524 results about "Belt grinding" patented technology

The invention discloses a numerical control abrasive belt grinding machine with six-axis linkage. An upright post component and a worktable are arranged on the grinding machine body in a sliding way, and the relative sliding between the two of the upright post component and the worktable and the grinding machine body respectively forms liner motion of X-axis direction and Y-axis direction; an A-axis component is arranged above the worktable and used for clamping a workpiece to rotate around the axial line thereof so as to form rotary motion of the A-axis; a cantilever on the upright post component is provided with a grinding seat which is connected with the upright post component through a box body in a sliding way so as to form liner motion of Z-axis direction; a turntable is arranged on the box body in a rotating way, and the relative rotation between the turntable and the box body forms rotary motion of B-axis direction; an abrasive belt machine is arranged inside the grinding seat, and the relative rotation between the abrasive belt machine and the grinding seat forms swivel motion of C-axis direction; and the grinding machine controls the motion of each axis direction by a numerical control system. The numerical control abrasive belt grinding machine can greatly enhance grinding efficiency, and can effectively improve the grinding precision and surface quality of the workpiece.

The invention provides a method and a device for removing rust on sheet metal. The device comprises a stander, a sheet clamping mechanism arranged on the stander and used for clamping the sheet, at least one belt grinding mechanism arranged at one side of the sheet clamping mechanism, at least one pressure mechanism arranged in the sheet clamping mechanism, a first transmission mechanism connected with the belt grinding mechanism, a second transmission mechanism of the pressure mechanism, and a control mechanism connected with the first transmission mechanism and the second transmission mechanism, wherein the control mechanism is controlled by the pressure mechanism to force a sand belt of the belt grinding mechanism to movably contact the surface of the sheet to complete the removal of a metal oxide layer on the surface of the sheet. The invention not only can solve the problem that rust cannot be removed thoroughly and manually, but also can lighten the labor intensity of workers, enhance the production efficiency, reduce the replace times of grinding material and lower the production cost.

The invention discloses a gantry propeller integral blade abrasive belt grinding machine, which comprises a machine body, a grinding head mechanism, a grinding head feed mechanism and a workpiece azimuth adjusting mechanism. The grinding head feed mechanism comprises an axial feed mechanism, a radial feed mechanism with respect to a work piece, and a grinding head deflection driving mechanism. The whole grinding machine has high stability and ensures the grinding precision. By reasonably distributing grinding head feed and adjusting the work piece azimuth and through the combination of four spatial degrees of freedom by a relatively short transmission chain, the grinding head mechanism has high and low degrees of freedom of pitch in a relatively small range, the integral blade can be directly ground, and the blades on the integral blade and other parts are all completely machined. The grinding head mechanism and a work piece clamping mechanism have good rigidity, the working efficiency is improved, and synchronously, the machining precision and the surface quality can be ensured. The grinding thickness in the process of polishing a curved surface is uniform, the quality of a molded surface is ensured, the labor intensity of workers is decreased, and the management cost and the production cost are reduced.

The invention discloses a blade grinding and polishing process of an industrial robot based on an abrasive belt grinding and polishing machine. The blade grinding and polishing process comprises the steps that off-line programming is performed based on a CAD (Computer Aided Design) model of a blade; coordinate systems of the grinding and polishing machine and a scanner are calibrated; a grinding and polishing program is debugged on site; materials are fed by a feeding cart; the blade is clamped by the robot; the blade is scanned by the scanner; scanning results are matched with standard point cloud information; a coordinate system of a workpiece is updated; coarse grinding is performed on the blade by the grinding and polishing machine; fine grinding is performed on the blade by the grinding and polishing machine; fine grinding is performed on the inlet and outlet air sides of the blade by the grinding and polishing machine; the blade is polished by the grinding and polishing machine; the inlet and outlet air sides of the blade are polished by the grinding and polishing machine; the blade is discharged onto a discharge cart by the robot; the grinding and polishing quality of the blade is detected. The blade grinding and polishing process has the advantages of high degree of automation, safety, stability, high efficiency, high flexibility and convenience in operation, the consistency of the product quality is easy to guarantee, the processing efficiency and the processing quality are increased, the unqualified rate of blades is reduced, an existing processing mode is reformed, and the labor force is liberated.

