High-precision through grinding type centerless cylindrical grinding machine for intelligent manufacturing equipment industry

Abstract

The invention provides a high-precision through grinding type centerless cylindrical grinding machine of the intelligent manufacturing equipment industry, and relates to the technical field of grinding machines, the high-precision through grinding type centerless cylindrical grinding machine comprises a grinding assembly, a feeding assembly and a receiving assembly, the feeding assembly and the receiving assembly are arranged on the two sides of the grinding assembly respectively, and a regular gap eliminating assembly is arranged at the feeding end of the grinding assembly; the feeding assembly is used for feeding a to-be-treated bearing pack into the neatening and gap eliminating assembly, and the neatening and gap eliminating assembly comprises an outer barrel and clamping assemblies arranged at the four corners in the outer barrel in a sliding mode correspondingly; according to the device, the regular gap eliminating assembly is arranged at the feeding end of the grinding assembly, a traditional arrangement link of manual feeding is replaced, after a to-be-treated bearing pack is precisely fed into the regular gap eliminating assembly through the feeding assembly, the clamping assemblies arranged at the four corners in the outer barrel of the regular gap eliminating assembly form two sets of clamping units, and the clamping units are clamped; the adjacent diagonal clamping units firstly obliquely clamp one bearing at the front end of the bearing pack, all the bearings in the bearing pack are pushed to be tightly attached through displacement, and gaps between the bearings are eliminated.

Description

Technical Field

[0001] This invention relates to the field of grinding technology, and in particular to a high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry. Background Technology

[0002] In the intelligent manufacturing equipment industry, bearings, as core basic components in the field of mechanical transmission, directly determine the operational stability, transmission efficiency, and service life of mechanical equipment through the machining accuracy of their outer cylindrical surfaces. Therefore, the grinding of the bearing outer cylindrical surface is one of the key processes in bearing production. Currently, for batch grinding of bearing outer cylindrical surfaces, many companies in the industry still use traditional manual feeding methods combined with centerless cylindrical grinding machines. This involves operators manually placing multiple bearings in a group one by one onto the grinding machine and then manually pushing them into the grinding feed position. During this process, due to the randomness and instability of manual operation, uneven spacing easily occurs between the bearings within the bearing group, and the bearing placement is difficult to ensure is regular, directly affecting the subsequent grinding effect. As a core grinding equipment in the large-scale production of bearings, the through-grind centerless external cylindrical grinding machine is widely used due to its advantages such as no need for clamping and positioning, relatively high processing efficiency, and good grinding consistency. However, the traditional manual feeding mode is not well adapted to the grinding machine. In addition, due to the limitations of the equipment's structure, with the rapid development of the intelligent manufacturing industry, the market's requirements for bearing grinding accuracy, processing efficiency, and automation level are constantly increasing. The traditional operation mode and the matching through-grind centerless external cylindrical grinding machine have gradually revealed many shortcomings in practical applications, making it difficult to meet the production needs of high-end bearings.

[0003] The existing manual feeding method combined with a centerless cylindrical grinder has the following drawbacks in practical applications, seriously affecting bearing processing quality, production efficiency, and automation level: First, manual feeding is inefficient and lacks a dedicated structure to eliminate gaps. When operators manually feed the bearing assembly into the grinding mechanism, not only is the labor intensity high and fatigue-prone, but it is also difficult to ensure the neatness of the bearing assembly placement. Irregular gaps easily appear between the bearings, leading to uneven bearing force during grinding, resulting in insufficient grinding accuracy, excessive bearing outer surface roughness, and excessive dimensional deviations. Furthermore, the presence of gaps can cause bearings to shift and wobble during transport, further affecting processing consistency and even causing defects such as bearing collisions and scratches, reducing product qualification rate. Second, the uncertainty of manual feeding further exacerbates the feeding difficulty, leading to… Material jamming and poor connection not only affect the continuity of bearing delivery, but may also cause scratches on the bearing surface due to impact, further reducing the product qualification rate and increasing the risk of equipment failure. Thirdly, in the existing operation mode, the feeding, grinding and unloading links are relatively independent, the linkage between the mechanisms is poor, and there is a lack of unified coordination and control. The manual feeding and grinding and unloading links cannot be accurately connected, resulting in obvious time gaps between the processes. Seamless continuous operation of bearing processing cannot be achieved, the processing efficiency is low, and manual assistance is required to monitor the operation status of each link, organize the bearing assembly, and connect the processes throughout the process, which greatly increases labor costs and does not conform to the development trend of large-scale and automated intelligent manufacturing industry. Therefore, this invention proposes a high-precision through-grinding centerless cylindrical grinding machine for intelligent manufacturing equipment industry to solve the problems existing in the prior art. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a high-precision through-grind centerless cylindrical grinding machine for the intelligent manufacturing equipment industry. This machine incorporates a leveling and gap-eliminating component at the feed end of the grinding assembly, replacing the traditional manual feeding process. The feeding assembly precisely feeds the bearing assembly to be processed into the leveling and gap-eliminating component. Inside the outer cylinder of this component, clamping components at the four corners form two sets of clamping units. Adjacent diagonal clamping units first tilt and clamp one bearing at the front end of the bearing assembly, using displacement to push all bearings in the assembly into close contact, completely eliminating the gaps between bearings caused by manual feeding. Then, the tilt angle is adjusted to fully clamp the bearing assembly, ensuring that the bearing assembly is neatly arranged and evenly stressed before being fed into the grinding assembly for grinding and conveying.

[0005] To achieve the purpose of this invention, the invention is implemented through the following technical solution: a high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry, comprising a grinding assembly, a feeding assembly, and a receiving assembly, wherein the feeding assembly and the receiving assembly are respectively located on both sides of the grinding assembly, and the feeding end of the grinding assembly is provided with a regularizing and gap-eliminating assembly;

[0006] The feeding assembly is used to feed the bearing assembly to be processed into the straightening and gap-eliminating assembly. The straightening and gap-eliminating assembly includes an outer cylinder and clamping assemblies that are slidably disposed at the four corners inside the outer cylinder. Two sets of clamping assemblies at adjacent diagonal corners constitute a clamping unit. The clamping unit is used to first clamp the front end of the bearing assembly to be processed at an angle, and then move and push all the bearings in the bearing assembly to be processed to fit tightly to eliminate gaps. Then, the angle of inclination is adjusted to clamp the bearing assembly to be processed in a comprehensive manner and feed it into the grinding assembly for grinding and conveying. The two sets of clamping units operate alternately to seamlessly convey the bearing assembly to be processed. After processing, the receiving assembly receives the bearing assembly.

