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CN-121973089-A - Deep sea ball valve spheroid grinding equipment based on feedback and dynamics control

CN121973089ACN 121973089 ACN121973089 ACN 121973089ACN-121973089-A

Abstract

The invention relates to a deep sea ball valve ball grinding device based on feedback and force control, which belongs to the technical field of ball valve ball processing, and comprises a machine tool base, a speed reducer, a workbench disc, a double-shaft rotating mechanism, a grinding component and a protective sleeve, wherein the double-shaft rotating mechanism comprises a base, a swinging bracket, an expansion clamp and a motor I/II, the ball gesture is driven to be adjusted through multi-shaft linkage, each region of a ball surface is fully contacted with the grinding disc, the grinding component adopts an air pressure driven adjusting rod and a grinding lining plate, the grinding device solves the problems of traditional grinding dead angle, unstable force control, low efficiency of liquid supply and chip removal and the like, adapts to multiple-specification spheres, improves grinding precision and stability, and meets the severe requirements of deep-sea ball valves on roundness and surface finish.

Inventors

  • Jin Kadi
  • LIN CHAO
  • YU JIANGUO
  • LI XIANGYING
  • GOU ZHIQI
  • ZHOU CUIYING
  • HUANG JINZHU
  • HU PENGCHENG
  • YE XUNLIANG

Assignees

  • 浙江伯特利科技股份有限公司

Dates

Publication Date
20260505
Application Date
20260306

Claims (10)

