Z-axis. The vibration table is connected to the CCD vision module 2 and the force sensor 3. The rotary motor is connected to the vibration table and drives it to rotate around the Z-axis, thereby causing the chopping tool 10 positioned on the vibration table to rotate around the Z-axis. The rotary motor is also connected to the CCD vision module 2 and the force sensor 3. The vibration table can use a common vibration structure found in existing technologies. The vibration frequency of the vibration table is directly controlled by the aforementioned controller. The specific connection position between the vibration table and the rotary motor is not limited, as long as it ensures that the rotary motor drives the chopping tool 10 to rotate around the Z-axis and the vibration table drives the chopping tool 10 to vibrate up and down along the Z-axis without interfering with other structures.

[0054] The vibration table and rotary motor configured as described above achieve the following: Firstly, their structural layout is more reasonable and compact, preventing interference with other structures. Secondly, during the grinding process of the grinding needle 1, the chopping tool 10 can simultaneously vibrate and rotate, thereby improving the grinding effect on the chopping tool 10. Furthermore, the vibration table and rotary motor are both connected to the CCD vision module 2 and the force sensor 3 to ensure accurate and timely startup of the vibration table and rotary motor at the start of the grinding process and accurate and timely shutdown of the vibration table and rotary motor at the end of the grinding process.

[0055] It is worth noting that the grinding start point and grinding end point involved in this embodiment are only used to indicate the key processing positions in the entire grinding process, so as to facilitate the standardized processing of each chopping tool 10 based on these key processing positions, thereby improving the consistency of the grinding quality of each chopping tool 10; it does not mean that the chopping tool 10 is stopped at a specific processing position (grinding start point or grinding end point) for processing. That is, the entire grinding process is a continuous dynamic process.

[0056] Furthermore, before the grinding process, an initial hole with a diameter of d is pre-set in the chopping cutter 10, and the concentricity of the initial hole meets the preset concentricity requirement. The initial hole coaxially penetrates the chopping cutter 10 along the Z-axis, and the shape and outline of the initial hole at the tail end 102 of the chopping cutter are the aforementioned circular holes. The grinding needle 1 is used to grind the initial hole to an inner hole 101 with a diameter of D. On the one hand, it can grind to form an inner hole 101 with the required diameter D to ensure the subsequent use of the chopping cutter 10. On the other hand, it can grind the hole wall surface of the inner hole 101 to be smoother and more stable during the grinding process, thereby better ensuring the subsequent use performance of the chopping cutter 10.

[0057] Specifically, such as Figure 2 and Figure 3 As shown, during the grinding process, the specific hole enlargement amount ΔD = Dd for the chopping tool 10, and the grinding distance a of the grinding needle 1 along the Z-axis downwards is related to the number ΔD. That is, by directly inputting d and D into the controller, the controller can automatically calculate the grinding distance a corresponding to the difference ΔD based on the calculation formula in the prior art, the difference between the two ΔD, and the specific cone angle of the tip 12 of the grinding needle 1. The total step distance Z of the grinding needle 1 along the Z-axis downwards is Z = A + a. This ensures that the grinding needle 1 accurately steps A + a downwards along the Z-axis to complete the grinding of the inner hole 101 (with a diameter of D at this time). The specific calculation and analysis process of the controller can refer to the common technical analysis process in the prior art. The A mentioned above specifically refers to the amplitude of the vibration of the chopping tool 10 on the Z-axis by the vibration table, which is a fixed value.

[0058] Specifically, the distance between the lowest and highest points of the chopping blade 10 on the Z-axis is the amplitude A mentioned above. When the grinding needle 1 grinds the inner hole 101 to a diameter D, the chopping blade 10 is at its lowest point, the needle tip 12 is not under force, and the force sensor 3 detects zero force. Furthermore, after the chopping blade 10 is at its lowest point to end the grinding, the chopping blade 10 will continue to vibrate to the highest point, that is, the highest point is the initial position of the chopping blade 10, so as to facilitate the next vibration grinding operation. At this time, because the chopping blade 10 vibrates back to the highest point, the needle tip 12 of the grinding needle 1 is still bent, so the force sensor 3 detects non-zero force.

[0059] Furthermore, such as Figure 1 and Figure 2As shown, the internal grinding device for the cleaver also includes a first three-axis moving module 4, a support frame 5, and a chuck 6. One end of the support frame 5 is connected to the first three-axis moving module 4, which drives the support frame 5 to move along the X, Y, and Z axes. The chuck 6 is connected to the other end of the support frame 5 and is clamped at the top of the grinding needle 1 away from the needle tip 12. The force sensor 3 is mounted on the chuck 6 so that the chuck 6 provides a mounting support base for the force sensor 3. The first three-axis moving module 4 adopts a common three-axis moving module structure in the prior art. The chuck 6 only needs to be able to clamp the top of the cylindrical rod 11 of the grinding needle 1.