[0007] A further improvement is that the clamping assembly includes a slider, an electric push rod, and a connecting arm. The electric push rod is located on the slider, and the connecting arm is located at the output end of the electric push rod. A clamping arm is hinged to the connecting arm, and an angled cylinder is hinged to one end of the connecting arm. The output end of the angled cylinder is hinged to the clamping arm. A flexible clamping element is provided on the clamping arm.

[0008] A further improvement is that the flexible clamping component includes a rubber strip and rubber blocks. The rubber strip is inserted into one side of the clamping arm. The rubber strip has connection points, and there are multiple sets of connection points. There are multiple sets of rubber blocks, and the multiple sets of rubber blocks are respectively connected to the multiple sets of connection points. At least two sets of rubber blocks are equipped with electromagnets.

[0009] A further improvement is that: guide grooves are provided at the four corners of the outer cylinder, and a first guide rod is provided inside the guide groove. The slider is slidably mounted on the first guide rod, and the slider is driven to move by the first threaded screw.

[0010] A further improvement is that the grinding assembly includes a cabinet and a tray, the tray is movably installed on top of the cabinet, and both sides of the cabinet are provided with lifting cylinders, the output end of the lifting cylinders is connected to the tray, and both sides of the outer cylinder are provided with connecting frames, which are connected to the tray.

[0011] A further improvement is made in that: support plates are provided on both sides of the top of the pallet, and guide rails are provided on the support plates. Guide blocks are slidably provided on the guide rails, and the guide blocks are driven to move by a second threaded screw. A first frame and a second frame are respectively provided on the guide blocks on both sides. A grinding wheel is rotatably provided on the inner side of the first frame, and a guide wheel is rotatably provided on the inner side of the second frame. An electric adjusting rod is provided above the first frame, and a connecting post is provided at the output end of the electric adjusting rod. A scraper for cleaning the grinding wheel is provided below the connecting post.

[0012] A further improvement is that a base is provided at the middle position of the top of the cabinet, and a bearing plate is provided on both sides of the base at an angle. The bearing plate is used to support the bearing assembly. An opening is provided at the middle position of the bearing plate, and the base passes through the opening.

[0013] A further improvement is that the feeding assembly and the receiving assembly have the same structure, and both the feeding assembly and the receiving assembly include a bracket and a turntable. The turntable is rotatably mounted above the bracket, and the bottom of the turntable is provided with a first sliding groove on each of the four sides. A second guide rod is provided inside the first sliding groove, and an electric lifting rod is slidably mounted on the second guide rod. The electric lifting rod is driven to move along the second guide rod by a third threaded screw.

[0014] A further improvement is that: the output end of the electric lifting rod is connected to a disc, and the four sides of the disc are provided with a second sliding groove. The interior of the second sliding groove is provided with a third guide rod, and a clamp is slidably provided on the third guide rod. The clamp is driven to move along the third guide rod by a fourth threaded screw. The four sets of clamps are used to hold the bearing assembly from the inside.

[0015] Further improvements include: a position sensor installed on the inner wall of the outer cylinder to detect the clamping position of the bearing assembly to be processed in real time, collect the real-time position coordinates and clamping gap parameters of the bearing assembly, and feed them back to the control terminal. This, in conjunction with the clamping components, precisely completes the gap elimination and clamping actions. The alternating operation of the two clamping units employs an intelligent control algorithm to achieve seamless switching and scheduling, ensuring the continuity and stability of the bearing assembly conveying. The formula for the intelligent control algorithm is as follows:

[0016] ,

[0017] Wherein, U(t) is the clamping unit switching control quantity at time t, in units of V, representing the strength of the control signal output from the control terminal to the clamping unit. It directly determines the switching timing, displacement speed, and clamping force of the clamping unit. The magnitude of the control quantity is dynamically adjusted based on real-time feedback parameters to ensure a smooth and shock-free switching process. Kp is a proportional coefficient, dimensionless, ranging from 0.8 to 1.2, used for rapid response to deviation signals from the position sensor. When the clamping position deviation of the bearing assembly to be processed is large, increasing the proportional coefficient accelerates the adjustment speed of the clamping unit, quickly reducing the deviation and ensuring gap elimination and clamping accuracy. e(t) is the clamping position deviation at time t, in mm, which is detected in real time by the position sensor. Specifically, it is the difference between the actual clamping position of the bearing assembly to be processed and the preset standard clamping position. When e(t) = 0, it indicates that the bearing assembly is in the optimal clamping position and no position adjustment is required. Ki is the integral coefficient, in 1 / s, with a value range of 0.05 to 0.15. It is used to eliminate static deviations during the clamping position adjustment process, avoid clamping position shifts caused by long-term operation, and ensure that the clamping position of the bearing assembly remains consistent when the two sets of clamping units are running alternately, thus achieving a stable gap elimination effect. The integral value of the clamping position deviation from time 0 to time t, in mm·s, reflects the cumulative deviation over time. The integral term is used to gradually correct small deviations that have existed for a long time, preventing the accumulation of deviations from causing the bearing assembly to jam or the gaps to be completely eliminated. Kd is the differential coefficient, in s, with a value range of 0.1~0.3. It is used to predict the changing trend of the clamping position deviation, adjust the operating status of the clamping unit in advance, reduce the overshoot during the adjustment process, avoid impact and vibration when switching between two sets of clamping units, and ensure the smoothness of the bearing assembly conveying. α is the rate of change of the clamping position deviation at time t, in mm / s. It reflects the speed at which the deviation changes. When the deviation changes rapidly, the differential term responds quickly, adjusting the control quantity to prevent further deviation and ensuring timely and accurate adjustment of the clamping unit. α is the clamping unit state weighting coefficient, dimensionless, ranging from 0.3 to 0.5. It is used to adjust the influence of the clamping unit's operating state on the switching control quantity. When one set of clamping units is in working condition and the other is in standby condition, the weighting coefficient allocation ensures smooth power connection during switching. Smooth operation; S(t) is the operating status parameter of the clamping unit at time t, which is dimensionless and takes the value of 0 or 1. S(t)=1 indicates that the clamping unit is in working state, and S(t)=0 indicates that the clamping unit is in standby state. The S(t) values ​​of the two sets of clamping units are always opposite to ensure seamless alternation; β is the time interval correction coefficient, with the unit being 1 / s and the value range being 0.02~0.08. It is used to correct the time interval between the alternation of the two sets of clamping units to avoid switching time deviations caused by different bearing group specifications and changes in grinding speed; The difference between the actual alternation time interval of the two sets of clamping units at time t and the preset standard time interval, expressed in seconds. When the actual alternation time interval is greater than the preset value, When the value is positive, the control terminal adjusts the control quantity through a correction coefficient to shorten the alternation time; when the actual alternation time interval is less than the preset value, If the value is negative, the control terminal extends the alternation time to ensure the stability and continuity of the alternation operation.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. This invention features a straightening and gap-eliminating component at the feed end of the grinding assembly, replacing the traditional manual feeding process. After the feeding assembly precisely feeds the bearing assembly to be processed into the straightening and gap-eliminating component, two sets of clamping units are formed by clamping components located at the four corners inside the outer cylinder of the straightening and gap-eliminating component. The adjacent diagonal clamping units first tilt and clamp one bearing at the front end of the bearing assembly, pushing all bearings in the bearing assembly to fit tightly together through displacement, completely eliminating the gaps between bearings caused by manual feeding. Then, the tilt angle is adjusted to fully clamp the bearing assembly, ensuring that the bearing assembly is neatly arranged and evenly stressed before being fed into the grinding assembly for grinding and conveying. At the same time, the two sets of clamping units operate alternately to achieve seamless conveying of the bearing assembly, effectively avoiding problems such as insufficient grinding accuracy, excessive surface roughness, and dimensional deviations caused by bearing gaps and placement misalignment. This significantly improves the machining accuracy of the bearing outer circle and product consistency, while replacing the manual bearing arrangement process, greatly reducing the labor intensity of operators and reducing errors caused by manual operation.

