Deep sea ball valve ball body grinding equipment based on feedback and force control

Abstract

The invention relates to deep sea ball valve ball body grinding equipment based on feedback and force control, and belongs to the technical field of ball valve ball body machining. The deep sea ball valve ball body grinding equipment comprises a machine tool base, a speed reducer, a workbench disc, a double-shaft rotating mechanism, a grinding assembly and a protective sleeve; the posture of a sphere is adjusted through multi-axis linkage, all areas of the spherical surface make full contact with a grinding disc, a grinding assembly adopts an adjusting rod and a grinding lining plate which are driven by air pressure, pure mechanical constant-force grinding is achieved, grinding liquid is supplied centrifugally through a built-in channel, abrasive dust is guided to be discharged through a spiral groove, and a sealed space is formed by a protective sleeve. The equipment solves the problems of traditional grinding dead angles, unstable force control, low efficiency in liquid supply and chip removal and the like, is adaptive to balls of various specifications, improves the grinding precision and stability, and meets the strict requirements of deep sea ball valves on roundness and surface smoothness.

Description

Technical Field

[0001] This invention belongs to the field of ball valve ball processing technology, and relates to a deep-sea ball valve ball grinding equipment based on feedback and force control. Background Technology

[0002] As a core sealing component in equipment used in deep-sea oil and gas extraction, seabed observation systems, and deep-sea probes, deep-sea ball valves must withstand the extremely high water pressure in the deep-sea environment at depths of thousands of meters for extended periods, while ensuring zero leakage of the medium. Therefore, extremely high requirements are placed on the roundness and surface finish of the ball—typically requiring a roundness error ≤0.003mm, a surface roughness ≤0.8μm, and no scratches, dents, or other damage on the ball surface to be suitable for high-pressure sealing conditions in the deep sea. Ball grinding is a crucial process that determines the sealing performance of deep-sea ball valves, and its machining accuracy directly affects the operational reliability and service life of the equipment.

[0003] However, existing deep-sea ball valve ball grinding equipment and processes face numerous technical bottlenecks in practical applications, making it difficult to simultaneously achieve grinding accuracy, efficiency, and surface quality. Specific problems include: Traditional ball grinding often employs a simple latitude and longitude rotation method, where the grinding disc is fixed and rotates, and the ball rotates around its own axis in the latitude and longitude directions to achieve grinding. However, due to the structural characteristics of the ball, this single motion trajectory results in significant differences in the linear velocity of different regions of the sphere's surface—the equatorial region has a high linear velocity, leading to a larger grinding amount and a tendency for excessive wear; while the extreme regions have a slow linear velocity, even approaching zero, resulting in insufficient grinding and the potential for residual protrusions. This leads to uneven grinding of the sphere's surface, making it difficult to guarantee overall roundness and smoothness, and thus failing to meet the stringent precision requirements of deep-sea ball valves.

[0004] Existing equipment mainly adopts two methods: rigid feed or sensor feedback flexible feed. Rigid feed directly drives the grinding head to feed through a motor screw. It has a simple structure but poor adjustment flexibility. When the grinding disc encounters a protrusion on the surface of the ball or uneven machining allowance, it cannot buffer the impact force in time. It is easy to cause scratches, vibration marks, or even deformation of the ball due to hard grinding. Sensor feedback flexible feed relies on high-precision sensors and complex control algorithms to adjust the force. However, deep-sea operations and grinding environments are accompanied by strong vibrations, grinding debris splashes, high humidity and other interferences. Sensor feedback is prone to lag or deviation, and the adjustment accuracy is unstable. Moreover, the electrical control module has a high failure rate in harsh environments, resulting in high maintenance costs and making it difficult to achieve stable and reliable constant force grinding.

[0005] Existing equipment mostly uses external spraying to supply grinding fluid. During the grinding process, the grinding disc and the surface of the ball are in close contact, forming a closed grinding area. The externally sprayed grinding fluid has difficulty penetrating the contact surface to enter the core grinding area, resulting in local dry grinding and heating. This not only aggravates the wear of the grinding disc, but also affects the material properties of the ball surface due to high temperature, causing thermal deformation or surface defects. At the same time, the grinding debris generated cannot be discharged in time and is prone to accumulate and roll on the grinding contact surface, causing secondary scratches on the ball surface, further reducing the surface finish. Moreover, the accumulation of grinding debris also increases the grinding resistance and affects the grinding stability.