[0060] like Figure 1 As shown, by setting up a first three-axis moving module 4, a support frame 5, and a chuck 6 that work together, on the one hand, the overall structure of the grinding device for the inner hole of the splitting tool is relatively simple and reasonable, with a small area and low cost; on the other hand, the first three-axis moving module 4 can achieve the coaxiality correction of the grinding needle 1 on the X-axis and Y-axis, and can achieve the grinding needle 1 to extend and grind on the Z-axis.

[0061] Specifically, such as Figure 1 As shown, the grinding device for the inner hole of the cleaver also includes a second three-axis moving module 7. The CCD vision module 2 is connected to the second three-axis moving module 7, which drives the CCD vision module 2 to move along the X-axis, Y-axis, and Z-axis. The second three-axis moving module 7 can be a common three-axis moving module structure found in existing technologies.

[0062] By driving the CCD vision module 2 to move along the X, Y, and Z axes using the second three-axis moving module 7, the viewing angle position of the CCD vision module 2 can be adjusted according to specific grinding processing requirements. This enables precise adjustment of the translation and attitude angle of the CCD vision module 2 along the X, Y, and Z axes, thereby ensuring the position / angle compatibility of the CCD vision module 2 with the needle tip 12 and the chopping cutter 10. Consequently, the CCD vision module 2 can perform high-resolution imaging and measurement of the circular hole at the chopping end 102 of the chopping cutter 10 and the position of the needle tip 12.

[0063] The specific working process of the internal hole grinding device for the cleaver in this embodiment is as follows:

[0064] First, the coaxiality of the position before grinding is corrected: the corresponding CCD camera acquires the outline image of the circular hole at the tail end 102 of the chopping tool 10, and the center coordinates of the circular hole are determined based on the acquired outline image; at the same time, the corresponding CCD camera acquires the specific coordinates of the needle tip 12 relative to the center coordinates on the X-axis and Y-axis respectively; then the controller uses the center coordinates as the reference origin coordinates, and calculates the specific offset between the needle tip 12 and the center of the circular hole using an image recognition algorithm based on the center coordinates and the specific coordinates of the needle tip 12; then, the controller controls the first three-axis moving module 4 to drive the grinding needle 1 to move on the X-axis and Y-axis respectively, until the needle tip 12 is accurately coaxially positioned directly above the circular hole.

[0065] Then, the starting point of the grinding process is marked: the first three-axis moving module 4 drives the grinding needle 1 to move downward along the Z-axis at a first moving distance per second to approach the chopping tool 10, and then gradually and gently approaches the chopping tool 10 at a second moving distance per second; during this stepping process, when the CCD vision module 2 detects a slight bending trend in the needle tip 12, and / or the force sensor 3 detects the initial force signal (the reading begins to be displayed), the corresponding processing position is marked as the starting point of the grinding process.

[0066] Then, the vibration table and rotary motor are started to begin grinding, and the grinding start point is used as the zero base point. The first three-axis moving module 4 drives the grinding needle 1 to grind the inner hole 101 at the required grinding interval per second along the Z axis downward. At the same time, d and D are directly input into the controller. The controller automatically calculates the grinding distance a and the total step distance Z=A+a corresponding to the difference between the two ΔD. This allows the grinding needle 1 to step down the Z axis from the zero base point by a distance Z.

[0067] During the grinding process, when the diameter of the inner hole 101 reaches D, the chopping cutter 10 vibrates to its lowest point, and the tip 12 of the grinding needle 1 is fully extended. At this time, the reading fed back to the force sensor 3 is zero, and this processing position is marked as the end point of the grinding process, and the grinding process ends. At this time, the rotary motor stops working, and the first three-axis moving module 4 no longer drives the grinding needle 1 to step downward along the Z-axis. At the same time, the vibration table continues to vibrate the chopping cutter 10, so that the chopping cutter 10 vibrates to its highest point. The highest point is the initial position of the chopping cutter 10, so as to facilitate the next vibration grinding operation. The entire processing is completed.

