阅读说明：本技术 基于叠合量检测的阀芯同步磨削去毛刺一体化方法及系统 (Valve core synchronous grinding and deburring integrated method and system based on superposition amount detection ) 是由 陈明 王建文 党嘉强 刘畅 安庆龙 明伟伟 于 2019-08-28 设计创作，主要内容包括：一种基于叠合量检测的阀芯同步磨削去毛刺一体化方法及及应用该方法的自动化去毛刺系统,由伺服阀芯同步磨削去毛刺磨床完成阀芯自动装夹和工作棱边的同步精密磨削与去毛刺,通过工业上下料机器人来抓取并运送阀芯工件,在视觉CCD工业相机检测辅助下完成伺服阀滑副自动装配,由电液伺服阀计算机气动配磨测试台进行伺服阀滑副自动装夹和伺服阀叠合量自动检测,系统工控操作台实现系统完整工作流程实时控制及加工参量自适应控制。本发明实现伺服阀芯同步磨削去毛刺加工和叠合量检测的自动化和一体化,具有无需人工辅助加工、加工效率高、制造精度高、成品率高等优点；系统单元功能分工明确,组装和调试灵活,柔性化程度高,适合与实际伺服阀工业生产线相结合。(A valve core synchronous grinding and deburring integrated method based on superposition amount detection and an automatic deburring system applying the method are characterized in that a servo valve core synchronous grinding and deburring grinding machine is used for completing automatic clamping of a valve core and synchronous precise grinding and deburring of a working edge, valve core workpieces are grabbed and conveyed by an industrial loading and unloading robot, automatic assembly of a servo valve sliding pair is completed under the assistance of detection of a vision CCD industrial camera, an electro-hydraulic servo valve computer pneumatic match grinding test board is used for performing automatic clamping of the servo valve sliding pair and automatic detection of superposition amount of the servo valve, and a system industrial control operation console is used for realizing real-time control of a complete working flow of a system and adaptive control of processing parameters. The automatic deburring machine realizes automation and integration of synchronous grinding and deburring processing and superposition amount detection of the servo valve core, and has the advantages of no need of manual auxiliary processing, high processing efficiency, high manufacturing precision, high yield and the like; the system unit has definite function division, flexible assembly and debugging and high flexibility, and is suitable for being combined with an actual servo valve industrial production line.)

1. A valve core synchronous grinding and deburring integrated processing method based on superposition amount detection is characterized in that a servo valve core synchronous grinding and deburring grinding machine is used for completing automatic clamping of a valve core and synchronous precise grinding and deburring of a working edge, valve core workpieces are grabbed and conveyed through an industrial feeding and discharging robot, automatic assembly of a servo valve sliding pair is completed under the assistance of visual CCD industrial camera detection, the servo valve sliding pair automatic clamping and servo valve superposition amount automatic detection are performed through an electro-hydraulic servo valve computer pneumatic grinding and matching test board, and a system industrial control operation console is used for achieving real-time control of a complete working process of a system and adaptive control of processing parameters.

2. The valve core synchronous grinding and deburring integrated processing method based on superposition amount detection as claimed in claim 1, wherein the servo valve core synchronous grinding and deburring grinding machine is integrated with: the servo valve core synchronous grinding and deburring grinding machine realizes synchronous grinding and automatic deburring of a servo valve core on the same equipment, can be matched with an external industrial robot to automatically clamp the valve core workpiece, detects whether the clamping process is finished or not, and feeds back and outputs a clamping completion signal;

The automatic clamping of the valve core is as follows: the robot grabs a workpiece to be machined and conveys the workpiece to a jaw of a synchronous grinding and deburring grinding machine, an automatic clamping mechanism on the grinding machine opens the jaw and clamps a valve core workpiece, the mechanism is automatically closed to stably clamp the valve core workpiece, and a workpiece clamping detection system outputs a workpiece clamping completion signal to a system industrial control operation console after detecting that the workpiece is clamped in place;

The synchronous precision grinding and deburring of the working edge of the valve core workpiece refers to the following steps: the servo valve core synchronous grinding and deburring grinding machine works to drive a valve core workpiece to rotate, and the valve core grinding system carries out axial grinding on the valve core workpiece; meanwhile, the valve core automatic deburring system carries out deburring processing of radial feeding on the valve core workpiece.