[0020] 2. The inner wall of the outer cylinder of the gap-eliminating component of this invention is equipped with a position sensor, which can detect parameters such as the clamping position and gap size of the bearing assembly to be processed in real time. The collected parameters are fed back to the control terminal in real time. The control terminal dynamically schedules the alternating operation of the two clamping units through an intelligent control algorithm. The algorithm uses the synergistic effect of proportional, integral, and differential terms to quickly respond to position deviations and eliminate static deviations, and predict the trend of deviation changes. At the same time, the working / standby status of the two clamping units is clearly defined by the state parameter S(t). The alternation time is dynamically adjusted by the time interval correction term, which can adapt to different specifications of bearing assemblies and feeding rhythms, ensuring seamless connection and smooth switching between the two clamping units. Precise control can be achieved without manual intervention, making up for the switching difficulties caused by the uncertainty of manual feeding, avoiding problems such as bearing scratches and equipment vibration caused by switching impact, ensuring the stability and reliability of equipment operation, and further improving the automation level of the equipment and reducing the cost of manual monitoring.

[0021] 3. In this invention, the feeding component, the sizing and gap-eliminating component, the grinding component, and the receiving component work in sequence and cooperate with each other, achieving unified linkage control through a control terminal to form a complete automated continuous processing flow: The feeding component, through components such as a turntable, electric lifting rod, and clamps, replaces manual feeding and accurately and in batches feeds the bearing assemblies to be processed into the sizing and gap-eliminating component; after the sizing and gap-eliminating component completes the gap elimination and sizing clamping of the bearing assemblies, it seamlessly conveys them to the grinding component, replacing the manual bearing arrangement process; the grinding component, through components such as a cabinet, pallet, grinding wheel, and guide wheel, precisely grinds and conveys the bearing assemblies; after grinding, the receiving component synchronously receives the finished bearing assemblies, achieving a seamless and gapless connection throughout the entire process. This solves the time gap problem caused by manual feeding and poor linkage between each process in the prior art, significantly improving the efficiency of batch processing of bearings, while completely reducing the manual assistance in feeding, sizing, monitoring, and connection processes, reducing labor costs, and adapting to the large-scale, efficient, and automated production needs of the intelligent manufacturing industry. Attached Figure Description

[0022] Figure 1 This is the front view of the present invention;

[0023] Figure 2 This is a schematic diagram of the well-organized seam-eliminating component of the present invention;

[0024] Figure 3 This is a schematic diagram of the clamping assembly of the present invention;

[0025] Figure 4 This is a schematic diagram of the flexible clamping component of the present invention;

[0026] Figure 5 This is a schematic diagram of the grinding assembly of the present invention;

[0027] Figure 6 This is a schematic diagram of the carrier plate of the present invention;

[0028] Figure 7 This is a schematic diagram of the feeding assembly of the present invention.

[0029] The components include: 1. Grinding assembly; 2. Feeding assembly; 3. Receiving assembly; 4. Smoothing and gap-eliminating assembly; 5. Outer cylinder; 6. Slider; 7. Electric push rod; 8. Connecting arm; 9. Clamping arm; 10. Angled cylinder; 11. Rubber strip; 12. Connection point; 13. Rubber block; 14. Guide groove; 15. First guide rod; 16. First threaded screw; 17. Cabinet; 18. Pallet; 19. Lifting cylinder; 20. Connecting frame; 21. Support plate; 22. Guide rail; 23. Second... 24. Threaded screw; 25. First frame; 26. Second frame; 27. Grinding wheel; 28. Guide wheel; 29. ​​Electric adjusting rod; 30. Connecting column; 31. Scraper; 32. Base; 33. Bearing plate; 34. Opening; 35. Turntable; 36. Electric lifting rod; 37. First slide groove; 38. Second guide rod; 39. Third threaded screw; 40. Disc body; 41. Second slide groove; 42. Third guide rod; 43. Fourth threaded screw; 44. Clamp; 45. Electromagnet. Detailed Implementation

[0030] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0031] Example 1

[0032] according to Figure 1 , 2 As shown in Figures 3, 4, 5, 6, and 7, this embodiment proposes a high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry. It includes a grinding assembly 1, a feeding assembly 2, and a receiving assembly 3. The feeding assembly 2 and receiving assembly 3 are respectively located on both sides of the grinding assembly 1. The feeding end of the grinding assembly 1 is equipped with a leveling and gap-eliminating assembly 4. The entire equipment adopts an integrated layout of "feeding-gap-grinding-discharging." The grinding assembly 1, as the core grinding component, undertakes the task of grinding the outer diameter of the bearing assembly. The feeding assembly 2 is responsible for accurately conveying the bearing assembly to be processed to the leveling and gap-eliminating assembly 4. The receiving assembly 3 is responsible for receiving the finished bearing assembly after grinding. The leveling and gap-eliminating assembly 4, located at the feeding end of the grinding assembly 1, can complete leveling and gap elimination before the bearing assembly enters the grinding stage, avoiding the bearing clearance from affecting the grinding accuracy. The three components work together to achieve continuous batch processing of bearings.

