CN116900784A - Finishing device and finishing method thereof - Google Patents

Abstract

The application provides a finishing device and a finishing method thereof, wherein the device comprises: a support case; the feeding and discharging spare part system can drive a material tray with a workpiece to be input into the support shell or output from the inside of the support shell; the tool magazine system comprises a plurality of tools; the cutter system can precisely process the workpiece; the mechanical arm can assemble the matched cutters in the cutter library system into the cutter system according to the type of the workpiece, and can assemble the vibration rotary system to the tail end of the mechanical arm to drive the workpiece to be processed in the cutter system, and the vibration rotary system can drive the workpiece to perform rotary motion and/or vibration; and the control system is respectively connected with the cutter system, the feeding and discharging spare part system, the cutter magazine system, the vibration rotation system and the manipulator through signals. The application has compact structure, low manual participation and high consistency of workpieces processed in batch production, greatly improves the processing precision, ensures the processing quality of products and improves the processing efficiency.

Description

Finishing device and finishing method thereof

Technical Field

The application relates to the technical field of mechanical finish machining, in particular to a finishing machining device and a machining method thereof.

Background

At present, an ultraprecise machine tool is the basis of ultraprecise machining, a machining process is improved based on a traditional metal cutting process, in machining, when facing finish machining of shaft parts and rectangular parts (the diameter is 10mm and the length is less than 100 mm), the traditional mode often needs a plurality of working procedures, a plurality of stations and a plurality of types of equipment to finish machining, the labor participation degree is high, the problem of poor consistency of workpieces in batch production machining often exists, and the quality of products is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide a finishing device and a finishing method thereof.

According to the present application, there is provided a finishing apparatus comprising:

a support case;

the loading and unloading spare part system is arranged on the supporting shell and can drive a material tray with a workpiece to be input into the supporting shell or output from the inside of the supporting shell;

the tool magazine system is arranged on the supporting shell and comprises a plurality of tools;

the cutter system is arranged on the supporting shell and can precisely process a workpiece;

the mechanical arm is arranged on the supporting shell, can assemble the matched cutters in the cutter library system into the cutter system according to the type of the workpieces, and can assemble the vibration rotary system to the tail end of the mechanical arm to drive the workpieces to be processed in the cutter system, wherein the vibration rotary system can drive the workpieces to perform rotary motion and/or vibration;

and the control system is respectively connected with the cutter system, the feeding and discharging spare part system, the cutter magazine system, the vibration rotation system and the manipulator through signals.

Preferably, the loading and unloading spare part system comprises a supporting table, a first track and a second track which are arranged on the supporting table, wherein the first track and the second track are respectively used for conveying a feeding tray and a discharging tray, the trays can slide along the first track and/or the second track under the driving of a tray power mechanism, and the workpieces are arranged on the trays.

Preferably, the tray is provided with a fixing body for fixing the workpiece, a transition piece matched with the workpiece and a bus bar, and the transition piece is fixed on the tray through the bus bar.

Preferably, the loading and unloading spare part system further comprises a portal frame spanned on the supporting table, and a transition piece and workpiece connection implementation mechanism and a clamping finger mechanism which are respectively arranged on two sides of the portal frame, wherein the transition piece and workpiece connection implementation mechanism and the clamping finger mechanism can respectively slide along the portal frame under the driving of the dispensing driving mechanism and the clamping finger driving mechanism; the vibration rotary system comprises a vibration rotary head, a clamping head is arranged at the lower part of the vibration rotary head, and when the feeding tray is conveyed to the lower part of the portal frame, the workpiece can be assembled in any one of the following modes:

the transition piece can be removed from the busbar through the finger clamping mechanism and assembled on a workpiece positioned on the fixed body, and the workpiece is in interference fit with the transition piece;

the transition piece is connected with a workpiece through the transition piece and is assembled on the workpiece through a transition medium by an implementation mechanism and a finger clamping mechanism;

and after the transition piece and the workpiece connection implementation mechanism applies transition medium at the upper end of the workpiece, the clamping head is moved to the upper end of the workpiece, and the transition medium is solidified to form an enveloping instant forming connecting piece so as to realize connection of the clamping head and the workpiece.

Preferably, the vibration rotary system comprises a connector which is positioned at the upper end and can be connected with the manipulator, a functional chamber which is positioned in the middle part and a vibration rotary head which is arranged at the lower end of the functional chamber, wherein the transition piece can be assembled on the clamping head in a matching way, and the vibration rotary head can perform rotation and/or vibration.

