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CN-121972732-A - Automatic gear deburring equipment and control method thereof

CN121972732ACN 121972732 ACN121972732 ACN 121972732ACN-121972732-A

Abstract

The invention discloses automatic gear deburring equipment and a control method thereof, wherein a workbench is used as a base body, a rotatable positioning disc and a pressing mechanism are configured to realize stable clamping and rotation of a workpiece, a grinding assembly capable of moving in Y, Z direction is mounted, a grinding shaft is driven to rotate through a stepping motor and a synchronous wheel, the grinding shaft can axially float, a constant force detection feedback structure is constructed by matching a spring and a pressure sensor, and a vision camera with a dustproof structure is integrated to realize image acquisition. The control method comprises the whole flow of system self-checking calibration, workpiece clamping check, visual identification zoning and automatic path planning, constant force closed loop flexible polishing, real-time visual correction and complete visual self-checking, dynamic adjustment of Z-position by means of pressure feedback, self-adaption of tooth surface fluctuation and burr unevenness, and visual real-time correction of track deviation. The problems of unstable polishing pressure, easy over-cutting or incomplete deburring of traditional equipment and the like are solved, and flexible deburring of the upper end face and the lower end face of the gear with high automation, high precision and consistency is realized.

Inventors

  • LI ZHIQIANG

Assignees

  • 成都晟弘科技有限公司

Dates

Publication Date
20260505
Application Date
20260402

Claims (9)