[0033] The feeding assembly 2 is used to feed the bearing assembly to be processed into the straightening and gap-eliminating assembly 4. The straightening and gap-eliminating assembly 4 includes an outer cylinder 5 and clamping assemblies that are slidably disposed at the four corners inside the outer cylinder 5. Two sets of clamping assemblies at adjacent diagonal corners constitute a clamping unit. The clamping unit is used to first tilt and clamp the front end of the bearing assembly to be processed, and then move and push all the bearings in the bearing assembly to be processed to fit tightly to eliminate gaps. Then, the tilt angle is adjusted to fully clamp the bearing assembly to be processed and feed it into the grinding assembly 1 for grinding and conveying. The two sets of clamping units operate alternately to seamlessly convey the bearing assembly to be processed. After processing, the receiving assembly 3 receives the bearing assembly. After the feeding assembly 2 feeds the bearing assembly into the outer cylinder 5, the clamping assemblies at the four corners of the outer cylinder 5 form two sets of diagonal clamping units. One set of clamping units first clamps a single bearing at the front end of the bearing assembly by tilting, and uses the sliding of the slider 6 to achieve displacement, pushing all the bearings in the bearing assembly to fit tightly together and completely eliminate gaps. Then, the clamping unit adjusts the tilt angle to clamp and fix the entire bearing assembly, ensuring that the bearing assembly is placed neatly, and then pushes it to the grinding assembly 1. At the same time, the other set of clamping units is in standby mode and starts immediately after the first set finishes feeding, so as to realize the seamless operation of the two sets of clamping units, avoid gaps in the bearing assembly conveying, ensure the continuity of processing, and after grinding is completed, the receiving assembly 3 receives the finished product synchronously.

[0034] The clamping assembly includes a slider 6, an electric push rod 7, and a connecting arm 8. The electric push rod 7 is mounted on the slider 6, and the connecting arm 8 is located at the output end of the electric push rod 7. A clamping arm 9 is hinged to the connecting arm 8, and an angled cylinder 10 is hinged to one end of the connecting arm 8. The output end of the angled cylinder 10 is hinged to the clamping arm 9. The clamping arm 9 is equipped with a flexible clamping component. The clamping assembly achieves overall position adjustment by sliding the slider 6 on the first guide rod 15 to adapt to bearing assemblies of different lengths. The electric push rod 7 can push the connecting arm 8 to extend and retract, adjusting the distance between the clamping arm 9 and the bearing assembly. When the angled cylinder 10 extends and retracts, it drives the clamping arm 9, which is hinged to the connecting arm 8, to rotate, thereby adjusting the clamping angle to meet the action requirement of "first tilting to clamp the front bearing, then clamping it fully". The flexible clamping component on the clamping arm 9 can prevent scratching the bearing surface during clamping and enhance the clamping friction to ensure a firm clamping.

[0035] The flexible clamping component includes a rubber strip 11 and rubber blocks 13. The rubber strip 11 is inserted into one side of the clamping arm 9. The rubber strip 11 has multiple sets of connection points 12. The rubber blocks 13 are also multiple sets, and each set of rubber blocks 13 is connected to a set of connection points 12. At least two sets of rubber blocks 13 are equipped with electromagnets 44. The rubber strip 11 serves as an installation carrier, connecting to the multiple sets of rubber blocks 13 through the connection points 12. The rubber blocks 13 are made of a flexible material, directly contacting the bearing surface to avoid scratches during clamping and to compensate for clamping gaps. When the electromagnets 44 on the rubber blocks 13 are energized, they generate magnetism, attracting the bearing and further enhancing clamping stability. This prevents the bearing from loosening or shifting during clamping and transport, making it particularly suitable for clamping metal bearings. The even distribution of the multiple sets of rubber blocks 13 ensures uniform force on the bearing and guarantees clamping regularity. After clamping, the electromagnets 44 lose their magnetism when de-energized.

[0036] The outer cylinder 5 has guide grooves 14 at each of its four corners, and a first guide rod 15 is provided inside the guide groove 14. The slider 6 is slidably mounted on the first guide rod 15, and the slider 6 is driven to move by the first threaded screw 16. The guide groove 14 provides installation and sliding space for the slider 6, and the first guide rod 15 guides the sliding of the slider 6, ensuring that the slider 6 moves in a fixed direction and avoiding deviation. When the first threaded screw 16 rotates, it drives the slider 6 to slide smoothly along the first guide rod 15, realizing the position adjustment of the clamping assembly, thereby controlling the displacement distance of the clamping unit, accurately pushing the bearing assembly to eliminate gaps and conveying it to the grinding assembly 1.

[0037] The grinding assembly 1 includes a cabinet 17 and a tray 18. The tray 18 is movably mounted above the cabinet 17, and both sides of the cabinet 17 are equipped with lifting cylinders 19. The output end of the lifting cylinders 19 is connected to the tray 18. Both sides of the outer cylinder 5 are equipped with connecting frames 20, which are connected to the tray 18. The cabinet 17 provides installation support for the various components of the grinding assembly 1. The tray 18 is used to install components such as the support plate 21, the first frame 24, and the second frame 25. When the lifting cylinders 19 extend or retract, they can drive the tray 18 to rise and fall, thereby adjusting the height of the various components on the tray 18 to adapt to the grinding requirements of bearing assemblies of different specifications. The connecting frames 20 connect the outer cylinder 5 and the tray 18 as a whole, so that when the tray 18 rises and falls, it synchronously drives the straightening and gap-eliminating assembly 4 to rise and fall, ensuring that the bearing assemblies are sent into the grinding assembly 1 at a consistent height from the straightening and gap-eliminating assembly 4, and avoiding conveying deviation.