3. The valve core synchronous grinding and deburring integrated processing method based on superposition amount detection as claimed in claim 1, wherein the automatic assembly of the servo valve sliding pair is as follows: the robot grabs a valve element workpiece to a servo valve automatic clamping mechanism of an electro-hydraulic servo valve computer pneumatic match grinding test board, the workpiece is moved to be close to a valve sleeve clamped by the servo valve automatic clamping mechanism, meanwhile, a vision CCD industrial camera above the mechanism position detects the pose of the workpiece at the tail end of the robot in real time and transmits pose data to a system industrial control operation table, system software controls the industrial robot to adjust the pose at the tail end according to pre-calibrated pose data required by assembly so as to meet the assembly requirement of the workpiece, and then the tail end of the robot controls the valve element to perform axial motion so as to finish complete assembly of a sliding pair of the servo valve.

4. The synchronous grinding and deburring integrated processing method for the valve element based on superposition amount detection as claimed in claim 1, wherein the electro-hydraulic servo valve computer pneumatic match grinding test bench is integrated with: the electro-hydraulic servo valve computer pneumatic match grinding test board can be matched with an external industrial robot to realize automatic assembly of a valve core-valve sleeve sliding pair, realize automatic clamping of a servo valve, detect the overlapping amount of the servo valve, preliminarily process the measured data and output the data;

The automatic clamping of the sliding pair of the servo valve refers to the following steps: in the automatic assembly process of the servo valve sliding pair, when the visual CCD industrial camera detects that the pose of a valve element workpiece is consistent with that of a valve sleeve, the assembly is completed, the system industrial control operating platform controls the work flow, controls the servo valve automatic clamping mechanism of the electro-hydraulic servo valve computer pneumatic match grinding test board to work, and integrally clamps the servo valve in place;

The automatic detection of the superposition amount of the servo valve refers to the following steps: the servo valve overlap amount detection system of the servo valve core synchronous grinding deburring grinding machine automatically detects the overlap amount of the servo valve sliding pair, simultaneously communicates with the overlap amount data processing special computer in real time, processes original measurement data by the overlap amount data processing special computer, and outputs test result data to a system industrial control operation table.

5. The valve core synchronous grinding and deburring integrated processing method based on superposition amount detection as claimed in claim 1, wherein the system industrial control operation platform comprises: central control module and grinding machine control module, robot control module, testboard control module and the visual inspection module that links to each other with it respectively, wherein: the grinding machine control module is connected with the servo valve core synchronous grinding and deburring grinding machine, monitors the working state of the grinding machine and transmits the working control signal of the grinding machine, the robot control module is connected with the feeding and discharging industrial robot and monitors the working state of the robot and transmits the motion control signal of the robot, the test board control module is connected with the electro-hydraulic servo valve computer pneumatic grinding test board, monitors the working state of the test board and transmits the working control signal of the test board, the vision detection module is connected with the vision CCD industrial camera and monitors the workpiece pose signal when the slide pair of the servo valve is assembled, and the central control module with a user-oriented working flow operation panel and a control interface processes the state data from other modules to obtain the real-time working flow control instruction data of the system;

The real-time control of the complete working process of the system and the self-adaptive control of the processing parameters refer to the following steps: the system software judges whether the superposition amount of a servo valve formed by the current valve core and the match grinding test board can meet the preset requirement, if not, processing operation is carried out according to the superposition amount data measured by the workpiece at present to determine the feed amount required by next grinding, then the robot conveys the valve core to the grinding machine, and the synchronous grinding and automatic deburring process flow is carried out again; if the preset requirements are met, the automatic clamping mechanism is opened, the machined workpiece is unloaded by the robot in cooperation, the workpiece machining operation is completed, and the next workpiece to be machined can be ground and deburred.