  1. 1. An automatic gear deburring device, characterized by comprising the following steps: The workpiece clamping device comprises a workbench (1), a workpiece clamping mechanism (2) and a group of polishing assemblies (3) which are arranged on the workbench (1), wherein the polishing assemblies (3) respectively polish the upper surface and the lower surface of a workpiece; The clamping mechanism (2) comprises a rotatable positioning disc (21) and a pressing mechanism (22) arranged above the positioning disc (21); The polishing assembly (3) comprises a moving mechanism (31) which is arranged on the workbench (1) and can move in the Y direction and the Z direction, a polishing main shaft (32) and a polishing stepping motor (33) are arranged on the moving mechanism (31), and the polishing main shaft (32) is connected with the polishing stepping motor (33) through a synchronous wheel (34); The polishing spindle (32) is arranged in the synchronizing wheel (34) in a penetrating way, the polishing spindle (32) can axially move in the synchronizing wheel (34), a group of pressure sensors (35) are arranged on the side wall of an inner cavity of the synchronizing wheel (34), the numerical value of each pressure sensor (35) is changed when the polishing spindle (32) axially moves up and down, and a spring (36) is arranged between the synchronizing wheel (34) and the polishing spindle (32); the moving mechanism (31) is also provided with a vision device (37).
  2. 2. An automated gear deburring apparatus as claimed in claim 1, wherein said moving mechanism (31) comprises a Y-direction moving mechanism and a Z-direction moving mechanism; the Y-direction moving mechanism comprises a group of Y-direction guide rails (311), a Y-direction sliding plate (312) is arranged on the Y-direction guide rails (311) in a sliding mode, and the Y-direction moving mechanism further comprises a Y-direction motor (313), wherein the Y-direction motor (313) is connected with a first screw rod, a first thread bush is arranged on the first screw rod in a matched mode, and the first thread bush is connected with the Y-direction sliding plate (312); the Z-direction moving mechanism comprises a group of Z-direction guide rails (314) arranged on the Y-direction sliding plate (312), the Z-direction guide rails (314) are slidably provided with Z-direction sliding plates (315), the Z-direction moving mechanism further comprises a Z-direction motor (316), the Z-direction motor (316) is in power connection with a second screw rod, a second thread sleeve is arranged on the second screw rod in a matched mode, and the second thread sleeve is connected with the Z-direction sliding plates (315).
  3. 3. An automated gear deburring apparatus as claimed in claim 2, wherein the Z-direction slide plate (315) is provided with a mounting plate (317), the polishing stepper motor (33) is provided on the mounting plate (317), the synchronizing wheel (34) is rotatably provided on the mounting plate (317), the polishing spindle (32) passes through the mounting plate (317) and is rotatably connected with the mounting plate (317), and the vision device (37) is provided on the mounting plate (317) through a bracket.
  4. 4. An automatic gear deburring device according to claim 3, characterized in that the top of the polishing main shaft (32) is provided with a guide post, the center of the synchronizing wheel (34) is provided with a sliding sleeve, the guide post is arranged in the sliding sleeve in a penetrating way, the side surface of the polishing main shaft (32) is provided with a limit groove (321), and the inner side of the synchronizing wheel (34) is provided with a limit post extending into the limit groove; The vision device (37) is provided with a lens dust pollution prevention structure.
  5. 5. The automatic gear deburring equipment as claimed in claim 1, wherein the positioning disk (21) is arranged on the workbench (1) through a rotating shaft, a rotating motor (211) is arranged below the workbench (1), and the rotating motor (211) is connected with the rotating shaft to drive the positioning disk (21) to rotate; The compressing mechanism (22) comprises a bracket (221) and a compressing cylinder (222) arranged on the bracket (221), and a rotatable pressure head (223) is arranged at the execution tail end of the compressing cylinder (222).
  6. 6. A control method of an automatic gear deburring apparatus applied to an automatic gear deburring apparatus as claimed in any one of claims 1 to 5, comprising: S1, system initialization and safety detection, namely equipment power-on reset, self-checking safety items such as emergency stop, air pressure and the like, calibrating a pressure sensor (35), starting a vision device (37) to perform self-checking on a dustproof system, presetting parameters, and waiting after the self-checking is qualified; S2, clamping and positioning the workpiece, namely clamping the workpiece, after the clamping is confirmed to be in place, primarily scanning the workpiece by a vision device (37), detecting clamping deviation, and entering a path planning after the clamping deviation is qualified; S3, visual identification and path planning, wherein a visual device (37) scans and collects workpiece images along the Y/Z direction, identifies grinding/non-grinding areas, plans an optimal grinding path (Y/Z track, rotating speed and the like), and confirms that the workpiece images are ready after no interference exists; S4, polishing execution and linkage control, namely starting a polishing main shaft (32), feeding a moving mechanism (31) according to a planned path, monitoring and correcting the path in real time by vision, synchronously starting a vision device (37) to prevent dust in real time, and realizing constant force polishing by linkage of the polishing main shaft (32) and a pressure sensor (35); s5, finishing polishing and quality self-checking, namely stopping a polishing main shaft (32) after finishing polishing, scanning and detecting the polishing effect again by a vision device (37), resetting if the polishing effect is qualified, and prompting if the polishing effect is unqualified.
  7. 7. The control method of the automatic gear deburring equipment according to claim 6 is characterized in that the vision device (37) moves and scans along the Z direction and the Y direction, images of the surface of a workpiece are comprehensively collected and transmitted to the controller, the controller processes the images through an image recognition algorithm, the contours of the workpiece are extracted, a polishing area and a non-polishing area are distinguished, the boundary of the polishing area is marked, a polishing path is automatically planned, an optimal feeding path is planned according to the shape and the size of the polishing area, a Y-direction feeding track of the moving mechanism (31), a Z-direction auxiliary adjusting track and the rotation angle of the positioning disc (21) are generated, and the feeding speed and the spindle rotation speed on the path are synchronously set.
  8. 8. The control method of the automatic gear deburring equipment according to claim 6 is characterized in that after a polishing head on a polishing spindle (32) contacts a workpiece, contact pressure is generated, a pressure sensor (35) detects a pressure value in real time, analog quantity signals are converted into digital quantities, and the digital quantities are fed back to a controller in real time; The actual pressure is greater than a preset upper limit, wherein the controller controls the polishing main shaft (32) to float upwards, reduces the contact pressure between the polishing head and the workpiece, and reaches the range of the pressure regression threshold; The actual pressure is less than a preset lower limit, wherein the controller controls the polishing main shaft (32) to float downwards, and increases the contact pressure until the pressure returns to a threshold range; If the surface fluctuation of the workpiece is large, the floating amplitude of the polishing main shaft (32) reaches the limit, and the controller synchronously fine-adjusts the Z-direction height of the moving mechanism (31), so as to assist in maintaining the constant pressure and avoid floating over-travel.
  9. 9. The method according to claim 6, wherein the vision device (37) continuously monitors in real time during the polishing process, and if deviation of the polishing area from the planned path is detected, the controller immediately feeds back a signal, and the controller finely adjusts the Y/Z position of the moving mechanism (31) to correct the polishing path.

