A flow pressure regulated structured contact wheel abrasive belt grinding device and a control method thereof

Abstract

This invention belongs to the field of precision machining technology, and discloses a structured contact wheel belt grinding device and control method with flow pressure regulation. It has the function of grinding structured surfaces of various sizes with the same structure, including a support structure and a structured surface grinding actuator. The support structure includes a base plate, ribs, a motor fixing component, and an electric actuator support. The structured surface grinding actuator includes a drive motor, a motor connecting shaft, a drive wheel, a sanding belt, a tension wheel, a tension wheel bracket, a tension wheel bracket fixing component, a guide wheel assembly, a guide wheel assembly bracket, an electric actuator, a force sensor mounting flange, a force sensor, a contact wheel frame fixing component, a contact wheel frame, a structured contact wheel, a ring clamp, hydraulic oil lines, and an electro-hydraulic servo valve. This invention is mainly used for structured surface belt grinding. It adjusts the hydraulic system loading parameters according to the real-time changes in grinding force during the grinding process to control the internal flow pressure of the structured contact wheel, thereby meeting the stable processing requirements of structured surfaces of different sizes.

Description

Technical Field

[0001] This invention relates to the field of precision machining technology, and in particular to a structured contact wheel belt grinding device with flow pressure regulation and its control method. Background Technology

[0002] With the development of industrial technology, the requirements for the precision and surface quality of parts processing are becoming increasingly stringent. Belt grinding, as a highly efficient and precise machining method, is widely used in metal processing, composite materials, and wood processing. Machining workpieces with specially structured morphologies can enhance their wear resistance, airflow properties, and other characteristics. However, current belt grinding processes for specially structured surfaces can only be performed using abrasive grains with specific shapes, making it difficult to adapt to the needs of machining multi-size structured surfaces. Furthermore, belt wear leads to unsatisfactory grinding results, affecting machining quality and efficiency. Therefore, designing a belt grinding device with a structured contact wheel is of great significance for improving the precision of belt grinding for structured surfaces, adapting to multi-size structured surface machining, and solving problems such as uneven removal depth caused by the elastic characteristics of belt grinding.

[0003] Chinese invention patent application CN 114193342A discloses a structured grinding wheel based on the concept of combined biomimetic techniques. This invention patent prepares a specially structured electroplated grinding wheel according to the requirements of structured surfaces, enabling surface processing of specific structures. However, the grinding wheel produces a single morphology, and continuous grinding is difficult to achieve due to wheel wear. Chinese invention patent application CN 116690193A proposes a robot-assisted laser belt grinding system and method for processing microstructures on complex curved surfaces. This invention solves the problem of processing microstructures on complex curved surfaces, providing a method for efficient processing of microstructures on complex curved surfaces. However, laser etching is limited by the field of view, focal length, and discharge removal efficiency of the focusing system, making it difficult to achieve efficient processing with constant depth of cut on complex curved surfaces. Based on the above analysis, this patent designs a structured contact wheel belt grinding device and control method with flow pressure regulation that can adapt to different processing size requirements. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a structured contact wheel belt grinding device and its control method with flow pressure regulation, which can adjust the stiffness of the contact wheel according to the grinding conditions to adapt to different processing requirements.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flow pressure-controlled structured contact wheel belt grinding device, wherein the flow pressure-controlled structured contact wheel belt grinding device includes a support structure 1 and a structured surface grinding actuator 2; the structured surface grinding actuator 2 is fixed on the support structure 1;

[0006] The structured surface grinding actuator 2 includes a drive motor 7, an abrasive belt 15, a drive wheel 23, two guide wheel sets 17, a tension wheel 19, and a structured contact wheel 12. The abrasive belt 15 sequentially winds and connects the drive wheel 23, the tension wheel 19, the first guide wheel set, the structured contact wheel 12, and the second guide wheel set. The structured contact wheel 12, the guide wheel set 17, and the drive wheel 23 are located inside the abrasive belt 15, while the tension wheel 19 is located outside the abrasive belt 15. During operation, the drive wheel 23 is driven by the output end of the drive motor 7, causing the abrasive belt 15 to rotate. The structured contact wheel 12 is hydraulically adjustable to achieve structural control of different sizes.