[0038] The top of the pallet 18 is provided with support plates 21 on both sides, and the support plates 21 are provided with guide rails 22. Guide blocks are slidably provided on the guide rails 22, and the guide blocks are driven to move by the second threaded screw 23. The guide blocks on both sides are respectively provided with a first frame 24 and a second frame 25. A grinding wheel 26 is rotatably provided on the inner side of the first frame 24, and a guide wheel 27 is rotatably provided on the inner side of the second frame 25. An electric adjusting rod 28 is provided above the first frame 24, and a connecting post 29 is provided at the output end of the electric adjusting rod 28. A scraper 30 for cleaning the grinding wheel 26 is provided below the connecting post 29. The guide wheel 27 has a certain tilt angle, and while rotating, it pushes the bearing forward. The support plate 21 provides installation support for the guide rail 22, and the guide rail 22 provides sliding guidance for the guide block. When the second threaded screw 23 rotates, it drives the guide block to slide along the guide rail 22, thereby adjusting the distance between the first frame 24 and the second frame 25 to adapt to the grinding needs of bearing assemblies of different diameters. The grinding wheel 26 rotates in the first frame 24, and the high-speed rotation of the grinding wheel 26 realizes the grinding operation on the outer circle of the bearing. The guide wheel 27 rotates in the second frame 24. Due to its own tilt angle, the guide wheel 27 generates axial thrust during rotation, pushing the bearing assembly forward at a constant speed along the bearing plate 32 to realize continuous grinding. When not in use, the electric adjusting rod 28 can push the connecting column 29 up and down, driving the scraper 30 to approach or move away from the grinding wheel 26. The scraper 30 can clean the grinding debris on the surface of the grinding wheel 26 in real time to avoid the debris from adhering and affecting the grinding accuracy.

[0039] A base 31 is located at the center of the top of the cabinet 17, and two obliquely oriented support plates 32 are provided on both sides of the base 31. The support plates 32 are used to support the bearing assembly. An opening 33 is provided at the center of the support plate 18, through which the base 31 passes. The base 31 is fixed to the top of the cabinet 17, providing stable support for the support plates 32. The obliquely oriented support plates 32 can cooperate with the thrust of the guide wheel 27 to support the bearing assembly to move forward smoothly, while ensuring that the outer circle of the bearing assembly is precisely fitted with the grinding wheel 26 to ensure uniform grinding. The opening 33 on the support plate 18 provides space for the base 31 to avoid interference between the support plate 18 and the base 31 when the support plate 18 is raised or lowered, ensuring smooth operation of all components of the grinding assembly 1.

[0040] The feeding assembly 2 and the receiving assembly 3 have the same structure, and both the feeding assembly 2 and the receiving assembly 3 include a bracket and a turntable 34. The turntable 34 is rotatably mounted above the bracket, and the four sides of the bottom of the turntable 34 are provided with a first sliding groove 36. The first sliding groove 36 is provided with a second guide rod 37, and an electric lifting rod 35 is slidably mounted on the second guide rod 37. The electric lifting rod 35 is driven to move along the second guide rod 37 by a third threaded screw 38. The bracket provides mounting support for the turntable 34, which can rotate to adjust the orientation of the electric lifting rod 35 and the disc body 39, facilitating the connection of the alignment and gap-eliminating assembly 4 or the grinding assembly 1. The first slide groove 36 provides sliding space for the electric lifting rod 35, and the second guide rod 37 guides the sliding of the electric lifting rod 35. When the third threaded screw 38 rotates, it drives the electric lifting rod 35 to slide along the second guide rod 37, adjusting the horizontal position of the electric lifting rod 35 so that the disc body 39 can accurately load or accurately align the bearing assembly for unloading. The electric lifting rod 35 is telescopic, adjusting the height of the disc body 39 to adapt to the needs of picking up and placing bearing assemblies of different heights.

[0041] The output end of the electric lifting rod 35 is connected to a disc 39, and each of the four sides of the disc 39 is provided with a second sliding groove 40. A third guide rod 41 is provided inside the second sliding groove 40, and a clamp 43 is slidably mounted on the third guide rod 41. The clamp 43 is driven by a fourth threaded screw 42 to move along the third guide rod 41. The four clamps 43 are used to hold the bearing assembly from the inside. The disc 39 provides a mounting carrier for the clamps 43, the second sliding groove 40 provides sliding space for the clamps 43, and the third guide rod 41 guides the sliding of the clamps 43. When the fourth threaded screw 42 rotates, it drives the four clamps 43 to synchronously move towards the center or open outwards along the third guide rod 41. When opening outwards, it clamps the bearing from the inside of the bearing assembly, ensuring that the bearing assembly will not scatter or shift during conveying. When moving inwards, it releases the bearing assembly, completing the receiving or feeding action. The four clamps 43 are evenly distributed, ensuring uniform force on the bearing assembly and guaranteeing clamping stability.

[0042] Example 2

[0043] according to Figure 1 , 2As shown in Figures 3, 4, 5, 6, and 7, this embodiment proposes a high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry. It includes a grinding assembly 1, a feeding assembly 2, and a receiving assembly 3. The feeding assembly 2 and receiving assembly 3 are respectively located on both sides of the grinding assembly 1. The feeding end of the grinding assembly 1 is equipped with a leveling and gap-eliminating assembly 4. The entire equipment adopts an integrated layout of "feeding-gap-grinding-discharging." The grinding assembly 1, as the core grinding component, undertakes the task of grinding the outer diameter of the bearing assembly. The feeding assembly 2 is responsible for accurately conveying the bearing assembly to be processed to the leveling and gap-eliminating assembly 4. The receiving assembly 3 is responsible for receiving the finished bearing assembly after grinding. The leveling and gap-eliminating assembly 4, located at the feeding end of the grinding assembly 1, can complete leveling and gap elimination before the bearing assembly enters the grinding stage, avoiding the bearing clearance from affecting the grinding accuracy. The three components work together to achieve continuous batch processing of bearings.