6. An integrated valve core synchronous grinding and deburring machining system for realizing the method of any claim, which is characterized by comprising: the system industrial control operation panel and servo valve core synchronous grinding burring grinding machine, industry unloading robot, electro-hydraulic servo valve computer pneumatic match grinding testboard and vision CCD industry camera that link to each other with it respectively, wherein: the servo valve core synchronous grinding and deburring grinding machine outputs a valve core real-time machining state signal and receives a work flow control signal, the industrial loading and unloading robot outputs a robot tail end real-time position signal and receives a work flow control signal in the workpiece conveying process, the electro-hydraulic servo valve computer pneumatic match grinding test bench outputs servo valve superposition amount detection data and receives a work flow control signal, and the vision CCD industrial camera outputs measured workpiece real-time pose data and receives a work flow control signal; the system industrial control operation console receives and processes working state signals and measurement data from other working units, then outputs working flow control signals of the working units according to a set working flow, and processes the working flow control signals according to feedback signal data of the sensing system so as to adjust processing parameters, thereby realizing real-time communication and control of the system units in the working process of synchronous grinding deburring and superposition detection and self-adaptive control of the processing parameters.

7. The system as claimed in claim 6, wherein the industrial loading and unloading robot is electrically connected with the system industrial control console to feed back and output robot motion and end position signals to the system industrial control console and receive work control signals;

The vision CCD industrial camera is electrically connected with the system industrial control operation table to feed back and output workpiece pose data of the tail end of the robot when the servo valve sliding pair is assembled to the system industrial control operation table.

8. The system of claim 6, wherein the cartridge grinding system comprises: a wheel carriage for supporting the workpiece head and tail carriages, for driving a grinding wheel for grinding the workpiece, and for grinding the feed, wherein: the grinding head frame and the grinding tail frame are correspondingly provided with a chuck and a tip for clamping and fixing a workpiece.

9. The system of claim 6, wherein said automated cartridge work piece clamping mechanism comprises: ball sliding table, servo motor, motor drive and controller, wherein: the ball screw sliding table is connected with a grinding tail frame of the valve core grinding system, and the servo motor is controlled by a motor drive and controller to output angular displacement and torque, so that the ball screw sliding table is driven to move axially along a workpiece, the integral transmission of the grinding tail frame is controlled, the mutual matching of the grinding head frame and the grinding tail frame is realized, and the workpiece is clamped; the motor drive and controller is connected with the industrial control operation table of the system so as to realize motor dragging control.

10. The system of claim 6, wherein said workpiece clamping detection system comprises: embedded pressure sensor and embedded controller, wherein: the embedded pressure sensor is arranged in a mechanical connection part between the ball screw sliding table and a grinding tail frame of the grinding machine, measures the pressure value borne by the grinding tail frame when the workpiece is clamped and outputs the measured analog quantity to the embedded controller; the embedded controller converts the pressure analog quantity into digital quantity, stores the digital quantity, processes the primary data and outputs the data to the industrial control operation console of the system.

Technical Field

The invention relates to a technology in the field of machining and manufacturing, in particular to a valve core synchronous grinding and deburring integrated method based on superposition amount detection and an automatic deburring system applying the method.

background

The electro-hydraulic servo valve is widely applied to a hydraulic servo system, wherein a valve core of the servo valve is mainly ground by a precise cylindrical grinding machine, the last procedure of valve core processing is grinding (end face grinding) of a working edge, and then manual deburring is carried out, and the traditional process has the problems of low working edge processing efficiency, easy damage to the integrity of the working edge in the manual deburring process, high workpiece rejection rate and the like. Meanwhile, at present, other related novel workpiece deburring technologies such as a numerical control deburring system, a robot-based deburring workstation and the like exist, most of the technologies adopt novel automatic equipment to replace traditional grinding machine equipment and manual work to complete the whole deburring process of the workpiece, and the efficiency of the deburring process is improved to a certain extent; however, in the process for removing the burrs of the servo valve element, detection and feedback of performance indexes of a workpiece product cannot be combined at the same time, so that the process is not suitable for an industrial production line for batch processing of high-precision servo valve products, and has great application limitation.

disclosure of Invention

Aiming at the defects in the prior art, the invention provides a valve core synchronous grinding and deburring integrated method based on superposition amount detection and an automatic deburring system applying the method, wherein a special grinding machine and an industrial loading and unloading robot for synchronous grinding and deburring of a servo valve core workpiece are adopted, and an electro-hydraulic servo valve computer pneumatic match grinding test table is combined, so that the automation and integration of synchronous grinding and deburring processing and superposition amount detection of the servo valve core are realized, and the valve core synchronous grinding and deburring integrated method has the advantages of no need of manual auxiliary processing, high processing efficiency, high manufacturing precision, high yield and the like; the system unit has definite function division, flexible assembly and debugging and high flexibility, and is suitable for being combined with an actual servo valve industrial production line.