[0007] The structured surface grinding actuator 2 also includes an electric actuator 21, an electro-hydraulic servo valve 8, a force sensor 10, a contact wheel frame 11, a contact wheel frame fixing component 13, a hydraulic oil pipeline 14, a guide wheel bracket 16, a tension wheel bracket 18, and a tension wheel bracket fixing component 20; the drive wheel 23 is fixed to the output end of the drive motor 7 via a motor connecting shaft 22, serving as the power source for the belt grinding device; one end of the electric actuator 21 is mounted on the electric actuator support 5, and the other end is mounted on the force sensor mounting flange 9; the force sensor 10 is mounted on the force sensor... The sensor is mounted on flange 9; the contact wheel frame 11 is fixed to force sensor 10 by contact wheel frame fixing member 13; the structured contact wheel 12 is mounted on contact wheel frame 11 to form a rotating pair; the guide wheel assembly 17 is mounted on front flange of electric actuator 21 by guide wheel bracket 16; the guide wheel assembly 17 is mounted on guide wheel bracket 16 to form a rotating pair; the tension wheel 19 is mounted on tension wheel bracket 18 to form a rotating pair; the tension wheel bracket 18 is mounted on electric actuator support seat 5 by tension wheel bracket fixing member 20.

[0008] The structured contact wheel 12 includes a contact wheel spindle 28, a bearing 26, a bushing 25, a rubber outer ring 24, a combined seal 27, and an annular clamp 29. The rubber outer ring 24 is mounted on the bushing 25 and forms a rotating pair with the contact wheel spindle 28 through the bearing 26 and the combined seal 27. The rubber outer ring 24 and the bushing 25 are mounted on the contact wheel spindle 28 to form an internal cavity. Multiple grooves are provided inside the rubber outer ring 24. The contact wheel spindle 28 is fixed on the contact wheel frame 11. Drills are drilled on both sides of the contact wheel spindle 28. It has flow channels, namely an oil inlet and an oil outlet, which are connected to the hydraulic oil pipeline 14 and the electro-hydraulic servo valve 8 respectively; the internal cavity is connected to the oil inlet and the oil outlet respectively; the hydraulic oil flows from the oil inlet into the cavity and from the internal cavity to the oil outlet; the annular clamp 29 is installed on both sides of the structured contact wheel 12 to prevent hydraulic oil leakage; during operation, the flow rate in the contact wheel spindle 28 is controlled by the electro-hydraulic servo valve 8 to achieve internal flow pressure control of the structured contact wheel 12, thereby controlling its structural dimension changes.

[0009] The support structure 1 includes a motor fixing component 3, a rib plate 4, an electric actuator support seat 5, and a base plate 6; the bottom end of the base plate 6 is mounted on the motor fixing component 3; the electro-hydraulic servo valve 8 is mounted on the base plate 6; the rib plate 4 is mounted between the motor fixing component 3 and the base plate 6, and the three are fixedly connected to form a rigid body; the lower end of the electric actuator support seat 5 is mounted on the base plate 6, and the upper end is used to mount the electric actuator 21.

[0010] A control method for a structured contact wheel belt grinding device with flow pressure regulation includes the following steps:

[0011] Before processing, establish the functional relationship between grinding force and removal depth based on the mechanical property parameters of the part to be processed and the grinding parameters; calculate the internal flow pressure of the contact wheel corresponding to different grinding parameters and hydraulic loading parameters; derive the formula for calculating the stiffness of the contact wheel considering the actual removal depth and grinding parameters, as shown in formula (1);

[0012]

[0013] Where a p To set the required grinding depth, F n Let h be the grinding normal force, a and b be the target removal depth, and a and b be coefficients related to the elastic properties of the contact wheel. Based on this, a mapping relationship of "flow pressure - contact wheel dynamic stiffness - effective grinding depth" is established, and this functional mapping relationship is used to achieve precise control of the machining dimensions of special structures.

