CN-118342381-B - Structured contact wheel abrasive belt grinding device regulated and controlled by flow pressure and control method thereof

Abstract

The invention belongs to the technical field of precision machining, and discloses a structured contact wheel abrasive belt grinding device and a control method, wherein the structured contact wheel abrasive belt grinding device comprises a supporting structure and a structured surface grinding executing mechanism, the supporting structure comprises a bottom plate, a rib plate, a motor fixing piece and an electric push rod supporting seat, and the structured surface grinding executing mechanism comprises a driving motor, a motor connecting shaft, a driving wheel, an abrasive belt, a tensioning wheel support fixing piece, a guide wheel set support, an electric push rod, a force sensor mounting flange, a force sensor, a contact wheel carrier fixing piece, a contact wheel carrier, a structured contact wheel, an annular clamp, a hydraulic oil pipeline and an electrohydraulic servo valve. The invention is mainly used for grinding the structured surface abrasive belt, and the loading parameters of the hydraulic system are regulated according to the real-time change of the grinding force in the grinding process, so that the internal flow pressure of the structured contact wheel is controlled to meet the stable processing of structured surfaces with different sizes.

Inventors

• XIN BO
• ZHAO XIANLI
• SUN JUNFENG
• ZHANG BO
• Pang Yijian

Assignees

• 东北大学

Dates

Publication Date

20260505

Application Date

20240514

Claims (4)

