CN110202426A - Single vision on-line checking tool grinding system and method - Google Patents
Single vision on-line checking tool grinding system and method Download PDFInfo
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- CN110202426A CN110202426A CN201910652609.XA CN201910652609A CN110202426A CN 110202426 A CN110202426 A CN 110202426A CN 201910652609 A CN201910652609 A CN 201910652609A CN 110202426 A CN110202426 A CN 110202426A
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- tool
- grinding
- bistrique
- knife milling
- milling tool
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- 238000000227 grinding Methods 0.000 title claims abstract description 162
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003622 knife milling Methods 0.000 claims abstract description 103
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 238000011217 control strategy Methods 0.000 claims description 40
- 238000005299 abrasion Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- 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
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a kind of single vision on-line checking tool grinding system and methods.System includes cutter platform and grinding tool platform.Tool feeding driving device is installed on cutter platform, cutter rotation drive device is installed in tool feeding driving device, installation is to knife milling tool on cutter rotation drive device force-output shaft.Visual sensor, back light source are respectively equipped with to knife milling tool upper and lower.Bistrique alternating translational driving device is installed on grinding tool platform, bistrique rotation drive device is installed in bistrique alternating translational driving device, bistrique is installed on bistrique rotation drive device force-output shaft, grinding wheel is rigidly installed on bistrique.It is opposite with bistrique to tool sharpening, to knife milling tool feed motion can be done towards bistrique.Bistrique alternating translational driving device band rotary bistrique does alternating translational movement.On grinding tool platform, with to installation translation position-detection sensor on the corresponding position of tool sharpening.The present invention is based on the grinding situations of single vision on-line checking blade outer profile reflection, and treating knife milling tool realizes automatic grinding control.
Description
Technical field
The present invention relates to a kind of tool grinding system realized based on single vision on-line checking and its method for grinding, belong to knife
Has grinding technique field.
Background technique
Currently, traditional sharpening lathe passes through the tool grinding feelings that human eye observation's camera is captured and fed back online mostly
Condition, multiple kinematic axis (such as feed shaft) the Lai Peihe bistrique manually controlled on lathe carry out grinding operation to cutter.From reality
Although being gone back as can be seen that tool grinding amount is by the way of vision-based detection in use to the practical grinding control of cutter
It is the level for resting on operator and manually controlling.This manual control mode greatly relies on the working experience of operator, behaviour
Make process complexity, grinding efficiency is low, and tool grinding quality is unable to satisfy the requirement of high quality ground effect without guarantee, and to behaviour
As personnel, there are security risks.It can be seen that a kind of tool grinding situation based on online vision-based detection feedback is designed, it can be right
Cutter realizes the technical solution of High Precision Automatic grinding, is current urgent problem.
Summary of the invention
The purpose of the present invention is to provide a kind of single vision on-line checking tool grinding system and method, the tool grindings
The grinding situation that system and method is reflected based on single vision on-line checking blade outer profile, treating knife milling tool realizes automatic grinding
Control.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of single vision on-line checking tool grinding system, it is characterised in that: it includes cutter platform and grinding tool platform,
In: tool feeding driving device is installed on cutter platform, cutter rotation drive device is installed in tool feeding driving device,
It is equipped on the force-output shaft of cutter rotation drive device to knife milling tool, cutter rotation drive device drives to be rotated to knife milling tool；To
The top of knife milling tool is respectively arranged below with visual sensor, back light source；Bistrique alternating translational driving dress is installed on grinding tool platform
It sets, bistrique rotation drive device is installed in bistrique alternating translational driving device, is pacified on the force-output shaft of bistrique rotation drive device
Equipped with bistrique, grinding wheel is rigidly installed on bistrique, bistrique rotation drive device band rotary bistrique rotates；To on knife milling tool wait whet a knife
Sword is opposite with bistrique, and can be done by tool feeding driving device close to separate straight-line feed and be transported towards bistrique to knife milling tool
It is dynamic；Bistrique alternating translational driving device with rotary bistrique rotation drive device and bistrique together along and the feed motion side to knife milling tool
To vertical direction do reciprocating linear translational motion, on grinding tool platform, on knife milling tool to the corresponding position of tool sharpening
On detection bistrique translation position is installed to determine the translation position-detection sensor at advance and retreat knife moment；Tool feeding driving dress
It sets, cutter rotation drive device, bistrique alternating translational driving device, bistrique rotation drive device, translation position-detection sensor
Pass through motion control card with back light source to connect with computer, visual sensor is connect with computer.
