CN116945046B - Grinding head grinding method and system - Google Patents

Grinding head grinding method and system Download PDF

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Publication number
CN116945046B
CN116945046B CN202310826473.6A CN202310826473A CN116945046B CN 116945046 B CN116945046 B CN 116945046B CN 202310826473 A CN202310826473 A CN 202310826473A CN 116945046 B CN116945046 B CN 116945046B
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China
Prior art keywords
grinding head
grinding
preset
robot
data
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CN202310826473.6A
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Chinese (zh)
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CN116945046A (en
Inventor
郑元坚
童成德
冯荣权
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Guangzhou Techno Wave Machinery Co ltd
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Guangzhou Techno Wave Machinery Co ltd
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Priority to CN202310826473.6A priority Critical patent/CN116945046B/en
Publication of CN116945046A publication Critical patent/CN116945046A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
    • B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • B24B45/003—Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The application discloses a grinding head grinding method and system, wherein the method comprises the steps of obtaining machining angle data of a pre-machined crankshaft oil hole and grinding head initial data; the robot grabs the grinding head to move to the position of the grinding device so as to grind the grinding head to a set angle, and grinding the black skin of the crankshaft oil hole surface by using the grinding head; the detection device detects the grinding head, and when the actual height data of the grinding head reach a preset abrasion grinding threshold value, the robot grabs the grinding head and moves to the position of the grinding device to grind the grinding head; stopping polishing the grinding head and moving the hole surface black skin to polish when the difference value between the actual processing angle data of the grinding head after polishing and the initial processing angle data reaches a preset data deviation threshold value; and when the actual height data of the grinding head is detected to reach the preset abrasion replacement threshold value, replacing a new grinding head. The grinding head processing device has the effects of improving the product quality stability of grinding head processing and improving the yield.

Description

Grinding head grinding method and system
Technical Field
The application relates to the technical field of grinding, in particular to a grinding head grinding method and system.
Background
The crankshaft oil hole of the commercial vehicle is required to be processed and polished to form an oil hole chamfer during production, namely, after the crankshaft is subjected to heat treatment, hole surface black skin generated on the surface of the crankshaft oil hole is polished; however, because the size of a crankshaft product is large, when the oil hole chamfer is polished, a milling cutter is required to be used for milling the end face of a crankshaft journal and drilling a deep hole on a drill bit, and then a chamfer cutter is used for chamfering, but the chamfer cutter is prevented from being deflected to a certain extent in the processing process; the surface of the grinding head produced by the standard process is provided with an arc, so that the use requirement of the oil hole machining angle cannot be well met; the grinding head is worn in the process, so that the grinding head cannot effectively contact the grinding position; therefore, the defects of unstable quality and low yield of the crankshaft oil hole product processed by the grinding head exist, and improvement is needed.
Disclosure of Invention
In order to improve the product quality stability of grinding head processing and improve the yield, the application provides a grinding head polishing method and system.
The first technical scheme adopted by the invention of the application is as follows:
a grinding head grinding method comprises
Acquiring machining angle data of a pre-machined crankshaft oil hole and grinding head initial data, wherein the grinding head initial data comprise initial height data;
the robot grabs the grinding head to move to the position of a preset grinding device, so that the grinding head is ground to a set angle based on the processing angle data, and the black skin of the oil hole surface of the crankshaft is ground;
the method comprises the steps that a preset detection device detects a grinding head, and when the actual height data of the grinding head reach a preset abrasion grinding threshold value, a robot grabs the grinding head and moves to the position of the preset grinding device to grind the grinding head;
stopping polishing the grinding head and moving the grinding head to polish the black skin of the oil hole surface of the crankshaft when the difference value between the actual processing angle data of the grinding head after polishing and the initial processing angle data reaches a preset data deviation threshold value;
when detecting that the actual height data of the grinding head reaches a preset abrasion replacement threshold value, the robot replaces a new grinding head.
Through the technical scheme, when the grinding head is initially used, the robot grabs the new grinding head and moves to the position of the grinding device so as to grind the new grinding head to a required machining angle, and then grinding the black skin of the oil hole surface of the crankshaft, so that the new grinding head can meet the use requirement of the oil hole surface grinding machining angle; during the grinding process of the grinding head on the black skin of the oil hole surface of the crankshaft, the grinding head is worn; when the detection device detects that the grinding head grabbed by the robot is worn (namely, the actual height data of the grinding head reaches a wear grinding threshold), the robot grabs the grinding head and grinds the grinding head again by using the grinding device so as to revise the angle of the grinding head after wear back to the originally set machining angle, the robot repeatedly carries out the machining operation on the crankshaft oil hole and grinds the grinding head after wear until the grinding head is completely worn, and the robot replaces a new grinding head and repeats the steps; according to the technical scheme, the novel grinding head is subjected to polishing to the preset angle and polishing the black skin of the oil hole surface of the crankshaft, and the worn grinding head can be polished timely, so that the grinding head is maintained in the initial preset angle and then is processed, the quality stability of a product processed by the grinding head is improved, and the yield is improved.