The invention relates to a manufacturing method for a printed wiring board with dense disk holes, comprising the steps of: 1 once boring a hole, 2 once plating copper on the board surface and a wall of a hole of a printed wiring board and only partially plating the wall of the hole, 3 making a pattern of plating hole, 4 plating copper on the part of the hole which is not plated, 5 filling the holewith resin by adopting silk-screen in vacuum, 6 withdrawing a film, 7 grinding a printed wiring board with an abrasive band grinding machine and a four-axle unwoven cloth graining machine, 8 secondarily plating copper on the board, 9 drying a film on the outer layer, 10 plating the pattern and 11 etching the outer layer. The invention manufactures the products with dense disk holes with a line width and line-spacing of 4 / 4mil, by once plating copper on a 10um hole. The problems of partially filled tap-hole, hollow resin, resin foam, etc., are efficiently solved by adopting the vacuum silk-screen technique and the problems of difficult grinding of resin, sunken resin, unevenly cutting of the copper on the board surface, etc., are efficiently solved by grinding with abrasive band and four-axle unwoven cloth graining technique.

The invention discloses a production method of a multi-stage HDI plate. The method comprises the following steps: A. laminating a first copper foil layer on a core plate, carrying out multiband to the first copper foil layer so as to form a brown film on a surface of the first copper foil layer; B. using a same group of location holes to simultaneously carry out laser drilling and mechanical drilling to the surface of the first copper foil layer, forming an internal-layer blind hole through the laser drilling and forming a buried hole through the mechanical drilling; C. laminating a second copper foil layer on the surface of the first copper foil layer, carrying out the multiband to the second copper foil layer so as to form the brown film on the surface of the second copper foil layer; D. using the same group of location holes to simultaneously carry out the laser drilling and the mechanical drilling to the surface of the second copper foil layer, forming an outer-layer blind hole on the position of the buried hole through the laser drilling, forming a folded hole with the buried hole and forming a through hole through the mechanical drilling. At present, the blind hole and the buried hole are drilled separated so that the through hole and the blind hole are not matched with each other. According to the method of the invention, the above problem can be solved; processes of internal layer copper deposition, padpower, an internal layer plating hole graph, porefilling electroplating, film stripping, abrasive-belt grinding plate and the like can be reduced; a production period can be substantially shortened and production cost can be saved.

The invention relates to a belt grinding processing method which can dress workpiece automation and a device thereof. And the invention is a dressing and grinding system formed by a set of automation equipments, adopts intelligent process to control, and realizes the automation dressing and grinding processing of the complex profile workpiece in the manner of grinding belts. The device of the invention comprises a control unit, an execution unit, a grinding unit, etc., sections; wherein, the control unit comprises a plurality of software modules; the grinding and dressing knowledge base is the key software module, which can generate automatically all the grinding parameters according to the grinding amounts of all the input points; and other software modules, for example, path correction module, generate actual processing path finally according to the parameters; the execution unit is a robot or a digital machine tool, which can receive the actual processing path of the control unit, and can generate machining track; the grinding unit is a belt grinder which can receive commands from the execution unit, and can finish the dressing grinding of the workpieces. The belt grinding processing method can be widely applied in the dressing grinding processing of the workpieces with variety of high-dimensional accuracy and complex profile.

The invention belongs to machining technologies of blades of aircraft engine gas compressors, and provides a method for machining an arc-tooth tenon blade of an aircraft engine gas compressor. The method includes the steps that a blade blank with a root process boss and a blade tip process boss is clamped to a numerical control milling machine, and rough milling is conducted on the intake side and the exhaust side of the blade; the blade subjected to the rough milling is clamped in a positioning casting fixture and cast through low-melting-point alloy, and the outline of the cast blade is a cuboid; rough milling is conducted on the cuboid blade obtained after being clamped and cast on the numerical control milling machine so that a tenon and a margin plate can be formed at the root of the blade, and the blade root process boss is removed; the tenon is subjected to finish grinding on a six-axis creep-feed grinding center to be in an arc-tooth shape; the cuboid blade is placed into a melting furnace and heated to be 180 DEG C, and is taken out after the low-melting-point alloy melts; finish grinding is conducted on the intake side and the exhaust side on a numerical control abrasive belt grinding machine by using the tenon for positioning and clamping; and the blade tip is machined on a numerical control linear cutting machine by using the tenon for positioning and clamping, and the blade tip process boss is removed.

