Flexible grinding device and control method

Abstract

The invention relates to the technical field of grinding, and provides a flexible grinding device and a control method. The device comprises a main servo driving structure, wherein the output end of the main servo driving structure is connected with a grinding structure through a feeding amount adjusting structure; the feeding amount adjusting structure is configured to assist the main servo driving structure, and the feeding amount of the grinding structure is finely adjusted in advance according to key data of the to-be-machined part, so that the grinding force of the to-be-machined part is constant; the grinding structure is used for grinding the surface of a part to be machined; the contour measuring device is configured to collect key data of a part to be machined in advance and send the key data to the analyzing and processing unit; the analyzing and processing unit is used for calculating feeding data of the to-be-machined part so as to control the feeding amount adjusting structure or the main servo driving structure to operate during grinding machining; the feeding data at least comprise contour limit deviation and radius change rate. According to the invention, the technical problem of realizing constant grinding force under the conditions of high speed and large grinding force is solved.

Description

Technical Field

[0001] This application relates to the field of grinding technology, and in particular to a flexible grinding device and control method. Background Technology

[0002] Most existing grinding technologies are relatively traditional, where a motor drives a cutting tool (grinding wheel) to provide cutting force through rotation, and the motor's forward movement provides the cutting feed force. When the workpiece surface shape changes, especially abruptly, in traditional grinding methods, this abrupt change leads to abrupt changes in cutting force. These abrupt grinding forces exert significant impact on the cutting tool (motor), affecting the tool and motor's lifespan and overall grinding quality. Constant force grinding technology effectively avoids these drawbacks. The constant force mechanism can adapt to abrupt changes in workpiece surface shape without generating sudden forces. There are several mainstream types of constant force grinding technology: Type 1, floating pneumatic type. This method uses a pneumatic structure to support the cutting tool. When the tool feed resistance increases, the pneumatic structure has a certain degree of yielding, thus avoiding the impact caused by abrupt changes in workpiece shape. The disadvantage of this method is poor precision in controlling the grinding force and it is not suitable for harsh working conditions with high grinding forces. Type 2, using a constant torque servo motor combined with a synchronous transmission mechanism to achieve constant force grinding. The core technology of this type is the application of a constant torque motor. Servo motors have a certain lag in responding to sudden force changes caused by abrupt changes in the surface shape of the workpiece. Therefore, this method is not suitable for high-speed grinding. When the surface shape of the workpiece changes abruptly, it will inevitably cause a large impact on the grinding mechanism. This constant force mechanism is well applied for slow grinding and polishing.

[0003] Type three, the "spring + guide post" method, achieves constant force grinding with variable grinding force. This mechanism relies entirely on the elasticity of the spring itself. When grinding resistance is high, the spring is further compressed, causing the tool to retract and avoid impact; when grinding resistance is low, the spring extends, allowing the grinding tool to fit against the workpiece. This method has poor control precision over grinding force and feed rate, and is not suitable for working conditions with high grinding forces, especially when the workpiece surface shape changes significantly or the grinding speed is high. In such cases, this structure cannot be used.

[0004] As can be seen from the above, the pain point of the existing constant force grinding technology lies in how to achieve high-precision control of grinding force and feed rate under working conditions of high speed, large grinding force and large change in workpiece surface shape, and to achieve high-speed and high-efficiency grinding, polishing and other operations. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible grinding device and control method, solving the technical problem of achieving constant grinding force under high-speed and high-grinding conditions. The specific solution is as follows:

[0006] A flexible grinding device, comprising:

[0007] The main servo drive structure, the output end of which is connected to the grinding structure through the feed adjustment structure, is used to provide feed power to the grinding structure;

[0008] The feed rate adjustment structure is configured as an auxiliary main servo drive structure to pre-fine adjust the feed rate of the grinding structure based on the key data of the workpiece to be processed, so as to keep the grinding force of the workpiece constant; the key data includes at least: the initial phase angle, contour size and surface roughness of the workpiece to be processed.

[0009] The grinding structure is used to grind the surface of the part to be processed;

[0010] It also includes: a contour measuring device, configured to pre-collect key data of the part to be processed and send it to the analysis and processing unit;

[0011] The analysis and processing unit, based on the acquired key data, calculates the feed data of the part to be processed using a preset method before grinding, so as to control the operation of the feed adjustment structure or the main servo drive structure during grinding; the feed data includes at least: contour limit deviation and radius change rate.