In a preferred example, the present application: the preset detection device stores initial coordinate system parameters of the grinding head; the detection device that presets detects the bistrique, when detecting that the actual height data of bistrique reaches the wearing and tearing coping threshold value of preseting, the robot snatchs the bistrique and moves to the position of preseting coping device in order to coping the bistrique, include:
when the machining times of the grinding head on the crankshaft oil hole reach a preset detection times threshold value, the robot grabs the grinding head to the position of a preset detection device so as to detect real-time coordinate system parameters of the grinding head;
obtaining the actual abrasion loss of the grinding head based on the coordinate system parameters and the real-time coordinate system parameters of the grinding head obtained in the previous time;
based on the actual wear amount and a preset tool compensation value, compensating actual coordinate system parameters after wear and tool compensation values of the grinding head; obtaining actual height data of the grinding head based on the actual coordinate system parameters;
when the actual height data of the grinding head reaches a preset abrasion grinding threshold value, the robot grabs the grinding head to move to the position of the preset grinding device based on the tool compensation value of the grinding head, and grinds the grinding head according to the preset grinding amount.
Through adopting above-mentioned technical scheme, the robot uses the bistrique to polish the in-process of processing to bent axle oilhole face black skin: when the using times of the grinding head reach the threshold value of the detecting times, the robot moves the grinding head to the position of the detecting device to detect whether the grinding head is worn due to use, namely, the actual wear amount of the grinding head is obtained by calculating the initial coordinate system parameters of the grinding head and the real-time coordinate system parameters after use; because the actual height data of the grinding head and the height data detected in the previous time are different due to the abrasion of the grinding head during the use process, a tool compensation value of the grinding head needs to be set for the robot; in actual calculation, a zero point of a real-time coordinate system of the coordinate system parameters is obtained based on the tool compensation value, so that actual height data of the grinding head is obtained through calculation; when the actual height data of the grinding head reaches the abrasion grinding threshold value, the robot grabs the grinding head to the position of the grinding device according to the tool compensation value of the grinding head and grinds the grinding head according to the set grinding quantity each time; therefore, when the grinding head is grinded each time, the grinding is performed based on the actual abrasion loss of the grinding head, and the grinding angle of the grinding head is kept within the initial set angle range.
In a preferred example, the present application: the detection device that presets detects the bistrique, include:
measuring an initial tool length parameter of a new grinding head after first grinding by a preset detection device; counting the total grinding times of the current grinding head;
acquiring actual tool length parameters of the grinding head based on a preset trigger signal;
detecting and updating real-time tool length parameters and the remaining available tool length of the grinding head based on the actual tool length parameters and the total grinding times;
and obtaining the abrasion coping threshold value and the coping quantity of the grinding head next time based on the real-time tool length parameter and the remaining available tool length.
By adopting the technical scheme, the detection device detects the actual tool length parameter and the residual available tool length of the grinding head in real time; in order to ensure that the grinding head is high in angle consistency of grinding out every time; before each grinding, acquiring and updating the actual tool length parameter of the current grinding head based on a trigger signal, then driving the grinding head to grind for the current times, and detecting and updating the real-time tool length parameter, the remaining tool length parameter and the remaining available tool length of the grinding head after grinding for the current times again so as to update the abrasion grinding threshold and grinding amount of the next time; the grinding head is convenient to grind at each time, and the grinding head grinding efficiency is improved.
The second object of the present application is achieved by the following technical scheme:
a grinding head dressing system comprising:
the polishing device is used for polishing the grinding head;
the detecting device is used for detecting grinding head initial data, wherein the grinding head initial data comprise initial height data; the detection device is also used for detecting actual height data of the grinding head;
the robot control mechanism is provided with a robot used for grabbing the grinding head and moving, and is used for acquiring machining angle data of the prefabricated crankshaft oil hole and grinding head initial data, wherein the grinding head initial data comprise initial height data;
the robot grabs the grinding head to move to the position of the grinding device, so that the grinding head is ground to a set angle based on the processing angle data, and the grinding head is utilized to grind black skin on the oil hole surface of the crankshaft;
when the actual height data of the grinding head is detected to reach a preset abrasion grinding threshold value, the robot grabs the grinding head and moves to the position of the preset grinding device to grind the grinding head;
stopping polishing the grinding head and moving the grinding head to polish the black skin of the oil hole surface of the crankshaft when the difference value between the actual processing angle data of the grinding head after polishing and the initial processing angle data reaches a preset data deviation threshold value;
when detecting that the actual height data of the grinding head reaches a preset abrasion replacement threshold value, the robot replaces a new grinding head.
By adopting the technical scheme, the detection device is used for detecting the height data of the grinding head in the use process or after the grinding head is polished; the robot control mechanism is used for controlling the robot to grasp the grinding head to the position of the grinding device so as to grind the new grinding head to a set angle and then grind the black skin of the crankshaft oil hole surface, so that the new grinding head can meet the use requirement of the oil hole processing angle, the trimmed grinding head can be effectively contacted with the processing surface of the crankshaft black skin, and the frequency and quality of the oil hole grinding head grinding oil hole are higher; in the grinding process of the grinding head, the grinding head is subjected to multiple wear detection, when the detection device detects that the grinding head grabbed by the robot is worn (namely, the actual height data of the grinding head reaches a wear grinding threshold), the grinding head is grabbed by the robot and is ground again by the grinding device so as to correct the angle of the grinding head after the wear to the originally set machining angle, the robot repeatedly carries out machining on the crankshaft oil hole and grinding the worn grinding head until the grinding head is completely worn, and the robot replaces a new grinding head and repeats the detection and grinding steps; therefore, the grinding head grinding system realizes the function of automatic detection and trimming, and improves the utilization rate of the whole machine equipment; is favorable for improving the yield.