[0044] The feeding assembly 2 is used to feed the bearing assembly to be processed into the straightening and gap-eliminating assembly 4. The straightening and gap-eliminating assembly 4 includes an outer cylinder 5 and clamping assemblies that are slidably disposed at the four corners inside the outer cylinder 5. Two sets of clamping assemblies at adjacent diagonal corners constitute a clamping unit. The clamping unit is used to first tilt and clamp the front end of the bearing assembly to be processed, and then move and push all the bearings in the bearing assembly to be processed to fit tightly to eliminate gaps. Then, the tilt angle is adjusted to fully clamp the bearing assembly to be processed and feed it into the grinding assembly 1 for grinding and conveying. The two sets of clamping units operate alternately to seamlessly convey the bearing assembly to be processed. After processing, the receiving assembly 3 receives the bearing assembly. After the feeding assembly 2 feeds the bearing assembly into the outer cylinder 5, the clamping assemblies at the four corners of the outer cylinder 5 form two sets of diagonal clamping units. One set of clamping units first clamps a single bearing at the front end of the bearing assembly by tilting, and uses the sliding of the slider 6 to achieve displacement, pushing all the bearings in the bearing assembly to fit tightly together and completely eliminate gaps. Then, the clamping unit adjusts the tilt angle to clamp and fix the entire bearing assembly, ensuring that the bearing assembly is placed neatly, and then pushes it to the grinding assembly 1. At the same time, the other set of clamping units is in standby mode and starts immediately after the first set finishes feeding, so as to realize the seamless operation of the two sets of clamping units, avoid gaps in the bearing assembly conveying, ensure the continuity of processing, and after grinding is completed, the receiving assembly 3 receives the finished product synchronously.

[0045] The inner wall of the outer cylinder 5 is equipped with a position sensor for real-time detection of the clamping position of the bearing assembly to be processed, collecting the real-time position coordinates and clamping gap parameters of the bearing assembly and feeding them back to the control terminal. This, in conjunction with the clamping assembly, precisely completes the gap elimination and clamping actions. The position sensor is installed on the inner wall of the outer cylinder 5 to collect parameters such as the actual clamping position and gap size of the bearing assembly in real time, converting the parameters into electrical signals and feeding them back to the control terminal inside the cabinet 17. After receiving the feedback parameters, the control terminal calculates the clamping unit switching control quantity U(t) at time t using an intelligent control algorithm and outputs the control signal to the actuators of the clamping assembly (slider 6, electric...). (Extendant rod 7, angled cylinder 10, etc.); In the algorithm, the proportional term quickly responds to position deviation, the integral term eliminates static deviation, the differential term predicts the trend of deviation change, and the state weight coefficient and time interval correction term ensure seamless and smooth alternation of the two sets of clamping units. The control quantity U(t) dynamically adjusts the switching timing, displacement speed, and clamping force of the clamping units to achieve precise and intelligent control of clamping, gap elimination, and conveying, without manual intervention, ensuring stable operation of the equipment; Among them, the process of alternating operation of the two sets of clamping units adopts an intelligent control algorithm to achieve seamless switching scheduling, ensuring the continuity and stability of bearing group conveying. The formula of the intelligent control algorithm is as follows:

[0046] ,

[0047] Wherein, U(t) is the clamping unit switching control quantity at time t, in units of V, representing the strength of the control signal output from the control terminal to the clamping unit. It directly determines the switching timing, displacement speed, and clamping force of the clamping unit. The magnitude of the control quantity is dynamically adjusted based on real-time feedback parameters to ensure a smooth and shock-free switching process. Kp is a proportional coefficient, dimensionless, ranging from 0.8 to 1.2, used for rapid response to deviation signals from the position sensor. When the clamping position deviation of the bearing assembly to be processed is large, increasing the proportional coefficient accelerates the adjustment speed of the clamping unit, quickly reducing the deviation and ensuring gap elimination and clamping accuracy. e(t) is the clamping position deviation at time t, in mm, which is detected in real time by the position sensor. Specifically, it is the difference between the actual clamping position of the bearing assembly to be processed and the preset standard clamping position. When e(t) = 0, it indicates that the bearing assembly is in the optimal clamping position and no position adjustment is required. Ki is the integral coefficient, in 1 / s, with a value range of 0.05 to 0.15. It is used to eliminate static deviations during the clamping position adjustment process, avoid clamping position shifts caused by long-term operation, and ensure that the clamping position of the bearing assembly remains consistent when the two sets of clamping units are running alternately, thus achieving a stable gap elimination effect. The integral value of the clamping position deviation from time 0 to time t, in mm·s, reflects the cumulative deviation over time. The integral term is used to gradually correct small deviations that have existed for a long time, preventing the accumulation of deviations from causing the bearing assembly to jam or the gaps to be completely eliminated. Kd is the differential coefficient, in s, with a value range of 0.1~0.3. It is used to predict the changing trend of the clamping position deviation, adjust the operating status of the clamping unit in advance, reduce the overshoot during the adjustment process, avoid impact and vibration when switching between two sets of clamping units, and ensure the smoothness of the bearing assembly conveying. α is the rate of change of the clamping position deviation at time t, in mm / s. It reflects the speed at which the deviation changes. When the deviation changes rapidly, the differential term responds quickly, adjusting the control quantity to prevent further deviation and ensuring timely and accurate adjustment of the clamping unit. α is the clamping unit state weighting coefficient, dimensionless, ranging from 0.3 to 0.5. It is used to adjust the influence of the clamping unit's operating state on the switching control quantity. When one set of clamping units is in working condition and the other is in standby condition, the weighting coefficient allocation ensures smooth power connection during switching. Smooth operation; S(t) is the operating status parameter of the clamping unit at time t, which is dimensionless and takes the value of 0 or 1. S(t)=1 indicates that the clamping unit is in working state, and S(t)=0 indicates that the clamping unit is in standby state. The S(t) values ​​of the two sets of clamping units are always opposite to ensure seamless alternation; β is the time interval correction coefficient, with the unit being 1 / s and the value range being 0.02~0.08. It is used to correct the time interval between the alternation of the two sets of clamping units to avoid switching time deviations caused by different bearing group specifications and changes in grinding speed; The difference between the actual alternation time interval of the two sets of clamping units at time t and the preset standard time interval, expressed in seconds. When the actual alternation time interval is greater than the preset value, When the value is positive, the control terminal adjusts the control quantity through a correction coefficient to shorten the alternation time; when the actual alternation time interval is less than the preset value, When the value is negative, the control terminal extends the alternation time to ensure the stability and continuity of the alternating operation. The various parameters of the algorithm work together to achieve intelligent closed-loop control of the alternating operation of the clamping unit. The position sensor provides real-time feedback of deviation parameters, and the control terminal calculates and outputs precise control quantities through the algorithm to adjust the operating state of the clamping components, ensuring that the bearing assembly is completely gap-free, clamped accurately, and transported smoothly. At the same time, it is adaptable to different specifications of bearing assemblies and processing conditions, improving the automation and intelligence level of the equipment.