[0012] Furthermore, the main servo drive structure includes:

[0013] The main support bracket has a fixed bottom and a fixed top mounting of a main servo electric cylinder.

[0014] The output shaft of the main servo electric cylinder is connected to the feed adjustment structure via the main feed connector;

[0015] The main servo electric cylinder is electrically connected to the analysis and processing unit.

[0016] The axial centerline of the main servo electric cylinder coincides with that of the feed adjustment structure and the grinding structure.

[0017] Furthermore, the feed rate adjustment structure includes:

[0018] The first connecting plate is connected to the main feed connector;

[0019] The first connecting plate is fixedly connected to the output shaft of the feed servo motor; wherein the output shaft of the feed servo motor passes through the middle of the first connecting plate and extends into the interior of the main feed connector;

[0020] A second connecting plate is fixedly installed on one side of the feed servo motor, wherein a buffer component is sleeved on the output shaft of the feed servo motor at the position between the first connecting plate and the second connecting plate;

[0021] The buffer component has limiting grooves at both ends corresponding to the surfaces of the first connecting plate and the second connecting plate to restrict the radial displacement of the buffer component.

[0022] The feed servo motor coincides with the axial centerline of the main servo cylinder, and it is electrically connected to the analysis and processing unit.

[0023] Furthermore, the feed servo motor is a linear servo electric cylinder; the buffer component is a buffer spring.

[0024] Furthermore, it also includes: positioning support structure;

[0025] The positioning support structure includes:

[0026] Hollow positioning and support shell;

[0027] A feed servo motor is fixed on one side of the positioning support housing, and a grinding structure is fixed on the other side.

[0028] The bottom of the positioning support housing is slidably connected to the positioning support frame.

[0029] Furthermore, the grinding structure includes:

[0030] A grinding motor, wherein a grinding section is provided at the free end of the output shaft of the grinding motor.

[0031] One side surface of the grinding section faces the workpiece to be processed, and the grinding section contacts the surface of the workpiece to be processed to perform grinding.

[0032] Furthermore, the contour measuring device includes:

[0033] Several detection devices are evenly distributed longitudinally along the outer surface of the part to be processed; key data of the part to be processed are collected by contacting the front end of the detection devices with the outer surface of the part to be processed.

[0034] One end of each of the aforementioned detection devices is retractably connected to the pre-detection support block via a servo motor; each detection device is electrically connected to the analysis and processing unit.

[0035] The pre-inspection support block is provided with a guide cavity for accommodating the servo motor at the position corresponding to each servo motor; a compression spring is arranged between the inner wall of the guide cavity and the servo motor.

[0036] The pre-inspection support block is installed on the pre-inspection bracket.

[0037] Furthermore, it also includes: rotating structures;

[0038] The rotating structure includes:

[0039] A rotary drive motor; a clamping device is provided on the upper part of the rotary drive motor to fix the workpiece to be processed on the top of the rotary drive motor.

[0040] A flexible grinding control method is applied to the aforementioned flexible grinding apparatus; the method includes the following steps:

[0041] S1: Key data of the part to be processed are collected in advance by a contour measuring device; the key data includes at least the initial phase angle, contour dimensions and surface roughness of the part to be processed;

[0042] S2: Based on the acquired key data, calculate the initial feed data; the initial feed data includes at least: contour limit deviation and radius change rate; the contour limit deviation is: the difference between the extreme values ​​on both sides of the radial section of the part to be processed; wherein, one extreme value is the farthest distance from the farthest end of the left contour of the part to be processed to the preset center; the other extreme value is the nearth distance from the nearest end of the right contour of the part to be processed to the preset center;

[0043] S3: If the profile limit deviation is less than or equal to the out-of-tolerance threshold, proceed to the next step;

[0044] S4: Based on the judgment result of the contour limit deviation and the preset range, control the operation of the main servo drive structure or the feed adjustment structure.

[0045] Optionally, S4 specifically includes:

[0046] If the profile limit deviation is within the first interval, the pre-stored feed data corresponding to the first interval is obtained from the storage module of the analysis and processing unit to control the operation of the main servo drive structure; wherein, the first interval is: first set value < profile limit deviation < out-of-tolerance threshold.