A kind of single vision on-line checking tool grinding method that the single vision on-line checking tool grinding system is realized,
It is characterized in that, it includes the following steps:
1) it by controlling the tool feeding driving device, enables and is moved to detection position to knife milling tool；
2) visual sensor capture on knife milling tool to the practical outer profile image of tool sharpening and feed back to described
Computer；
3) computer is calculated by comparison to the difference between the practical outer profile and target outer profile of tool sharpening
Grinding control strategy is provided to stock removal, and according to stock removal size；
4) it by controlling the tool feeding driving device, enables and is moved to grinding position to knife milling tool；
5) the tool feeding driving device determines the amount of feeding according to grinding control strategy；
6) the translation position of the bistrique is detected by the translation position-detection sensor to determine the advance and retreat knife moment；
7) at the advance and retreat knife moment, the tool feeding driving device, which drives, completes feed motion to knife milling tool, then described
The cutting edge that bistrique starts to treat tool sharpening is ground；
8) after reaching in a grinding period, at the advance and retreat knife moment, the tool feeding driving device is driven to knife milling tool
It is acted towards the direction opposite with direction of feed, makes to leave the grinding wheel to tool sharpening；
9) it executes 1), 2), then judges whether the practical outer profile to tool sharpening reaches target outer profile: if not reaching
It arrives, then goes to 3)；Conversely, then enabling next blade turn to the outermost of knife milling tool by the cutter rotation drive device
Side is used as to tool sharpening and goes to 1), until entering 10) after the completion of all blades on knife milling tool are all ground；
10) it by controlling the tool feeding driving device, enables and retreats to tool change position to knife milling tool, wait operator more
Tool changing has to carry out grinding operation to knife milling tool to next.
The invention has the advantages that
The present invention is based on the grinding situations of single vision on-line checking blade outer profile reflection, treat knife milling tool and realize automatic grinding
Control to be cut, convenient, safety is operated, does not depend on the working experience of operator, grinding efficiency is high, and tool grinding quality is secure,
The requirement of high quality ground effect can be met well.
Detailed description of the invention
Fig. 1 is the composition block diagram of single vision on-line checking tool grinding system of the present invention.
Fig. 2 is the structural perspective of single vision on-line checking tool grinding system of the present invention.