Preferably, the tool magazine system comprises a tool magazine box, a tool magazine support arranged in the tool magazine box, a tool arranged on the tool magazine support and a support driving mechanism, wherein a tool magazine door is arranged on the tool magazine box, the tool magazine door is in a closed state and an open state, when the tool magazine door is in the closed state, the tool magazine support is hidden in the tool magazine box, the tool magazine support can drive the tool to move to the outside of the tool magazine box under the driving of the support driving mechanism, and at the moment, the tool magazine door is in the open state, and a mechanical arm can assemble the tool into the tool magazine system.

Preferably, the cutter system comprises a processing table, a plurality of containing grooves which are arranged at intervals are sequentially arranged on the processing table, a plurality of cutters are arranged in each containing groove, and cutters with different functions are arranged in different containing grooves so as to further realize the processing of different working procedures of a workpiece.

Preferably, the number of the cutters placed in each accommodating groove is matched with the number of the chucks arranged at the lower part of the vibrating rotary head.

Preferably, a frequency converter is arranged in the vibration revolving system, and the frequency converter is in signal connection with the control system.

According to the finishing method provided by the application, the finishing device is adopted, and the finishing method comprises the following steps:

s1, inputting a workpiece into a processing device;

s2, fixing the transition piece on a workpiece through an upper and lower spare part system;

s3, controlling the manipulator to assemble matched tools from the tool magazine system into the tool system according to the type of the workpiece;

s4, the manipulator picks up one or more transition pieces with workpieces, enters a cutter system and sequentially enters different cutters according to a set program to carry out deburring, grinding, polishing and cleaning;

and S5, placing the processed workpiece into a loading and unloading spare part system and outputting the workpiece to the outside of the processing device to finish processing.

Compared with the prior art, the application has the following beneficial effects:

according to the application, through the cooperation of all the systems in the device, the precision machining within the envelope size range is realized, a plurality of systems are integrated in one device, the structure is compact, the manual participation degree is low, the consistency of workpieces subjected to batch production and machining is high, the machining precision is greatly improved, the machining quality of products is ensured, and the machining efficiency is improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of the external structure of the present application;

FIG. 2 is a schematic top view of the internal structure of the present application;

FIG. 3 is a schematic view of the structure of the tray when it is extended out of the support case;

FIG. 4 is a schematic top view of a portion of the system of the present application;

FIG. 5 is a schematic side view of the structure of the loading and unloading spare part system;

FIG. 6 is a schematic top view of the structure of the loading and unloading spare part system;

FIG. 7 is a schematic view of a tray;

FIG. 8 is a schematic diagram of a vibratory gyratory system;

FIG. 9 is a schematic view of a vibrating turret;

FIG. 10 is a schematic diagram of a tool magazine system;

FIG. 11 is a schematic view of the structure of the tool when the tool is extended outside the tool magazine;

FIG. 12 is a schematic view of the arrangement of the tool on the processing table;

FIG. 13 is a schematic view of the structure of the cutter;

FIG. 14 is a schematic diagram of the principle of operation of the cutter system;

FIG. 15 is a schematic diagram of the motion principle of the six-axis motion system, wherein arrow A indicates that a workpiece carrying unprocessed workpieces is sent into the supporting shell, B indicates that the six-axis motion system takes and places the workpieces, C indicates that the six-axis motion system assembles the tools into the tool system, D indicates that the six-axis motion system takes out the tools from the tool magazine system, and E indicates that the six-axis motion system drives the workpieces to be processed in sequence in the tool system;

FIG. 16 is a logic control block diagram of the control system;

FIG. 17 is a schematic view of the structure of a workpiece secured to a fixture after attachment to a transition piece;

FIG. 18 is a schematic view of a chuck assembly, transition piece, workpiece attachment process;

FIG. 19 is a schematic view of the structure of a complex interface workpiece joined to a transition piece by an envelope instant forming connection in one embodiment;

FIG. 20 is a schematic view of a complex interface workpiece joined to a transition piece by an envelope instant forming joint in another embodiment.

The figure shows:

support shell 1

Display screen 11

Feed inlet 12

Discharge port 13

Start button 14

Cutter system 2

Processing table 21

Accommodation groove 211

Loading and unloading spare part system 3

Support table 31

Portal frame 32

First rail 33

Second rail 34

Transition piece and workpiece connection implementation mechanism 35

Finger clamping mechanism 36

Material tray 37

Fixing body 371

Clamping jaw 3711

Pre-positioning piece 3712

Transition piece 372

Bus 373

Envelope instant forming connector 374

Tool magazine system 4

Tool magazine case 41

Tool magazine holder 42

Knife 43

Opening 431

Tool magazine door 44

Vibrating gyratory system 5

Connector 51

Functional compartments 52

Vibrating turret 53

Clamping head 531

Control system 6

Six-axis motion system 7

Accessory system 8

Work piece 101

Detailed Description

The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.

