CN102294640A - Sanding belt grinding device controlled by programmable grinding force - Google Patents
Sanding belt grinding device controlled by programmable grinding force Download PDFInfo
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- CN102294640A CN102294640A CN2011102313312A CN201110231331A CN102294640A CN 102294640 A CN102294640 A CN 102294640A CN 2011102313312 A CN2011102313312 A CN 2011102313312A CN 201110231331 A CN201110231331 A CN 201110231331A CN 102294640 A CN102294640 A CN 102294640A
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Abstract
The invention relates to a sanding belt grinding device controlled by a programmable grinding force. The sanding belt grinding device consists of a control system, a comparing unit, a proportional servo element, a pressure cylinder, a grinding device and a detection unit. A practical grinding force detected by the detection unit and a command grinding force given by the control system are compared through the comparing unit; the difference value between the practical grinding force and the command grinding force is converted into control current or control voltage; and the control current or control voltage is converted and adjusted through the proportional servo element until practical grinding force controlled by the pressure cylinder is equal to the command grinding force, so that the practical grinding force drives the grinding device to grind. The sanding belt grinding device has the characteristics that: 1) the grinding force of the sanding belt grinding device is adjusted through a grinding force controlling and adjusting device in real time, so the practical grinding force grinds according to the command grinding force and the surface grinding quality of a workpiece is ensured; 2) the command grinding force can be realized through programming, so different ground workpieces or different parts of the same workpiece can be ground through different grinding forces; and 3) the grinding force of any ground point can be calculated through two-dimensional or three-dimensional interpolation operation according to the grinding forces of known key points of a given ground surface, and the grinding force of each ground point is in smooth transition, so the mutation phenomenon of the grinding force is not caused.
Description
Technical field
The present invention relates to a kind of abrasive belt grinding device, the flexible abrasive belt grinding device of grinding force control particularly able to programme is applicable to the grinding as complex-curved profiles such as turbine blades.
Background technology
Because the requirement more and more higher to the product appearance moulding of function particularity and modern society, complex-curved profile obtains increasingly extensive application in machinery manufacturing industry, yet the processing of the polishing of complex-curved profile is the technology difficult problem of bottleneck always.
In recent years, released the patented technology of some relevant curve surface grindings successively, for example: by 200710019843.6 patented technologies " CNC abrasive belt grinding machine of steam turbine blade and control method thereof " and the 200820238217.6 patented technologies sbrasive belt grinding equipment such as " CNC abrasive belt grinding machine of steam turbine blade " of State Intellectual Property Office's bulletin, do not consider that sbrasive belt grinding is to belong to a kind of flexible grinding, often in grinding process, be subjected to grinding force fluctuation meeting to stay the grinding tool marks, can not guarantee to obtain the desirable grinding quality of grinding workpiece surface at grinding workpiece surface.
By 200810237238.0 patented technologies of State Intellectual Property Office bulletin " a kind of unsteady abrasive belt grinding device of the adjustable in pressure with feedback ", though realize the constant force griding in abrasive band by the governor motion of forming by cylinder and counterbalance spring, but can only carry out grinding by certain specific grinding force, do not consider that grinding force can cause the grinding work piece distortion, thereby influence grinding accuracy.For example, turbine blade trailing edge thickness is less, wishes that the trailing edge grinding force less than the leading edge grinding force, avoids the trailing edge grinding deformation, influences the blade profile grinding accuracy.How the different parts at different grinding work pieces or same workpiece adopts different grinding forces to carry out grinding, how to require to carry out grinding force programming and control according to grinding, and is all not mentioned in the prior art.
Summary of the invention
The present invention is directed to the deficiency that prior art exists, a kind of abrasive belt grinding device of grinding force control able to programme is provided,, guarantee grinding quality to satisfy the grinding force programming and the control of sbrasive belt grinding under the different working conditions.
The technical solution used in the present invention is for this reason: abrasive belt grinding device of the present invention is made up of control system, comparing unit, proportional servo element, pressure cylinder, grinding attachment and detecting unit; The instruction grinding force that is sent through comparing unit and control system by actual grinding force that detecting unit detected compares, its difference is converted to the control curtage changes and regulate, equal to instruct grinding force to drive grinding attachment until the actual grinding force of pressure cylinder control and carry out the grinding operation through the proportional servo element.