[0014] During the grinding process, the force sensor 10 converts the real-time collected grinding force F into a force feedback signal U. f The feedback signal is sent to the hydraulic system via the controller and servo amplifier. The hydraulic system makes corresponding adjustments based on the changes in the grinding force feedback signal, thereby changing the fluid dynamic pressure inside the cavity of the structured contact wheel 12 and realizing the overall size and structure change of the structured contact wheel 12.

[0015] During the grinding process, the electric actuator 21 is used to set the grinding feed depth, and forced retraction is performed when the grinding force exceeds the safety threshold set to ensure the material processing quality. f Overtravel protection is completed; hydraulic oil flows into the structured contact wheel cavity via the hydraulic pump and electro-hydraulic servo valve, and the flow rate q... L The overall stiffness of the contact wheel changes with K. 液 The force changes with the position of the object being loaded, specifically manifested as the change in grinding force during belt grinding; it is affected by the positional disturbance force F of the object being loaded. p Due to the influence of the force sensor, the force signal fluctuates. The force sensor transmits the changes in grinding force F through a feedforward gain K. f Converted into force feedback signal U f and with system command signal U rTogether, they form a system deviation signal input to the controller and then to the servo amplifier, thereby controlling the electro-hydraulic servo valve and changing its loading flow rate q. L This changes the internal flow pressure of the structured contact wheel, thereby enabling control over the machining dimensions of the structured contact wheel.

[0016] The beneficial effects of this invention are:

[0017] This invention is mainly used for precision machining of parts by belt grinding. By designing a support structure, the structured contact wheel belt grinding device with flow pressure regulation can be connected to various auxiliary tools, enabling active control of the position and posture of the grinding tool. It has the advantages of simple structure and convenient operation.

[0018] By automatically adjusting the stiffness of the contact wheel, the belt grinding unit can adapt to materials of varying hardness and complex grinding conditions, improving grinding efficiency and machining quality. It also reduces vibration during grinding, extending the service life of the belt and contact wheel. Precise control of grinding parameters allows for better surface roughness and shape accuracy. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a structured contact wheel belt grinding device with flow pressure regulation according to the present invention;

[0020] Figure 2 This is a schematic diagram of the support structure of a structured contact wheel belt grinding device with flow pressure regulation according to the present invention;

[0021] Figure 3 This is a schematic diagram of the variable stiffness grinding execution structure of a structured contact wheel belt grinding device with flow pressure regulation according to the present invention.

[0022] Figure 4(a) is a schematic diagram of the internal structure of the variable stiffness contact wheel in the structured contact wheel belt grinding device with flow pressure regulation of the present invention.

[0023] Figure 4(b) is the AA cross-sectional view of Figure 4(a);

[0024] Figure 5 This is a control principle diagram of the electro-hydraulic loading system of a structured contact wheel belt grinding device with flow pressure regulation according to the present invention;

[0025] Figure 6 This is a schematic diagram of the contact between the structured contact wheel and the workpiece.

[0026] In the diagram: 1-Support structure; 2-Structured surface grinding actuator; 3-Motor fixture; 4-Rib plate; 5-Electric actuator support seat; 6-Base plate; 7-Drive motor; 8-Electro-hydraulic servo valve; 9-Force sensor mounting flange; 10-Force sensor; 11-Contact wheel frame; 12-Structured contact wheel; 13-Contact wheel frame fixture; 14-Hydraulic oil pipeline; 15-Abrasive belt; 16-Guide wheel bracket; 17-Guide wheel assembly; 18-Tensioning wheel bracket; 19-Tensioning wheel; 20-Tensioning wheel bracket fixture; 21-Electric actuator; 22-Motor connecting shaft; 23-Drive wheel; 24-Rubber outer ring; 25-Shaft sleeve; 26-Bearing; 27-Combined seal; 28-Contact wheel spindle; 29-Annular clamp. Detailed Implementation