Example 1:

the application provides a finishing device, as shown in fig. 1, 2 and 3, which comprises a supporting shell 1, a cutter system 2, a loading and unloading spare part system 3, a cutter library system 4, a vibration rotary system 5, a manipulator, an accessory system 8 and a control system 6 which are arranged on the supporting shell 1, wherein the supporting shell 1 provides support for the whole device, and the supporting shell 1 can be designed into a square structure, a cuboid structure or other appearance structures so as to meet the requirements of actual products.

Specifically, the feeding and discharging spare part system 3 is installed inside the supporting shell 1, the feeding opening 12 and the discharging opening 13 are designed on the supporting shell 1, the feeding and discharging spare part system 3 can drive the tray 37 with the workpiece 101 to enter the supporting shell 1 or to come out of the supporting shell 1, specifically, the unprocessed workpiece 101 is conveyed to the inside of the supporting shell 1 to be processed, and the processed workpiece 101 is conveyed to the outside of the supporting shell 1 to be used in the next procedure.

The tool magazine system 4 is arranged in the support shell 1 and comprises a plurality of tools 43 required for processing the workpiece 101, the tool system 2 is arranged in the support shell 1 and can precisely process the workpiece 101, and the various tools 43 required in the tool system 2 can be called in the tool magazine system 4; the manipulator is mounted on the support shell 1 and can assemble the matched cutters 43 in the cutter magazine system 4 into the cutter system 2 according to the type of the workpiece 101, the manipulator can adopt a six-axis motion system 7, and when finishing processing is needed, the tail end of the six-axis motion system 7 is assembled with a vibration rotary system 5 to drive the workpiece 101 to process in the cutter system 2, wherein the type comprises appearance, size, required processing precision and the like, and the vibration rotary system 5 can drive the workpiece 101 to carry out rotary motion and/or vibration. The control system 6 is respectively connected with the six-axis motion system 7, the cutter system 2, the feeding and discharging spare part system 3, the cutter library system 4 and the vibration rotary system 5 in a signal way, and the control system 6 can control the actions of the six-axis motion system 7, the cutter system 2, the feeding and discharging spare part system 3, the cutter library system 4 and the vibration rotary system 5.

The accessory system 8 has auxiliary functions of illumination, safety, detection, alarm and the like, and comprises an LED lamp, a position sensor, an audible and visual alarm, a display screen 11, a start button 14 and the like, wherein the LED lamp can illuminate a feed inlet 12, a discharge outlet 13 and the like, and is beneficial to operators to put in a tray 37 or take out the tray 37 and the like. For example, the position sensor can detect whether the tray 37 is in place, and each action in the application can improve the precision by detecting the detection of various sensors so as to realize the precision machining. Then, if the start button 14 is pressed, the processing of the workpiece 101 can be started by one key; the display 11 may be used to display the actual machining state, or may be used to manually set machining parameters.

The application also provides a finishing processing method, which adopts the finishing processing device in the application and comprises the following steps:

s1, inputting a workpiece 101 into a processing device;

s2, fixing the transition piece 372 on the workpiece 101 through the feeding and discharging spare part system 3;

s3, controlling the manipulator to assemble matched tools 43 from the tool magazine system 4 into the tool system 2 according to the type of the workpiece 10;

s4, the manipulator picks up one or more transition pieces 372 with the workpieces 101, enters the cutter system 2 and sequentially enters different cutters 43 according to a set program to carry out deburring, grinding, polishing and cleaning;

and S5, placing the processed workpiece 101 into the loading and unloading spare part system 3 and outputting the workpiece to the outside of the processing device to finish processing.

Example 2:

this embodiment is a preferable example of embodiment 1.