The invention discloses a turbine blade numerical control belt grinder and a control method thereof, which relates to a grinding and processing device of a turbine blade and the control method thereof, and is characterized in that: a belt wheelhead and an open numerical control system is provided on the basis of the basic parts of the original machine tool; the belt wheelhead is provided with a grinding belt tightening device and a transmission belt tightening device; a Z-axis serving motor drives a big carriage; an X-axis serving motor drives a small carriage; a C-axis drives a head frame; a B-axis drives a turret; a D-axis is a belt wheelhead motor; and each motor is connected with the control system; the control system is provided with a memory, a control circuit and a blade grinding and a controlling software module. During the operation, the original parameter is firstly input; then a blade grinding and controlling software module is automatically setting up by the system to generate a processing program, make error analysis and machining simulation; and finally a blade actual grinding processing is carried out. The turbine blade numerical control belt grinder is a five-axis and four-linkage numerical control belt grinder, and has the advantages of high efficiency, good accuracy, simple structure, low cost, and convenient control.

The invention further provides a high density interconnect (HDI) plate with a mechanic back drilling structure and a manufacturing method thereof. The method comprises that: S1: a first copper foil layer, a first core plate, a second core plate and a sixth copper foil layer are correspondingly subjected to laminating together; S2: the first copper foil layer is subjected to mechanic back drilling processing with the drilling depth reaching a third copper foil layer, and the first copper foil layer, the second copper foil layer and the third copper foil layer are correspondingly connected; S3: the sixth copper foil layer is subjected to the mechanic back drilling processing with the drilling depth reaching a fourth copper foil layer, and the sixth copper foil layer, a fifth copper foil layer and the fourth copper foil layer are correspondingly connected. By adopting a manufacturing way that two core plates are firstly subjected to the laminating one time and then are subjected to the mechanic back drilling processing one time, the production cycle of the HDI plate is greatly shortened, the production cost is reduced, at the same time, the problem of panel expansion caused by multiple times of laminating, laser drillings and abrasive belt grindings is avoided, and the counterpoint accuracy between layers is guaranteed. Compared with the prior art, the HDI plate has the advantages of simple manufacturing process, high production efficiency, low cost and the like.

The invention discloses a seven-axis linkage numerical control abrasive belt grinding and polishing machine tool. The seven-axis linkage numerical control abrasive belt grinding and polishing machine tool mainly solves the problems that according to a vertical six-axis linkage abrasive belt grinding and polishing method in the prior art, asymmetrical margins on a curved face can not be stably removed and excessive cutting or insufficient cutting is easy to occur. The seven-axis linkage numerical control abrasive belt grinding and polishing machine tool comprises a rotation clamp, a top tip, a horizontal machine tool body, a pillar, a Y-direction motion device, a Z-direction motion device, an X-direction motion device, a B-direction rotation drive device and a grinding and polishing device, wherein the rotation clamp and the top tip are used for fixing a blade part. The Y-direction motion device drives the pillar to move linearly in the Y direction, the Z-direction motion device drives the pillar to move linearly in the Z direction and the X-direction motion device is used for fixing the top tip and driving the top tip to move linearly in the X direction. The B-direction rotation drive device is used for fixing the rotation clamp and driving the rotation clamp to achieve 360-degree rotation motion. The grinding and polishing device is installed on the horizontal machine tool body and on the position corresponding to the pillar. By means of the technical scheme, the objects of convenient construction, the high performance cost ratio and high precision are achieved and high utility value and popularization value are achieved.