The invention is realized by the following technical scheme:

The invention relates to a valve core synchronous grinding and deburring integrated processing method based on superposition amount detection, wherein a servo valve core synchronous grinding and deburring grinding machine is used for completing automatic clamping of a valve core and synchronous precise grinding and deburring of a working edge, a valve core workpiece is grabbed and conveyed by an industrial loading and unloading robot, automatic assembly of a servo valve sliding pair is completed under the detection assistance of a vision CCD industrial camera, an electro-hydraulic servo valve computer pneumatic match grinding test board is used for performing automatic clamping of the servo valve sliding pair and automatic detection of superposition amount of a servo valve, and a system industrial control operation panel is used for realizing real-time control of a complete working process of a system and adaptive control of processing parameters.

The servo valve core synchronous grinding and deburring grinding machine is integrated with: the automatic valve element workpiece clamping mechanism, the workpiece clamping detection system, the valve element grinding system and the automatic valve element deburring system are adopted, the synchronous grinding and deburring grinding machine for the servo valve element realizes synchronous grinding and automatic deburring of the servo valve element on the same equipment, can be matched with an external industrial robot to perform automatic clamping of the valve element workpiece, detects whether the clamping process is finished, and feeds back and outputs a clamping completion signal.

The automatic clamping of the valve core is as follows: the robot snatchs and waits to process the work piece and transport to synchronous grinding burring grinding machine jack catch department, and automatic clamping mechanism on the grinding machine opens the jack catch and the chucking case work piece, and the mechanism is automatic closed stabilizes the clamping case work piece, and work piece clamping detecting system detects that the work piece clamping is in place and exports the work piece clamping to system industry control operation panel and accomplishes the signal.

The synchronous precision grinding and deburring of the working edge of the valve core workpiece refers to the following steps: the servo valve core synchronous grinding and deburring grinding machine works to drive a valve core workpiece to rotate, and the valve core grinding system carries out axial grinding on the valve core workpiece; meanwhile, the valve core automatic deburring system carries out deburring processing of radial feeding on the valve core workpiece.

The automatic assembly of the sliding pair of the servo valve is as follows: the robot grabs a valve element workpiece to a servo valve automatic clamping mechanism of an electro-hydraulic servo valve computer pneumatic match grinding test board, the workpiece is moved to be close to a valve sleeve clamped by the servo valve automatic clamping mechanism, meanwhile, a vision CCD industrial camera above the mechanism position detects the pose of the workpiece at the tail end of the robot in real time and transmits pose data to a system industrial control operation table, system software controls the industrial robot to adjust the pose at the tail end according to pre-calibrated pose data required by assembly so as to meet the assembly requirement of the workpiece, and then the tail end of the robot controls the valve element to perform axial motion so as to finish complete assembly of a sliding pair of the servo valve.

The electro-hydraulic servo valve computer pneumatic match grinding test bench is integrated with: the electro-hydraulic servo valve computer pneumatic match grinding test board can be matched with an external industrial robot to realize automatic assembly of a valve core-valve sleeve sliding pair, realize automatic clamping of a servo valve, detect the overlapping amount of the servo valve, preliminarily process measured data and output the data.

The automatic clamping of the sliding pair of the servo valve refers to the following steps: in the automatic assembly process of the servo valve sliding pair, when the visual CCD industrial camera detects that the position and the posture of a valve element workpiece are consistent with those of a valve sleeve, the assembly is completed, the system industrial control operating platform controls the working process, controls the servo valve automatic clamping mechanism of the electro-hydraulic servo valve computer pneumatic match grinding test board to work, and integrally clamps the servo valve in place.

the automatic detection of the superposition amount of the servo valve refers to the following steps: the servo valve overlap amount detection system of the servo valve core synchronous grinding deburring grinding machine automatically detects the overlap amount of the servo valve sliding pair, simultaneously communicates with the overlap amount data processing special computer in real time, processes original measurement data by the overlap amount data processing special computer, and outputs test result data to a system industrial control operation table.