[0048] This high-precision through-grind centerless cylindrical grinding machine for intelligent manufacturing equipment features a leveling and gap-eliminating component 4 at the feed end of the grinding assembly 1. This replaces the traditional manual feeding process. After the feeding assembly 2 precisely feeds the bearing assembly to be processed into the leveling and gap-eliminating component 4, two sets of clamping units are formed by the clamping components located at the four corners inside the outer cylinder 5 of the leveling and gap-eliminating component 4. The adjacent diagonal clamping units first tilt and clamp one bearing at the front end of the bearing assembly. Through displacement, all bearings in the bearing assembly are pushed to fit tightly together, completely eliminating the gaps between bearings caused by manual feeding. Then, the tilt angle is adjusted to fully clamp the bearing assembly, ensuring that the bearing assembly is placed neatly and subjected to uniform force before being fed into the grinding assembly 1 for grinding and conveying. At the same time, the two sets of clamping units operate alternately to achieve seamless conveying of the bearing assembly. This effectively avoids problems such as insufficient grinding accuracy, excessive surface roughness, and dimensional deviations caused by bearing gaps and placement offsets. It significantly improves the machining accuracy and product consistency of the bearing outer diameter, while replacing the manual bearing handling process, greatly reducing the labor intensity of operators and reducing errors caused by manual operation. The inner wall of the outer cylinder 5 of the gap-eliminating component 4 of this invention is equipped with a position sensor, which can detect parameters such as the clamping position and gap size of the bearing assembly to be processed in real time. The collected parameters are fed back to the control terminal in real time. The control terminal dynamically schedules the alternating operation of the two clamping units through an intelligent control algorithm. The algorithm uses the synergistic effect of proportional, integral, and differential terms to quickly respond to position deviations and eliminate static deviations, and predict the trend of deviation changes. At the same time, the working / standby status of the two clamping units is determined by the state parameter S(t), and the alternation time is dynamically adjusted by the time interval correction term. It can adapt to different specifications of bearing assemblies and feeding rhythms, ensuring seamless connection and smooth switching between the two clamping units. Precise control can be achieved without manual intervention, making up for the switching difficulties caused by the uncertainty of manual feeding, avoiding problems such as bearing scratches and equipment vibration caused by switching impact, ensuring the stability and reliability of equipment operation, and further improving the automation level of the equipment and reducing the cost of manual monitoring.In this invention, the feeding component 2, the straightening and gap-eliminating component 4, the grinding component 1, and the receiving component 3 work in sequence and cooperate with each other, achieving unified linkage control through a control terminal to form a complete automated continuous processing flow: The feeding component 2, through components such as a turntable 34, an electric lifting rod 35, and a clamp 43, replaces manual feeding and accurately and in batches feeds the bearing assemblies to be processed into the straightening and gap-eliminating component 4; After the straightening and gap-eliminating component 4 completes the gap elimination and straightening clamping of the bearing assemblies, it seamlessly conveys them to the grinding component 1, replacing the manual bearing sorting process; The grinding component 1, through components such as a cabinet 17, a tray 18, a grinding wheel 26, and a guide wheel 27, precisely grinds and conveys the bearing assemblies; After grinding, the receiving component 3 synchronously receives the finished bearing assemblies, achieving a seamless and gapless connection throughout the entire process. This solves the time gap problem caused by manual feeding and poor linkage between processes in the prior art, significantly improving the efficiency of batch processing of bearings, while completely reducing the manual auxiliary feeding, sorting, monitoring, and connection processes, reducing labor costs, and adapting to the large-scale, efficient, and automated production needs of the intelligent manufacturing industry.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry, comprising a grinding assembly (1), a feeding assembly (2), and a receiving assembly (3), characterized in that: The feeding component (2) and receiving component (3) are respectively located on both sides of the grinding component (1), and the feeding end of the grinding component (1) is provided with a regular gap-eliminating component (4). The feeding assembly (2) is used to feed the bearing assembly to be processed into the straightening and gap-eliminating assembly (4). The straightening and gap-eliminating assembly (4) includes an outer cylinder (5) and clamping assemblies that are slidably disposed at the four corners inside the outer cylinder (5). Two sets of clamping assemblies at adjacent diagonal corners form a clamping unit. The clamping unit is used to first clamp the front end of the bearing assembly to be processed at an angle, and then move and push all the bearings in the bearing assembly to be processed to fit tightly to eliminate gaps. Then, the angle of inclination is adjusted to clamp the bearing assembly to be processed in a comprehensive manner and feed it into the grinding assembly (1) for grinding and conveying. The two sets of clamping units operate alternately to seamlessly convey the bearing assembly to be processed. After processing, the receiving assembly (3) receives the bearing assembly.

2. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 1, characterized in that: The clamping assembly includes a slider (6), an electric push rod (7), and a connecting arm (8). The electric push rod (7) is mounted on the slider (6), and the connecting arm (8) is mounted on the output end of the electric push rod (7). A clamping arm (9) is hinged to the connecting arm (8). An angled cylinder (10) is hinged to one end of the connecting arm (8), and the output end of the angled cylinder (10) is hinged to the clamping arm (9). A flexible clamping element is provided on the clamping arm (9).

3. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 2, characterized in that: The flexible clamping component includes a rubber strip (11) and a rubber block (13). The rubber strip (11) is inserted into one side of the clamping arm (9). The rubber strip (11) is provided with connection points (12), and there are multiple sets of connection points (12). There are multiple sets of rubber blocks (13), and multiple sets of rubber blocks (13) are respectively connected to multiple sets of connection points (12). At least two sets of rubber blocks (13) are provided with electromagnets (44).

4. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 1, characterized in that: The outer cylinder (5) is provided with guide grooves (14) at each of the four corners, and a first guide rod (15) is provided inside the guide groove (14). The slider (6) is slidably mounted on the first guide rod (15), and the slider (6) is driven to move by the first threaded screw (16).

5. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 1, characterized in that: The grinding assembly (1) includes a cabinet (17) and a tray (18). The tray (18) is movably installed above the cabinet (17), and both sides of the cabinet (17) are provided with lifting cylinders (19). The output end of the lifting cylinder (19) is connected to the tray (18). Both sides of the outer cylinder (5) are provided with connecting frames (20), and the connecting frames (20) are connected to the tray (18).

6. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 5, characterized in that: The top of the pallet (18) is provided with support plates (21) on both sides, and the support plates (21) are provided with guide rails (22). Guide blocks are slidably provided on the guide rails (22), and the guide blocks are driven to move by the second threaded screw (23). The guide blocks on both sides are respectively provided with a first frame (24) and a second frame (25). The inner side of the first frame (24) is provided with a grinding wheel (26), and the inner side of the second frame (25) is provided with a guide wheel (27). The top of the first frame (24) is provided with an electric adjusting rod (28), and the output end of the electric adjusting rod (28) is provided with a connecting column (29). The bottom of the connecting column (29) is provided with a scraper (30) for cleaning the grinding wheel (26).

7. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 6, characterized in that: The cabinet (17) has a base (31) at the middle of the top, and the base (31) has a bearing plate (32) on both sides at an angle. The bearing plate (32) is used to support the bearing assembly. The tray (18) has an opening (33) at the middle, and the base (31) passes through the opening (33).

8. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 1, characterized in that: The feeding assembly (2) and receiving assembly (3) have the same structure, and both the feeding assembly (2) and receiving assembly (3) include a bracket and a turntable (34). The turntable (34) is rotatably mounted above the bracket, and the four sides of the bottom of the turntable (34) are provided with a first sliding groove (36). The first sliding groove (36) is provided with a second guide rod (37), and an electric lifting rod (35) is slidably mounted on the second guide rod (37). The electric lifting rod (35) is driven to move along the second guide rod (37) by a third threaded screw (38).

9. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to claim 8, characterized in that: The output end of the electric lifting rod (35) is connected to a disc (39), and the four sides of the disc (39) are provided with a second slide groove (40). The interior of the second slide groove (40) is provided with a third guide rod (41), and a clamp (43) is slidably provided on the third guide rod (41). The clamp (43) is driven to move along the third guide rod (41) by a fourth threaded screw (42). The four sets of clamps (43) are used to hold the bearing assembly from the inside.

10. The high-precision through-grinding centerless cylindrical grinding machine for the intelligent manufacturing equipment industry according to any one of claims 1-9, characterized in that: The inner wall of the outer cylinder (5) is equipped with a position sensor to detect the clamping position of the bearing assembly to be processed in real time, collect the real-time position coordinates and clamping gap parameters of the bearing assembly and feed them back to the control terminal, so as to accurately complete the gap elimination and clamping action in conjunction with the clamping component; wherein, the process of the two sets of clamping units running alternately is achieved by using an intelligent control algorithm to realize seamless switching and scheduling, so as to ensure the continuity and stability of the bearing assembly conveying. The formula of the intelligent control algorithm is as follows: ， Wherein, U(t) is the clamping unit switching control quantity at time t, in units of V, representing the strength of the control signal output from the control terminal to the clamping unit. It directly determines the switching timing, displacement speed, and clamping force of the clamping unit. The magnitude of the control quantity is dynamically adjusted based on real-time feedback parameters to ensure a smooth and shock-free switching process. Kp is a proportional coefficient, dimensionless, ranging from 0.8 to 1.2, used for rapid response to deviation signals from the position sensor. When the clamping position deviation of the bearing assembly to be processed is large, increasing the proportional coefficient accelerates the adjustment speed of the clamping unit, quickly reducing the deviation and ensuring gap elimination and clamping accuracy. e(t) is the clamping position deviation at time t, in mm, which is detected in real time by the position sensor. Specifically, it is the difference between the actual clamping position of the bearing assembly to be processed and the preset standard clamping position. When e(t) = 0, it indicates that the bearing assembly is in the optimal clamping position and no position adjustment is required. Ki is the integral coefficient, in 1 / s, with a value range of 0.05 to 0.

15. It is used to eliminate static deviations during the clamping position adjustment process, avoid clamping position shifts caused by long-term operation, and ensure that the clamping position of the bearing assembly remains consistent when the two sets of clamping units are running alternately, thus achieving a stable gap elimination effect. The integral value of the clamping position deviation from time 0 to time t, in mm·s, reflects the cumulative deviation over time. The integral term is used to gradually correct small deviations that have existed for a long time, preventing the accumulation of deviations from causing the bearing assembly to jam or the gaps to be completely eliminated. Kd is the differential coefficient, in s, with a value range of 0.1~0.

3. It is used to predict the changing trend of the clamping position deviation, adjust the operating status of the clamping unit in advance, reduce the overshoot during the adjustment process, avoid impact and vibration when switching between two sets of clamping units, and ensure the smoothness of the bearing assembly conveying. α is the rate of change of the clamping position deviation at time t, in mm / s. It reflects the speed at which the deviation changes. When the deviation changes rapidly, the differential term responds quickly, adjusting the control quantity to prevent further deviation and ensuring timely and accurate adjustment of the clamping unit. α is the clamping unit state weighting coefficient, dimensionless, ranging from 0.3 to 0.

5. It is used to adjust the influence of the clamping unit's operating state on the switching control quantity. When one set of clamping units is in working condition and the other is in standby condition, the weighting coefficient allocation ensures smooth power connection during switching. Smooth operation; S(t) is the operating status parameter of the clamping unit at time t, which is dimensionless and takes the value of 0 or 1. S(t)=1 indicates that the clamping unit is in working state, and S(t)=0 indicates that the clamping unit is in standby state. The S(t) values ​​of the two sets of clamping units are always opposite to ensure seamless alternation; β is the time interval correction coefficient, with the unit being 1 / s and the value range being 0.02~0.

08. It is used to correct the time interval between the alternation of the two sets of clamping units to avoid switching time deviations caused by different bearing group specifications and changes in grinding speed; The difference between the actual alternation time interval of the two sets of clamping units at time t and the preset standard time interval, expressed in seconds. When the actual alternation time interval is greater than the preset value, When the value is positive, the control terminal adjusts the control quantity through a correction coefficient to shorten the alternation time; when the actual alternation time interval is less than the preset value, If the value is negative, the control terminal extends the alternation time to ensure the stability and continuity of the alternation operation.

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