The invention belongs to the field of complex surface manufacturing, and discloses a blade full characteristic robot grinding and polishing device. The blade full characteristic robot grinding and polishing device comprises a self-adaption abrasive belt grinding and polishing mechanism, a contact wheel type abrasive belt grinding and polishing mechanism and a self-adaption abrasive wheel grindingand polishing mechanism which ground and polish the positions including the blade backs, the blade basins, damping tables and blade root corners of blades, and blade full characteristic grinding and polishing are accordingly achieved; and each mechanism comprises a connecting flange, a voice coil motor, a force sensor, a motor and a polishing module, wherein the voice coil motor is arranged on theconnecting flange and is connected with the force sensor through a sliding block, the force sensor is connected with the polishing module to be used for measuring the actual polishing force of the polishing module, the motor is connected with the polishing module to be used for driving the polishing module, and the connecting flange is used for connecting the grinding and polishing device with anexternal robot. By means of the blade full characteristic robot grinding and polishing device, variable force grinding and polishing according to different grinding allowances is achieved, meanwhile,blade surface full characteristic grinding and polishing are achieved, the force feedback and response speed is high, and the grinding and polishing accuracy is high.

The invention discloses an abrasive belt grinding and polishing device. The abrasive belt grinding and polishing device comprises a mounting plate, an unwinding roller, a winding roller, a tensioning mechanism and a driving mechanism. The driving mechanism comprises a servo motor, a driving gear, driven gears, driven gear transmission shafts and roller shafts. The driving gear is mounted on an output shaft of the servo motor. The driven gears are mounted at one end of the driven gear transmission shaft on one side of the driving gear and one end of the driven gear transmission shaft on the other side of the driving gear respectively and are meshed with the driving gear. The unwinding roller is mounted at one end of the corresponding roller shaft. The winding roller is mounted at one end of the corresponding roller shaft. The other ends of the roller shafts are connected with the other ends of the corresponding driven gear transmission shafts through electromagnetic clutches. The tensioning mechanism is composed of friction disks, transition wheels and the like. The rollers are controlled through engagement and disengagement of the electromagnetic clutches arranged between the roller shafts of the rollers and a driving shaft, so that active belt winding or passive belt unwinding is achieved; the friction disks on the end faces of the rollers can apply friction force to the rollers subjected to passive unwinding so as to ensure that a grinding and polishing belt has enough tensile force in the machining process and improve the grinding and polishing quality.

The invention discloses a path planning method of abrasive belt grinding processing, and the method is used for realizing the cutting tool path planning on a processed curved surface. The method is characterized in that the method specifically comprises the following steps of (S1) extracting equal parameter lines of a processed curved surface, (S2) planning a transition path between adjacent equal parameter lines in a parameter domain, and forming an initial cutter position locus in the parameter domain by using each equal parameter line and the transition path, (S3) carrying out discretization on the initial cutter position locus in the parameter domain, according to the corresponding relation between the parameter domain and points of a curved surface to be processed, projecting discrete points planned in the parameter domain to the curved surface to be processed, and obtaining cutter contact points, and (S4) calculating cutter position points corresponding to each cutter contact point, a cutter axis vector and a contact wheel axis vector, obtaining the cutter position data of abrasive belt grinding processing, and thus realizing the cutter path planning. According to the method, the overcutting between adjacent parameter lines due to speed abrupt change can be effectively reduced, a good speed change curve is obtained, and the grinding quality of a complex curved surface is raised.

The invention discloses an abrasive belt grinding machining center with a contact wheel depot. The abrasive belt grinding machining center comprises a base, a stand column, a five-degree-of-freedom workbench, a power device, an abrasive belt supporting tensioning device, a grinding head device, the contact wheel depot and an automatic wheel replacing device. The five-degree-of-freedom workbench is composed of an X-direction saddle, a Y-direction saddle, a Z-direction saddle, a rotating table, a centre and a servo motor, and grinding machining of planes, revolution bodies and free curve faces can be achieved; an abrasive belt and a tensioning device are arranged on an abrasive belt supporting plate, and the abrasive belt is in the tensioning state all the time under the constant pressure effect of a tensioning air cylinder; the grinding head device can move in the X direction and the Z direction, so that the movement requirements in the grinding machining process and the wheel replacing process are met; contact wheels with different diameters, hardness degrees and surface tooth shapes are distributed on a rotary disc of the contact wheel depot in a circumferential manner; and an automatic wheel replacing mechanical arm is provided with four mechanical arm claws, and every two paired mechanical arm claws are used for clamping a contact wheel component to achieve the wheel replacing function. The abrasive belt grinding machining device is suitable for grinding machining of the planes, the revolution bodies and the free curve faces, and grinding machining with different surface quality requirements and different process requirements. The machining accuracy and the stability of parts are remarkably improved, the production period is shortened, and economic benefits are improved.