[0027] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixation," etc., should be interpreted broadly. For example, "fixation" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] like Figures 1 to 3 As shown, this invention is a structured contact wheel belt grinding device and its control method with flow pressure regulation, comprising a support structure 1 and a structured surface grinding actuator 2. The support structure 1 provides a stable support platform for the grinding end. Ribs 4, a base plate 6, and motor fixing parts 3 are vertically placed and fixedly connected in pairs to improve structural strength. An electric actuator support 5 is fixedly connected to the base plate 6 to support the electric actuator 21.

[0030] like Figure 1 and Figure 3As shown, the structured surface grinding actuator 2 mainly includes a power source, a control system, and a transmission wheel system. The drive motor 7, mounted on the base plate 6, is connected to the drive wheel 23 via the motor connecting shaft 22, providing power to the structured surface grinding actuator 2 and driving the abrasive belt 15 to perform grinding. The abrasive belt 15 sequentially winds and connects the drive wheel 23, the guide wheel assembly 17, the tension wheel 19, and the structured contact wheel 12. The structured contact wheel 12, the guide wheel assembly 17, and the drive wheel 23 are located inside the abrasive belt, while the tension wheel 19 is located outside the abrasive belt. The electric actuator 21 is mounted on the electric actuator support 5, with a force sensor mounting flange 9 installed at its front end for mounting the force sensor 10. During processing, the force sensor 10 measures the grinding force in real time and feeds back the force sensor changes to the hydraulic system. The hydraulic system adjusts the internal flow pressure of the structured contact wheel 12 by loading parameters, changing the stiffness of the contact wheel, thereby ensuring that appropriate grinding parameters and grinding force are maintained during processing.

[0031] The contact wheel frame 11 is fixed to the force sensor 10 by the contact wheel frame fixing member 13; the structured contact wheel 12 is mounted on the contact wheel frame 11 by the contact wheel spindle 28 and forms a rotating pair with the contact wheel spindle 28; the guide wheel assembly 17 is mounted on the guide wheel bracket 16 to form a rotating pair, and is mounted on the front flange of the electric push rod 21 by the guide wheel bracket (16); the tension wheel 23 is mounted on the tension wheel bracket 24 and forms a rotating pair with it, and the tension wheel bracket 24 is mounted on the electric push rod support seat 5 to keep the abrasive belt tensioned at all times during the grinding process.

[0032] As shown in Figure 4(b), the structured contact wheel 12 is connected to the bushing 25 via the rubber outer ring 24, and is mounted on the contact wheel connecting shaft 28 via the bearing 26 and the combined seal 27, forming a hollow inner cavity and constituting a rotating pair; the shaft 28 is fixed on the contact wheel frame 13, and is connected to the hydraulic oil pipeline 15 on both sides, and is connected to the electro-hydraulic servo valve 8; the electro-hydraulic servo valve 8 is mounted on the base plate 6; during operation, the flow rate in the shaft 28 can be controlled by the electro-hydraulic servo valve 8 to achieve flow pressure control inside the structured contact wheel 12, thereby controlling its stiffness change.

[0033] The following description of the working process of a variable stiffness contact wheel belt grinding device and control method of the present invention will further illustrate the technical solution of the present invention.