Abrasive belt grinding device of the present invention comprises drive motors, substrate, moving plate, grinding train and abrasive band, grinding force control device, pressure cylinder, counterbalance spring and abrasive band strainer composition; The grinding train includes driving wheel, regulating wheel, contact wheel and some directive wheels; Drive motors and driving wheel are fixed in substrate, and contact wheel, regulating wheel are fixed in moving plate; Moving plate is to wait the hinge of the parallel four-bar linkage that long connecting rod constituted to be connected by two with substrate; Pressure cylinder is fixed in the substrate top of grinding attachment, and counterbalance spring is fixed on substrate for one section, and one section is fixed on moving plate.
On the basis of the above, grinding force control device of the present invention is to realize the grinding equilibrium of forces according to following formula:
In the formula,
Be the cylinder controlled pressure;
Be counterbalance spring power;
Be moving plate system gravity;
Be grinding force;
Angle for counterbalance spring and vertical axis.
Move and regulate because the moving plate of grinding process belongs to trace with respect to substrate, thereby counterbalance spring power can be considered as constant, and can be provided with and make it satisfied:
Then
Be that grinding force equals system's control, its direction is opposite with system control direction.
Under above-mentioned equilibrium condition,, cause actual grinding force less than system's control, promptly if the sbrasive belt grinding amount that contact wheel drives is less
＜
, this moment grinding attachment under system's control effect, the moving plate that is being driven by the take-off lever of pressure cylinder is also promoting the Grinding Contact wheel and is moving down.Along with moving down of moving plate, volume space in the pressure cylinder cavity is strengthened, cause the pressure in the cylinder cavity to reduce, pressure detecting element in Pneumatic control circuit detects the variation of system pressure, through the and instruction pressure ratio, the passing ratio servoelement makes system pressure return to desired control pressure rapidly; Because the moving Grinding Contact wheel of moving strip moves down, cause the sbrasive belt grinding degree of depth to increase on the other hand, grinding force increases, promptly
, force again on the moving plate and move, until satisfying
=
Equilibrium condition, driven on the cylinder piston by the pressure cylinder take-off lever and move this moment, and the volume space in the cylinder cavity is reduced, and system's controlled pressure increases, and through the regulating action of proportional servo valve, the system controlled pressure of making reaches new balance again.
Any grinding points instruction grinding force of the present invention is asked for by two dimension or three-dimensional interpolation computing, promptly in the given required grinding force size in grinding workpiece several known key points place, surface, then according to known key point coordinate figure and given grinding force, by two dimension (plane or flat surfaces), three-dimensional (three-dimension curved surface) coordinate interpolation arithmetic is asked for the grinding force of any grinding points.
Regulating wheel of the present invention is arranged on the pilled-in selvedge of grinding belt, and manual adjusting deviation device is set on the guide wheel shaft of abrasive band pilled-in selvedge.
Characteristics of the present invention are: 1) by grinding force control and regulation device the grinding force of abrasive belt grinding device is regulated in real time, made actual grinding force carry out the grinding operation by the instruction grinding force, guaranteed the grinding quality of surface of the work; 2) instruction grinding force realization able to programme can adopt different grinding forces to carry out grinding at the different parts of different grinding work pieces or same workpiece; 3) grinding force of grinding points can be asked for by two dimension or three-dimensional interpolation computing according to the given surperficial several known key point grinding force sizes that are ground arbitrarily, and each grinding points grinding force transitions smooth can not produce the grinding force jumping phenomenon.
Description of drawings
Fig. 1 is the control principle figure of control device of the present invention.
Fig. 2 is the structural representation of grinding attachment of the present invention.
Fig. 3 analyzes sketch for grinding attachment grinding force of the present invention.
Among the figure: 1 substrate, 2 moving plates, 3 regulating wheels, 4 directive wheels (1), 5 directive wheels (2), 6 directive wheels (3), 7 directive wheels (4), 8 directive wheels (5), 9 contact wheels, 10 driving wheels, 11 drive motors, 12 lower links, 13 counterbalance springs, 14 abrasive bands, connecting rod on 15,16 tensioning springs, 17 tensioning cylinders, 18 pressure cylinders.
The specific embodiment
Abrasive belt grinding device of the present invention comprises drive motors 11, substrate 1, moving plate 2, grinding train and abrasive band 14, grinding force control device, pressure cylinder 18, counterbalance spring 13 and abrasive band strainer composition; The grinding train includes driving wheel 10, regulating wheel 3, contact wheel 9 and some directive wheels; Drive motors 11 and driving wheel 10 are fixed in substrate 1, and contact wheel 9, regulating wheel 3 are fixed in moving plate 2; Moving plate 2 and substrate 1 are that the hinge of the parallel four-bar linkage that constituted by isometric last connecting rod and lower link is connected; Pressure cylinder 18 is fixed in substrate 1 top of grinding attachment, and counterbalance spring is fixed on 1, one section of substrate for 13 1 sections and is fixed on moving plate 2; Grinding force control device wherein is made up of control system, comparing unit, proportional servo element, pressure cylinder 18, grinding attachment and detecting unit; The instruction grinding force that is sent through comparing unit and control system by actual grinding force that detecting unit detected compares, its difference is converted to the control curtage changes and regulate, equal to instruct grinding force to drive grinding attachment until the actual grinding force of pressure cylinder 18 control and carry out the grinding operation through the proportional servo element.