[0006] Therefore, we propose a deep-sea ball valve ball grinding device based on feedback and force control to solve the problems mentioned above. Summary of the Invention

[0007] In view of this, in order to solve the above problems, the present invention provides a deep-sea ball valve ball grinding device based on feedback and force control.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a deep-sea ball valve ball grinding device based on feedback and force control, comprising: A machine tool base, wherein a reducer is fixedly connected to the top of the machine tool base, and a worktable is fixedly connected to the output end of the reducer; A dual-axis rotary mechanism is fixed to the top of the worktable and includes a base, a swing bracket, and an expandable clamp. The base is fixed to the top of the worktable, the swing bracket is slidably engaged with the base, and the expandable clamp is mounted on one end of the swing bracket. Motor II is fixed to one side of the base and connected to the swing bracket, driving the expansion clamp to rotate along the Y-axis; Motor I is connected to the other end of the swing bracket and drives the expansion clamp to rotate along the X-axis; A grinding assembly is mounted on the spindle of the machine tool base, including a fixed collar and multiple adjusting rods. The adjusting rods are slidably engaged with the fixed collar, and a grinding liner is fixedly connected to the bottom and spliced ​​together to form a grinding disc. Among them, the three-axis linkage drives the ball's posture adjustment, so that all areas of the ball's surface can fully contact the grinding disc, eliminating grinding dead angles.

[0009] As a further improvement to the above technical solution: The swing bracket is slidably engaged with the top of the base via a sliding block. A connecting bracket is fixedly connected to one side of the swing bracket, and the other side of the connecting bracket is fixedly connected to the output end of motor II. The sliding block reduces the swing resistance and ensures stable attitude adjustment.

[0010] The expandable clamp includes a fixed plate I, a connecting flange fixed to the top of the fixed plate I by multiple support rods, a screw rotatably mounted through the top of the fixed plate I, a sleeve rod threaded onto the outer wall of the screw rod, the sleeve rod slidingly engaging with the connecting flange, and the outer wall rotatably connected to the clamping plate by a connecting rod, the connecting flange having an oblong through hole, a guide post fixed to the bottom of the clamping plate, the guide post slidingly engaging with the oblong through hole, and the radial expansion and contraction of the clamping plate achieved by the screw drive, adapting to spheres of different diameters.

[0011] One end of the swing bracket is rotatably fitted with a rotary seat, and a rotary cylinder is rotatably fitted through the top of the rotary seat. The bottom end of the screw extends to the bottom of the rotary cylinder, and a positioning collar is threaded on the outer wall of the rotary cylinder. The positioning collar axially limits the ball to prevent it from moving during grinding.

[0012] The other end of the swing bracket is fixedly connected to a fixed base I. The motor I is fixedly connected to one side of the fixed base I. The output shaft passes through the inside of the fixed base I and is fitted with a limiting collar. The limiting collar is fixedly connected to the fixed base I. Both have rectangular through holes. The top of the connecting flange is fixedly connected to a support end. The support end cooperates with the rectangular through hole to prevent slippage during power transmission.

[0013] The grinding assembly also includes a tool holder inserted into the spindle, a fixed collar fixedly sleeved on the outer wall of the tool holder with an air chamber inside, a piston cylinder sleeved on the outer wall of the adjusting rod, the piston cylinder fixedly connected to the air chamber and having an air inlet, and a rotary joint fixedly sleeved on the outer wall of the fixed collar. The rotary joint is connected to the air chamber and an external air source. By driving the adjusting rod with compressed gas, pressure is applied to achieve pure mechanical constant force grinding.

[0014] The tool holder holds a connecting shaft, and a fixed plate II is fixedly connected to the bottom end of the connecting shaft. The fixed plate II is slidably engaged with the adjusting rod. The connecting shaft is connected to the adjusting rod through a flexible conduit. The bottom end of the adjusting rod is hollow. The grinding liner has a spray hole. The grinding fluid is sprayed from the spray hole onto the grinding surface through the connecting shaft, the flexible conduit, and the adjusting rod to achieve lubrication and cooling.

[0015] The bottom of the grinding disc has a spiral groove, which rotates in the opposite direction to the grinding disc, guiding the grinding debris and excess grinding fluid to the edge to avoid accumulation and scratching the sphere.

[0016] Multiple positioning blocks are fixedly connected inside the fixing collar. The positioning blocks are inserted into the corresponding slots of the tool holder and fastened with screws to achieve circumferential positioning of the fixing collar and the tool holder, preventing relative rotation during grinding.

[0017] It also includes a protective sleeve, which is fixed to the main shaft lifting plate by a connecting column, rises and falls with the main shaft and cooperates with the ball head to form a sealed barrel shape. The outer wall of the protective sleeve is fitted with an annular guide tube, and the inner wall is fixed with a liquid suction tube. The liquid suction tube is connected to the annular guide tube, and the annular guide tube is connected to an external dust collection device through a connecting guide tube to realize the centralized collection of grinding debris and grinding fluid.