The invention provides a pressure-adjustable floating abrasive belt grinding device with a feedback. The upper part of a supporting plate is provided with a driving wheel and a cylinder; the piston rod of the cylinder faces downwards vertically and is connected with a fine-adjustment sliding plate by a guide column; the bottom end of the fine-adjustment sliding plate is provided with a contact wheel which is connected with the driving wheel by an abrasive belt which coils an idler wheel; a guide column is movably sheathed by a spring which is in a normal-compression state; the position of the upper end of the spring is limited by a nut which is fixed on a guide column; the position of the lower end of the spring is limited by a baffle which is fixed on the supporting plate; furthermore, the guide column passes through the baffle. The grinding device eliminates the effects of the self-gravity of the grinding head during the grinding process by an added spring mechanism, controls the grinding pressure of the contact wheel within an allowable error range, keeps constant pressure, thus effectively improving the processing precision of complex curved surfaces such as steam engine vanes; furthermore, the grinding device ensures the quality of the profile of the workpiece, and has the advantages of smart concept, simple structure, easy execution, low reconstruction cost, good consistency of product, wide applicable range, and the like.

The invention provides an intelligent grinding system and method as well as a computer readable storage medium. The intelligent grinding system comprises an industrial robot, a six-dimensional force sensor, a tail end clamping device, a fixed clamping device, a three-dimensional scanning device, a sanding belt grinding machine, a flexible grinding head, a dust removal device and an intelligent grinding control system. According to the system, the method and the computer readable storage medium, the high-precision force-controlled grinding of a component is realized by utilizing the industrialrobot and the six-dimensional force sensor, the high-precision measurement of the component is realized by utilizing the three-dimensional scanning device, and the measurement-grinding process is automatically repeated in a closed-loop mode until the component precision meets a set value, the intelligent grinding of satellite carbon fiber composite material components with multiple varieties and single-piece small-batch can be completed, manual work is replaced, and the grinding quality and the grinding efficiency are improved.

The invention discloses a force control method for robotic abrasive belt grinding machining for a blade. The force control method for robotic abrasive belt grinding machining for the blade comprises the following steps: modulation and processing for voltage signals; compensation for a converted force; and a force control strategy. The modulation and processing for the voltage signals comprises thefollowing steps: acquiring the voltage signals of six channels of a sensor; carrying out software filtering on the acquired voltage signals; and converting the filtered voltage signals to force signals. The compensation for the converted force comprises the own zero drift compensation of the sensor and gravity compensation for a robotic end load. The force control strategy comprises hybrid force-position control and PI / PD control. The force control method for robotic abrasive belt grinding machining for the blade is capable of increasing the efficiency of the grinding machining, avoiding thecase of low consistency of manual grinding machining, realizing constant-force grinding machining, and keeping a uniform and consistent removal amount of a surface material, thereby improving the surface consistency of the blade while improving the machining accuracy and surface quality.

The invention relates to a sanding belt grinding device controlled by a programmable grinding force. The sanding belt grinding device consists of a control system, a comparing unit, a proportional servo element, a pressure cylinder, a grinding device and a detection unit. A practical grinding force detected by the detection unit and a command grinding force given by the control system are compared through the comparing unit; the difference value between the practical grinding force and the command grinding force is converted into control current or control voltage; and the control current or control voltage is converted and adjusted through the proportional servo element until practical grinding force controlled by the pressure cylinder is equal to the command grinding force, so that the practical grinding force drives the grinding device to grind. The sanding belt grinding device has the characteristics that: 1) the grinding force of the sanding belt grinding device is adjusted through a grinding force controlling and adjusting device in real time, so the practical grinding force grinds according to the command grinding force and the surface grinding quality of a workpiece is ensured; 2) the command grinding force can be realized through programming, so different ground workpieces or different parts of the same workpiece can be ground through different grinding forces; and 3)the grinding force of any ground point can be calculated through two-dimensional or three-dimensional interpolation operation according to the grinding forces of known key points of a given ground surface, and the grinding force of each ground point is in smooth transition, so the mutation phenomenon of the grinding force is not caused.