Specific embodiment
As depicted in figs. 1 and 2, single vision on-line checking tool grinding system of the present invention includes that cutter platform 10 and grinding tool are flat
Platform 20, in which: be equipped with tool feeding driving device 12 on cutter platform 10, be equipped with cutter in tool feeding driving device 12
Rotation drive device 11 is equipped with to knife milling tool 30, cutter rotation drive device on the force-output shaft of cutter rotation drive device 11
11 drive to the rotation of knife milling tool 30 (rotation of the direction stepping as shown in Vd in Fig. 2)；To knife milling tool 30 top, be respectively arranged below with
Visual sensor 50, back light source 60, back light source 60 for upwards irradiate on knife milling tool 30 to tool sharpening, to make visual sensing
Device 50 captures the practical outer profile to tool sharpening；Bistrique alternating translational driving device 22, bistrique are installed on grinding tool platform 20
Bistrique rotation drive device 21 is installed in alternating translational driving device 22, is installed on the force-output shaft of bistrique rotation drive device 21
There is bistrique 40, grinding wheel is rigidly installed on bistrique 40, bistrique rotation drive device 21 is rotated with rotary bistrique 40 (such as Vm institute in Fig. 2
Show direction)；In cutter rotation drive device 11 on knife milling tool 30 on tool sharpening and bistrique rotation drive device 21
Bistrique 40 is oppositely arranged, and can be done and be approached and separate straight line towards bistrique 40 by tool feeding driving device 12 to knife milling tool 30
Feed motion；Bistrique alternating translational driving device 22 with rotary bistrique rotation drive device 21 and bistrique 40 together along with to knife milling tool
Do the reciprocating linear translation fortune of small distance, (such as one minute alternating translational 30 times) at a slow speed in the vertical direction of 30 direction of feed motion
It is dynamic, on grinding tool platform 20, with to detect 40 translational shifting of bistrique to be equipped on the corresponding position of tool sharpening on knife milling tool 30
It sets to determine that the advance and retreat knife moment, (the advance and retreat knife moment referred to by the feeding and backward feed movement to knife milling tool, makes to tool sharpening sword
At the time of mouth is moved closer to far from 40 grinding wheel of bistrique) translation position-detection sensor 23；Tool feeding driving device 12, knife
Have rotation drive device 11, bistrique alternating translational driving device 22, bistrique rotation drive device 21, translation position-detection sensor
23 and the signal port in back light source 60 pass through the corresponding signal port on motion control card 70 and computer 80 respectively and be electrically connected,
The signal port of visual sensor 50 is electrically connected with the corresponding signal port on computer 80 respectively.
In the present invention, as shown in Fig. 2, being done towards bistrique 40 close to the side moved with separate straight-line feed to knife milling tool 30
To Y-direction is defined as, vertical with Y-direction and in same level direction definition is X-direction, the driving of bistrique alternating translational
Direction of the device 22 with the reciprocating linear translational motion that rotary bistrique rotation drive device 21 and bistrique 40 are done together is the side X
To, perpendicular to X, the up and down direction of horizontal plane where Y-direction be defined as Z-direction.
In actual implementation, to knife milling tool 30 towards bistrique 40 do close to separate direction of feed motion, i.e., in Y-direction
With 4 positions, to knife milling tool 30 under the drive of tool feeding driving device 12 can on this 4 positions free switching:
This 4 positions from apart from bistrique 40 by as far as being closely followed successively by initial position (the A point that such as Fig. 1 is schematically shown
Set), treat on knife milling tool 30 all blades grinding after the completion of replace cutter tool change position (the B point that such as Fig. 1 is schematically shown
Position), carried out by visual sensor 50 the detection position (the C point position that such as Fig. 1 is schematically shown) of online vision-based detection with
And grinding position (the D point that such as Fig. 1 is schematically shown being ground to tool sharpening on knife milling tool 30 is treated by grinding wheel
It sets).
Such as Fig. 2, in actual design, visual sensor 50 be located in detection position on knife milling tool 30 wait whet a knife
The surface of sword, back light source 60 be located in detection position to the underface to tool sharpening on knife milling tool 30, in which: wait grind
Blade is in a blade to the outermost side of knife milling tool 30, as label 100 is signified in Fig. 2.
It in the present invention, is the common rounded cutter of outer profile in this field to knife milling tool 30, on the excircle of cutter
It is placed with a circle blade, the cutting edge of blade is straight line edge.
In actual design, translation position-detection sensor 23 is mounted on grinding tool platform 20, is located at bistrique rotation driving
The lower section of device 21, translation position-detection sensor 23 is perpendicular to plane where tool sharpening cutting edge, exactly, in wait whet a knife
On sword cutting edge normal.Certainly, the installation site for translating position-detection sensor 23 is without limitations, as long as being able to detect bistrique 40
Relative to the position translated to tool sharpening.