The industrial control operation table of the system comprises: central control module and grinding machine control module, robot control module, testboard control module and the visual inspection module that links to each other with it respectively, wherein: the grinding machine control module is connected with the servo valve core synchronous grinding and deburring grinding machine and used for monitoring the working state of the grinding machine and transmitting the working control signal of the grinding machine, the robot control module is connected with the feeding and discharging industrial robot and used for monitoring the working state of the robot and transmitting the motion control signal of the robot, the test board control module is connected with the electro-hydraulic servo valve computer pneumatic grinding test board and used for monitoring the working state of the test board and transmitting the working control signal of the test board, the visual detection module is connected with the visual CCD industrial camera and used for monitoring the workpiece pose signal when the sliding pair of the servo valve is assembled, and the central control module with a user-oriented working flow operation panel and a control interface processes state data from other modules to obtain system real-time working flow.

The real-time control of the complete working process of the system and the self-adaptive control of the processing parameters refer to the following steps: the system software judges whether the superposition amount of a servo valve formed by the current valve core and the match grinding test board can meet the preset requirement, if not, processing operation is carried out according to the superposition amount data measured by the workpiece at present to determine the feed amount required by next grinding, then the robot conveys the valve core to the grinding machine, and the synchronous grinding and automatic deburring process flow is carried out again; if the preset requirements are met, the automatic clamping mechanism is opened, the machined workpiece is unloaded by the robot in cooperation, the workpiece machining operation is completed, and the next workpiece to be machined can be ground and deburred.

The invention relates to a valve core synchronous grinding and deburring integrated processing system based on superposition amount detection, which comprises: the system industrial control operation panel and servo valve core synchronous grinding burring grinding machine, industry unloading robot, electro-hydraulic servo valve computer pneumatic match grinding testboard and vision CCD industry camera that link to each other with it respectively, wherein: the servo valve core synchronous grinding and deburring grinding machine outputs a valve core real-time machining state signal and receives a work flow control signal, the industrial loading and unloading robot outputs a robot tail end real-time position signal and receives a work flow control signal in the workpiece conveying process, the electro-hydraulic servo valve computer pneumatic match grinding test bench outputs servo valve superposition amount detection data and receives a work flow control signal, and the vision CCD industrial camera outputs measured workpiece real-time pose data and receives a work flow control signal; the system industrial control operation console receives and processes working state signals and measurement data from other working units, then outputs working flow control signals of the working units according to a set working flow, and processes the working flow control signals according to feedback signal data of the sensing system so as to adjust processing parameters, thereby realizing real-time communication and control of the system units in the working process of synchronous grinding deburring and superposition detection and self-adaptive control of the processing parameters.

Technical effects

compared with the prior art, the invention is based on the integrated application of a series of manufacturing equipment required by the batch production of the electro-hydraulic servo valve, reasonably improves the working module according to the requirements of the technological process, can realize the automation and integration of synchronous grinding processing, deburring processing and superposition amount detection of the valve core of the electro-hydraulic servo valve, and improves the processing efficiency and the yield of valve core workpieces; the automation level of the valve core workpiece manufacturing process is high, manual auxiliary processing is not needed, the labor cost of product manufacturing is reduced, and the safety and the reliability of the manufacturing process are improved; the system unit has clear division of labor, flexible assembly and debugging and high flexibility, and is suitable for industrial mass production lines of servo valves.

Drawings

FIG. 1 is a schematic view of a synchronous grinding and deburring integrated machining system for a valve core according to the invention;

FIG. 2 is a flow chart of the synchronous grinding and deburring integrated machining method for the valve core.

Detailed Description

The embodiment mainly aims at synchronously grinding and deburring a servo valve core workpiece with a high-precision working edge requirement, and simultaneously needs superposition amount detection, and particularly realizes integration of working flows of grinding the working edge of the servo valve core, removing micro burrs, automatically detecting and outputting superposition amount data of the servo valve and the like.

As shown in fig. 1, the present embodiment relates to a synchronous grinding and deburring system for valve core based on overlap amount detection, which includes: servo case synchronous grinding burring grinding machine, industry unloading robot, electro-hydraulic servo valve computer pneumatic match grinding testboard, vision CCD industry camera and system industry control operation panel, wherein: the system industrial control operation table is electrically connected with system units such as a servo valve core synchronous grinding deburring grinding machine, an industrial loading and unloading robot, an electro-hydraulic servo valve computer pneumatic match grinding test table, a vision CCD industrial camera and the like, so that real-time communication and control of each system working unit in the synchronous grinding deburring and superposition amount detection process and adaptive control of processing parameters are realized.