  1. 1. Deep sea ball valve spheroid grinding equipment based on feedback and dynamics control, its characterized in that includes: the machine tool comprises a machine tool base (1), wherein a speed reducer (2) is fixedly connected to the top of the machine tool base (1), and a workbench disc (3) is fixedly connected to the output end of the speed reducer (2); The double-shaft rotary mechanism (4) is fixedly connected to the top of the workbench disc (3) and comprises a base (41), a swinging bracket (42) and an expansion clamp (49), wherein the base (41) is fixedly connected to the top of the workbench disc (3), the swinging bracket (42) is in sliding fit with the base (41), and the expansion clamp (49) is arranged at one end of the swinging bracket (42); A motor II (48) fixedly connected to one side of the base (41) and connected with the swing bracket (42) for driving the expansion clamp (49) to rotate along the Y axis; A motor I (44) connected to the other end of the swing bracket (42) and driving the expansion clamp (49) to rotate along the X axis; the grinding assembly (5) is arranged on the main shaft of the machine tool base (1) and comprises a fixed sleeve ring (52) and a plurality of adjusting rods (55), the adjusting rods (55) are in sliding fit with the fixed sleeve ring (52), and the bottom of the adjusting rods is fixedly connected with a grinding lining plate (581) and spliced to form a grinding disc (58); Wherein, the three-axis linkage drives the posture adjustment of the sphere, so that each area on the surface of the sphere is fully contacted with the grinding disc (58), and the grinding dead angle is eliminated.
  2. 2. The deep sea ball valve ball grinding device based on feedback and force control according to claim 1, wherein the swinging support (42) is in sliding fit with the top of the base (41) through a sliding groove sliding block, a connecting support (47) is fixedly connected to one side of the swinging support (42), the other side of the connecting support (47) is fixedly connected with the output end of the motor II (48), and swinging resistance is reduced through the sliding groove sliding block, so that stable posture adjustment is ensured.
  3. 3. The deep sea ball valve sphere grinding device based on feedback and force control according to claim 1, wherein the expansion clamp (49) comprises a fixed disc I (493), a connecting flange (495) is fixedly connected to the top of the fixed disc I (493) through a plurality of supporting rods (494), a screw rod (492) is rotatably assembled on the top of the fixed disc I (493), a sleeve rod (497) is sleeved on the outer wall of the screw rod (492) in a threaded manner, the sleeve rod (497) is slidably matched with the connecting flange (495), the outer wall is rotatably connected with a clamping plate (499) through a connecting rod (498), a kidney-shaped through hole (496) is formed in the connecting flange (495), a guide column (4910) is fixedly connected to the bottom of the clamping plate (499), the guide column (4910) is slidably matched with the kidney-shaped through hole (496), and the clamping plate is radially telescopic through screw rod driving, and the clamping plate is adapted to spheres with different diameters.
  4. 4. A deep sea ball valve ball grinding device based on feedback and force control according to claim 3, characterized in that one end of the swinging bracket (42) is rotatably provided with a rotary seat (45), the top of the rotary seat (45) is rotatably provided with a rotary cylinder (4911) in a penetrating and rotating way, the bottom end of the screw rod (492) extends to the bottom of the rotary cylinder (4911), a positioning sleeve ring (46) is sleeved on the outer wall of the rotary cylinder (4911) in a threaded way, and the ball is axially limited by the positioning sleeve ring, so that the ball is prevented from moving during grinding.
  5. 5. The deep sea ball valve ball grinding device based on feedback and force control according to claim 4, wherein the other end of the swinging bracket (42) is fixedly connected with a fixed seat I (43), the motor I (44) is fixedly connected to one side of the fixed seat I (43), an output shaft penetrates through the inner side of the fixed seat I (43) and is sleeved with a limiting collar (441), the limiting collar (441) is fixedly connected to the fixed seat I (43), rectangular through holes (442) are formed in the two, a supporting end (491) is fixedly connected to the top of the connecting flange (495), and the supporting end (491) is matched with the rectangular through holes (442) to avoid slipping during power transmission.
  6. 6. The deep sea ball valve sphere grinding device based on feedback and force control according to claim 5, wherein the grinding component (5) further comprises a knife handle (51) inserted in the main shaft, the fixed sleeve ring (52) is fixedly sleeved on the outer wall of the knife handle (51), an air cavity (521) is formed in the inner part of the fixed sleeve ring, a piston cylinder (522) is sleeved on the outer wall of the adjusting rod (55), the piston cylinder (522) is fixedly connected in the air cavity (521) and provided with an air inlet hole (523), the outer wall of the fixed sleeve ring (52) is fixedly sleeved with a rotary joint (53), the rotary joint (53) is communicated with the air cavity (521) and an external air source, and the pressure is exerted by the adjusting rod (55) through compressed air driving, so that pure mechanical constant force grinding is achieved.
  7. 7. The deep sea ball valve ball grinding device based on feedback and force control according to claim 6, wherein a connecting rotating shaft (54) is clamped in the tool handle (51), a fixed disc II (57) is fixedly connected to the bottom end of the connecting rotating shaft (54), the fixed disc II (57) is in sliding fit with the adjusting rod (55), the connecting rotating shaft (54) is connected with the adjusting rod (55) through a flexible guide pipe (56), the bottom end of the adjusting rod (55) is hollow, an injection hole (583) is formed in the grinding lining plate (581), and grinding fluid is sprayed to the grinding surface from the injection hole (583) through the connecting rotating shaft (54), the flexible guide pipe (56) and the adjusting rod (55), so that lubrication and cooling are achieved.
  8. 8. The deep sea ball valve ball grinding device based on feedback and force control according to claim 7, wherein the spiral groove (582) is formed in the bottom of the grinding disc (58), the spiral direction of the spiral groove (582) is opposite to the rotation direction of the grinding disc (58), and grinding scraps and redundant grinding fluid are guided to the edge, so that the ball is prevented from being scratched by accumulation.
  9. 9. The deep-sea ball valve sphere grinding device based on feedback and force control according to claim 6, wherein a plurality of positioning blocks (524) are fixedly connected in the fixed collar (52), the positioning blocks (524) are clamped into corresponding clamping grooves of the tool handle (51), and the fixed collar (52) and the tool handle (51) are circumferentially positioned through screw fastening, so that relative rotation during grinding is prevented.
  10. 10. The deep sea ball valve ball grinding device based on feedback and force control according to any one of claims 1 to 9, further comprising a protective sleeve (7), wherein the protective sleeve (7) is fixedly connected with a main shaft lifting plate through a connecting upright post (6), is lifted along with a main shaft and is matched with a ball head to form a sealed barrel shape, an annular conduit (73) is sleeved on the outer wall of the protective sleeve (7), a liquid suction pipe (72) is fixedly connected with the inner wall of the protective sleeve (7), the liquid suction pipe (72) is communicated with the annular conduit (73), and the annular conduit (73) is connected with external dust collection equipment through a connecting conduit (74) to realize centralized collection of abrasive dust and grinding liquid.