In actual design, 21 side of bistrique rotation drive device is mountable to be had detection and limits the limit that bistrique 40 translates position
Bit switch 92.It can be separately installed with limit switch 92 on 4 positions having to knife milling tool 30, this limit switch 92 is for detecting
To knife milling tool 30 whether mobile handoff in place.
In the present invention, the design of limit switch 92 can prevent collision well, it is ensured that equipment, the peace of operation
Entirely.
Such as Fig. 1, motion control card 70 can be also electrically connected with manual control box 93.Manual control box 93 is technology known in the art,
Therefore it is not described in detail herein.
The present invention can design automatic control mode and MANUAL CONTROL mode.Under MANUAL CONTROL mode, operator can
Aim at tool operation is carried out using manual control box 93, and carves the movement for manually controlling each device if necessary.Under automatic control mode,
Computer 80 carries out automatically controlling the movement of each device.
In actual design, visual sensor 50 be mounted on bracket 51 and can on bracket 51 along to knife milling tool 30 into
To the direction of motion (Y-direction), perpendicular to direction of feed motion and the direction (X-direction) being in same level and upper and lower
Position adjustment is carried out to (Z-direction).
In actual design, back light source 60 can along to knife milling tool 30 direction of feed motion (Y-direction), perpendicular to feeding transport
Dynamic direction and direction (X-direction) and up and down direction (Z-direction) progress position adjustment in same level.
In actual design, tool feeding driving device 12 in direction of feed motion (Y-direction) in addition to that can do feeding fortune
It is dynamic outer, it can also be on cutter platform 10 along perpendicular to the direction of feed motion to knife milling tool 30 and the side in same level
Position adjustment is carried out to (X-direction).Certainly, tool feeding driving device 12 is also designed to be fixed on cutter platform 10, borrows
Feed motion is realized along the movement of Y-direction by cutter platform 10, realizes position by the movement in X direction of cutter platform 10
Adjustment.
In actual design, bistrique alternating translational driving device 22 can be along the direction of feed motion (side Y to knife milling tool 30
To) carry out position adjustment.Certainly, bistrique alternating translational driving device 22 is also designed to be fixed on grinding tool platform 20, by
Grinding tool platform 20 along Y-direction movement and realize position adjust.
In actual design, similarly, adjusted for the position adjusting of visual sensor 50, the position in back light source 60, knife
The position of tool feed drive unit 12 is adjusted, the position of bistrique alternating translational driving device 22 adjusts and can install in suitable position
Limit switch.
Single vision on-line checking tool grinding system of the present invention is set on lathe.On cutter platform 10, grinding tool platform 20
It is also provided with indicator light 91 and sounding device (not shown), indicator light 91, sounding device and motion control card 70 are electrically
Connection, indicator light 91 and sounding device are used to indicate the operating status of each device, facilitate a worker while keeping an eye on more lathes.
In the present invention, tool feeding driving device 12, cutter rotation drive device 11, bistrique alternating translational driving device
22, bistrique rotation drive device 21 includes motor and motor driver, and motor can be stepper motor, servo motor or straight-line electric
The respective actuators part such as machine.
In addition, can be equipped with shaft in bistrique alternating translational driving device 22, bistrique rotation drive device 21 is rotationally pacified
In shaft, and shaft is connect with angle locater 24, as shown in Fig. 2, angle locater 24 is manually operated in this way, passing through,
The reclining angle of bistrique rotation drive device 21 can be adjusted, along the direction U in order to which bistrique 40 is preferably ground blade.
In the present invention, bistrique 40, visual sensor 50 etc. are the existing device of this field, and LED can be selected in back light source 60
Single light source.
In the present invention, motion control card 70 is existing device, as motion control card 70 uses PLC controller.
In the present invention, computer 80 be mainly used for acquiring by motion control card 70 each device, device operation information,
Information etc. is acquired, and information is analyzed, is judged, and then controls the operation etc. of each device, device by motion control card 70.