[0047] If the profile limit deviation is within the second interval, the pre-stored feed data corresponding to the second interval is retrieved from the storage module of the analysis and processing unit to control the operation of the feed adjustment structure; wherein, the second interval is: 0≤profile limit deviation≤first set value.

[0048] The above solution achieves the following beneficial technical effects:

[0049] This application provides a flexible grinding device and control method. A main servo drive structure provides stable feed power for grinding. A feed adjustment structure, based on key data such as the initial phase angle, contour dimensions, and surface roughness of the workpiece pre-collected by a contour measuring device, and feed data such as contour limit deviation and radius change rate calculated by an analysis and processing unit, precisely fine-tunes the feed amount of the grinding structure before grinding. The advantages of this design are that it can assist the main servo drive structure in compensating for response lag and can dynamically configure grinding parameters in advance according to the actual contour characteristics of the workpiece, thereby ensuring a constant grinding force. This effectively improves the grinding accuracy and surface quality of complex contour parts, while reducing the risk of grinding wheel wear and workpiece scrap due to part size deviations. Attached Figure Description

[0050] Figure 1 and Figure 2 Schematic diagrams of flexible grinding devices from different perspectives;

[0051] Figure 3 This is a flowchart illustrating a flexible grinding control method.

[0052] Figure 4 This is a schematic diagram showing the dimensional deviations of the part to be processed.

[0053] Figure 5 A phase diagram of the contour of the part to be processed;

[0054] Figure 6 for Figure 5 A magnified view of a portion of the image. Detailed Implementation

[0055] To make the purpose, technical solution, and advantages of this application clearer, the following will be described in conjunction with the appendix. Figure 1 -to Figure 6 This application will be described in further detail. It is obvious that the described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments described herein without inventive effort are within the scope of protection of this application.

[0056] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0057] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0058] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0059] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0060] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0061] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0062] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0063] Figure 1 and Figure 2 In the diagram: 1 represents the main servo drive structure, 11 the main support bracket, 12 the main servo electric cylinder, 13 the main feed connector; 2 represents the feed adjustment structure, 20 the feed servo motor; 21 the first connecting plate; 22 the second connecting plate; 23 the buffer component; 3 represents the grinding structure, 31 the grinding section; 4 represents the contour measuring device, 41 the detection equipment; 42 the pre-inspection support block; 43 the pre-inspection bracket; 5 represents the positioning support structure; 51 the positioning support housing; 52 the positioning support frame; 6 represents the rotating structure, 61 the clamping device; 7 the part to be processed; 8 the electrical control box.

[0064] Figure 1 A flexible grinding apparatus is shown, comprising:

[0065] The main servo drive structure, the output end of which is connected to the grinding structure through the feed adjustment structure, is used to provide feed power to the grinding structure;

[0066] The feed rate adjustment structure is configured as an auxiliary main servo drive structure to pre-fine adjust the feed rate of the grinding structure based on the key data of the workpiece to be processed, so as to keep the grinding force of the workpiece constant; the key data includes at least: the initial phase angle, contour size and surface roughness of the workpiece to be processed.

[0067] The grinding structure is used to grind the surface of the part to be processed;

[0068] It also includes: a contour measuring device, configured to pre-collect key data of the part to be processed and send it to the analysis and processing unit;

[0069] The analysis and processing unit, based on the acquired key data, calculates the feed data of the workpiece before grinding using a preset method. This allows for the control of the feed adjustment structure or main servo drive structure during grinding, ensuring a constant grinding force on the surface of the workpiece during high-speed grinding. This solves the defects in existing technologies where abrupt changes in the surface of the workpiece cause impact damage to the grinding equipment and large fluctuations in grinding force, making precise grinding impossible. The feed data includes at least the contour limit deviation and the radius change rate.

[0070] Specifically, in this embodiment, a main servo drive structure provides a stable feed force for grinding. The feed adjustment structure, based on key data such as the initial phase angle, contour dimensions, and surface roughness of the workpiece pre-collected by the contour measuring device, and feed data such as contour limit deviation and radius change rate calculated by the analysis and processing unit, precisely fine-tunes the feed amount of the grinding structure before grinding. The advantages of this design are that it can assist the main servo drive structure in compensating for response lag issues and can dynamically configure grinding parameters in advance according to the actual contour characteristics of the workpiece, thereby ensuring a constant grinding force. This effectively improves the grinding accuracy and surface quality of complex contour parts, while reducing the risk of grinding wheel wear and workpiece scrap due to part size deviations.