[0034] Before machining, the operator first establishes a functional relationship between grinding force and depth of removal based on the mechanical properties of the part to be machined and the grinding parameters. The formula for calculating the stiffness of the contact wheel under the combined effect of hydraulic loading parameters and grinding parameters is derived. Based on this, a mapping relationship of "flow pressure—contact wheel dynamic stiffness—effective grinding depth" is established. For example... Figure 5 As shown, during the grinding process, the force sensor converts the real-time collected grinding force F into a force feedback signal U. fThe signal is fed back to the hydraulic system via the controller and servo amplifier. The latter makes corresponding adjustments based on the changes in the grinding force signal, thereby changing the stiffness coefficient K of the hydraulic oil inside the contact wheel cavity. 液 This allows for the overall stiffness control of the contact wheel. During continuous grinding, as the control objective function and external disturbances constantly change, key parameters such as the load pressure and area of ​​the grinding contact arc zone and the effective grinding depth dynamically vary within a wide range. In the process of controlling the stiffness of the electro-hydraulic loading system (hydrodynamic pressure), the controller parameters need to be continuously adjusted based on the output error between the controlled object and the reference model, thereby suppressing the adverse effects of parameter changes in the controlled object and external disturbances. During grinding, the grinding feed depth can be set by an electric actuator, and forced retraction can be performed when the grinding force is too high. f Overtravel protection is implemented. Through the above embodiments, the variable stiffness contact wheel belt grinding device of the present invention can effectively improve grinding efficiency and processing quality, and is suitable for processing various complex shapes and materials with different hardness.

[0035] It should be understood that the above description of specific embodiments of the present invention is only for illustrating the technical approach and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of the present invention should be covered within the protection scope of the present invention.

Claims

1. A control method for a structured contact wheel belt grinding device with flow pressure regulation, characterized in that, The pressure-controlled structured contact wheel belt grinding device includes a support structure (1) and a structured surface grinding actuator (2); the structured surface grinding actuator (2) is fixed on the support structure (1); The structured surface grinding actuator (2) includes a drive motor (7), a sanding belt (15), a drive wheel (23), two guide wheel sets (17), a tension wheel (19), and a structured contact wheel (12). The sanding belt (15) sequentially winds and connects the drive wheel (23), the tension wheel (19), one of the guide wheel sets, the structured contact wheel (12), and the other guide wheel set. The structured contact wheel (12), the guide wheel set (17), and the drive wheel (23) are inside the sanding belt (15), and the tension wheel (19) is located outside the sanding belt (15). During operation, the drive wheel (23) is driven by the output end of the drive motor (7), which drives the sanding belt (15) to rotate. The structured surface grinding actuator (2) also includes an electric actuator (21), an electro-hydraulic servo valve (8), a force sensor (10), a contact wheel frame (11), a contact wheel frame fixing component (13), and a hydraulic oil line (14). The drive wheel (23) is fixed to the output end of the drive motor (7) via the motor connecting shaft (22) and serves as the power source for the belt grinding device; one end of the electric push rod (21) is mounted on the electric push rod support (5), and the other end is mounted on the force sensor mounting flange (9); the force sensor (10) is mounted on the force sensor mounting flange (9); the contact wheel frame (11) is fixed to the force sensor (10) via the contact wheel frame fixing part (13); The structured contact wheel (12) includes a contact wheel spindle (28), a bearing (26), a bushing (25), a rubber outer ring (24), a combined seal (27), and an annular clamp (29); the rubber outer ring (24) is mounted on the bushing (25) and forms a rotating pair with the contact wheel spindle (28) through the bearing (26) and the combined seal (27); the rubber outer ring (24) and the bushing (25) are mounted on the contact wheel spindle (28) to form an internal cavity; multiple grooves are provided inside the rubber outer ring (24); the contact wheel spindle (28) is fixed on the contact wheel frame (11); The contact wheel spindle (28) has flow channels drilled on both sides, which are the oil inlet and the oil outlet, respectively, and are connected to the hydraulic oil pipeline (14) and the electro-hydraulic servo valve (8); the internal cavity is connected to the oil inlet and the oil outlet respectively; the hydraulic oil flows from the oil inlet to the cavity and from the internal cavity to the oil outlet; the annular clamp (29) is installed on both sides of the structured contact wheel (12) to prevent hydraulic oil leakage; during operation, the flow rate in the contact wheel spindle (28) is controlled by the electro-hydraulic servo valve (8) to realize the internal flow pressure control of the structured contact wheel (12), thereby controlling the change of its structural dimensions; The control method for the structured contact wheel belt grinding device with flow pressure regulation includes the following steps: Before processing, establish the functional relationship between grinding force and removal depth based on the mechanical property parameters of the part to be processed and the grinding parameters; calculate the internal flow pressure of the contact wheel corresponding to different grinding parameters and hydraulic loading parameters; derive the formula for calculating the stiffness of the contact wheel considering the actual removal depth and grinding parameters, as shown in formula (1); where a p To set the required grinding depth, F n The grinding normal force is h, the target removal depth is h, and a and b are coefficients related to the elastic properties of the contact wheel. Based on this, a mapping relationship of "flow pressure - contact wheel dynamic stiffness - effective grinding depth" is established, and this functional mapping relationship is used to achieve precise control of the machining dimensions of special structures; During the grinding process, the force sensor (10) converts the real-time collected grinding force F into a force feedback signal U. f The feedback is sent to the hydraulic system through the controller and servo amplifier. The hydraulic system makes corresponding adjustments based on the changes in the grinding force feedback signal, thereby changing the fluid dynamic pressure inside the cavity of the structured contact wheel (12) and realizing the size and structure change of the overall structured contact wheel (12).