Based on aforementioned present invention single vision on-line checking tool grinding system, the invention also provides a kind of single vision is online
Tool grinding method is detected, is included the following steps:
1) by control tool feeding driving device 12, order is moved to knife milling tool 30 along direction of feed motion (Y-direction)
Detect position；
2) capture of visual sensor 50 is to the practical outer profile image of tool sharpening and feed back to calculating on knife milling tool 30
Machine 80；
3) computer 80 is calculated by comparison to the difference between the practical outer profile and target outer profile of tool sharpening
Stock removal (stock removal, which refers to, passes through the thickness that bistrique 40 is ground away to tool sharpening), and grinding control is provided according to stock removal size
Strategy；
4) by control tool feeding driving device 12, order is moved to knife milling tool 30 along direction of feed motion (Y-direction)
Grinding position；
5) tool feeding driving device 12 determines that (amount of feeding refers to 30 court of knife milling tool the amount of feeding according to grinding control strategy
The mobile distance of bistrique 40)；
6) the translation position of bistrique 40 is detected by translation position-detection sensor 23 to determine the advance and retreat knife moment；
7) at the advance and retreat knife moment, tool feeding driving device 12, which drives, completes feeding by the determining amount of feeding to knife milling tool 30
Movement, then moves closer to 40 grinding wheel position of bistrique to tool sharpening, i.e. completion feed, bistrique 40 start to treat the cutting edge of tool sharpening into
Row grinding, i.e. bistrique alternating translational driving device 22 drive the bistrique 40 of rotation alternating translational on the straight line edge to tool sharpening
Friction；
8) after reaching in a grinding period, at the advance and retreat knife moment, tool feeding driving device 12 is driven to knife milling tool 30
It is acted towards the direction opposite with direction of feed, makes to leave the grinding wheel on bistrique 40 to tool sharpening, is i.e. completion withdrawing；
9) it executes 1), 2), then judges whether the practical outer profile to tool sharpening reaches target outer profile: if to tool sharpening
Practical outer profile do not reach target outer profile, then go to 3)；Conversely, if the practical outer profile to tool sharpening reaches outside target
Profile enables next blade rotation (stepping rotation) to the outermost to knife milling tool 30 then by cutter rotation drive device 11
Side is used as to tool sharpening and goes to 1), until entering 10) after the completion of all blades on knife milling tool 30 are all ground；
10) by control tool feeding driving device 12, order, which is retreated to knife milling tool 30 along direction of feed motion (Y-direction), is changed
Cutter position waits operator to replace cutter to carry out grinding operation to knife milling tool to next.
It further include that tool feeding driving device 12 is enabled to drive to knife milling tool 30 automatically before step 1) in actual implementation
Reset is back to initial position (reset and look for initial position), and then operator carries out aim at tool operation by manual control box 93 come really
Determine grinding position (determine grinding position), in which: aim at tool operation comprising steps of
By manual control box 93 control tool feeding driving device 12 on to knife milling tool 30 along direction of feed motion (Y-direction)
Move linearly towards the bistrique 40 in bistrique rotation drive device 21, until the grinding wheel on bistrique 40 on knife milling tool 30 to
Tool sharpening stops when contacting, and contact herein refers to that grinding wheel with blade is only contact of the surface with surface, and grinding wheel can't be to knife
Sword carries out grinding operation；
Then, to knife milling tool 30, present position is set as grinding position at this time, terminates to knife.
In actual implementation, for the tool change position to knife milling tool 30 and position is detected, it should be in advance in direction of feed motion
On determine, for same cutter, primary reset need to be only carried out before booting is ground and look for initial position and determine grinding position
?.
In addition, high speed, middling speed and low speed third gear movement speed can have been designed in manual control box 93, and operator can be three
Timely adjustment between shelves.For example, when will be close when knife milling tool 30 and bistrique 40, can be transferred to low gear come microspur it is mobile to
Knife milling tool 30, and fast move high gear when knife milling tool 30 is in initial position, can be transferred to knife milling tool 30.