[0018] The beneficial effects of this invention are as follows: 1. The deep-sea ball valve ball grinding equipment disclosed in this invention, based on feedback and force control, achieves flexible adjustment of the ball's posture through a dual-axis rotary mechanism. Motor I drives the expansion clamp to rotate along the X-axis, motor II drives the swing bracket and clamp to swing along the Y-axis, and the reducer drives the worktable to rotate. The multi-axis linkage ensures that all areas of the ball surface can fully contact the grinding disc, eliminating the dead angle problem of traditional grinding. At the same time, relying on the pneumatic drive structure, compressed gas is evenly applied to multiple adjusting rods through the air chamber and air inlet, driving the grinding liner to apply stable pressure to the ball surface. With the guiding effect of the piston cylinder and fixed plate II, the grinding pressure is evenly transmitted, avoiding excessive local pressure that could damage the ball surface or insufficient pressure that could lead to incomplete grinding. This significantly improves the flatness and roundness of the ball surface, making it suitable for the stringent precision requirements of deep-sea high-pressure sealing conditions. 2. The deep-sea ball valve ball grinding equipment disclosed in this invention uses an expansion clamp to drive the sleeve rod to move axially through the rotation of the screw. The clamping plate is pulled radially along the waist-shaped through hole by the connecting rod. The guide post restricts the offset of the clamping plate, so as to achieve stable clamping of balls of different diameters. The rubber pad on the outside of the clamping plate can increase friction to prevent the ball from sliding and avoid rigid contact damage to the ball surface. It can adapt to various specifications of balls without replacing the entire clamp, reducing the tooling investment cost for processing multiple specifications and improving the versatility of the equipment. 3. The deep-sea ball valve ball grinding equipment disclosed in this invention is based on feedback and force control. The protective sleeve is installed on the main shaft lifting plate through the connecting column and the fixing plate. It can be raised and lowered synchronously with the main shaft. It can achieve the functions of sealing the grinding area and collecting grinding debris without making major modifications to the original equipment structure. The sealed space allows the negative pressure to be concentrated on the grinding area, improving the collection efficiency of the suction pipe, optimizing the working environment, and taking into account both the original grinding performance and the added protective function.

[0019] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a three-dimensional structural schematic diagram of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention; Figure 2 This is a schematic diagram of the dual-axis rotary mechanism structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention; Figure 3 This is a schematic diagram of the dual-axis rotary mechanism of a deep-sea ball valve ball grinding device based on feedback and force control, from another perspective. Figure 4 This is a cross-sectional view of the expansion clamp structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention. Figure 5 This is a schematic diagram of the grinding components and protective sleeve installation structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention. Figure 6 This is a schematic diagram of the protective sleeve structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention; Figure 7 This is a schematic diagram of the grinding component structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention. Figure 8 This is a schematic cross-sectional view of the fixed collar structure of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention. Figure 9 This is a cross-sectional view of the fixed disk II of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention. Figure 10 This is a schematic diagram of the connection structure between the fixing collar and the tool holder of a deep-sea ball valve ball grinding device based on feedback and force control according to the present invention.

[0021] Reference numerals: 1. Machine tool base; 2. Reducer; 3. Worktable; 4. Dual-axis rotary mechanism; 41. Base; 42. Swinging bracket; 43. Fixed seat I; 44. Motor I; 441. Limiting collar; 442. Rectangular through hole; 45. Rotary seat; 46. Positioning collar; 47. Connecting bracket; 48. Motor II; 49. Expansion clamp; 491. Support end; 492. Screw; 493. Fixed plate I; 494. Support rod; 495. Connecting flange; 496. Oval through hole; 497. Sleeve rod; 498. Connecting rod; 499 4910. Clamping plate; 4911. Guide post; 4912. Rotary cylinder; 5. Grinding assembly; 51. Tool holder; 52. Fixing collar; 521. Air chamber; 522. Piston cylinder; 523. Air inlet; 524. Positioning block; 53. Rotary joint; 54. Connecting shaft; 55. Adjusting rod; 56. Flexible guide tube; 57. Fixing disc II; 58. Grinding disc; 581. Grinding liner; 582. Spiral groove; 583. Spray hole; 6. Connecting column; 7. Protective sleeve; 71. Fixing plate; 72. Suction tube; 73. Annular guide tube; 74. Connecting guide tube. Detailed Implementation

[0022] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0024] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] Example 1 like Figures 1-5 , Figures 7-10 As shown, a deep-sea ball valve ball grinding device based on feedback and force control is disclosed. The core of the device adjusts the ball's posture through dual-axis linkage, and achieves precise control of grinding force through a pneumatic drive structure. The entire device is mounted on a machine tool base 1, which provides the core mounting support, the mounting foundation, and the spindle drive. The machine tool base 1 can be a vertical machining center or other machine tool structure with similar spindle lifting and rotation functions; this invention is not limited to this. A reducer 2 (with motor drive) is bolted to the top, and a locating pin is fitted at the connection point for circumferential fixation. The locating pin prevents relative misalignment between the reducer 2 and the machine tool base 1, ensuring stable power transmission. The output end of the reducer 2 is connected to the worktable 3 via a flat key. The flat key structure effectively transmits torque and facilitates disassembly and maintenance. The reducer 2 smoothly transmits the power of the spindle of the machine tool base 1 to the worktable 3, avoiding speed fluctuations that could affect grinding accuracy. The upper surface of the worktable 3 has evenly distributed threaded holes for fixed connection with the base 41 of the dual-axis rotary mechanism 4. The threaded connection facilitates subsequent equipment maintenance and component replacement.