In a preferred example, the present application: the grinding device comprises a storage table, a support frame and a grinding disc, wherein the support frame is arranged on the storage table, and is provided with a first driving piece for driving the grinding disc to rotate along a first direction; the working end of the robot is provided with a second driving piece for driving the grinding head to rotate along a second direction; the first direction is opposite to the second direction.
By adopting the technical scheme, when the grinding head and the grinding disc are used for grinding, the rotating shaft direction of the grinding head is opposite to the rotating direction of the grinding disc, so that the grinding effect and the grinding efficiency of the grinding head are improved.
In a preferred example, the present application: the object placing table is provided with a dust box, and the supporting frame and the coping plate are positioned in the dust box; the top of the dust box is provided with a grinding hole for the second driving piece to pass through; the side wall opening of dust proof case has the chamber door in a hinged manner, the dust proof case is kept away from the one end of the articulated department of chamber door is provided with the snap lock.
By adopting the technical scheme, when the grinding head is used for grinding on the grinding disc, a large amount of grinding dust can be generated and falls everywhere, and the dust box is used for collecting the grinding dust generated in the grinding process of the grinding head, so that the pollution of the grinding dust to a production workshop is reduced, and the grinding dust is cleaned; the box door can realize the function of opening or closing the side wall of the dust box through the buckle lock, so that the box door can be opened to detach and replace the grinding disc when the grinding disc is assembled or detached, or the box door can be closed to collect grinding dust in the dust box.
In a preferred example, the present application: the support frame comprises a base and a support bracket, wherein the base is installed on the object placing table, and the support bracket is installed on the top of the base; the first driving piece comprises a pneumatic main shaft, the pneumatic main shaft is detachably arranged on the supporting bracket, and the coping plate is arranged at the working end of the pneumatic main shaft.
By adopting the technical scheme, the pneumatic main shaft is detachably arranged on the object placing table through the support bracket, so that the pneumatic main shaft is conveniently arranged on the object placing table; and the pneumatic main shaft drives the grinding disc to rotate along the first direction through the working end, so that the grinding head is favorable for grinding.
In a preferred example, the present application: the support bracket comprises a connecting plate, a support plate and a clamping block; the connecting plate is in threaded connection with the base; the support plate is bent, one end of the support plate is fixedly connected with the connecting plate, and the other end of the support plate is connected with the clamping block; the clamping block is provided with a first clamping groove, and is in threaded connection with a limiting block; the limiting block is provided with a second clamping groove, and the first clamping groove and the second clamping groove form a limiting space for limiting and clamping the pneumatic spindle.
By adopting the technical scheme, the support bracket is detachably arranged on the base through the connecting plate, the first clamping groove of the clamping block is used for providing a preliminary positioning clamping effect for the installation of the pneumatic main shaft, and the clamping block and the limiting block are used for installing the pneumatic main shaft on the support plate; the limiting block is in threaded connection with the clamping block so as to detachably mount the pneumatic main shaft on the support bracket, and the pneumatic main shaft is convenient to assemble or maintain and replace.
In a preferred example, the present application: a dust collecting hole is formed in the side wall of the bottom of the dust box, and the dust box is connected with a dust collecting box with an opening at the top; the top of the base is provided with a communication hole, and the bottom of the base is downwards bent to form a collection space for placing the dust collection box; the dust collection box passes through the dust collection hole and is inserted into the bottom of the base, and the side wall of the dust collection box is abutted to the side wall of the dust collection hole formed in the dust prevention box.
By adopting the technical scheme, the dust collection box is movably inserted into the bottom of the dust box through the dust collection hole; the dust box is used for collecting the coping dust generated by the coping disc at the top in the process of the coping grinding head, and after the collected coping dust is pulled out of the dust box and poured out by a worker, the dust box is plugged into the bottom of the base of the dust box again for recycling, so that the coping dust is more convenient to clean.
In a preferred example, the present application: the detection device comprises a position detection sensor and a touch switch, wherein the position detection sensor and the touch switch are both arranged on the object placing table, the position detection sensor is connected with the robot control mechanism, the touch switch is connected with the robot control mechanism, and the touch switch is used for outputting a trigger signal when being pressed by a robot.
By adopting the technical scheme, the position detection sensor is used for detecting the height data and the coordinate system parameters of the grinding head, the robot presses the touch switch after grinding the grinding head each time, and the position detection sensor detects the current real-time height data and the real-time coordinate system parameters after pressing the touch switch; to obtain actual height data of the grinding head and the remaining usable length of the grinding head.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the grinding head is initially used, the robot grabs a new grinding head and moves to the position of the grinding device so as to grind the new grinding head to a required machining angle, and then grinding the black skin of the oil hole surface of the crankshaft, so that the new grinding head can meet the use requirement of the oil hole machining angle; in the process of polishing the black skin of the crankshaft oil hole surface by the grinding head, the grinding head is worn; when the detection device detects that the grinding head grabbed by the robot is worn (namely, the actual height data of the grinding head reaches a wear grinding threshold), the robot grabs the grinding head and grinds the grinding head again by using the grinding device so as to revise the angle of the grinding head after wear back to the originally set machining angle, the robot repeatedly carries out the machining operation on the crankshaft oil hole and grinds the grinding head after wear until the grinding head is completely worn, and the robot replaces a new grinding head and repeats the steps; according to the technical scheme, the new grinding head is grinded to the set angle in advance, and the grinding head with abrasion can be grinded in time in the machining process of the crankshaft oil hole, so that the grinding head is favorably maintained within the initial set angle and then is machined, the quality stability of a product machined by the grinding head is favorably improved, and the yield is improved;
2. the detection device detects the actual tool length parameter and the remaining available tool length of the grinding head in real time; in order to ensure that the grinding head is high in angle consistency of grinding out every time; before each grinding, acquiring and updating the actual tool length parameter of the current grinding head based on a trigger signal, then driving the grinding head to grind for the current times, and detecting and updating the real-time tool length parameter, the remaining tool length parameter and the remaining available tool length of the grinding head after grinding for the current times again so as to update the abrasion grinding threshold and grinding amount of the next time; the grinding head is convenient to grind at each time, and the grinding head grinding efficiency is improved;
3. when the grinding head is used for grinding on the grinding disc, a large amount of grinding dust can be generated and fall everywhere, and the dust box is used for collecting the grinding dust generated in the grinding process of the grinding head, so that pollution of the grinding dust to a production workshop is reduced, and cleaning of the grinding dust is facilitated; the box door can realize the function of opening or closing the side wall of the dust box through the buckle lock, so that the box door can be opened to detach and replace the grinding disc when the grinding disc is assembled or detached, or the box door can be closed to collect grinding dust in the dust box.