The present embodiment provides a finishing device in which the support case 1 has a square structure, and each system is arranged inside the support case 1, and is compact and beautiful from the outside. Specifically, as shown in fig. 4, 5 and 6, the loading and unloading spare part system 3 includes a supporting table 31, a first rail 33 and a second rail 34 disposed on the supporting table 31, where the first rail 33 and the second rail 34 are detachably fixed on the supporting table 31, the first rail 33 and the second rail 34 are respectively used for conveying a feeding tray 37 and a discharging tray 37, a tray seat is disposed at the bottom of the tray 37, a chute matching the first rail 33 and the second rail 34 is disposed at the bottom of the tray seat, and the tray seat can slide along the first rail 33 and/or the second rail 34 under the driving of the tray power mechanism to drive the tray 37 to move, and the workpiece 101 is disposed on the tray 37, so as to realize the conveying of the workpiece 101 to the inside of the supporting table 31 or the conveying of the workpiece from the inside of the supporting table 31 to the outside. It should be noted that, the structure of the tray power mechanism that the motor screw drives the tray seat can be selected, for example, a threaded hole is provided on the tray seat, the motor drives the screw to rotate when rotating, the screw passes through the threaded hole, the tray seat can be driven to move along the axial direction of the screw when the screw rotates, the tray power mechanism can also select driving modes such as an air cylinder, an electric cylinder, and the like, and the tray power mechanism can be specifically and flexibly selected.

In actual processing, a feed port 12 and a discharge port 13 on a support shell 1 are both feed ports and discharge ports, a feed port 12 and discharge port 13 material door switch is controlled through an air cylinder, and a door opening and closing signal is submitted to an upper computer, specifically, door plates are arranged at the feed port 12 and discharge port 13 positions of the support shell 1, a feed port air cylinder is respectively arranged in the support shell 1, the feed port air cylinder can drive the door plates to move in the direction perpendicular to the feed port 12 or the discharge port 13, and when the support shell is opened, the door plates are driven by the feed port air cylinder to be hidden in the support shell 1; when in a closed state, the door plate seals the material opening. Besides, the switch of the door panel can also adopt other structures, for example, the bottom of the door panel is hinged on the supporting shell 1, a torsion spring is sleeved on the hinge shaft, under the action of torsion force of the torsion spring, the door panel can be driven to be buckled on the supporting shell 1 so that the feed inlet 12 and/or the discharge outlet 13 are in a closed state, when a workpiece 101 needs to be processed, a tray seat on the first rail 33 is driven by a motor to move towards the feed inlet 12, when the tray seat contacts the door panel of the feed inlet 12, the door panel is driven by the driving force to be jacked up, the torsion spring is in an elastic torsion state, at the moment, the tray seat moves to the outside of the supporting shell 1, a worker places the tray 37 filled with the workpiece 101 on the tray seat, then drives the tray seat to convey the tray 37 carrying the workpiece 101 to the inside of the supporting shell 1 through the tray power mechanism, the processed workpiece 101 is placed on the tray 37 positioned on the second rail 34, when the processed workpiece 101 is fully loaded on the tray 37, the motor conveys the tray 37 to the discharge outlet 13, and then the worker moves to the tray 37 to the inside of the supporting shell through the empty tray 37.

Further, as shown in fig. 6 and 7, the feeding and discharging spare part system 3 further includes a portal frame 32 straddling the supporting table 31, and a transition piece and workpiece connection implementing mechanism 35 and a finger clamping mechanism 36 respectively disposed on two sides of the portal frame 32, wherein the transition piece and workpiece connection implementing mechanism 35 and the finger clamping mechanism 36 are located above the tray 37, the transition piece and workpiece connection implementing mechanism 35 and the finger clamping mechanism 36 can slide along the portal frame 32 under the driving of a dispensing driving mechanism and a finger clamping driving mechanism, the dispensing driving mechanism and the finger clamping driving mechanism are preferably motors, a fixing body 371 for fixing the workpiece 101 is disposed on the tray 37 and is matched with the workpiece 101, and a bus 373 is disposed on the tray 37, the transition piece 372 is fixed on the tray 37 through the bus 373, the vibration rotating system 5 includes a vibration rotating head 53, a clamping head 531 is disposed at the lower portion of the vibration rotating head 53, one end of the transition piece 372 has a connection structure matched with the clamping head 531 and can be quickly connected with the clamping head 531, the other end 372 of the transition piece is used for connecting with the end 372 of the workpiece 101, and the transition piece 372 is correspondingly and is suitable for being assembled with the workpiece 101 in different manners depending on the different designs. After the feed tray 37 is conveyed below the gantry 32, the workpiece 101 can be picked up in three ways for further processing:

mode one: the transition piece 372 on the busbar 373 is removed by the finger mechanism 36 to be fitted to the work 101 on the fixed body 371, and the work 101 is interference fitted with the transition piece 372 as shown in fig. 18.