[0026] The dual-axis rotary mechanism 4 is fixed to the top of the worktable 3. The base 41 is a rectangular cast steel part. The cast steel material ensures sufficient structural strength to resist vibration and impact during the grinding process. The bottom of the base 41 is fastened to the threaded holes of the worktable 3 with bolts to ensure a firm overall installation. A long strip-shaped slide groove is opened on the top of the base 41. A slider is installed in the slide groove. The top of the slider is welded and fixed to the swing bracket 42. The cooperation between the slide groove and the slider can reduce the frictional resistance when the swing bracket 42 moves, and at the same time limit the movement direction of the swing bracket 42, ensuring smooth sliding along the set trajectory. A telescopic dust cover (not shown) is installed at the opening of the slide groove. The two ends of the dust cover are fixed to the base 41 and the swing bracket 42 respectively. A connecting bracket 47 is welded to one side of the swing bracket 42. The connecting bracket 47 is an L-shaped steel plate. The other side is fixed to the output end of the motor II 48 through a coupling. The coupling can buffer the instantaneous impact force when the motor II 48 starts and protect the components from damage. Motor II 48 is fixed to one side of base 41 by a motor mount. The motor mount can enhance the stability of motor II 48 installation. When motor II 48 is working, it drives the connecting bracket 47 to swing, which in turn drives the swing bracket 42 to slide along the slide groove of base 41, and finally drives the expansion clamp 49 to rotate in the Y-axis direction, so as to realize the attitude adjustment of the ball in the Y-axis direction.

[0027] The other end of the swing bracket 42 is welded to the fixed seat I 43. The motor I 44 is fixed to one side of the fixed seat I 43 by bolts. The output shaft of the motor I 44 extends through to the inside of the fixed seat I 43. A limiting collar 441 is fitted on the outer wall of the output shaft. The limiting collar 441 is fixed to one side of the fixed seat I 43 by bolts. The limiting collar 441 can radially limit the output shaft of the motor I 44 to prevent the output shaft from shaking when the motor I 44 rotates at high speed, thus ensuring the accuracy of power transmission. Both the limiting collar 441 and the output end of motor I 44 are provided with rectangular through holes 442. The two rectangular through holes 442 are the same size and coaxially corresponding. The top of the connecting flange 495 of the expansion clamp 49 is welded with a support end 491. The support end 491 is a rectangular structure that is inserted into the rectangular through hole 442 with clearance fit. The rectangular structure can prevent the two from slipping relative to each other, ensuring that after the motor I 44 starts, it can drive the screw 492 to rotate synchronously through this fit, thereby driving the expansion clamp 49 to rotate along the X-axis, realizing the dual-axis attitude adjustment of the ball, and supporting the screw 492.

[0028] One end of the swing bracket 42 is rotatably mounted on the rotary seat 45 via a bearing. The bearing reduces the frictional resistance between the rotary seat 45 and the swing bracket 42, ensuring that the rotary seat 45 rotates flexibly within a 90° range, facilitating the installation of the valve ball. A mounting hole is formed through the top of the rotary seat 45, and a rotary cylinder 4911 is rotatably mounted within the mounting hole via a bearing. Similarly, the bearing reduces rotational friction. The bottom end of the screw 492 passes through the rotary cylinder 4911 and extends to its bottom. External threads are machined on the outer wall of the rotary cylinder 4911, and internal threads are formed on the inner wall of the positioning ring 46. The two are threaded together and fitted. Rotating the positioning ring 46 allows it to move axially along the rotary cylinder 4911 until it contacts the surface of the ball, thus axially limiting the valve ball and preventing axial movement of the ball during grinding, which would affect grinding accuracy.

[0029] The expansion clamp 49 consists of a fixed plate I 493, support rods 494, and a connecting flange 495. The fixed plate I 493 is a circular steel plate with multiple support rods 494 evenly welded to its top. The tops of the support rods 494 are welded and fixed to the connecting flange 495. The three components form a stable frame structure that can resist vibration during the grinding process and ensure the overall stability of the clamp. The fixed plate I 493 is welded to one end of the rotary drum 4911. A screw 492 is rotatably mounted through a bearing at the center of the top of the fixed plate I 493. The bearing allows the screw 492 to rotate smoothly without deviation. The outer wall of the screw 492 is machined with external threads, and the inner wall of the sleeve rod 497 is threaded internally. The two are threaded together and fitted. The sleeve rod 497 is located inside the connecting flange 495, and the outer wall of the sleeve rod 497 is clearance-fitted with the inner wall of the connecting flange 495. The clearance fit allows the sleeve rod 497 to slide smoothly along the axial direction of the connecting flange 495 without jamming. Multiple sets of connecting rods 498 are rotatably mounted on the outer wall of the sleeve rod 497 via pins. The outer side of each set of connecting rods 498 is rotatably connected to the clamping plate 499 via pins. The pin connection allows for flexible rotation between the connecting rods 498, the sleeve rod 497, and the clamping plate 499. The top of the connecting flange 495 has multiple oblong through holes 496, which correspond to the clamping plate 499 respectively. The bottom of the clamping plate 499 is welded with guide posts 4910. The guide posts 4910 are inserted into the oblong through holes 496 and have a clearance fit with the hole wall. The oblong through holes 496 and the guide posts 4910 can restrict the movement direction of the clamping plate 499, allowing it to move only radially and preventing offset. When the screw 492 rotates, it drives the sleeve rod 497 to move axially. The sleeve rod 497 pulls the clamping plate 499 radially along the oblong through hole 496 via the connecting rod 498, thereby clamping and fixing ball valve balls of different diameters. To further ensure clamping reliability, the drive end of the screw 492 can also be equipped with a manual locking nut (not shown in the figure) or an electromagnetic brake (not shown in the figure) to lock it again after clamping, preventing loosening due to vibration during grinding. A rubber pad is attached to the outside of the clamping plate 499, which can increase the friction with the ball surface, prevent the ball from sliding after clamping, and avoid rigid contact that could damage the ball surface.