The synchronous grinding and deburring grinding machine structure for the servo valve core is integrated: the automatic deburring system for the valve element can realize synchronous grinding machining and automatic deburring of a servo valve element on a single device, can be matched with an external industrial robot to automatically clamp the valve element workpiece, detects whether the clamping process is finished or not, feeds back and outputs a clamping completion signal to a system industrial control operation table, and receives a work control signal.

The valve core grinding system comprises: a wheel carriage for supporting the workpiece head and tail carriages, for driving a grinding wheel for grinding the workpiece, and for grinding the feed, wherein: the grinding head frame and the grinding tail frame are correspondingly provided with a chuck and a tip for clamping and fixing a workpiece.

Case work piece automatic clamping mechanism include: ball sliding table, servo motor, motor drive and controller, wherein: the ball screw sliding table is connected with a grinding tail frame of the valve core grinding system, and the servo motor is controlled by a motor drive and controller to output angular displacement and torque, so that the ball screw sliding table is driven to move axially along a workpiece, the integral transmission of the grinding tail frame is controlled, the mutual matching of the grinding head frame and the grinding tail frame is realized, and the workpiece is clamped; the motor drive and controller is connected with the industrial control operation table of the system so as to realize motor dragging control.

The workpiece clamping detection system comprises: embedded pressure sensor and embedded controller, wherein: the embedded pressure sensor is arranged in a mechanical connection part between the ball screw sliding table and a grinding tail frame of the grinding machine, measures the pressure value borne by the grinding tail frame when the workpiece is clamped and outputs the measured analog quantity to the embedded controller; the embedded controller converts the pressure analog quantity into digital quantity, stores the digital quantity, processes the primary data and outputs the data to the industrial control operation console of the system.

the industrial loading and unloading robot is electrically connected with the system industrial control console so as to feed back and output robot motion and tail end position signals to the system industrial control console and receive work control signals.

the electro-hydraulic servo valve computer pneumatic match grinding test bench is integrated in the structure: the electro-hydraulic servo valve computer pneumatic match grinding test board can be matched with an external industrial robot to realize automatic assembly of a valve core-valve sleeve sliding pair, realize automatic clamping of a servo valve, detect the overlapping amount of the servo valve, preliminarily process measured data and output the data.

The vision CCD industrial camera is electrically connected with the system industrial control operation table to feed back and output workpiece pose data of the tail end of the robot when the servo valve sliding pair is assembled to the system industrial control operation table.

The industrial control operation table of the system comprises: grinding machine control module, robot control module, testboard control module, visual detection module and central control module, wherein: the grinding machine control module is connected with the servo valve core synchronous grinding and deburring grinding machine and used for monitoring the working state of the grinding machine and transmitting the working control signal of the grinding machine, the robot control module is connected with the feeding and discharging industrial robot and used for monitoring the working state of the robot and transmitting the motion control signal of the robot, the test board control module is connected with the electro-hydraulic servo valve computer pneumatic match grinding test board and used for monitoring the working state of the test board and transmitting the working control signal of the test board, the vision detection module is connected with the vision CCD industrial camera and used for monitoring the workpiece position and posture signal when the sliding pair of the servo valve is assembled, and the central control module processes the state data of other modules to obtain the real-time working flow control instruction data of the system and provides the.

As shown in fig. 2, the present embodiment relates to a synchronous grinding and deburring integrated processing method for a valve core based on superposition amount detection in the above system, which includes the following steps:

Step 1), automatically clamping a workpiece by a grinding machine: and a robot control module of the system industrial control console is in real-time communication with the feeding and discharging robot, the robot picks a valve core workpiece to be processed and places the workpiece to a workpiece automatic clamping system of the valve core synchronous grinding and deburring grinding machine. After a workpiece clamping detection system of the valve core synchronous grinding and deburring grinding machine detects that a workpiece is placed in place, a grinding machine control module of a system industrial control console communicates with the valve core synchronous grinding and deburring grinding machine in real time, and an automatic valve core workpiece clamping mechanism performs the functions of stably clamping the workpiece;