Mode two: the transition piece and workpiece connection implementation mechanism 35 is used for adding a transition medium at the upper end of the workpiece 101, then the transition piece 372 is assembled to the upper end of the workpiece 101 through the finger clamping mechanism 36, the transition medium can be quick-drying glue, chilled water, elastic connection clamping pieces and the like, for example, glue is used, the transition piece and workpiece connection implementation mechanism 35 is used for dispensing glue on the workpiece 101, then the transition piece 372 is moved to the upper portion of the workpiece 101 to be connected with the workpiece 101 through the finger clamping mechanism 36, after the glue is solidified, tight connection between the transition piece 372 and the workpiece 101 is achieved, and it is noted that in order to enable the glue to solidify quickly, the glue can be solidified quickly through an energy application mode, for example, through ultraviolet irradiation, and then the workpiece 101 and the transition piece 372 can be connected quickly, as shown in fig. 19.

Mode three: the transition piece and workpiece connection implementation mechanism 35 is used for directly moving the clamping head 531 to the upper end of the workpiece 101 after a transition medium is applied to the upper end of the workpiece 101, and the transition medium is solidified to form an enveloping instant forming connecting piece 374, so that the clamping head 531 is connected with the workpiece 101, the transition medium is preferably glue (such as UV glue), the enveloping instant forming connecting piece 374 can be formed by rapidly solidifying the glue in the same manner as the second manner, as shown in fig. 20, after the workpiece 101 is processed, the enveloping instant forming connecting piece 374 can be damaged by heating or other means, the processed workpiece 101 can be taken out, and the third manner is particularly suitable for the situation of irregular workpiece 101, and some workpieces 101 cannot be matched through the transition piece 372 due to irregular shape.

Further, a part of adjacent transition pieces 372 assembled on the workpiece 101 can be assembled on the vibration rotary system 5 in a matching manner so as to achieve the effect of simultaneously processing a plurality of workpieces 101, namely, the workpiece 101 and the transition pieces 372 are assembled together to prepare for processing the workpiece 101 in the next step, for example, the vibration rotary system 5 can be assembled with 3 transition pieces 372 at a time, and the effect of simultaneously processing 3 workpieces 101 can be achieved in sequence.

It should be noted that, on the one hand, the fixing body 371 preferably adopts a multi-jaw centering chuck structure, such as a centering electric jaw, and further, such as a pneumatic jaw, and includes a plurality of jaws 3711 and a pre-positioning member 3712, as shown in fig. 17, the workpiece 101 may be placed on the pre-positioning member 3712 first, and then the workpiece 101 is clamped together by controlling the movements of the plurality of jaws 3711 to fix the workpiece 101 on the fixing body 371. On the other hand, the tray 37 can adapt to the workpieces 101 of various specifications, such as shafts and rectangles, the transition piece 372 can be connected within the envelope size range, the envelope size range is the workpiece 101 with the diameter smaller than or equal to 10mm and the length smaller than or equal to 100mm, and when the specific design is adopted, the tray 37 can be modified according to actual requirements, so that the envelope size range can be customized according to the requirements.

As shown in fig. 8 and 9, the vibration rotary system 5 can realize high-speed rotation and fixed frequency or variable frequency vibration, the tail end automatically clamps the workpiece 101 to rotate at high speed and perform broadband vibration, so that the workpiece 101 is finished and input energy, the vibration rotary system comprises a connector 51 which is positioned at the upper end and can be connected with the six-axis motion system 7, a functional chamber 52 which is positioned in the middle part and a vibration rotary head 53 which is arranged at the lower end of the functional chamber 52, a gear box or a pulley box is arranged in the functional chamber 52, a transmission structure is built in, the vibration rotary head 53 is a motor belt, for example, a plurality of pulleys can be synchronously driven to rotate by one motor and a conveyor belt at the same time, so that the plurality of vibration rotary heads 53 are synchronously driven to rotate by the plurality of pulleys, and in addition, the vibration rotary head 53 is driven to vibrate by the principle of electromagnetic driving vibration.

Transition piece 372 can match and assemble on clamping head 531, and vibration revolving head 53 can be done gyration and vibration and then drive transition piece 372, work piece 101 synchronous gyration and vibration through clamping head 531, is provided with the converter in the vibration revolving system 5, and the converter has fixed frequency or frequency conversion function and signal connection control system 6, and according to the processing needs, control system 6 can control the converter and then control the vibration frequency of vibration revolving head 53. It should be noted that, the functional chamber 52 preferably adopts an air cylinder, and the rotation axis in the air cylinder is adjusted by compressed air so as to drive the vibrating rotary head 53 to rotate by a set angle, for example, 90 degrees, for example, 180 degrees, etc., so that the transition piece 372 is conveniently assembled on the clamping head 531; in addition, the vibration rotary head 53 in this embodiment may adopt a conventional technology, for example, a hydraulic high-frequency vibration rotary power head disclosed in patent document CN213359983U, and other conventional technologies capable of realizing the vibration rotary function of the present application may be adopted, and will not be described here.