[0030] The grinding assembly 5 is mounted on the spindle of the machine tool base 1 and includes components such as a tool holder 51, a fixing collar 52, and an adjusting rod 55. The tool holder 51 adopts a tapered shank structure and is inserted into the tapered hole of the spindle of the machine tool base 1. The tapered surface fits together to ensure coaxiality between the two, and the tapered shank structure facilitates quick assembly and disassembly without the need for complex fastening structures. The fixing collar 52 is fitted onto the outer wall of the tool holder 51. Multiple positioning blocks 524 are welded to the inner wall of the fixing collar 52. The tool holder 51 has corresponding slots, and the positioning blocks 524 are engaged in the slots to achieve circumferential positioning of the fixing collar 52 and the tool holder 51, preventing relative rotation between the two. Screws are then inserted from the outside of the fixing collar 52 to the tool holder 51 to further enhance the connection and prevent loosening due to vibration during the grinding process.

[0031] An annular air chamber 521 is provided inside the fixed collar 52. The air chamber 521 can store compressed gas, allowing the gas to be evenly distributed to the tops of each adjusting rod 55. A fixed piston cylinder 522 is welded inside the air chamber 521. The adjusting rod 55 passes through the piston cylinder 522 and is in clearance fit with the cylinder wall. The piston cylinder 522 provides guidance for the adjusting rod 55, ensuring that the adjusting rod 55 moves only axially, thus improving the movement accuracy. The adjusting rod 55 is in sliding fit with the fixed collar 52. A sealing ring (not shown) is fixed at the bottom of the fixed collar 52 corresponding to the position of the adjusting rod 55. The inner wall of the sealing ring is in close contact with the outer wall of the adjusting rod 55 for sealing. The adjusting rods 55 are evenly distributed along the circumference of the fixed collar 52, which allows the grinding pressure to be evenly applied to the grinding disc 58, avoiding excessive or insufficient local pressure. A rotary joint 53 is fitted onto the outer wall of the fixed collar 52. The inner side of the rotary joint 53 is connected to the air chamber 521, and the outer side is connected to an external air source through a high-pressure pipeline. The rotary joint 53 allows compressed gas to be continuously supplied while the fixed collar 52 rotates with the spindle, preventing the pipeline from breaking due to rotation and ensuring a stable air pressure supply. The compressed gas supplied by the external air source enters the air chamber 521 through the rotary joint 53, and then acts on the top of the adjusting rod 55 through the air inlet 523, driving the adjusting rod 55 to move downward along the piston cylinder 522, thereby applying pressure to the grinding liner 581 at the bottom. By adjusting the gas pressure, the grinding force can be precisely controlled to adapt to the grinding needs of balls of different materials.

[0032] The tool holder 51 internally holds and connects the rotating shaft 54. The top of the rotating shaft 54 ​​is connected to the main spindle of the machine tool base 1 and can rotate synchronously with the main spindle. The bottom end is welded with a fixed plate II 57. The fixed plate II 57 has through holes and is respectively fitted on the adjusting rod 55. It is clearance-fitted with the adjusting rod 55 and can play an auxiliary guiding role for the adjusting rod 55, further ensuring the axial movement of the adjusting rod 55 is stable and avoiding shaking. A hollow channel is provided inside the connecting shaft 54. One end of the flexible conduit 56 is connected to the hollow channel of the connecting shaft 54, and the other end is connected to the adjusting rod 55. The flexible conduit 56 can adapt to the axial movement of the adjusting rod 55 and will not break or fall off due to the movement of the adjusting rod 55. The bottom end of the adjusting rod 55 is a hollow structure. The top of the grinding liner 581 is provided with a spray hole 583. The spray hole 583 is connected to the hollow structure of the adjusting rod 55. The grinding fluid enters the flexible conduit 56 through the hollow channel of the connecting shaft 54, and then is sprayed from the spray hole 583 onto the grinding contact surface through the adjusting rod 55. This provides lubrication for the grinding process, reduces the friction between the grinding liner 581 and the surface of the ball, and carries away the heat generated during grinding, avoiding high temperature damage to the surface of the ball or the grinding liner 581.