Drawings
FIG. 1 is a flow chart of a method of dressing a grinding head according to one embodiment of the present application;
FIG. 2 is a flow chart of step S3 in a grinding head dressing method according to an embodiment of the present application;
FIG. 3 is another flow chart of step S3 in a method of dressing a grinding head according to an embodiment of the present application;
FIG. 4 is a schematic view of the overall installation structure of the grinding head dressing system according to an embodiment of the present application;
FIG. 5 is a schematic view of the overall mounting structure of another view of the grinding head dressing system in one embodiment of the present application;
FIG. 6 is a schematic view of the mounting structure of the grinding device, the support frame and the detection device in the grinding head grinding system according to an embodiment of the present application;
fig. 7 is a schematic view of the mounting structure of the grinding device and the detecting device in the grinding head grinding system in an embodiment of the present application.
Reference numerals illustrate:
1. a grinding device; 11. a storage table; 12. a support frame; 121. a base; 1211. a communication hole; 122. a support bracket; 1221. a connecting plate; 1222. a support plate; 1223. a clamping block; 13. repairing the grinding disc; 14. a dust box; 141. repairing and grinding the hole; 142. a door; 143. a snap lock; 144. dust collecting holes; 15. a dust collection box; 16. a pneumatic spindle; 17. a motor spindle; 18. a limiting block; 181. a second clamping groove; 2. a detection device; 21. a position detection sensor; 3. a robot; 4. grinding head.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In one embodiment, as shown in fig. 1, the application discloses a grinding head polishing method, which specifically includes the following steps:
s1: processing angle data of the pre-processed crankshaft oil hole and grinding head initial data are obtained, wherein the grinding head initial data comprise initial height data.
In this embodiment, the initial data of the grinding head is initial data measured when the new grinding head is mounted on the working end of the robot before being used.
Specifically, in a production workshop in which crankshaft oil hole machining is actually required, a grinding device capable of grinding a grinding head, a robot for grabbing the grinding head and carrying out mobile grinding and oil hole machining control, and a detection device for detecting height data, position data and angle data of the grinding head in real time are arranged; the robot can realize the functions of grinding the grinding head by moving to the position of the grinding device, grinding the black skin on the oil hole surface of the crankshaft by grabbing the grinding head, and detecting the position of the grinding head to the detection device.
Specifically, the position of the detection device is fixed, the robot moves the grinding head to a fixed position right above the detection device for detection when detecting the height data of the grinding head, and the robot detects the same position right above the detection device when detecting each time, so that the change condition of the height data of the bottom of the grinding head is conveniently detected.
S2: the robot snatchs the grinding head and moves to the position of the grinding device that presets to grind the grinding head to the angle that sets for based on processing angle data, and utilize the grinding head to polish processing to bent axle oilhole face black skin.
Specifically, the robot moves the new grinding head to the position of the grinding device for grinding, so that the angle of the grinding position of the grinding head is ground to be matched with the angle of the crankshaft oil hole, and then moves the grinding head to the position of the crankshaft oil hole for grinding the black skin on the surface of the crankshaft oil hole, so that the grinding head can effectively contact the machining and grinding position of the crankshaft oil hole, and the grinding effect of the grinding head is improved.
S3: the preset detection device detects the grinding head, and when the actual height data of the grinding head reach the preset abrasion grinding threshold value, the robot grabs the grinding head and moves to the position of the preset grinding device to grind the grinding head.
In this embodiment, since the grinding head is worn during the process of machining the crankshaft oil hole, it is necessary to detect the grinding head currently being used by the robot work end; in the embodiment, the machining times of the grinding head are taken as judging conditions, the grinding head is detected for multiple times in the process from the use of the new grinding head to the complete loss, and the grinding head is ground for multiple times, so that the grinding accuracy of the grinding head is improved.
Specifically, after the two oil holes on the crankshaft oil holes are machined by the grinding head, the robot moves the grinding head to the position of the detection device for detection; at the moment, two situations exist, wherein one situation is that the abrasion of the grinding head is detected to be less or basically no, namely, the actual height data of the grinding head does not reach the abrasion grinding threshold value, and then the robot continues to use the current grinding head to grind the black skin of the oil hole surface; one situation is that the grinding head is detected to be seriously worn, namely the actual height data of the grinding head reaches a wear grinding threshold value, and at the moment, the robot drives the grinding head to move to the position of the grinding device to grind the grinding head so as to grind the machining angle of the grinding head to a set angle, so that the grinding head is favorable for maintaining the grinding angle consistency of the grinding head.