2. The control method for the structured contact wheel belt grinding device with flow pressure regulation according to claim 1, characterized in that, The structured surface grinding actuator (2) further includes a guide wheel bracket (16), a tension wheel bracket (18), and a tension wheel bracket fixing member (20); the structured contact wheel (12) is mounted on the contact wheel frame (11) to form a rotating pair; the guide wheel assembly (17) is mounted on the front flange of the electric actuator (21) through the guide wheel bracket (16); the guide wheel assembly (17) is mounted on the guide wheel bracket (16) to form a rotating pair; the tension wheel (19) is mounted on the tension wheel bracket (18) to form a rotating pair; the tension wheel bracket (18) is mounted on the electric actuator support seat (5) through the tension wheel bracket fixing member (20).

3. The control method for the structured contact wheel belt grinding device with flow pressure regulation according to claim 1, characterized in that, The support structure (1) includes a motor fixing part (3), a rib plate (4), an electric actuator support seat (5), and a base plate (6); the bottom end of the base plate (6) is installed on the motor fixing part (3); the electro-hydraulic servo valve (8) is installed on the base plate (6); the rib plate (4) is installed between the motor fixing part (3) and the base plate (6), and the three are fixedly connected to form a rigid body; the lower end of the electric actuator support seat (5) is installed on the base plate (6), and the upper end is used to install the electric actuator (21).

4. The control method for the structured contact wheel belt grinding device with flow pressure regulation according to claim 1, characterized in that, During the grinding process, the grinding feed depth is set for the electric actuator (21), and forced retraction is performed when the grinding force exceeds the safety threshold set to ensure the material processing quality. f Overtravel protection is completed; hydraulic oil flows into the structured contact wheel cavity via the hydraulic pump and electro-hydraulic servo valve, and the flow rate q... L The overall stiffness of the contact wheel changes with K. 液 The force changes with the position of the object being loaded, specifically manifested as the change in grinding force during belt grinding; it is affected by the positional disturbance force F of the object being loaded. p Due to the influence of the force sensor, the force signal fluctuates. The force sensor transmits the changes in grinding force F through a feedforward gain K. f Converted into force feedback signal U f and with system command signal U r Together, they form a system deviation signal input to the controller and then to the servo amplifier, thereby controlling the electro-hydraulic servo valve and changing its loading flow rate q. L This changes the internal flow pressure of the structured contact wheel, thereby enabling control over the machining dimensions of the structured contact wheel.

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