As shown in fig. 10 and 11, the tool magazine system 4 is configured according to requirements of materials, configuration, precision, efficiency and the like of the workpieces 101 to be finished, when different workpieces 101 are replaced for processing, corresponding programs are called, the device automatically replaces tools 43 for processing aiming at the finishing requirements, the tool magazine system comprises a tool magazine box 41, tool magazine supports 42 arranged inside the tool magazine box 41, the tools 43 arranged on the tool magazine supports 42 and a support driving mechanism, a tool magazine door 44 is arranged on the tool magazine box 41, the tool magazine door 44 has two states of closing and opening, when the tool magazine door 44 is in a closed state, the tool magazine supports 42 are hidden in the tool magazine box 41, and the tool magazine supports 42 can drive the tools 43 to move to the outside of the tool magazine box 41 under the driving of the support driving mechanism, and at the moment, the tool magazine door 44 is in an open state. It should be noted that, the magazine door 44 may have the same structure as the door panels at the positions of the feed inlet 12 and the discharge outlet 13, so as to realize the opening and closing functions of the magazine door 44. In practical applications, other structures in the prior art may be used to implement opening and closing of the magazine door 44.

It should be noted that the tool magazine system 4 in this embodiment includes 36 tools 43 configured according to the finishing requirements of different workpieces 101; when the tool 43 does not need to be replaced, the tool 43 and the tool magazine support 42 are hidden in the tool magazine box 41, when the tool 43 needs to be replaced, the tool magazine door 44 is opened, the tool 43 and the tool magazine support 42 are pushed out, different tools 43 need to be replaced according to different workpieces 101, the tools 43 are taken out from the tool magazine system 4 and are mounted on the processing table 21 of the tool system 2, wherein the action of replacing the tools 43 is realized by the six-axis motion system 7, and the matching selection of the workpieces 101 and the tools 43 is determined by a program and an algorithm.

As shown in fig. 12 and 13, the tool system 2 includes a processing table 21, on which a plurality of accommodating grooves 211 are sequentially arranged at intervals, and a plurality of identical tools 43 are arranged in each accommodating groove 211, and different types of tools 43 are arranged in different accommodating grooves 211. The number of the cutters 43 placed in each accommodation groove 211 matches with the number of the lower clamping heads 531 of the vibrating turret 53. In this embodiment, 3 tools 43 are placed side by side in each of the accommodating grooves 211, and 3 chucks 531 are mounted on the lower portion of each vibrating turret 53, that is, in this embodiment, 3 workpieces 101 can be simultaneously processed in one accommodating groove 211 at a time, an opening 431 is provided at the top of the tool 43, and the processed workpieces 101 can be protruded from the opening 431 into the tool 43 for processing. It should be noted that, the processing table 21 is further provided with a warning lamp, and the warning lamps for normal processing, failure, etc. can display different colors, and the failure condition can also generate a failure sound to prompt the operator.

In the polishing process of the workpiece 101 in the application, the cutters 43 in the plurality of accommodating grooves 211 sequentially arranged on the processing table 21 respectively have different processing functions, in this embodiment, deburring processing, grinding processing, polishing processing and clean air blowing processing are sequentially performed according to the arrangement sequence, as shown in fig. 14, wherein the deburring processing corresponds to the cutters 43 in the two accommodating grooves 211, and sequentially performs rough processing, semi-finishing processing, polishing processing realizes superfinishing processing, and three-in-one automatic polishing of the workpiece 101 of deburring, grinding and polishing can be realized through processing of a plurality of processes in sequence, and the polishing device has one machine with multiple functions based on the flux linkage control technology, thereby improving the current situation of multi-process, multi-station and multi-type equipment processing in the traditional mode and realizing polishing precision: the sharp edge sharpening R value can reach micron level controllability, the surface roughness can reach mirror surface level, and the mirror surface level can reach Ra0.04 or below. The equipment processing range in this embodiment: the device has high automation degree, completely replaces manual operation, has good processing quality and ensures consistency of batch processing effects, and the diameter is within 10mm and the length is within 100 mm.