Specifically, the detection period of the grinding head can be customized; in the embodiment of the application, after finishing machining of two crankshaft oil holes each time, the grinding head detects the abrasion condition of the primary grinding head; the grinding head is polished in time when the abrasion is serious, and the crankshaft oil hole is continuously machined when the abrasion is not serious, so that the grinding head is favorable for ensuring high angle consistency of each polished grinding, and the quality stability of products machined by the grinding head is improved.
Further, after the grinding head is polished or worn, the length of the grinding head is shortened, when the robot grabs the grinding head to the position of the detection device to detect the height, the distance between the using surface at the bottom end of the grinding head and the detection device is changed, so that the wear amount of the grinding head can be calculated through the change of the height data and the wear volume change of the grinding head; the wear coping threshold may also be set by a change in the wear volume of the grinding head.
S4: and stopping polishing the grinding head and moving the grinding head to polish the black skin on the oil hole surface of the crankshaft when the difference value between the actual processing angle data of the grinding head after polishing and the initial processing angle data reaches a preset data deviation threshold value.
In this embodiment, in order to ensure that the angle consistency of multiple grinding operations of the grinding head is high, the grinding amount of each grinding operation of the grinding head needs to be controlled, so that the grinding head after grinding can be detected again; when the polished machining angle data of the grinding head cannot reach the preset polishing amount, namely, the difference value between the actual machining angle data of the grinding head after polishing and the initial machining angle data does not reach the data deviation threshold value, polishing is conducted again until the difference value between the actual machining angle data of the grinding head after polishing and the initial machining angle data reaches the preset data deviation threshold value, namely, the grinding head reaches the preset polishing amount, and the grinding head finishes the polishing work of the current times, so that the polishing head is stopped.
Specifically, the data deviation threshold may be defined by oneself, in this embodiment, the data deviation threshold is set to 0.1mm, and if the grinding height of the grinding head is set to 0.5mm based on the actual height data of the current grinding head, and after the grinding head is ground, the grinding head is ground to 0.4mm, and if the grinding head is ground to 0.3mm, grinding is required to be continued until the grinding amount meets the preset data deviation threshold, so that the grinding quality of the grinding head is improved conveniently.
S5: when detecting that the actual height data of the grinding head reaches a preset abrasion replacement threshold value, the robot replaces a new grinding head.
Specifically, the grinding head gradually generates loss in the process of grinding and using for many times, and when the detection device detects that the actual height data of the grinding head reaches the abrasion replacement threshold value, the robot replaces a new grinding head.
In one embodiment, as shown in fig. 2, in step S3, the preset detecting device stores coordinate system parameters of the grinding head; the method comprises the steps that a preset detection device detects a grinding head, and when the actual height data of the grinding head reach a preset abrasion grinding threshold value, a robot grabs the grinding head and moves to the position of the preset grinding device to grind the grinding head; the method specifically comprises the following steps:
s301: when the machining times of the grinding head on the crankshaft oil hole reach a preset detection times threshold, the robot grabs the grinding head to the position of a preset detection device so as to detect real-time coordinate system parameters of the grinding head.
In the embodiment, when the robot grabs the grinding head for detection, the grinding head is arranged in the vertical direction and is positioned right above the detection device, and the robot is fixed at the same position during each detection, namely the top side of the grinding head is positioned at the same position for detection; the coordinate system is established based on the current position of the robot, such as the position of the central shaft of the working end of the robot serving as a zero point, and the Z-axis direction extends along the vertical direction.
The coordinate system parameters include coordinate system position parameters including position data measured based on the extending directions of the X axis, the Y axis, and the Z axis, and coordinate system angle parameters; the height data and the length data of the grinding head can be obtained based on the Z-axis direction; the coordinate system angle parameters comprise the data of the roll angle, the dip angle and the deflection angle of the working end of the robot.
Specifically, when detecting that the grinding head needs to be grinded, firstly detecting coordinate system parameter data of the grinding head before grinding, namely detecting the current position value of the grinding head in a coordinate system, and calculating actual height data of the grinding head at the moment; the grinding amount of each grinding of the grinding head is convenient to record.
S302: and obtaining the actual abrasion loss of the grinding head based on the coordinate system parameters of the grinding head acquired in the previous time and the real-time coordinate system parameters.
In this embodiment, the worker may set the grinding amount of the grinding head and the corresponding tool compensation value in advance according to the remaining usable length of the grinding head; because the actual grinding amount and the preset grinding amount of the grinding head can have the difference of the grinding amount, when the grinding head is actually ground, the working end of the robot moves the grinding head to the position of the grinding device, the grinding head after grinding is needed to be measured again, so that the actual grinding amount of the current times is obtained, the real-time recording of the grinding amount data of the grinding head is improved, and the subsequent measurement of the height, the residual usable length and other data of the grinding head is facilitated.
S303: based on the actual wear amount and a preset tool compensation value, the actual coordinate system parameters after tool compensation wear and the tool compensation value of the grinding head; and obtaining actual height data of the grinding head based on the actual coordinate system parameters.