[0071] In this embodiment, the analysis and processing unit is configured inside the electrical control box.

[0072] Furthermore, the main servo drive structure includes:

[0073] The main support bracket has a fixed bottom and a fixed top mounting of a main servo electric cylinder.

[0074] The output shaft of the main servo electric cylinder is connected to the feed adjustment structure via the main feed connector;

[0075] The main servo electric cylinder is electrically connected to the analysis and processing unit.

[0076] The axial centerline of the main servo electric cylinder coincides with that of the feed adjustment structure and the grinding structure.

[0077] Specifically, in this embodiment, the main servo electric cylinder is fixed at the top and fixed at the bottom of the main support bracket, which achieves the installation stability and operational rigidity of the drive structure. At the same time, the output shaft of the main servo electric cylinder is connected to the feed adjustment structure through the main feed connector, and the axial center lines of the main servo electric cylinder, the feed adjustment structure and the grinding structure are kept coincident. The advantage of this design is that it effectively eliminates the problems of radial off-center load and torque interference in the transmission process, and avoids technical problems such as grinding force fluctuation and part processing error caused by axial misalignment.

[0078] In one specific embodiment, the feed rate adjustment structure includes:

[0079] The first connecting plate is connected to the main feed connector;

[0080] The first connecting plate is fixedly connected to the output shaft of the feed servo motor; wherein the output shaft of the feed servo motor passes through the middle of the first connecting plate and extends into the interior of the main feed connector;

[0081] A second connecting plate is fixedly installed on one side of the feed servo motor, wherein a buffer component is sleeved on the output shaft of the feed servo motor at the position between the first connecting plate and the second connecting plate;

[0082] The buffer component has limiting grooves at both ends corresponding to the surfaces of the first connecting plate and the second connecting plate to restrict the radial displacement of the buffer component.

[0083] The feed servo motor coincides with the axial centerline of the main servo cylinder, and it is electrically connected to the analysis and processing unit.

[0084] The feed servo motor is a linear servo electric cylinder; the buffer component is a buffer spring.

[0085] Specifically, in this embodiment, the axial center lines of the feed servo motor and the main servo cylinder are aligned, and the feed servo motor is rigidly connected to the main feed connector through the first connecting plate. This ensures the coaxiality of the feed fine-tuning action and avoids off-center load interference. At the same time, the feed servo motor is electrically connected to the analysis and processing unit to quickly respond to commands and achieve fine adjustment of the grinding feed amount. Furthermore, the buffer spring, which is sleeved on the output shaft of the feed servo motor and whose two ends are limited in the limiting grooves of the first and second connecting plates, can effectively limit its own radial displacement. This ensures that the impact force generated by the sudden change in the workpiece contour is absorbed during the grinding process, playing a flexible buffering role. This protects the grinding structure and the workpiece surface while maintaining the stability of the grinding force. Compared with the traditional rigid adjustment structure without buffer, this greatly improves the adaptability and processing accuracy of the device.

[0086] Furthermore, it also includes: positioning support structure;

[0087] The positioning support structure includes:

[0088] Hollow positioning and support shell;

[0089] A feed servo motor is fixed on one side of the positioning support housing, and a grinding structure is fixed on the other side.

[0090] The bottom of the positioning support housing is slidably connected to the positioning support frame.

[0091] Specifically, in this embodiment, a hollow positioning support shell is used as a support carrier to fix the feed servo motor and the grinding structure on both sides inside the shell, thereby achieving an integrated layout of the adjustment component and the execution component. This greatly simplifies the overall structure of the device, reduces the installation space, and ensures the relative positional stability and installation accuracy of the two components.

[0092] Furthermore, the grinding structure includes:

[0093] A grinding motor, wherein a grinding section is provided at the free end of the output shaft of the grinding motor.

[0094] One side surface of the grinding section faces the workpiece to be processed, and the grinding section contacts the surface of the workpiece to be processed to perform grinding.

[0095] In this embodiment, the grinding part is a grinding wheel.