Further, as shown in fig. 14, the tool system 2 in this embodiment includes five working procedures, each working procedure includes three working stations, each working station is provided with a tool 43, 15 tools 43 are processed from coarse to fine step by step as shown by an arrow, deburring, grinding and polishing are integrated, a magnetic control device is included in the system, the tools are controlled by controlling parameters such as spatial position, strength and direction of a magnetic field, grinding media with different components are configured in the tools 43, the tools are configured according to requirements such as material, size, configuration, precision and processing efficiency of the workpiece 101, the magnetic field is built in the tools 43, the spatial magnetic field strength and direction are adjustable, so that the magnetic grinding media in the tools 43 are adjusted, the flexible self-adaptive flux linkage tool finishing device disclosed in patent document CN116330054a can be adopted for the tools in this embodiment, and detailed structures of the tools 43 are not repeated here. It should be noted that the number of processes and stations in different processing scenarios may be extended according to the processing requirements.

As shown in fig. 15, the end loading vibration rotary system 5 of the six-axis motion system 7 provides input energy for finishing the workpiece 101, and the six-axis motion system 7 can use robots, such as multi-joint robots, parallel robots, cooperative robots, cylindrical/rectangular coordinate robots, and the like, or can use truss robots of nonstandard design, including manipulators, which can realize picking and placing of the workpiece 101, and detect success or failure of picking up the workpiece 101, preferably use photoelectric sensors, such as correlation photoelectric sensors, and can also realize replacement and assembly of the cutter 43.

As shown in fig. 16, the control system 6 adopts a PLC logic controller, and the control system 6 coordinates and controls other systems through a bus or I/O, and the PLC logic controller is connected to an upper computer through the bus, and has the following main common functions:

parameter setting: setting various parameters which influence the processing efficiency and the processing precision;

and (3) information statistics: counting the number of machining pieces, machining time, machining effect and other data information;

program call: invoking the saved machining program by the model of the workpiece 101;

alarming and prompting: checking current and historical alarm information;

and (3) signal monitoring: checking the current running state of the equipment, and monitoring the state of other systems of the equipment;

and (3) life management: detecting, tracking, recording and managing the service life of the cutter 43;

function debugging: trial production is carried out on the newly added workpiece 101, and technological parameters are confirmed and recorded;

mode switching: manual/automatic dual mode switching.

The PLC logic controller in the application can be upgraded into an intelligent logic controller, and more complex digital and intelligent processing processes are realized.

The working principle of the application is as follows:

after the control feed inlet 12 is opened, the tray 37 carrying the unprocessed workpiece 101 is manually placed on the tray seat and conveyed into the support shell 1, and the transition piece 372 and the workpiece 101 are fixed together through the members such as the transition piece and workpiece connection implementation mechanism 35, the finger clamping mechanism 36 and the like. Next, the end of the manipulator is provided with a vibration rotary system 5 for providing input energy for finishing the workpiece 101, the manipulator takes the workpiece 101 and detects whether the workpiece 101 is picked up successfully or not; the mechanical arm and the vibration rotary system 5 grab the workpiece 101 and enter the cutter 43 to start finishing; the tool magazine system 4 comprises five working procedures, each working procedure comprises 3 working stations, each working station is provided with 1 tool, the workpiece 101 is subjected to finishing processing step by step as shown by an arrow in fig. 14, and deburring, grinding, polishing and cleaning are realized from coarse to fine. When a different workpiece 101 is replaced, the system determines the type of tool it needs according to the program and algorithm, and automatically replaces the tool into the tool magazine system 4.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. A finishing apparatus, comprising:

a support case (1);

the feeding and discharging spare part system (3) is arranged on the supporting shell (1) and can drive a tray (37) with a workpiece (101) to be input into the supporting shell (1) or output from the inside of the supporting shell (1);

a tool magazine system (4) mounted on the support housing (1) and comprising a plurality of tools (43);

a cutter system (2) which is arranged on the supporting shell (1) and can precisely process a workpiece (101);

a manipulator which is arranged on the supporting shell (1) and can assemble matched cutters (43) in a cutter base system (4) into a cutter system (2) according to the type of the workpiece (101) and can assemble a vibration rotary system (5) to the tail end of the manipulator to drive the workpiece (101) to process in the cutter system (2), wherein the vibration rotary system (5) can drive the workpiece (101) to carry out rotary motion and/or vibration;

the control system (6) is respectively connected with the cutter system (2), the feeding and discharging spare part system (3), the cutter library system (4), the vibration rotation system (5) and the manipulator through signals.