In this embodiment, after obtaining the remaining usable length of the grinding head based on the actual wear amount, it is necessary to set coordinate system parameters for grinding the black skin of the oil hole surface by the robot after finishing grinding based on the actual grinding amount of the grinding head; because the residual available length of the grinding head can be changed along with grinding, the tool compensation value of the grinding head needs to be set based on the actual available length data of the grinding head, so that the coordinate system parameters of the robot for grinding the black skin of the oil hole surface are conveniently adjusted, and the product quality of the crankshaft oil hole processing is improved.
S304: when the actual height data of the grinding head reaches a preset abrasion grinding threshold value, the robot grabs the grinding head to move to the position of a preset grinding device based on the tool compensation value of the grinding head, and grinds the grinding head according to the preset grinding amount.
In the present embodiment, the wear coping threshold is set based on actual height data of the grinding head.
Specifically, when the grinding head reaches the abrasion grinding threshold, the robot moves the grinding head and performs grinding.
In one embodiment, as shown in fig. 3, in step S3, a preset detecting device detects a grinding head, and specifically includes:
s311: measuring an initial tool length parameter of a new grinding head after first grinding by a preset detection device; and counting the total grinding times of the current grinding head.
In this embodiment, the grinding amount of each grinding of the grinding head is set correspondingly according to the actual available tool length of the grinding head, and the grinding amount of the current grinding times is obtained by counting the total grinding times of the grinding head, so that the grinding efficiency of the grinding head is improved.
S312: and acquiring the actual tool length parameter of the grinding head based on a preset trigger signal.
Specifically, the detection device is provided with a touch switch, and the robot moves to the position of the touch switch and presses the touch switch to output a trigger signal.
S313: real-time tool length parameters and remaining usable tool lengths of the grinding head are detected and updated based on the actual tool length parameters and the total number of dressing times.
In this embodiment, the real-time coordinate system parameters of the grinding head are obtained based on the tool length parameters and the total number of grinding times of the grinding head.
S314: and obtaining the abrasion coping threshold value and the coping quantity of the grinding head next time based on the real-time tool length parameter and the remaining available tool length.
In the embodiment, the residual available tool length of the grinding head is obtained based on the initial tool length parameter of the grinding head and the real-time tool length parameter of the grinding head, and the abrasion grinding threshold value of the grinding head for grinding next time and the grinding amount of the grinding next time are updated based on the residual available tool length of the current grinding head; the grinding head is convenient for the robot to move and grind, and the grinding precision of the grinding device is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
In one embodiment, a grinding head dressing system is provided that corresponds to the grinding head dressing method of the above-described embodiments.
A grinding head grinding system comprises a grinding device 1, a detection device 2 and a robot control mechanism. The detailed description of each functional module is as follows:
as shown in fig. 4 to 6, the dressing device 1 is used for dressing a grinding head 4; the grinding device 1 comprises a storage table 11, a support frame 12 and a grinding disc 13, wherein the support frame 12 is arranged at the top of the storage table 11; the object placing table 11 is provided with a dust box 14, and the supporting frame 12 and the coping plate 13 are positioned in the dust box 14; the top of the dust box 14 is provided with a grinding hole 141 for the second driving piece to pass through; the side wall of the dust box 14 is opened and hinged with a box door 142, and one end of the dust box 14, which is far away from the hinge position of the box door 142, is provided with a snap lock 143; the support frame 12 is provided with a first driving piece for driving the grinding disc 13 to rotate along a first direction; the first direction is a direction inclined at 45 degrees relative to the horizontal direction, and can be adjusted according to actual requirements in actual application.
As shown in fig. 5 to 7, a dust collecting hole 144 is formed in the bottom side wall of the dust box 14, and the dust box 14 is connected with a dust collecting box 15 with an opening at the top; the outer side wall of the dust collection box 15 is provided with a handle; the support frame 12 comprises a base 121 and a support bracket 122, the base 121 is arranged on the object placing table 11, and the support bracket 122 is arranged on the top of the base 121; the top of the base 121 is provided with a communication hole 1211, and the bottom of the base 121 is bent downwards to form a collection space for placing the dust collection box 15; the dust collection box 15 passes through the dust collection hole 144 and is inserted into the bottom of the base 121, and the side wall of the dust collection box 15 is abutted against the side wall of the dust collection box 14 provided with the dust collection hole 144; the dust collection box 15 is movably inserted into the bottom of the dust box 14 through a dust collection hole 144; the dust box 14 is used for collecting the grinding dust generated by the grinding disc 13 at the top in the process of grinding the grinding head 4, and after the collected grinding dust is pulled out of the dust box 14 and poured out by a worker, the dust box 15 is plugged into the bottom of the base 121 of the dust box 14 again for recycling, so that the grinding dust is cleaned more conveniently.
As shown in fig. 6 and 7, the working end of the robot 3 is provided with a second driving member for driving the grinding head 4 to rotate in a second direction, and the first direction and the second direction are opposite when the grinding surface of the grinding disc 13 is ground by the grinding head 4; when the grinding head 4 and the grinding disc 13 are used for grinding, the rotation direction of the grinding head 4 is opposite to the rotation direction of the grinding disc 13, so that the grinding effect and the grinding efficiency of the grinding head 4 are improved.
As shown in fig. 6 and 7, the first driving member includes a pneumatic spindle 16, the pneumatic spindle 16 is detachably mounted on a support bracket 122, and the coping plate 13 is mounted on a working end of the pneumatic spindle 16; the pneumatic main shaft 16 is detachably arranged on the object placing table 11 through the supporting bracket 122, so that the pneumatic main shaft 16 is convenient to be arranged on the object placing table 11; and the pneumatic main shaft 16 drives the grinding disc 13 to rotate along the first direction through the working end, so that the grinding head 4 is favorably ground.