Grinding force control device of the present invention is to realize the grinding equilibrium of forces according to following formula:
In the formula,
Be pressure cylinder 18 controlled pressures;
Be complemental air spring 13 power;
Be moving plate 2 system's gravity;
Be grinding force;
Be the angle of complemental air spring 13 with vertical axis.
Move and regulate because the moving plate 2 of grinding process belongs to trace with respect to substrate 1, thereby complemental air spring 13 power can be considered as constant, and can be provided with and make it satisfied:
Then
Be that grinding force equals system's control, its direction is opposite with system control direction.
Under above-mentioned equilibrium condition,, cause actual grinding force less than system's control, promptly if abrasive band 14 stock removals that Grinding wheel 9 drives are less
＜
, this moment grinding attachment under system's control effect, the moving plate 2 that is being driven by the take-off lever of pressure cylinder 18 is also promoting Grinding wheel 9 and is moving down.Along with moving down of moving plate 2, volume space in pressure cylinder 18 cavitys is strengthened, cause the pressure in cylinder 18 cavitys to reduce, pressure detecting element in Pneumatic control circuit detects the variation of system pressure, through the and instruction pressure ratio, the passing ratio servoelement makes system pressure return to desired control pressure rapidly; Because moving plate 2 drive Grinding wheels 9 move down, cause abrasive band 14 grinding depths to increase on the other hand, grinding force increases, promptly
, force again on the moving plate 2 and move, until satisfying
=
Equilibrium condition, driven on the cylinder piston by pressure cylinder 18 take-off levers and move this moment, and the volume space in cylinder 18 cavitys is reduced, and system's controlled pressure increases, and again through the regulating action of proportional servo valve, makes controlled pressure reach new balance.
The instruction grinding force of any grinding points of the present invention is asked for by two dimension or three-dimensional interpolation computing, promptly in the given required grinding force size in grinding workpiece several known key points place, surface, then according to known key point coordinate figure and given grinding force, by two dimension (plane or flat surfaces), three-dimensional (three-dimension curved surface) coordinate interpolation arithmetic is asked for the grinding force of any grinding points.
Driving wheel 10 in the grinding train of the present invention, directive wheel (1) 4 and directive wheel (2) 5 are arranged at substrate 1, and pressure wheel 9, regulating wheel 3 and directive wheel (3) 6, directive wheel (4) 7, directive wheel (5) 8 are arranged on the moving plate 2; The setting of directive wheel (1) 4 and directive wheel (2) 5 makes the cornerite of abrasive band 14 on driving wheel big as far as possible, avoids abrasive band 14 to skid on driving wheel; The setting of same directive wheel (3) 6 and directive wheel (5) 8 makes the cornerite of abrasive band 14 on contact wheel big as far as possible, avoids abrasive band 14 to skid on contact wheel; Abrasive band 14 parts that abrasive band 14 parts that directive wheel (2) 5 and directive wheel (3) 6 support and regulating wheel 3 and directive wheel (4) 7 are supported are substantially parallel, and when having guaranteed that moving plate 2 moves with respect to substrate 1, the total length in abrasive band 14 remains unchanged.
Regulating wheel 3 of the present invention is arranged on the pilled-in selvedge of grinding belt 14; In order to correct abrasive band 14 sideslips, on (4) 7 of the directive wheels of abrasive band pilled-in selvedge, be provided with manual adjusting deviation device.
Abrasive band of the present invention strainer is arranged on the moving plate 2 of grinding attachment, form by regulating wheel 3, dwang, tensioning cylinder 17 and tensioning spring 16, by giving unidirectional tensioning cylinder 17 ventilations, the cylinder take-off lever overcomes tensioning spring 16 power and stretches out, and promotes dwang and makes abrasive band 14 tensionings by regulating wheel 3; After making tensioning cylinder 17 exhausts, the restoring force pulling dwang by tensioning spring 16 unclamps abrasive band 14 by regulating wheel 3.