1. 1. A control method of a structured contact wheel abrasive belt grinding device regulated and controlled by flow pressure is characterized in that, The structured contact wheel abrasive belt grinding device with the flow pressure regulation comprises a supporting structure (1) and a structured surface grinding executing mechanism (2), wherein the structured surface grinding executing mechanism (2) is fixed on the supporting structure (1); The structured surface grinding executing mechanism (2) comprises a driving motor (7), an abrasive belt (15), a driving wheel (23), two guide wheel sets (17), a tensioning wheel (19) and a structured contact wheel (12), wherein the driving wheel (23), the tensioning wheel (19), one guide wheel set, the structured contact wheel (12) and the other guide wheel set are sequentially connected by the abrasive belt (15), the structured contact wheel (12), the guide wheel sets (17) and the driving wheel (23) are arranged at the inner side of the abrasive belt (15), the tensioning wheel (19) is arranged at the outer side of the abrasive belt (15), and the output end of the driving motor (7) drives the driving wheel (23) to drive the abrasive belt (15) to perform rotary motion during operation; The structured surface grinding executing mechanism (2) further comprises an electric push rod (21), an electrohydraulic servo valve (8), a force sensor (10), a contact wheel frame (11), a contact wheel frame fixing piece (13) and a hydraulic oil pipeline (14); the electric push rod (21) is installed on the electric push rod supporting seat (5) at one end and is provided with a force sensor installation flange (9) at the other end, the force sensor (10) is installed on the force sensor installation flange (9), and the contact wheel frame (11) is fixed on the force sensor (10) through a contact wheel frame fixing piece (13); The structured contact wheel (12) comprises a contact wheel main shaft (28), a bearing (26), a shaft sleeve (25), a rubber outer ring (24), a combined seal (27) and an annular clamp (29), wherein the rubber outer ring (24) is arranged on the shaft sleeve (25) and forms a revolute pair with the contact wheel main shaft (28) through the bearing (26) and the combined seal (27), the rubber outer ring (24) and the shaft sleeve (25) are arranged on the contact wheel main shaft (28) to form an internal cavity, a plurality of grooves are formed in the rubber outer ring (24), the contact wheel main shaft (28) is fixed on a contact wheel frame (11), flow passages are drilled at two sides of the contact wheel main shaft (28) and are respectively an oil inlet and an oil outlet, and are respectively connected with a hydraulic oil pipeline (14) and are communicated with an electrohydraulic servo valve (8), hydraulic oil flows into the cavity from the oil inlet and the oil outlet, the annular clamp (29) is arranged at two sides of the structured wheel main shaft (12) to prevent leakage, and the internal cavity controls the large flow in the contact wheel main shaft (28) through the electrohydraulic servo valve (8) when in operation, so that the dimensional control of the structured contact wheel main shaft (12) is realized; the control method of the structured contact wheel abrasive belt grinding device regulated and controlled by the flow pressure comprises the following steps: Before machining, a functional relation between grinding force and removal depth is established according to mechanical property parameters and grinding amount of a part to be machined, internal flow pressures of contact wheels corresponding to different grinding amounts and hydraulic loading parameters are calculated, a calculation formula of rigidity of the contact wheels considering actual removal depth and the grinding parameters is deduced and considered, as shown in formula (1), wherein a p is the required grinding depth, F n is grinding normal force, h is target removal depth, and a and b are coefficients related to elastic characteristics of the contact wheels; On the basis, a mapping relation of 'dynamic stiffness of a flow pressure-contact wheel-effective grinding depth' is established, and the accurate control of the machining size of a special structure is realized by utilizing the mapping relation of the function; In the grinding process, the force sensor (10) converts the grinding force F acquired in real time into a force feedback signal U f , the force feedback signal U f is fed back to the hydraulic system through the controller and the servo amplifier, the hydraulic system makes corresponding regulation and control according to the change of the grinding force feedback signal, the fluid dynamic pressure in the cavity of the structured contact wheel (12) is changed, and the dimensional and structural change of the whole structured contact wheel (12) is realized.
2. 2. The control method of the structured contact wheel abrasive belt grinding device controlled by the flow pressure according to claim 1, wherein the structured surface grinding executing mechanism (2) further comprises a guide wheel support (16), a tensioning wheel support (18) and a tensioning wheel support fixing piece (20), the structured contact wheel (12) is installed on a contact wheel frame (11) to form a revolute pair, the guide wheel sets (17) are respectively installed on front end flanges of electric push rods (21) through the guide wheel support (16), the guide wheel sets (17) are installed on the guide wheel support (16) to form the revolute pair, the tensioning wheel (19) is installed on the tensioning wheel support (18) to form the revolute pair with the tensioning wheel support, and the tensioning wheel support (18) is installed on the electric push rod supporting seat (5) through the tensioning wheel support fixing piece (20).
3. 3. The control method of the structured contact wheel abrasive belt grinding device controlled by the flow pressure according to claim 1 is characterized in that the supporting structure (1) comprises a motor fixing piece (3), a rib plate (4), an electric push rod supporting seat (5) and a bottom plate (6), wherein the bottom end of the bottom plate (6) is arranged on the motor fixing piece (3), an electro-hydraulic servo valve (8) is arranged on the bottom plate (6), the rib plate (4) is arranged between the motor fixing piece (3) and the bottom plate (6), the motor fixing piece, the rib plate and the bottom plate are fixedly connected into a rigid body, the lower end of the electric push rod supporting seat (5) is arranged on the bottom plate (6), and the upper end of the electric push rod supporting seat is used for installing an electric push rod (21).
4. 4. The control method of the structured contact wheel abrasive belt grinding device controlled by the flow pressure according to claim 1 is characterized in that in the grinding process, grinding feeding depth is set for an electric push rod (21), forced retraction x f is carried out to complete over-travel protection when grinding force exceeds a safety threshold value set for guaranteeing material processing quality, hydraulic oil flows into a structured contact wheel cavity through a hydraulic pump and an electrohydraulic servo valve, the integral rigidity of a contact wheel changes along with the change of K Liquid and its preparation method along with the change of the flow q L , the integral rigidity of the contact wheel changes particularly to the change of grinding force in the abrasive belt grinding process, the integral rigidity of the contact wheel is influenced by the position disturbing force F p of a loaded object, the force signal of a force sensor fluctuates, the force sensor converts the change condition of the grinding force F into a force feedback signal U f through a feedforward gain K f , and the force feedback signal U r and the force feedback signal U f jointly form a system deviation signal to be transmitted into a servo amplifier, so that the control of the electrohydraulic servo valve is realized, the loading flow q L is changed, and the internal flow pressure of the structured contact wheel is changed, and the processing size of the structured contact wheel is controlled.