The invention discloses an industrial-robot-based abrasive belt grinding device for profiles of a controllable pitch propeller and a manufacturing method of the abrasive belt grinding device and mainly solves the problems caused in numerically-controlled machine tool type manufacturing, such as high cost, instability in machining precision and low efficiency due to manual grinding, occupational hazards of polishing and the like. The device mainly comprises a six-freedom-degree industrial robot, an abrasive belt grinding mechanism and a numerical control rotary table, wherein the abrasive belt grinding mechanism which is arranged in a triangular structure is connected with an end joint of the robot through a flange; a motor achieves high-speed rotation of an abrasive belt driving wheel through a synchronous belt; a pneumatic mode drives a tension wheel to achieve abrasive belt tension; a workblank of the controllable pitch propeller is installed and clamped in the center of the rotary table; and a servo motor drives an output gear of a reduction box to be meshed with a gear ring of a slewing bearing so as to achieve continuous 360-degree rotating and indexing. The abrasive belt grinding device is ingenious in structural design and high in grinding rigidity and universality, reduces the production cost greatly and has excellent practical and promotional values.

The invention provides an on-site measurement method applied to high-precision complex curved surface machining in a robot grinding system, and belongs to the field of abrasive belt grinding. The method mainly comprises the following steps: selecting and machining three base planes, measuring a work piece which is stationary by use of a measuring system, calculating to obtain the mapping relationship between a coordinate system and a work piece coordinate system, calculating to obtain grinding depth and curvature, calculating to obtain the mapping relationship from the work piece coordinate system to a robot terminal coordinate system, planning the motion path of a robot, and completing the grinding operation while controlling grinding parameters. The invention can solve the problem of poor on-site measurement accuracy in the prior art and can also reduce the requirements for clamp accuracy and improve accuracy of the robot grinding system.

The invention discloses an excircle abrasive belt grinding method of the wall thickness of a tube, which comprises a lathe bed and a linear guide rail, wherein the linear guide rail is installed on the lathe bed and provided with a grinding head mechanism; a feed mechanism and a blanking mechanism are respectively arranged on both ends of the lathe bed; an auxiliary supporting roller mechanism and a positioning clamping mechanism are arranged below the grinding head mechanism and installed on the lathe bed; and a wall thickness measuring mechanism is installed on the grinding head mechanism. According to the excircle abrasive belt grinding method, the excircle wall thickness of the tube can be detected and ground on the same lathe, the excircle abrasive belt grinding method has the advantages of simple structure, convenience in operation, high grinding precision and efficiency and good stability and reliability, and the uniformity of the wall thickness of the tube is guaranteed.

The invention discloses a tank body multi-angle polishing grinding machine. A stand column is arranged on a base. A cross arm is arranged on the stand column, goes up and down along the stand column through a lifting device and moves left and right along the stand column through a left-right movement device. An abrasive belt grinding head mounting base is arranged at the left end of the cross arm and rotationally connected with the cross arm through a first rotary shaft. The abrasive belt grinding head mounting base rotates around the cross arm. An abrasive belt grinding head is arranged on the abrasive belt grinding head mounting base and rotationally connected with the abrasive belt grinding head mounting base through a second rotary shaft peripherally. The central line of the first rotary shaft is perpendicular to the central line of the second rotary shaft. The abrasive belt grinding head swings around the second rotary shaft peripherally. The abrasive belt grinding head comprises a supporting base fixed to the second rotary shaft. An abrasive belt grinding polishing device and an abrasive belt driving device are arranged on the supporting base. A barrel and an end socket of a tank body can be ground and polished through one abrasive belt grinding head, the power of an adopted motor is low, the energy consumption is low, cost can be lowered, and the equipment investment can be reduced.