Claims (5)
1. the abrasive belt grinding device of a grinding force control able to programme is characterized in that described abrasive belt grinding device is made up of control system, comparing unit, proportional servo element, pressure cylinder, grinding attachment and detecting unit; The instruction grinding force that is sent through comparing unit and control system by actual grinding force that detecting unit detected compares, its difference is converted to the control curtage changes and regulate, equal to instruct grinding force to drive grinding attachment until the actual grinding force of pressure cylinder control and carry out the grinding operation through the proportional servo element.
2. the abrasive belt grinding device of a kind of grinding force control able to programme according to claim 1, it is characterized in that described abrasive belt grinding device comprises drive motors, substrate, moving plate, grinding train and abrasive band, grinding force control device, pressure cylinder, counterbalance spring and abrasive band strainer composition; The grinding train includes driving wheel, regulating wheel, contact wheel and some directive wheels; Drive motors and driving wheel are fixed in substrate, and contact wheel, regulating wheel are fixed in moving plate; Moving plate is to wait the hinge of the parallel four-bar linkage that long connecting rod constituted to be connected by two with substrate; Pressure cylinder is fixed in the substrate top of grinding attachment, and counterbalance spring is fixed on substrate for one section, and one section is fixed on moving plate.
3. the abrasive belt grinding device of a kind of grinding force control able to programme according to claim 2 is characterized in that, the grinding force control device is to realize the grinding equilibrium of forces according to following formula:
In the formula,
Be the cylinder controlled pressure;
Be counterbalance spring power;
Be moving plate system gravity;
Be grinding force;
Angle for counterbalance spring and vertical axis;
Move and regulate because the moving plate of grinding process belongs to trace with respect to substrate, thereby counterbalance spring power can be considered as constant, and can be provided with and make it satisfied:
Then
Be that grinding force equals system's control, its direction is opposite with system control direction;
Under above-mentioned equilibrium condition,, cause actual grinding force less than system's control, promptly if the stock removal in abrasive band that contact wheel drives is less
＜
, this moment grinding attachment under system's control effect, the moving plate that is being driven by the take-off lever of pressure cylinder is also driving the Grinding Contact wheel and is moving down;
Along with moving down of moving plate, volume space in the pressure cylinder cavity is strengthened, cause the pressure in the cylinder cavity to reduce, pressure detecting element in Pneumatic control circuit detects the variation of system pressure, through the and instruction pressure ratio, the passing ratio servoelement makes system pressure return to desired control pressure rapidly; Because the moving Grinding Contact wheel of moving strip moves down, cause the sbrasive belt grinding degree of depth to increase on the other hand, grinding force increases, promptly
, force again on the moving plate and move, until satisfying
=
Equilibrium condition, driven on the cylinder piston by the pressure cylinder take-off lever and move this moment, and the volume space in the cylinder cavity is reduced, and system pressure increases, and again through the regulating action of proportional servo valve, makes system pressure reach new balance.
4. the abrasive belt grinding device of a kind of grinding force control able to programme according to claim 1, it is characterized in that, the instruction grinding force of its any grinding points is asked for by two dimension or three-dimensional interpolation computing, promptly in the given required grinding force size in grinding workpiece several known key points place, surface, then according to known key point coordinate figure and given grinding force, by two dimension (plane or flat surfaces), three-dimensional (three-dimension curved surface) coordinate interpolation arithmetic is asked for the grinding force of any grinding points.