Step 2) synchronous grinding and edge deburring of the valve core: after the workpiece is stably clamped, a valve core grinding and machining system and an automatic valve core deburring system of the valve core synchronous grinding and deburring grinding machine start to operate, grinding machine machining equipment automatically grinds the end face of the workpiece in an axial matched grinding mode, and meanwhile, the deburring system removes edges and burrs. Meanwhile, a grinding machine control module of a system industrial control operation platform is in real-time communication with the valve core synchronous grinding and deburring grinding machine, when machining is finished, the system industrial control operation platform controls the work flow of the valve core synchronous grinding and deburring grinding machine, the valve core grinding and machining system stops running, a working part of the automatic deburring system returns to the working original point of the working part, and the workpiece automatic clamping mechanism is automatically opened;

Step 3), transferring the workpiece to an electro-hydraulic servo valve computer pneumatic match grinding test bench: a robot control module of a system industrial control operation platform is in real-time communication with an upper and lower material industrial robot, the robot grabs a workpiece from a grinding machine clamp, transfers the workpiece to a corresponding position of a servo valve sliding pair automatic assembly system of an electro-hydraulic servo valve computer pneumatic match grinding test platform, and prepares for assembling a servo valve sliding pair;

Step 4), automatic assembling and clamping of a servo valve sliding pair: the visual CCD industrial camera automatically detects real-time pose data of a workpiece at the tail end of the robot and transmits the real-time pose data to a visual detection module of a system industrial control console, the visual detection module exchanges data information with a system software module, and the system software processes the pose data according to pose data required by pre-calibrated valve core assembly to obtain workpiece pose compensation quantity. Meanwhile, the robot control module is in real-time communication with the feeding and discharging industrial robots, and controls the industrial robots to adjust the end pose so as to meet the assembly requirements of the workpiece sliding pairs; then the tail end of the robot controls the valve core to move axially to complete the assembly of the valve sleeve and the valve core sliding pair, and then the automatic servo valve clamping mechanism performs the function of the automatic servo valve clamping mechanism to prepare for carrying out superposition amount detection;

step 5), automatic detection of superposition amount of the servo valve, adaptive control of a processing flow and parameters: the servo valve computer pneumatic match grinding test bench detects the overlap amount of the servo valve, outputs detection data to a test bench control module of a system industrial control operation bench after completion, the test bench control module exchanges data information with a system software module, the system software judges whether the current slide valve match grinding overlap amount meets a preset requirement, and if not, the feeding amount of the next round of grinding is determined according to the current overlap amount data. The robot conveys the valve core to the grinding machine and carries out the process flow again; if the requirement is met, the automatic workpiece clamping mechanism is opened, the machined workpiece is unloaded by the robot in coordination, the workpiece machining operation is completed, the deburring machining of the next workpiece to be machined can be carried out, and the steps are circulated again in the working process.

The embodiment aims at the automatic production process of the valve core of the electro-hydraulic servo valve, the automation and integration of the synchronous grinding and deburring process of the servo valve core and the superposition amount detection process of a servo valve product are realized by combining a servo valve computer pneumatic match grinding test bench and conveying workpieces through an industrial feeding and discharging robot on the basis of a valve core synchronous grinding and deburring special grinding machine; the defects of the prior art and the prior art are effectively overcome, the traditional manual assistance is replaced, the labor cost is reduced, and the machining efficiency and the yield of the valve core are effectively improved; meanwhile, the system equipment is relatively independent, has definite functions, high flexibility and intelligence and is suitable for batch processing production lines of modern high-precision servo valves.

In the embodiment, a test material is 440C stainless steel bar, the diameter of the workpiece is 10mm, and the radial runout of the workpiece is 0.18 mu m; when the grinding machine is used for processing, the feeding speed is 8 mu m/s, and the rotating speed of a workpiece is 180 rpm; the number of processed pieces was 100. After all 100 samples of the test are detected, the results show that the test completely meets the processing requirement that the working edge keeps a right-angle sharp edge without burrs, the height of the residual burrs of the working edge after deburring is about 0.5 mu m, and the rejection rate is 0. Compared with the prior art, the performance index of the method is improved as follows: compared with the traditional manual processing, the processing efficiency of the workpiece is improved by 83%, and the yield is improved to more than 99%.

the foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.