Description

Structured contact wheel abrasive belt grinding device regulated and controlled by flow pressure and control method thereof Technical Field The invention relates to the technical field of precision machining, in particular to a structured contact wheel abrasive belt grinding device with flow pressure regulation and control and a control method thereof. Background With the development of industrial technology, the requirements on the precision and the surface quality of the processing of parts are higher and higher. Abrasive belt grinding is used as a high-efficiency and high-precision processing method and is widely applied to the fields of metal processing, composite materials, wood processing and the like. The surface of the workpiece is processed with the appearance with a special structure, so that the characteristics of wear resistance, air flowability and the like of the workpiece can be enhanced. However, abrasive belt grinding for special structured surfaces is currently only performed by abrasive particles with special shapes, is difficult to adapt to the requirements of multi-size structured surface machining, and causes unsatisfactory grinding effect along with abrasive belt abrasion, and affects the machining quality and the machining efficiency. Therefore, the abrasive belt grinding device with the structured contact wheel has important significance for improving the abrasive belt grinding precision of the structured surface, adapting to multi-size structured surface processing, solving the problems of uneven removal depth and the like caused by abrasive belt grinding elastic characteristics. The Chinese patent application with publication number of CN 114193342A provides a structured grinding wheel based on a combined bionic idea, and the invention prepares an electroplated grinding wheel with a special structure according to the structured surface requirement, so that the surface processing of a specific structure can be realized. However, the grinding wheel has single processing morphology, and continuous grinding processing is difficult to realize due to abrasion of the grinding wheel. The invention discloses a robot-assisted laser abrasive belt collaborative processing system and a method for a microstructure on a complex curved surface, which are disclosed in the Chinese patent application with the publication number of CN 116690193A, solve the difficult problem of processing the microstructure on the complex curved surface and provide a method for efficiently processing the microstructure on the complex curved surface. However, laser etching is limited by the field of view, focal length and discharge removal efficiency of a focusing system, and constant cutting depth efficient processing on a complex curved surface is difficult to achieve. Based on the analysis, the patent designs a structured contact wheel abrasive belt grinding device and a control method capable of adapting to flow pressure regulation and control of different processing size requirements. Disclosure of Invention In order to solve the problems, the invention provides a structured contact wheel abrasive belt grinding device with flow pressure regulation and control and a control method thereof, which can adjust the rigidity of a contact wheel according to grinding conditions and adapt to different processing requirements. In order to achieve the aim, the invention provides the technical scheme that the structured contact wheel abrasive belt grinding device with the flow pressure regulation comprises a supporting structure 1 and a structured surface grinding executing mechanism 2, wherein the structured surface grinding executing mechanism 2 is fixed on the supporting structure 1; the structured surface grinding executing mechanism 2 comprises a driving motor 7, an abrasive belt 15, a driving wheel 23, two guide wheel groups 17, a tensioning wheel 19 and a structured contact wheel 12, wherein the driving wheel 23, the tensioning wheel 19, a first guide wheel group, the structured contact wheel 12 and a second guide wheel group are sequentially connected by the abrasive belt 15 in a winding way, the structured contact wheel 12, the guide wheel group 17 and the driving wheel 23 are arranged on the inner side of the abrasive belt 15, the tensioning wheel 19 is arranged on the outer side of the abrasive belt 15, when the structured surface grinding executing mechanism works, the driving wheel 23 is driven by the output end of the driving motor 7 to drive the abrasive belt 15 to rotate, and the structured contact wheel 12 adopts a hydraulic adjustment mode to realize structural control of different sizes. The structured surface grinding executing mechanism 2 further comprises an electric push rod 21, an electrohydraulic servo valve 8, a force sensor 10, a contact wheel carrier 11, a contact wheel carrier fixing piece 13, a hydraulic oil pipeline 14, a guide wheel support 16, a tension wheel support 18 and a tension wheel supp