[0096] Furthermore, the contour measuring device includes:

[0097] Several detection devices are evenly distributed longitudinally along the outer surface of the part to be processed; key data of the part to be processed are collected by contacting the front end of the detection devices with the outer surface of the part to be processed.

[0098] One end of each of the aforementioned detection devices is retractably connected to the pre-detection support block via a servo motor; each detection device is electrically connected to the analysis and processing unit.

[0099] The pre-inspection support block is provided with a guide cavity for accommodating the servo motor at the position corresponding to each servo motor; a compression spring is arranged between the inner wall of the guide cavity and the servo motor.

[0100] The pre-inspection support block is installed on the pre-inspection bracket.

[0101] Specifically, in this embodiment, by employing several detection devices evenly distributed longitudinally along the outer surface of the part to be processed, the synchronous acquisition of the contours at different longitudinal positions of the part can be achieved, resulting in more accurate key data and providing reliable data support for the subsequent feed adjustment structure. Each detection device is retractably connected to the pre-inspection support block via a servo motor, and the servo motor is housed in the guide cavity of the pre-inspection support block. The compression spring between the inner wall of the cavity and the servo motor serves as a flexible buffer, preventing damage caused by rigid contact between the detection device and the surface of the part, and also ensuring the stability of the detection device when it is in contact with the surface of the part.

[0102] In one specific embodiment, it further includes: a rotating structure;

[0103] The rotating structure includes:

[0104] A rotary drive motor; a clamping device is provided on the upper part of the rotary drive motor to fix the workpiece to be processed on the top of the rotary drive motor.

[0105] In use, the rotating drive motor drives the upper part to rotate, thereby completing the grinding of the part's surface.

[0106] During operation, the part to be processed is placed and fixed on the rotating structure. The contour measuring device extends and contacts the part, activating the rotating structure and causing the part to rotate. The contour measuring device pre-collects the part's surface contour data (i.e., key data), including the initial phase angle, surface roughness, and contour dimensions. The contour measuring device then retracts, transmitting the data to the analysis and processing unit. Based on the key data, the analysis and processing unit pre-calculates the extension amount of the main servo cylinder and sends a command to the main servo cylinder, activating it and simultaneously controlling the rotating structure to rotate the part, thus beginning the grinding process. After grinding, process inspection is initiated: the contour measuring device extends to check the surface roughness. If it meets the requirements, grinding ends. (Note: If only burrs are being ground from the workpiece surface, the surface roughness parameter can be ignored, and this process inspection step can be omitted. If the surface is polished, where surface roughness is critical, surface roughness data must be collected and process inspection performed.)

[0107] See Figures 3 to 6 This application provides a flexible grinding control method, applied to the aforementioned flexible grinding apparatus; the method includes the following steps:

[0108] S1: Key data of the part to be processed are collected in advance by a contour measuring device; the key data includes at least the initial phase angle, contour dimensions and surface roughness of the part to be processed;

[0109] S2: Based on the acquired key data, calculate the initial feed data; the initial feed data includes at least: contour limit deviation and radius change rate; the contour limit deviation is: the difference between the extreme values ​​on both sides of the radial section of the part to be processed; wherein, one extreme value is the farthest distance from the farthest end of the left contour of the part to be processed to the preset center; the other extreme value is the nearth distance from the nearest end of the right contour of the part to be processed to the preset center;

[0110] S3: If the profile limit deviation is less than or equal to the out-of-tolerance threshold, proceed to the next step; if the profile limit deviation is greater than the out-of-tolerance threshold, the product is scrapped.

[0111] S4: Based on the judgment result of the contour limit deviation and the preset range, control the operation of the main servo drive structure or the feed adjustment structure.

[0112] Specifically, in this embodiment, based on the key data such as the initial phase angle, contour size, and surface roughness of the part to be processed pre-collected by the contour measuring device, the initial feed data of the contour limit deviation and radius change rate are first calculated. Then, the pre-screening of scrap is completed by comparing the contour limit deviation with the out-of-tolerance threshold. Then, according to the matching result of the contour limit deviation and the preset range, the operation of the main servo drive structure or the feed adjustment structure is controlled in a targeted manner, thereby avoiding the ineffective processing of out-of-tolerance scrap. It can also dynamically configure the grinding parameters according to the actual contour characteristics of the part, effectively compensating for the response lag problem of the servo drive, realizing flexible constant control of the grinding force, greatly improving the processing accuracy and yield, while reducing grinding wheel wear and processing energy consumption.