As shown in fig. 5 and 6, the second driving member includes a motor spindle 17, the motor spindle 17 is detachably mounted on the working end of the robot 3, and the working end of the motor spindle 17 is connected with the grinding head 4; when the motor spindle 17 drives the grinding head 4 at the working end to grind on the grinding disk 13, the rotating shaft direction of the grinding head 4 is in a second direction, and the first direction is opposite to the second direction; the motor spindle 17 can drive the grinding head 4 at the working end to finish the work of correcting, repairing and grinding the black skin of the hole surface of the oil hole of the crankshaft.
As shown in fig. 6 and 7, the support bracket 122 includes a connection plate 1221, a support plate 1222, and a catching block 1223; the connecting plate 1221 is screwed with the base 121; the support plate 1222 is folded, one end of the support plate 1222 is fixedly connected with the connecting plate 1221, and the other end of the support plate 1222 is connected with the clamping block 1223; the clamping block 1223 is provided with a first clamping groove, and the clamping block 1223 is in threaded connection with a limiting block 18; the limiting block 18 is provided with a second clamping groove 181, the first clamping groove and the second clamping groove 181 form a limiting space for limiting and clamping the pneumatic spindle 16, the supporting bracket 122 is detachably arranged on the base 121 through the connecting plate 1221, the first clamping groove of the clamping block 1223 is used for providing a preliminary positioning clamping effect for the installation of the pneumatic spindle 16, and the clamping block 1223 and the limiting block 18 are used for installing the pneumatic spindle 16 on the supporting plate 1222; the limiting block 18 is in threaded connection with the clamping block 1223 so as to detachably mount the pneumatic spindle 16 on the support bracket 122, thereby facilitating assembly, maintenance and replacement of the pneumatic spindle 16.
As shown in fig. 6 and 7, the detecting device 2 is configured to detect grinding head initial data including initial height data; the detection device 2 is also used for detecting the actual height data of the grinding head 4; the detection device 2 comprises a position detection sensor 21 and a touch switch, wherein the position detection sensor 21 and the touch switch are both arranged on the object placing table 11, the position detection sensor 21 is connected with the robot control mechanism, the touch switch is connected with the robot control mechanism, and the touch switch is used for outputting a trigger signal when being pressed by the robot 3.
As shown in fig. 4 and 5, the robot control mechanism is provided with a robot 3 for grasping and moving the grinding head 4, and the robot control mechanism is used for acquiring machining angle data of the pre-machined crankshaft oil hole and grinding head initial data including initial height data; the robot 3 grabs the grinding head 4 to move to the position of the grinding device 1, so as to grind the grinding head 4 to a set angle based on the processing angle data, and grinding the black skin of the crankshaft oil hole surface by using the grinding head 4; when the actual height data of the grinding head 4 is detected to reach a preset abrasion grinding threshold value, the robot 3 grabs the grinding head 4 and moves to the preset grinding device 1 to grind the grinding head 4; stopping polishing the grinding head 4 and moving the grinding head 4 to polish the black skin of the crankshaft oil hole surface when the difference value between the actual processing angle data of the grinding head 4 after polishing and the initial processing angle data reaches a preset data deviation threshold value; when it is detected that the actual height data of the grinding head 4 reaches a preset wear replacement threshold, the robot 3 replaces the new grinding head 4.
For specific limitations of the grinding head dressing system, reference may be made to the above limitations of the grinding head dressing method, and no further description is given here; all or part of each module in the grinding head grinding system can be realized by software, hardware and the combination thereof; the above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand; the technical scheme described in the foregoing embodiments can be modified or some of the features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (4)

1. A grinding head dressing method, characterized by comprising:
acquiring machining angle data of a pre-machined crankshaft oil hole and grinding head initial data, wherein the grinding head initial data comprise initial height data;
the robot grabs the grinding head to move to the position of a preset grinding device, so that the grinding head is ground to a set angle based on the processing angle data, and the grinding head is utilized to grind the black skin of the crankshaft oil hole surface;
the method comprises the steps that a preset detection device detects a grinding head, and when the actual height data of the grinding head reach a preset abrasion grinding threshold value, a robot grabs the grinding head and moves to the position of the preset grinding device to grind the grinding head;
stopping polishing the grinding head and moving the grinding head to polish the black skin of the crankshaft oil hole surface when the difference value between the actual processing angle data of the grinding head after polishing and the initial processing angle data reaches a preset data deviation threshold value;
when detecting that the actual height data of the grinding head reaches a preset abrasion replacement threshold value, the robot replaces a new grinding head;
the preset detection device stores coordinate system parameters of the grinding head; the detection device that presets detects the bistrique, when detecting that the actual height data of bistrique reaches the wearing and tearing coping threshold value of preseting, the robot snatchs the bistrique and moves to the position of preseting coping device in order to coping the bistrique, include:
when the machining times of the grinding head on the crankshaft oil hole reach a preset detection times threshold value, the robot grabs the grinding head to the position of a preset detection device so as to detect real-time coordinate system parameters of the grinding head;
obtaining the actual abrasion loss of the grinding head based on the coordinate system parameters and the real-time coordinate system parameters of the grinding head obtained in the previous time;
based on the actual wear amount and a preset tool compensation value, compensating actual coordinate system parameters after wear and tool compensation values of the grinding head; obtaining actual height data of the grinding head based on the actual coordinate system parameters;
when the actual height data of the grinding head reaches a preset abrasion grinding threshold value, the robot grabs the grinding head to move to the position of the preset grinding device based on the tool compensation value of the grinding head, and grinds the grinding head according to the preset grinding amount;
the detection device that presets detects the bistrique, include:
measuring an initial tool length parameter of a new grinding head after first grinding by a preset detection device; counting the total grinding times of the current grinding head;
acquiring actual tool length parameters of the grinding head based on a preset trigger signal;
detecting and updating real-time tool length parameters and the remaining available tool length of the grinding head based on the actual tool length parameters and the total grinding times;
and obtaining the abrasion coping threshold value and the coping quantity of the grinding head next time based on the real-time tool length parameter and the remaining available tool length.