Description

Deep sea ball valve spheroid grinding equipment based on feedback and dynamics control Technical Field The invention belongs to the technical field of ball valve ball processing, and relates to deep sea ball valve ball grinding equipment based on feedback and force control. Background The deep sea ball valve is used as a core sealing component in deep sea oil gas exploitation, a submarine observation system, a deep sea detector and other equipment, needs to bear ultra-high water pressure in a deep sea environment of thousands of meters for a long time, and needs to ensure zero leakage of a medium, so that extremely high requirements are put on roundness and surface finish of a ball body, namely that roundness errors are smaller than or equal to 0.003mm, surface roughness is smaller than or equal to 0.8 mu m, and the ball surface is free from any damage such as scratches and pits, so that the ball can adapt to the deep sea high-pressure sealing working condition. Ball grinding is a key process for determining the sealing performance of the deep-sea ball valve, and the machining precision of the ball grinding directly influences the operation reliability and the service life of equipment. However, the existing deep-sea ball valve ball grinding equipment and process have a plurality of technical bottlenecks in practical application, and the grinding precision, efficiency and surface quality are difficult to be considered, and the specific problems are as follows: The traditional ball grinding mostly adopts a simple longitude and latitude rotation mode, namely, the grinding disc is fixed to rotate, and the ball rotates around the axis of the ball in the longitude and latitude direction to realize grinding. However, due to the structural characteristics of the ball, the linear velocity difference of different areas of the ball surface is obvious under a single motion track, namely, the linear velocity of an equatorial area is high, the grinding amount is large, excessive abrasion is easy to occur, the linear velocity of a pole area is low, even close to zero, the grinding amount is insufficient, the residual bulge is easy to occur, the grinding amount of the ball surface is uneven, the overall roundness and the finish degree are difficult to ensure, and the severe precision requirement of the deep sea ball valve cannot be met. The existing equipment mainly adopts a rigid feeding mode or a sensor feedback type flexible feeding mode, the rigid feeding mode directly drives the grinding head to feed through the motor screw rod, the structure is simple, the adjustment flexibility is poor, when the grinding disc encounters the bulge on the surface of a sphere or uneven machining allowance, impact force cannot be buffered timely, spherical scratches and vibration lines are easily caused by hard grinding, even the sphere is deformed, the sensor feedback type flexible feeding relies on a high-precision sensor and a complex control algorithm to realize force adjustment, but deep sea operation and grinding environment are accompanied by strong vibration, abrasive dust splashing, high humidity and other interferences, hysteresis or deviation easily occurs in sensor feedback, the adjustment precision is unstable, and the electric control module has high fault rate under severe environment, high maintenance cost and difficulty in realizing stable and reliable constant-force grinding. The grinding fluid is supplied to the existing equipment in an external spraying mode, the grinding disc and the surface of the sphere are tightly attached to form a closed grinding area in the grinding process, the externally sprayed grinding fluid is difficult to penetrate through the attaching surface to enter the core grinding area, so that local dry grinding heating is caused, the abrasion of the grinding disc can be aggravated, the performance of the surface material of the sphere is affected by high temperature, thermal deformation or surface defects are generated, meanwhile, abrasive dust generated by grinding cannot be discharged in time, the grinding contact surface is easy to accumulate and roll, secondary scratch is caused on the sphere, the surface smoothness is further reduced, grinding resistance is increased due to accumulation of abrasive dust, and the grinding stability is affected. Therefore, we propose a deep sea ball valve ball grinding device based on feedback and force control, which is used for solving the above-mentioned problems. Disclosure of Invention In view of the above, the present invention provides a deep sea ball valve ball grinding device based on feedback and force control to solve the above problems. In order to achieve the purpose, the invention provides the technical scheme that the deep sea ball valve sphere grinding equipment based on feedback and force control comprises: the machine tool comprises a machine tool base, wherein a speed reducer is fixedly connected to the top of the machine tool base, and a