In addition, before initial position is looked in reset and is determined grinding position and is executed step 1), it should be according to knife milling tool
The grinding wheel model that 30 material etc. is used by usually selection grinding.Then by the material and size of knife milling tool 30, to tool sharpening
The information inputs computer 80 such as quantity.Adjust position and adjustment mill of the tool feeding driving device 12 on cutter platform 10
Position of the head alternating translational driving device 22 on grinding tool platform 20 so that in cutter rotation drive device 11 to knife milling tool 30
On, and adjustment visual sensor 50 and back light source 60 opposite to the bistrique 40 in tool sharpening and bistrique rotation drive device 21
To enable the two be located at the upper and lower of detection position (i.e. to tool sharpening).
Back light source 60 is just opened when in the present invention, using single vision on-line checking tool grinding system of the present invention, and
Bistrique rotation drive device 21 and bistrique alternating translational driving device 22 are opened, they are in always during the entire process of grinding
Working condition.
In step 3), preferable scheme is that computer 80 is in the practical outer profile and target by comparison to tool sharpening
After stock removal is calculated in difference between outer profile, based on the calculated stock removal and at this time abrasion loss (abrasion of grinding wheel
Amount refers to the thickness that grinding wheel is worn away because being ground to blade) provide grinding control strategy, in which: the abrasion loss of grinding wheel
It can be according to the model (being related to grinding wheel material, size etc.) of grinding wheel, grinding time etc., based on the grinding wheel with this model to having
The abrasion loss of the cutter of this material is obtained with time curve is ground, and the statistics of this curve is plotted as those skilled in the art
The known technology that should be grasped.The beneficial effect done so is, with the attrition of grinding wheel, can carry out to the amount of feeding reasonable
Dynamic compensates, and improves the precision of grinding to a greater extent, improves the efficiency of grinding.
It may also include after treating all blades on knife milling tool 30 and having carried out grinding and before executing step 10) as follows
Step:
By control tool feeding driving device 12, enable complete grinding to knife milling tool 30 along the direction of feed motion (side Y
To) it is moved to detection position；
Visual sensor 50 captures the practical outer profile image to each blade on knife milling tool 30 and feeds back to computer
80；
Computer 80 generates vision-based detection report, and has the cutter institute of this material according to the wheel grinding with this model
The time of cost and stock removal in each moment cutter, provided optimal grinding control strategy and store, again so as to next time
Use is recalled when there is the cutter of this material for the wheel grinding with this model, to realize optimal grinding, is improved
Processing efficiency.
In the present invention, grinding control strategy is that rugosity is ground control strategy, moderate is ground control strategy and precision grinding
At least one of control strategy is ground control strategy, in which:
Rugosity grinding control strategy will execute before moderate is ground control strategy and precision grinding control strategy, moderate mill
Cutting control strategy will execute before precision is ground control strategy；
Slightly, in, the difference of precision grinding control strategy be the difference of the amount of feeding: rugosity is ground the amount of feeding of control strategy
Greater than moderate grinding control strategy the amount of feeding, moderate be ground control strategy the amount of feeding be greater than precision grinding control strategy into
To amount.
In addition in actual implementation, the abrasion loss of above-mentioned stock removal and grinding wheel using blade provides grinding control strategy
In the amount of feeding can that the amount of feeding being ground in control strategy is provided using the stock removal of blade be big than single.
The invention has the advantages that
The present invention is based on the grinding situations of single vision on-line checking blade outer profile reflection, treat knife milling tool and realize automatic grinding
Control to be cut, convenient, safety is operated, does not depend on the working experience of operator, grinding efficiency is high, and tool grinding quality is secure,
The requirement of high quality ground effect can be met well.