[0033] Multiple grinding liners 581 are spliced ​​together to form a complete grinding disc 58. The grinding liners 581 are made of diamond abrasive, possessing high strength and wear resistance. They are fixed to the bottom of the adjusting rod 55 with bolts. When a single grinding liner 581 wears out, it can be disassembled and replaced individually without replacing the entire grinding disc 58, reducing consumable costs. Furthermore, when encountering a protruding ball, it can slightly retract under the pressure of the protrusion, avoiding hard grinding that could scratch the ball or cause overall lifting. A spiral groove 582 is formed at the bottom of the grinding disc 58. The spiral groove 582 rotates in the opposite direction to the rotation of the grinding disc 58. When the grinding disc 58 rotates, the spiral groove 582 provides a guiding effect, directing the grinding debris and excess grinding fluid generated during the grinding process to the edge of the grinding disc 58, facilitating subsequent collection and processing, and preventing the accumulation of grinding debris on the grinding contact surface, which could cause scratches on the ball surface.

[0034] It also includes a PLC controller, which is electrically connected to the drive motors of the machine tool base 1, motor I 44, motor II 48, reducer 2, external air source solenoid valve and external dust collection equipment, respectively, to coordinate the operation of each component.

[0035] During clamping, the ball to be ground is placed on multiple clamping plates 499. The positioning collar 46 is rotated to axially limit the ball and prevent displacement. The screw 492 is rotated, driving the sleeve rod 497 to move axially along the connecting flange 495. The sleeve rod 497 pulls the clamping plate 499 radially along the oblong through hole 496 through the connecting rod 498. The guide post 4910 restricts the displacement of the clamping plate 499 until the rubber pad on the outer side of the clamping plate 499 is tightly attached to the inner wall of the ball to complete the clamping. Then, the expansion clamp 49 is rotated to change from a vertical to a horizontal position. During the rotation, the support end 491 is inserted into the rectangular through hole 442 on the output shaft of motor I 44.

[0036] During the grinding preparation stage, the spindle of the machine tool base 1 drives the tool holder 51 and the grinding assembly 5 to descend as a whole, so that the grinding disc 58 makes slight contact with the surface of the ball. The external air source introduces compressed gas into the air chamber 521 through the rotary joint 53. The gas acts on the top of the adjusting rod 55 through the air inlet 523, pushing the adjusting rod 55 to move downward along the piston cylinder 522. The set grinding pressure is applied to the surface of the ball through the grinding liner 581. The fixed disc II 57 provides auxiliary guidance for the adjusting rod 55 to ensure uniform pressure transmission. During the grinding operation, the spindle of the machine tool base 1 drives the connecting shaft 54, the fixed collar 52, and the grinding disc 58 to rotate synchronously. At the same time, motors I 44 and II 48 are started. Motor I 44 drives the screw 492 and the expansion clamp 49 to rotate along the X-axis, while motor II 48 drives the swing bracket 42 and the expansion clamp 49 to swing along the Y-axis through the connecting bracket 47. Simultaneously, the reducer 2 drives the worktable 3 to rotate the base 41. This multi-axis linkage ensures that all areas of the sphere surface can contact the rotating grinding disc 58, forming a grinding trajectory without dead angles. During the grinding process, the external grinding fluid enters the flexible conduit 56 through the hollow channel of the connecting shaft 54, and is then sprayed onto the grinding contact surface through the spray hole 583 through the hollow structure of the adjusting rod 55, achieving lubrication and cooling. When the grinding disc 58 rotates, the rotation direction of the spiral groove 582 matches the rotation direction of the grinding disc 58, generating a centrifugal guiding effect that pushes the grinding debris and excess grinding fluid from the center to the edge, preventing accumulation and scratching of the sphere. The grinding force can be adjusted in real time by adjusting the external air source pressure. The compressed gas is evenly distributed in the air chamber 521, so that the adjusting rod 55 applies pressure synchronously, ensuring that the surface of the ball is subjected to uniform force. This adapts to the grinding needs of balls of different materials and avoids the problems of insufficient grinding of hard materials and excessive grinding of soft materials. After grinding is completed, the air source is turned off, the adjusting rod 55 loses the gas thrust, the spindle drives the grinding assembly 5 to rise and reset, the reverse start motor I44 releases the clamping plate 499, and the ball can be removed. The whole process achieves high-precision and stable ball grinding through the synergy of mechanical structure and air pressure control.

[0037] Example 2 Reference Figures 1-10 This embodiment, based on Embodiment 1, adds a protective structure to optimize the grinding operation environment; the remaining structures are basically the same as in Embodiment 1. This embodiment adds a protective sleeve 7, which is installed at the bottom of the lifting plate of the main shaft via a connecting column 6. The connecting column 6 is a stainless steel rod, which is corrosion resistant and suitable for the humid environment in grinding operations. The top of the connecting column 6 is welded and fixed to the lifting plate, and the bottom is fitted with a fixing plate 71. The fixing plate 71 is fastened to the outer wall of the protective sleeve 7 with bolts, so that the protective sleeve 7 and the main shaft lifting plate form a stable connection. It can rise and fall together with the main shaft. During operation, it descends synchronously to the working position, and when not in operation, it rises with the main shaft to avoid obstruction, without affecting the installation and removal of the ball.