[0068] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A grinding device for the inner hole of a splitting tool, characterized in that, include: A grinding needle (1) is movable along the X-axis, Y-axis and Z-axis. A chopping knife (10) to be ground is provided below the grinding needle (1). The grinding needle (1) is used to extend downward along the Z-axis into the chopping knife (10) for grinding. The CCD vision module (2) is spaced apart on one side of the grinding needle (1). The CCD vision module (2) is used to identify the outline of the circular hole at the end (102) of the chopping knife (10) and obtain the center coordinates of the circular hole. The CCD vision module (2) is also used to measure the offset of the tip (12) of the grinding needle (1) relative to the center coordinates on the X-axis and Y-axis, respectively, so that the grinding needle (1) moves according to the offset to make the tip (12) coaxial with the center of the circular hole. Force sensor (3) is installed close to the grinding needle (1). The force sensor (3) is used to detect the contact resistance between the needle tip (12) and the chopping knife (10). When the force sensor (3) detects the initial force signal, the corresponding processing position is marked as the grinding start point. When the force sensor (3) detects that the force value decreases to zero, the corresponding processing position is marked as the grinding end point.

2. The grinding device for the inner hole of a cleaver according to claim 1, characterized in that, The coaxial deviation between the needle tip (12) and the center of the circular hole at the tail end (102) of the cleaver is ≤2µm.

3. The grinding device for the inner hole of a cleaver according to claim 1, characterized in that, The grinding needle (1) moves downward along the Z-axis by a first moving distance per second and a second moving distance per second to reach the grinding start point. The first moving distance is 1mm to 2mm and the second moving distance is 0.009mm to 0.011mm. The grinding needle (1) moves downward along the Z-axis by the first moving distance per second until the distance between the needle tip (12) and the circular hole is 0.9mm to 1.1mm. Then, the grinding needle (1) moves downward along the Z-axis by the second moving distance per second.

4. The grinding device for the inner hole of a cleaver according to claim 1, characterized in that, The CCD vision module (2) is also used to detect the instantaneous deformation critical point when the needle tip (12) begins to contact the chopping knife (10). When the CCD vision module (2) detects the instantaneous deformation critical point, the corresponding processing position is marked as the grinding processing start point.

5. The grinding device for the inner hole of a cleaver according to any one of claims 1-4, characterized in that, The grinding needle (1) includes: Cylindrical rod (11); The needle tip (12) is connected to the bottom end of the cylindrical rod (11). The needle tip (12) has an inverted cone structure. Along the Z-axis and in the direction close to the cylindrical rod (11), the outer diameter of the needle tip (12) gradually increases.

6. The grinding device for the inner hole of a cleaver according to claim 5, characterized in that, The internal grinding device for the cleaver also includes: A vibration table, on which the chopping knife (10) is positioned, is used to vibrate the chopping knife (10) up and down along the Z-axis, and the vibration table is connected to the CCD vision module (2) and the force sensor (3) for signal connection. A rotary motor is connected to the vibration table drive. The rotary motor is used to drive the vibration table to rotate around the Z-axis. The rotary motor is connected to the CCD vision module (2) and the force sensor (3) for signal connection.

7. The grinding device for the inner hole of a cleaver according to claim 6, characterized in that, The chopping cutter (10) has an initial hole with a diameter of d. The initial hole passes through the chopping cutter (10) along the Z-axis. The shape of the initial hole at the tail end (102) of the chopping cutter is a circular hole. The grinding needle (1) is used to grind the initial hole to an inner hole (101) with a diameter of D. The hole enlargement amount of the chopping cutter (10) is ΔD=Dd. The grinding distance a of the grinding needle (1) along the Z-axis downward is related to the number of ΔD. The vibration table vibrates the chopping cutter (10) with an amplitude of A along the Z-axis. From the starting point of the grinding process, the total step distance Z of the grinding needle (1) along the Z-axis downward is Z=A+a.

8. The grinding device for the inner hole of a cleaver according to claim 7, characterized in that, The distance between the lowest and highest points of the chopping blade (10) on the Z-axis is the amplitude A. When the diameter of the inner hole (101) is ground to D, the chopping blade (10) is located at the lowest point, the needle tip (12) is not under force, and the force sensor (3) detects zero force.

9. The grinding device for the inner hole of a cleaver according to any one of claims 1-4, characterized in that, The internal grinding device for the cleaver also includes: First three-axis moving module (4); A support frame (5) is provided, one end of which is connected to the first three-axis moving module (4). The first three-axis moving module (4) is used to drive the support frame (5) to move along the X-axis, Y-axis and Z-axis. The chuck (6) is connected to the other end of the support frame (5). The chuck (6) is clamped on the top of the grinding needle (1) away from the needle tip (12), and the force sensor (3) is mounted on the chuck (6).

10. The grinding apparatus for the inner hole of a cleaver according to any one of claims 1-4, characterized in that, The internal grinding device for the cleaver also includes: The second three-axis moving module (7) is connected to the CCD vision module (2), and the second three-axis moving module (7) is used to drive the CCD vision module (2) to move along the X-axis, Y-axis and Z-axis.

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