The method of the present invention during being ground to cutter, can it is thick, in, the different degrees of grinding control of three kinds of essence
Suitable one or more strategies are chosen in strategy in due course, greatly improve grinding efficiency and grinding accuracy, wherein when wait whet a knife
The practical outer profile and target outer profile deviation of sword be big and when stock removal is big, rugosity grinding control strategy can be used, when wait whet a knife
The practical outer profile and target outer profile deviation of sword be small and stock removal hour, and precision grinding control strategy can be used, do so
Purpose is that while improving grinding efficiency, the cutting edge that can effectively avoid cutter occurs minus tolerance situation because of grinding.
After determining grinding position for the first time situation opposite grinding can be lost according to grinding situation and the grinding wheel estimated in the method for the present invention
It cuts the position dynamic compensation adjustment of progress and improves production efficiency to substantially increase grinding accuracy.
The above is present pre-ferred embodiments and its technical principle used, and is come for those skilled in the art
It says, without departing from the spirit and scope of the present invention, any equivalent transformation based on the basis of technical solution of the present invention,
Simple replacement etc. obviously changes, and all falls within the protection scope of the present invention.
Claims (10)
1. a kind of single vision on-line checking tool grinding system, it is characterised in that: it includes cutter platform and grinding tool platform,
In: tool feeding driving device is installed on cutter platform, cutter rotation drive device is installed in tool feeding driving device,
It is equipped on the force-output shaft of cutter rotation drive device to knife milling tool, cutter rotation drive device drives to be rotated to knife milling tool；To
The top of knife milling tool is respectively arranged below with visual sensor, back light source；Bistrique alternating translational driving dress is installed on grinding tool platform
It sets, bistrique rotation drive device is installed in bistrique alternating translational driving device, is pacified on the force-output shaft of bistrique rotation drive device
Equipped with bistrique, grinding wheel is rigidly installed on bistrique, bistrique rotation drive device band rotary bistrique rotates；To on knife milling tool wait whet a knife
Sword is opposite with bistrique, and can be done by tool feeding driving device close to separate straight-line feed and be transported towards bistrique to knife milling tool
It is dynamic；Bistrique alternating translational driving device with rotary bistrique rotation drive device and bistrique together along and the feed motion side to knife milling tool
To vertical direction do reciprocating linear translational motion, on grinding tool platform, on knife milling tool to the corresponding position of tool sharpening
On detection bistrique translation position is installed to determine the translation position-detection sensor at advance and retreat knife moment；Tool feeding driving dress
It sets, cutter rotation drive device, bistrique alternating translational driving device, bistrique rotation drive device, translation position-detection sensor
Pass through motion control card with back light source to connect with computer, visual sensor is connect with computer.
2. single vision on-line checking tool grinding system as described in claim 1, it is characterised in that:
It is described to knife milling tool done towards the bistrique close to and on separate direction of feed motion have 4 positions:
This 4 positions from apart from the bistrique by being ground as far as being closely followed successively by initial position, treat all blades on knife milling tool
The tool change position of cutter is replaced after the completion, the detection position of online vision-based detection is carried out by the visual sensor and is passed through
The grinding wheel treats the grinding position being ground to tool sharpening on knife milling tool.
3. single vision on-line checking tool grinding system as claimed in claim 2, it is characterised in that:
The visual sensor be located in detection position to the surface to tool sharpening on knife milling tool, the back light source position
In in detection position to the underface to tool sharpening on knife milling tool, in which: to tool sharpening be in outermost to knife milling tool
One blade of side.
4. single vision on-line checking tool grinding system as claimed any one in claims 1 to 3, it is characterised in that:
The motion control card is connect with manual control box.