[0113] Furthermore, S4 specifically includes:

[0114] If the profile limit deviation is within the first interval, the pre-stored feed data corresponding to the first interval is obtained from the storage module of the analysis and processing unit to control the operation of the main servo drive structure; wherein, the first interval is: first set value < profile limit deviation < out-of-tolerance threshold.

[0115] If the profile limit deviation is within the second interval, the pre-stored feed data corresponding to the second interval is retrieved from the storage module of the analysis and processing unit to control the operation of the feed adjustment structure; wherein, the second interval is: 0≤profile limit deviation≤first set value.

[0116] It is understood that in this embodiment, when the contour limit deviation is in the first range (first set value < contour limit deviation < out-of-tolerance threshold), that is, when the part contour deviation is relatively large, the main servo drive structure is controlled to operate, and its output main power is used to complete the adjustment of large stroke and large feed amount, so as to quickly adapt to the large contour deviation of the part; when the contour limit deviation is in the second range (0 ≤ contour limit deviation ≤ first set value), that is, when the part contour deviation is small, the feed amount adjustment structure is switched to operate, and its fine adjustment capability is used to achieve small-amplitude, high-precision feed compensation, so as to ensure the constant grinding force and the quality of the machined surface.

[0117] See Figure 4 The diagram shows the dimensional deviation of the part. The dashed lines represent the theoretical contour of the part, symbolizing a circle with radius R0, whose center is a preset center. The solid lines represent the actual contour of the part. The actual part size and contour will deviate from the theoretical size. The radius of the extreme value on the left side of the diagram is R. B It is smaller than R0, and the radius of the right-hand extreme value is R. A It is larger than the R0 value. The change in radius will produce a change in resistance to the grinding wheel.

[0118] See Figure 5 and Figure 6 Phase diagram of the part shown;

[0119] Within one rotation cycle (2π), with the distance between the grinding wheel and the workpiece's rotation center as a reference, the variation of the workpiece's radius at different phase angles is shown in curve 2. When the diameter corresponding to a certain phase angle is larger, the extension of the feed servo motor's output shaft needs to be reduced to minimize the impact on the grinding wheel caused by the increased diameter. Conversely, when the diameter is smaller, the grinding wheel's feed needs to be increased to ensure sufficient grinding force. The grinding wheel's advance and retreat are strictly controlled according to the pattern in curve 2, thus ensuring a constant cutting force at any phase angle and guaranteeing cutting stability.

[0120] Curve 1 represents the theoretical radius of the part as R0, and curve 2 represents the actual radius of rotation of the part. These are some of the data collected by the contour measuring device, and the two extreme values ​​of the radius are R0 and R2. A R B The maximum and minimum values ​​represent the degree of deviation in part dimensions. The fluctuating curve represents the surface roughness of the part; this curve is one of the data collected by the profile measuring device, and its fluctuation characterizes the surface roughness. Curves 3 and 4 are the upper and lower control lines for surface roughness; within the two curve intervals, the roughness is considered acceptable.

[0121] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A flexible grinding device, characterized in that, include: The main servo drive structure, the output end of which is connected to the grinding structure through the feed adjustment structure, is used to provide feed power to the grinding structure; The feed rate adjustment structure is configured as an auxiliary main servo drive structure to pre-fine adjust the feed rate of the grinding structure based on the key data of the workpiece to be processed, so as to keep the grinding force of the workpiece constant. The key data includes at least: the initial phase angle, contour dimensions, and surface roughness of the part to be processed; The grinding structure is used to grind the surface of the part to be processed; It also includes: a contour measuring device, configured to pre-collect key data of the part to be processed and send it to the analysis and processing unit; The analysis and processing unit, based on the acquired key data, calculates the feed data of the part to be processed using a preset method before grinding, so as to control the operation of the feed adjustment structure or the main servo drive structure during grinding; the feed data includes at least: contour limit deviation and radius change rate.