[0038] The protective sleeve 7 is a cylindrical hollow structure with an inner diameter slightly larger than the overall size of the grinding disc 58, ensuring complete coverage of the grinding area during operation. An annular conduit 73 is fitted onto the outer wall of the bottom end of the protective sleeve 7. The annular conduit 73 is fixed to the protective sleeve 7 with a clamp, facilitating easy installation, removal, and maintenance of the annular conduit 73, allowing for quick disassembly and cleaning as needed. Multiple suction tubes 72 are evenly welded to the inner wall of the protective sleeve 7. One end of each suction tube 72 penetrates the side wall of the protective sleeve 7 and connects to the annular conduit 73, while the other end extends to the inner side of the protective sleeve 7 near the grinding area, accurately absorbing grinding debris and grinding fluid generated during the grinding process, preventing any leakage. A connecting conduit 74 is connected to one side of the annular conduit 73, and the other end of the connecting conduit 74 is connected to an external vacuum cleaner. When the external vacuum cleaner operates, it generates negative pressure, which is transmitted through the connecting conduit 74 to the annular conduit 73, and then, through the suction tubes 72, acts on the grinding area, drawing the grinding debris and grinding fluid into the annular conduit 73. Finally, the fluid is collected in the external equipment via the connecting conduit 74.

[0039] During preparation, the spindle lifting plate lowers the connecting column 6 and the protective sleeve 7 simultaneously until the bottom of the protective sleeve 7 is tightly fitted against the surface of the worktable 3, forming a closed barrel-shaped space that completely covers the grinding disc 58, isolating the grinding area from the external environment and preventing leakage of grinding fluid and grinding debris. Simultaneously with the start of the grinding operation, the external vacuum equipment is activated. The vacuum equipment transmits negative pressure to the annular conduit 73 through the connecting conduit 74. The annular conduit 73 evenly distributes the negative pressure to the suction pipe 72. Because the suction pipe 72 is close to the grinding area, it can quickly absorb the grinding debris and mixed grinding fluid generated during grinding, preventing the accumulation of grinding debris on the grinding contact surface. Simultaneously, the spiral groove 582 at the bottom of the grinding disc 58 guides the grinding debris and excess grinding fluid to the edge of the grinding disc 58, making it easier for the suction pipe 72 to capture and collect them, forming a "guiding-adsorption" dual cleaning effect. The sealed, barrel-shaped space allows negative pressure to be concentrated on the grinding area, improving liquid suction efficiency. Simultaneously, it prevents grinding fluid from splashing onto components such as the machine tool base 1, motor I 44, and motor II 48, avoiding corrosion or impact on operational accuracy due to grinding debris. The grinding liner 581 is double-fixed with bolts and locating pins. During replacement, the bolts are first removed, the new grinding liner 581 is quickly positioned using the locating pins, and then the bolts are tightened. This eliminates the need for repeated calibration of the fit with the ball, shortening downtime for maintenance. After grinding, the spindle drives the grinding assembly 5 and the protective sleeve 7 to rise synchronously. The protective sleeve 7 avoids the clamping area, the dust collection equipment is turned off, and the annular guide tube 73 can then be disassembled via the clamp to clean and maintain the liquid suction tube 72 and the annular guide tube 73, ensuring the stability of subsequent operations. This embodiment, through the adaptation of the protective structure to the original grinding structure, optimizes the working environment, extends equipment lifespan, and improves maintenance convenience while ensuring high-precision grinding.

[0040] The sliding / transmission pairs of this equipment, such as the slide block, screw 492, adjusting rod 55, and guide rod, need to be cleaned regularly to remove residual wear debris and apply wear-resistant grease to ensure smooth movement. Easily damaged parts such as dust covers and sealing rings need to be replaced in a timely manner according to the wear condition to ensure protection and sealing performance.

[0041] However, as is well known to those skilled in the art, the working principles and wiring methods of the machine tool base 1, motor I 41 and motor II 48 are all conventional methods or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A deep-sea ball valve ball grinding device based on feedback and force control, characterized in that, include: A machine tool base (1) is fixedly connected to the top of the machine tool base (1), and a reducer (2) is fixedly connected to the output end of the reducer (2). The dual-axis rotary mechanism (4) is fixed to the top of the worktable (3) and includes a base (41), a swing bracket (42) and an expansion clamp (49). The base (41) is fixed to the top of the worktable (3), the swing bracket (42) is slidably engaged with the base (41), and the expansion clamp (49) is mounted on one end of the swing bracket (42). Motor II (48) is fixed to one side of the base (41) and connected to the swing bracket (42), driving the expansion clamp (49) to rotate along the Y-axis; Motor I (44) is connected to the other end of the swing bracket (42) and drives the expansion clamp (49) to rotate along the X-axis; The grinding assembly (5) is mounted on the spindle of the machine tool base (1), including a fixed collar (52) and multiple adjusting rods (55). The adjusting rods (55) are slidably engaged with the fixed collar (52), and the bottom is fixedly connected to the grinding liner (581) and spliced ​​to form a grinding disc (58). Among them, the three-axis linkage drives the ball's posture adjustment, so that each area of ​​the ball's surface is in full contact with the grinding disc (58), eliminating grinding dead angles.

2. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 1, characterized in that, The swing bracket (42) slides with the top of the base (41) through the sliding block. A connecting bracket (47) is fixedly connected to one side of the swing bracket (42), and the other side of the connecting bracket (47) is fixedly connected to the output end of the motor II (48). The sliding block reduces the swing resistance and ensures stable posture adjustment.

3. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 1, characterized in that, The expansion clamp (49) includes a fixed plate I (493), a connecting flange (495) is fixedly connected to the top of the fixed plate I (493) by multiple support rods (494), a screw (492) is rotatably mounted through the top of the fixed plate I (493), a sleeve rod (497) is threaded on the outer wall of the screw (492), the sleeve rod (497) is slidably engaged with the connecting flange (495), and the outer wall is rotatably connected to the clamping plate (499) by a connecting rod (498). The connecting flange (495) has an oblong through hole (496), and a guide post (4910) is fixedly connected to the bottom of the clamping plate (499). The guide post (4910) is slidably engaged with the oblong through hole (496). The radial extension and retraction of the clamping plate is achieved by the screw drive to adapt to spheres of different diameters.

4. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 3, characterized in that, One end of the swing bracket (42) is rotatably fitted with a rotary seat (45), and a rotary cylinder (4911) is rotatably fitted through the top of the rotary seat (45). The bottom end of the screw (492) extends to the bottom of the rotary cylinder (4911). A positioning collar (46) is threaded on the outer wall of the rotary cylinder (4911) to axially limit the ball and prevent it from moving during grinding.

5. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 4, characterized in that, The other end of the swing bracket (42) is fixedly connected to a fixed seat I (43). The motor I (44) is fixedly connected to one side of the fixed seat I (43). The output shaft passes through the inside of the fixed seat I (43) and is fitted with a limiting collar (441). The limiting collar (441) is fixedly connected to the fixed seat I (43). Both have rectangular through holes (442). The top of the connecting flange (495) is fixedly connected to a support end (491). The support end (491) cooperates with the rectangular through hole (442) to avoid slippage during power transmission.

6. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 5, characterized in that, The grinding assembly (5) also includes a tool holder (51) inserted into the spindle. The fixed collar (52) is fixedly sleeved on the outer wall of the tool holder (51) and has an air chamber (521) inside. The outer wall of the adjusting rod (55) is fitted with a piston cylinder (522). The piston cylinder (522) is fixedly connected to the air chamber (521) and has an air inlet (523). The outer wall of the fixed collar (52) is fitted with a rotary joint (53). The rotary joint (53) is connected to the air chamber (521) and an external air source. The adjusting rod (55) is driven by compressed gas to apply pressure, thereby achieving pure mechanical constant force grinding.

7. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 6, characterized in that, The tool holder (51) holds a connecting shaft (54) inside. The bottom end of the connecting shaft (54) is fixed to a fixed disk II (57). The fixed disk II (57) is slidably engaged with the adjusting rod (55). The connecting shaft (54) is connected to the adjusting rod (55) through a flexible conduit (56). The bottom end of the adjusting rod (55) is hollow. The grinding liner (581) has a spray hole (583). The grinding fluid is sprayed from the spray hole (583) onto the grinding surface through the connecting shaft (54), the flexible conduit (56) and the adjusting rod (55) to achieve lubrication and cooling.

8. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 7, characterized in that, The bottom of the grinding disc (58) is provided with a spiral groove (582), the spiral groove (582) rotates in the opposite direction to the rotation direction of the grinding disc (58), so as to guide the grinding debris and excess grinding liquid to the edge and avoid accumulation that scratches the ball.

9. The deep-sea ball valve ball grinding equipment based on feedback and force control according to claim 6, characterized in that, Multiple positioning blocks (524) are fixedly connected inside the fixed collar (52). The positioning blocks (524) are inserted into the corresponding slots of the tool holder (51) and fastened by screws to achieve circumferential positioning of the fixed collar (52) and the tool holder (51) to prevent relative rotation during grinding.

10. The deep-sea ball valve ball grinding equipment based on feedback and force control according to any one of claims 1 to 9, characterized in that, It also includes a protective sleeve (7), which is fixed to the main shaft lifting plate through a connecting column (6), and rises and falls with the main shaft and cooperates with the ball head to form a sealed barrel shape. The outer wall of the protective sleeve (7) is fitted with an annular conduit (73), and the inner wall is fixed with a liquid suction pipe (72). The liquid suction pipe (72) is connected to the annular conduit (73), and the annular conduit (73) is connected to an external dust collection device through a connecting conduit (74) to realize the centralized collection of grinding debris and grinding fluid.

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