5. a kind of single vision that single vision on-line checking tool grinding system described in any one of Claims 1-4 is realized exists
Line detects tool grinding method, which is characterized in that it includes the following steps:
1) it by controlling the tool feeding driving device, enables and is moved to detection position to knife milling tool；
2) visual sensor capture is to the practical outer profile image of tool sharpening and feed back to the calculating on knife milling tool
Machine；
3) mill is calculated by comparison to the difference between the practical outer profile and target outer profile of tool sharpening in the computer
The amount of cutting, and grinding control strategy is provided according to stock removal size；
4) it by controlling the tool feeding driving device, enables and is moved to grinding position to knife milling tool；
5) the tool feeding driving device determines the amount of feeding according to grinding control strategy；
6) the translation position of the bistrique is detected by the translation position-detection sensor to determine the advance and retreat knife moment；
7) at the advance and retreat knife moment, the tool feeding driving device, which drives, completes feed motion to knife milling tool, then the bistrique
The cutting edge for starting to treat tool sharpening is ground；
8) after reaching in grinding period, at the advance and retreat knife moment, the tool feeding driving device drive to knife milling tool towards with
The opposite direction movement of direction of feed, makes to leave the grinding wheel to tool sharpening；
9) it executes 1), 2), then judges whether the practical outer profile to tool sharpening reaches target outer profile: if not reaching,
It goes to 3)；Conversely, then enabling next blade turn to the outermost side work to knife milling tool by the cutter rotation drive device
To tool sharpening and to go to 1), until into 10) after the completion of all blades on knife milling tool all be grounds；
10) it by controlling the tool feeding driving device, enables and retreats to tool change position to knife milling tool, wait operator's more tool changing
Tool is to carry out grinding operation to knife milling tool to next.
6. single vision on-line checking tool grinding method as claimed in claim 5, it is characterised in that:
It further include enabling the tool feeding driving device drive to automatically reset to knife milling tool to initial bit before the step 1)
It sets, then operator carries out aim at tool operation by manual control box to determine grinding position, in which:
Aim at tool operation comprising steps of by manual control box control in the tool feeding driving device to knife milling tool along feed motion
Direction moves linearly towards the bistrique in the bistrique rotation drive device, until the bistrique on the grinding wheel with to
Stop when tool sharpening contact on knife milling tool；To knife milling tool, present position is set as grinding position at this time, terminates to knife.
7. single vision on-line checking tool grinding method as claimed in claim 6, it is characterised in that:
Before the reset looks for initial position and determines grinding position and the step 1), further comprise the steps of:
Grinding wheel model is selected according to the material to knife milling tool；
Material and size to knife milling tool, the quantity information to tool sharpening are inputted into the computer；
Position and the adjustment bistrique alternating translational of the tool feeding driving device on the cutter platform is adjusted to drive
Dynamic position of the device on the grinding tool platform, makes opposite to tool sharpening and the bistrique；
The visual sensor and the back light source are adjusted, the two is enabled to be located to tool sharpening upper and lower.
8. single vision on-line checking tool grinding method as claimed in claim 5, it is characterised in that:
In the step 3), the computer is by comparing between the practical outer profile and target outer profile to tool sharpening
After stock removal is calculated in difference, based on calculated stock removal and at this time the abrasion loss of grinding wheel come provide grinding control plan
Slightly.
9. single vision on-line checking tool grinding method as claimed in claim 5, it is characterised in that:
It is further comprised the steps of: after treating all blades on knife milling tool and having carried out grinding and before executing step 10)
By controlling the tool feeding driving device, enable that completes to be ground to be moved to detection position to knife milling tool；
The visual sensor captures the practical outer profile image to each blade on knife milling tool and feeds back to the computer；
The computer generates vision-based detection report, and according to this cutter the time it takes of this wheel grinding and at each moment
The stock removal of cutter provides optimal grinding control strategy again.
10. the single vision on-line checking tool grinding method as described in any one of claim 5 to 9, it is characterised in that:
The grinding control strategy is that rugosity is ground control strategy, moderate is ground control strategy and precision is ground in control strategy
It is at least one, in which:
Rugosity is ground control strategy and executes before moderate is ground control strategy and precision grinding control strategy, moderate grinding control
Strategy executes before precision is ground control strategy；
Rugosity be ground control strategy the amount of feeding be greater than moderate grinding control strategy the amount of feeding, moderate be ground control strategy into
It is greater than the amount of feeding of precision grinding control strategy to amount.
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