5. the abrasive belt grinding device of a kind of grinding force control able to programme according to claim 2 is characterized in that regulating wheel is arranged on the pilled-in selvedge of grinding belt, and manual adjusting deviation device is set on the guide wheel shaft of abrasive band pilled-in selvedge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110231331 CN102294640B (en) | 2011-08-12 | 2011-08-12 | Sanding belt grinding device controlled by programmable grinding force |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110231331 CN102294640B (en) | 2011-08-12 | 2011-08-12 | Sanding belt grinding device controlled by programmable grinding force |
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| CN102294640B CN102294640B (en) | 2013-08-14 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649258A (en) * | 2012-05-17 | 2012-08-29 | 广东新海岸机械有限公司 | Polishing grinding head for glass edge grinding machine |
| CN103753395A (en) * | 2013-12-26 | 2014-04-30 | 西安交通大学 | Grinding force sensor and measuring method thereof |
| CN103862374A (en) * | 2012-12-11 | 2014-06-18 | 秦皇岛市兴龙源金属制品有限公司 | Hub burring polishing machine pressure control device |
| CN104216336A (en) * | 2014-09-10 | 2014-12-17 | 重庆大学 | Numerical-control abrasive belt grinding device and control method thereof |
| CN106777594A (en) * | 2016-12-01 | 2017-05-31 | 武汉科技大学 | A kind of self-learning method of the operation of rolling Mathematical Modeling based on continuous curve surface |
| CN106956205A (en) * | 2017-05-12 | 2017-07-18 | 宇环数控机床股份有限公司 | Misplace multiaspect multi-trace, polishing building-block machine above and below one kind |
| CN107263262A (en) * | 2017-07-13 | 2017-10-20 | 哈尔滨工业大学深圳研究生院 | A kind of six degree of freedom sbrasive belt grinding unit pose compensation device |
| CN108406526A (en) * | 2018-04-02 | 2018-08-17 | 浙江工业大学 | Active-passive composite flexible polishing method and device |
| CN109202687A (en) * | 2017-07-03 | 2019-01-15 | 株式会社安川电机 | Robot grinding system, grinding device and grinding control method |
| CN113910106A (en) * | 2021-12-16 | 2022-01-11 | 华辰精密装备（昆山）股份有限公司 | Grinding force control method and grinding machine based on same |
| CN114274047A (en) * | 2020-09-27 | 2022-04-05 | 中国科学院沈阳自动化研究所 | Efficient precise polishing track optimization method based on force sensing measurement |
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| CN202264127U (en) * | 2011-08-12 | 2012-06-06 | 扬州智科光机电技术开发中心有限公司 | Abrasive band grinding device with programmable grinding force controlling function |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649258A (en) * | 2012-05-17 | 2012-08-29 | 广东新海岸机械有限公司 | Polishing grinding head for glass edge grinding machine |
| CN103862374A (en) * | 2012-12-11 | 2014-06-18 | 秦皇岛市兴龙源金属制品有限公司 | Hub burring polishing machine pressure control device |
| CN103753395A (en) * | 2013-12-26 | 2014-04-30 | 西安交通大学 | Grinding force sensor and measuring method thereof |
| CN104216336A (en) * | 2014-09-10 | 2014-12-17 | 重庆大学 | Numerical-control abrasive belt grinding device and control method thereof |
| CN104216336B (en) * | 2014-09-10 | 2016-09-28 | 重庆大学 | Numerical control belt-sanding device and control method thereof |
| CN106777594B (en) * | 2016-12-01 | 2020-01-17 | 武汉科技大学 | Self-learning method of rolling process mathematical model based on continuous curved surface |
| CN106777594A (en) * | 2016-12-01 | 2017-05-31 | 武汉科技大学 | A kind of self-learning method of the operation of rolling Mathematical Modeling based on continuous curve surface |
| CN106956205A (en) * | 2017-05-12 | 2017-07-18 | 宇环数控机床股份有限公司 | Misplace multiaspect multi-trace, polishing building-block machine above and below one kind |
| CN109202687A (en) * | 2017-07-03 | 2019-01-15 | 株式会社安川电机 | Robot grinding system, grinding device and grinding control method |
| CN107263262A (en) * | 2017-07-13 | 2017-10-20 | 哈尔滨工业大学深圳研究生院 | A kind of six degree of freedom sbrasive belt grinding unit pose compensation device |
| CN108406526A (en) * | 2018-04-02 | 2018-08-17 | 浙江工业大学 | Active-passive composite flexible polishing method and device |
| CN108406526B (en) * | 2018-04-02 | 2024-02-20 | 浙江工业大学 | Active and passive composite flexible polishing method and device |
| CN114274047A (en) * | 2020-09-27 | 2022-04-05 | 中国科学院沈阳自动化研究所 | Efficient precise polishing track optimization method based on force sensing measurement |
| CN114274047B (en) * | 2020-09-27 | 2023-09-12 | 中国科学院沈阳自动化研究所 | Efficient precise polishing track optimization method based on force sensing measurement |
| CN113910106A (en) * | 2021-12-16 | 2022-01-11 | 华辰精密装备（昆山）股份有限公司 | Grinding force control method and grinding machine based on same |
| CN113910106B (en) * | 2021-12-16 | 2022-03-22 | 华辰精密装备（昆山）股份有限公司 | Grinding force control method and grinding machine based on same |
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Address after: 225800, No. 12, pioneering Road, Chengxi industrial district, Baoying County, Jiangsu, Yangzhou Patentee after: Yangzhou Zhike Optomechatronic Technology Development Center Co., Ltd. Address before: 225009 entrepreneurship center, 217 West Development Road, Hanjiang District, Yangzhou, Jiangsu Patentee before: Yangzhou Zhike Optomechatronic Technology Development Center Co., Ltd. |
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