Description

Automatic gear deburring equipment and control method thereof Technical Field The application relates to the technical field of gear processing post-treatment equipment, in particular to automatic gear deburring equipment and a control method thereof. Background After the gear is subjected to machining processes such as hobbing, gear shaping, gear grinding, forging and the like, metal burrs and burrs are extremely easy to generate on tooth tops, tooth roots, end faces and tooth sides, the burrs can cause abnormal gear engagement noise, stress concentration and transmission precision reduction, the problems of assembly clamping stagnation, subsequent coating failure, kinematic pair abrasion aggravation and the like are also easy to be caused, and the service life of the gear is seriously shortened. The conventional gear deburring equipment mostly adopts a fixed-path mechanical polishing structure, and has the obvious defects that firstly, the polishing pressure is uncontrollable, the situation that the gear is cut or the deburring is not thorough easily occurs, secondly, the conventional gear deburring equipment lacks visual identification and positioning, cannot adapt to clamping deviations of gears and workpieces with different specifications, is poor in universality, thirdly, has no real-time closed-loop adjustment capability, and is difficult to guarantee the polishing consistency for workpieces with uneven tooth surfaces and uneven burrs. Therefore, development of a special deburring device integrating visual detection, constant force flexible polishing and full-process automatic regulation is needed to improve the deburring precision, stability and intelligence level of gears. Disclosure of Invention The invention aims to provide automatic gear deburring equipment and a control method thereof, and the specific technical scheme is as follows: An automated gear deburring apparatus comprising: The workpiece clamping mechanism is arranged on the workbench, and the polishing assemblies are used for polishing the upper surface and the lower surface of the workpiece respectively; the clamping mechanism comprises a rotatable positioning disc and a pressing mechanism arranged above the positioning disc; the polishing assembly comprises a moving mechanism which is arranged on the workbench and can move in the Y direction and the Z direction, a polishing main shaft and a polishing stepping motor are arranged on the moving mechanism, and the polishing main shaft is connected with the polishing stepping motor through a synchronous wheel; The polishing main shaft is arranged in the synchronous wheel in a penetrating way, the polishing main shaft can axially move in the synchronous wheel, a group of pressure sensors are arranged on the side wall of the inner cavity of the synchronous wheel, the numerical value of each pressure sensor is changed when the polishing main shaft axially moves up and down, and a spring is arranged between the synchronous wheel and the polishing main shaft; the moving mechanism is also provided with a vision device. Further, the moving mechanism comprises a Y-direction moving mechanism and a Z-direction moving mechanism; The Y-direction moving mechanism comprises a group of Y-direction guide rails, a Y-direction sliding plate is arranged on the Y-direction guide rails in a sliding mode, and a Y-direction motor is connected with a first screw rod, a first thread bush is arranged on the first screw rod in a matched mode, and the first thread bush is connected with the Y-direction sliding plate; The Z-direction moving mechanism comprises a group of Z-direction guide rails arranged on the Y-direction sliding plate, the Z-direction guide rails are slidably provided with the Z-direction sliding plate, the Z-direction moving mechanism further comprises a Z-direction motor, the Z-direction motor is in power connection with a screw rod II, a screw sleeve II is matched with the screw rod II, and the screw sleeve II is connected with the Z-direction sliding plate. Further, the Z-direction sliding plate is provided with a mounting plate, the polishing stepping motor is arranged on the mounting plate, the synchronous wheel is rotationally arranged on the mounting plate, the polishing main shaft penetrates through the mounting plate and is rotationally connected with the mounting plate, and the vision device is arranged on the mounting plate through the support. Furthermore, a guide post is arranged at the top of the polishing main shaft, a sliding sleeve is arranged at the center of the synchronous wheel, the guide post is arranged in the sliding sleeve in a penetrating manner, a limit groove is formed in the side face of the polishing main shaft, and a limit post extending into the limit groove is arranged on the inner side of the synchronous wheel, so that stable torque transmission is ensured, axial floating of the polishing main shaft is not limited, and transmission reliability and flexible compens