2. Finishing device according to claim 1, characterized in that the loading and unloading spare part system (3) comprises a support table (31), a first rail (33) and a second rail (34) arranged on the support table (31), a tray (37) on the first rail (33) and the second rail (34) for conveying feeding and discharging respectively and the tray (37) can slide along the first rail (33) and/or the second rail (34) under the driving of a tray power mechanism, and the workpiece (101) is arranged on the tray (37).

3. The finishing device according to claim 2, characterized in that the tray (37) is provided with a fixing body (371) for fixing the workpiece (101), a transition piece (372) matched with the workpiece (101), and a bus bar (373), wherein the transition piece (372) is fixed on the tray (37) by the bus bar (373).

4. A finishing device according to claim 3, wherein the feeding and discharging spare part system (3) further comprises a portal frame (32) which is spanned on the supporting table (31), and transition pieces and workpiece connection implementation mechanisms (35) and clamping finger mechanisms (36) which are respectively arranged at two sides of the portal frame (32), wherein the transition pieces and workpiece connection implementation mechanisms (35) and the clamping finger mechanisms (36) can respectively slide along the portal frame (32) under the driving of the dispensing driving mechanism and the clamping finger driving mechanism; the vibration rotary system (5) comprises a vibration rotary head (53), a clamping head (531) is arranged at the lower part of the vibration rotary head (53), and when the feeding tray (37) is conveyed to the lower part of the portal frame (32), the assembly of the workpiece (101) can be realized by any one of the following modes:

the transition piece (372) can be removed from the busbar (373) and assembled on a workpiece (101) positioned on a fixed body (371) by the finger clamping mechanism (36), and the workpiece (101) is in interference fit with the transition piece (372);

the transition piece (372) is assembled on the workpiece (101) through a transition medium by connecting the transition piece with the workpiece implementing mechanism (35) and the finger clamping mechanism (36);

after a transition medium is applied to the upper end of the workpiece (101) through the transition piece and workpiece connection implementation mechanism (35), the clamping head (531) is moved to the upper end of the workpiece (101) and is solidified to form an enveloping instant forming connecting piece (374), so that the clamping head (531) is connected with the workpiece (101).

5. The finishing device according to claim 4, characterized in that the vibration turning system (5) comprises a connecting head (51) which is positioned at the upper end and can be connected with a manipulator, a functional chamber (52) positioned in the middle and a vibration turning head (53) which is arranged at the lower end of the functional chamber (52), wherein the transition piece (372) can be fitted on the clamping head (531) in a matching manner, and the vibration turning head (53) can be turned and/or vibrated.

6. The finishing device according to claim 1, characterized in that the magazine system (4) comprises a magazine box (41), a magazine holder (42) arranged inside the magazine box (41), a tool (43) arranged on the magazine holder (42), and a holder driving mechanism, the magazine box (41) being provided with a magazine door (44), the magazine door (44) having both a closed and an open state, the magazine holder (42) being hidden in the magazine box (41) when the magazine door (44) is in the closed state, the magazine holder (42) being capable of driving the tool (43) to move outside the magazine box (41) under the actuation of the holder driving mechanism, the magazine door (44) being in the open state, wherein a robot is capable of fitting the tool (43) into the tool system (2).

7. The finishing machining device according to claim 5, characterized in that the tool system (2) comprises a machining table (21), wherein a plurality of accommodating grooves (211) are sequentially arranged on the machining table (21) at intervals, a plurality of tools (43) are arranged in each accommodating groove (211), and tools (43) with different functions are arranged in different accommodating grooves (211) so as to machine different working procedures of a workpiece (101).

8. The finishing device according to claim 7, wherein the number of cutters (43) placed in each receiving groove (211) matches the number of the lower mounting clips (531) of the vibrating turret (53).

9. A finishing device according to claim 1, characterized in that a frequency converter is arranged in the vibrating and turning system (5), which frequency converter is signally connected to a control system (6).

10. A finishing method, characterized by using the finishing apparatus according to any one of claims 1 to 9, comprising the steps of:

s1, inputting a workpiece (101) into a processing device;

s2, fixing the transition piece (372) on the workpiece (101) through the feeding and discharging spare part system (3);

s3, controlling the manipulator to assemble matched cutters (43) into the cutter system (2) from the cutter library system (4) according to the type of the workpiece (101);

s4, the manipulator picks up one or more transition pieces (372) with the workpieces (101) to enter a cutter system (2) and sequentially enter different cutters (43) according to a set program to carry out deburring, grinding, polishing and cleaning;

s5, placing the processed workpiece (101) into a loading and unloading spare part system (3) and outputting the workpiece to the outside of the processing device to finish processing.