2. A grinding head dressing system, characterized by being applied to a grinding head dressing method as claimed in claim 1, comprising:
the polishing device (1) is used for polishing the grinding head (4);
the device comprises a detection device (2) for detecting initial data of a grinding head (4), wherein the initial data of the grinding head (4) comprise initial height data; the detection device (2) is also used for detecting actual height data of the grinding head (4);
the robot control mechanism is provided with a robot (3) used for grabbing a grinding head (4) and moving, and is used for acquiring machining angle data of a pre-machined crankshaft oil hole and grinding head initial data, wherein the grinding head initial data comprise initial height data;
the robot (3) grabs the grinding head (4) and moves to the position of the grinding device (1) so as to grind the grinding head (4) to a set angle based on the processing angle data, and grinding the black skin of the crankshaft oil hole surface by using the grinding head (4);
when the actual height data of the grinding head (4) is detected to reach a preset abrasion grinding threshold value, the robot (3) grabs the grinding head (4) and moves to the position of the preset grinding device (1) to grind the grinding head (4);
stopping polishing the grinding head (4) and moving the grinding head (4) to polish the black hole skin of the crankshaft oil hole when the difference value between the actual processing angle data of the grinding head (4) and the initial processing angle data reaches a preset data deviation threshold value;
when detecting that the actual height data of the grinding head (4) reaches a preset abrasion replacement threshold value, the robot (3) replaces a new grinding head (4);
the grinding device (1) comprises a storage table (11), a support frame (12) and a grinding disc (13), wherein the support frame (12) is installed on the storage table (11), and a first driving piece for driving the grinding disc (13) to rotate along a first direction is installed on the support frame (12); the working end of the robot (3) is provided with a second driving piece for driving the grinding head (4) to rotate along a second direction; the first direction and the second direction are opposite;
the supporting frame (12) comprises a base (121) and a supporting bracket (122), the base (121) is installed on the object placing table (11), and the supporting bracket (122) is installed on the top of the base (121); the first driving piece comprises a pneumatic main shaft (16), the pneumatic main shaft (16) is detachably arranged on the supporting bracket (122), and the coping plate (13) is arranged at the working end of the pneumatic main shaft (16);
the support bracket (122) comprises a connecting plate (1221), a support plate (1222) and a clamping block (1223); the connecting plate (1221) is in threaded connection with the base (121); the supporting plate (1222) is bent, one end of the supporting plate (1222) is fixedly connected with the connecting plate (1221), and the other end of the supporting plate (1222) is connected with the clamping block (1223); the clamping block (1223) is provided with a first clamping groove, and the clamping block (1223) is in threaded connection with a limiting block (18); the limiting block (18) is provided with a second clamping groove (181), and the first clamping groove and the second clamping groove (181) form a limiting space for limiting and clamping the pneumatic spindle (16);
the detection device (2) comprises a position detection sensor (21) and a touch switch, wherein the position detection sensor (21) and the touch switch are both arranged on the object placing table (11), the position detection sensor (21) is connected with a control mechanism of the robot (3), the touch switch is connected with the control mechanism of the robot (3), and the touch switch is used for outputting a trigger signal when being pressed by the robot (3);
the position detection sensor (21) is used for detecting the height data and the coordinate system parameters of the grinding head (4), the robot (3) presses the touch switch after grinding the grinding head (4) each time, and the position detection sensor (21) detects the current real-time height data and the real-time coordinate system parameters after pressing the touch switch; to obtain actual height data of the grinding head (4) and the remaining usable length of the grinding head (4).
3. A grinding head dressing system according to claim 2, characterized in that the object placing table (11) is provided with a dust box (14), the support frame (12) and the dressing plate (13) being located in the dust box (14); a grinding hole (141) for the second driving piece to pass through is formed in the top of the dust-proof box (14); the side wall of the dust box (14) is opened and hinged with a box door (142), and one end of the dust box (14) away from the hinged part of the box door (142) is provided with a snap lock (143).
4. A grinding head dressing system according to claim 3, characterized in that the bottom side wall of the dust box (14) is provided with dust collecting holes (144), and the dust box (14) is connected with a dust collecting box (15) with an open top; a communication hole (1211) is formed in the top of the base (121), and the bottom of the base (121) is bent downwards to form a collection space for placing the dust collection box (15); the dust collection box (15) passes through the dust collection hole (144) and is inserted into the bottom of the base (121), and the side wall of the dust collection box (15) is abutted to the side wall of the dust collection hole (144) formed in the dust collection box (14).
CN202310826473.6A 2023-07-06 2023-07-06 Grinding head grinding method and system Active CN116945046B (en)

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