A Dynamic Grinding Force Measuring Method for Grinding Device

Abstract

The invention discloses a dynamic grinding force measurement method for a grinding device. According to the force situation when the workpiece is ground, firstly determine the isolation body that needs to be mechanically analyzed, and secondly determine the contact between the end of the grinding tool and the workpiece. The force is analyzed, and then the force of the pressure-torsion coupling sensor is analyzed, and finally the mechanical model of the workpiece grinding is established to solve the target force and moment. The invention can perform direct measurement, has high speed, high precision, low price and universal applicability.

Description

technical field [0001] The invention relates to the technical field of measuring dynamic contact force and contact moment, in particular to a dynamic grinding force measuring method for a grinding device. Background technique [0002] Grinding is an essential step in the processing of parts. For example, the flash and gate of castings (cast iron, cast aluminum, cast steel, etc.) after processing need to be polished, the burrs of parts processed by lathe need to be polished, and the welding gap of metal materials also needs to be polished. [0003] At present, there are two grinding methods: 1. Traditional manual grinding: the grinding quality is uneven, time-consuming and laborious, and the working conditions are poor, which is prone to safety accidents; 2. Automatic equipment grinding: the grinding quality is independently controllable and efficient ,low cost. Therefore, the automatic grinding method will completely replace the traditional manual grinding method. [0004...

AI Technical Summary

Problems solved by technology

For automatic equipment dedicated to grinding, a dynamic torque sensor is installed on the grinding motor shaft attached to the grinding tool to measure the contact torque between the grinding head and the workpiece surface. The main disadvantages of this method are: the dynamic torque sensor is expensive, complex in structure, and inconvenient to install , is not easy to maintain, is not suitable for small-scale measurement and can only be used for torque measurement; for industrial robots, according to the joint pose of the robot and the measurement value of the six-axis force sensor installed on the robot wrist, the grinding tool and workpiece can be calculated Surface contact force and contact moment, the main disadvantages of this method: the calculation process is complicated, the amount of calculated data is large, the method of indirect measurement is used, the measurement accuracy cannot be guaranteed, and the six-axis force sensor is expensive

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