2. The flexible grinding device according to claim 1, characterized in that, The main servo drive structure includes: The main support bracket has a fixed bottom and a fixed top mounting of a main servo electric cylinder. The output shaft of the main servo electric cylinder is connected to the feed adjustment structure via the main feed connector; The main servo electric cylinder is electrically connected to the analysis and processing unit. The axial centerline of the main servo electric cylinder coincides with that of the feed adjustment structure and the grinding structure.

3. The flexible grinding device according to claim 2, characterized in that, The feed rate adjustment structure includes: The first connecting plate is connected to the main feed connector; The first connecting plate is fixedly connected to the output shaft of the feed servo motor; wherein the output shaft of the feed servo motor passes through the middle of the first connecting plate and extends into the interior of the main feed connector; A second connecting plate is fixedly installed on one side of the feed servo motor, wherein a buffer component is sleeved on the output shaft of the feed servo motor at the position between the first connecting plate and the second connecting plate; The buffer component has limiting grooves at both ends corresponding to the surfaces of the first connecting plate and the second connecting plate to restrict the radial displacement of the buffer component. The feed servo motor coincides with the axial centerline of the main servo cylinder, and it is electrically connected to the analysis and processing unit.

4. The flexible grinding apparatus according to claim 3, characterized in that, The feed servo motor is a linear servo electric cylinder; the buffer component is a buffer spring.

5. The flexible grinding apparatus according to claim 4, characterized in that, Also includes: Positioning support structure; The positioning support structure includes: Hollow positioning and support shell; A feed servo motor is fixed on one side of the positioning support housing, and a grinding structure is fixed on the other side. The bottom of the positioning support housing is slidably connected to the positioning support frame.

6. The flexible grinding apparatus according to claim 5, characterized in that, The grinding structure includes: A grinding motor, wherein a grinding section is provided at the free end of the output shaft of the grinding motor. One side surface of the grinding section faces the workpiece to be processed, and the grinding section contacts the surface of the workpiece to be processed to perform grinding.

7. The flexible grinding apparatus according to claim 6, characterized in that, The contour measuring device includes: Several detection devices are evenly distributed longitudinally along the outer surface of the part to be processed; key data of the part to be processed are collected by contacting the front end of the detection devices with the outer surface of the part to be processed. One end of each of the aforementioned detection devices is retractably connected to the pre-detection support block via a servo motor; each detection device is electrically connected to the analysis and processing unit. The pre-inspection support block is provided with a guide cavity for accommodating the servo motor at the position corresponding to each servo motor; a compression spring is arranged between the inner wall of the guide cavity and the servo motor. The pre-inspection support block is installed on the pre-inspection bracket.

8. The flexible grinding apparatus according to claim 7, characterized in that, Also includes: Rotational structure; The rotating structure includes: Rotary drive motor; A clamping device is provided on the upper part of the rotary drive motor, which is used to fix the workpiece to be processed above the rotary drive motor.

9. A flexible grinding control method, characterized in that, Applied to the flexible grinding apparatus according to any one of claims 1-8; The method includes the following steps: S1: Key data of the part to be processed are collected in advance by a contour measuring device; the key data includes at least the initial phase angle, contour dimensions and surface roughness of the part to be processed; S2: Based on the acquired key data, calculate the initial feed data; the initial feed data includes at least: contour limit deviation and radius change rate; the contour limit deviation is: the difference between the extreme values ​​on both sides of the radial section of the part to be processed; wherein, one extreme value is the farthest distance from the farthest end of the left contour of the part to be processed to the preset center; the other extreme value is the nearth distance from the nearest end of the right contour of the part to be processed to the preset center; S3: If the profile limit deviation is less than or equal to the out-of-tolerance threshold, proceed to the next step; S4: Based on the judgment result of the contour limit deviation and the preset range, control the operation of the main servo drive structure or the feed adjustment structure.

10. The method according to claim 9, characterized in that, S4 specifically includes: If the profile limit deviation is within the first interval, the pre-stored feed data corresponding to the first interval is obtained from the storage module of the analysis and processing unit to control the operation of the main servo drive structure; wherein, the first interval is: first set value < profile limit deviation < out-of-tolerance threshold. If the profile limit deviation is within the second interval, the pre-stored feed data corresponding to the second interval is retrieved from the storage module of the analysis and processing unit to control the operation of the feed adjustment structure; wherein, the second interval is: 0≤profile limit deviation≤first set value.

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