The invention belongs to the circuit board production technical field and relates to an orifice burr removing method and apparatus. The method of the invention mainly comprises the following steps that: an abrasive band grinding machine and a precision grinding machine are additionally adopted; the surface of a multilayer board is ground through the abrasive band grinding machine; the surface of the multilayer board is ground through the precision grinding machine; and then, the surface of the multilayer board is ground through a rough grinding machine. With the method of the invention adopted, the cutting output of a board grinding section can be increased, so that orifice burrs can be completely cut off assuredly, and therefore, problems such as hidden troubles in quality which are caused by inexistence of copper in orifices or cooper wire formation in the orifices which are further caused by a situation that a dry film is pierced in a following production process can be solved; and the abrasive band grinding machine and the precision grinding machine are in line connection with the rough grinding machine, so that the processing efficiency of the orifice burrs can be improved.

The invention discloses a CNC abrasive belt grinding machine of a steam turbine blade and relates to CNC processing equipment for grinding the profile of a steam turbine blade, which can control the mutual movement relationship between a contact wheel and a blade curved profile, thereby effectively avoiding the undercutting and overcutting while grinding. The CNC abrasive belt grinding machine comprises a machine tool body, a worktable, a headstock, a tailstock, a slipway, a horizontal turntable, a vertical turntable and an abrasive belt grinding head. Five servo control shafts can realize linkage control, three of the servo control shafts are rotary servo control shafts, and two are linear moving servo control shafts; an X-servo shaft controls the longitudinal feeding-grinding movement of the blade; a Z-servo shaft controls the horizontal feeding-grinding movement of the blade; an A-servo shaft does rotary grinding movement of the blade; a B-servo shaft leads the grinding head to swing around a perpendicular shaft; a C-servo shaft leads the grinding head to swing around a horizontal shaft; the X-shaft is vertical to the Z-shaft; and the A-shaft rotary axis has equal height with the C-shaft rotary axis. The CNC abrasive belt grinding machine has the characteristics of high grinding efficiency, good grinding accuracy, concise structure, low cost and simple and convenient operation.

The invention provides a double-station automatic grinding and cutting machine for ceramic green body tubes. The machine includes a machine frame, a storage silo, a feeding mechanism, a delivery mechanism, a ceramic green body tube grinding station and a ceramic green body tube cutting station; the ceramic green body tube grinding station is on the left side of the cutting station; the left side of the feeding mechanism is provided with the storage silo, a feeding air cylinder is located at the tail end of the storage silo, and the tail end of a storage silo supporting beam is fixedly provided with a guide plate for ceramic green body tube dropping; the delivery mechanism includes a delivery bracket driving air cylinder and a double-V-shaped groove delivery bracket which are fixed together, and the side of the double-V-shaped groove delivery bracket is fixedly provided with a guide slider; the grinding station includes a core-free supporting wheel, a magnetic-driving device and an abrasive belt grinding device; the cutting station includes a core-free supporting wheel, a magnetic-driving device and a cutting device and further includes a workpiece discharging mechanism. The machine has the advantage that ceramic green body tube surface grinding and ceramic green body tube two-end excess material cutting can be achieved with one machine.

The invention discloses a robot hardware abrasive belt grinding unit device based on program reuse. The robot hardware abrasive belt grinding unit device comprises a mechanical hardware system, a control system and a calibration system. The mechanical hardware system comprises a robot electric cabinet, an operation panel, a six-degree-of-freedom robot, a self-expanding-type clamp, an abrasive beltgrinder, an automatic feeding and discharging sliding table, a tool measuring tool and an equipment mounting base. The control system comprises an air path control module, a circuit control module and a man-machine interface module. The calibration system comprises a hardware calibration device and a software calibration algorithm. Program reuse between multiple sets of robot abrasive belt grinding units is achieved, traditional manual grinding is replaced with low-cost automatic production equipment, and the quality and efficiency of abrasive belt grinding are guaranteed.

The invention relates to a relief lock-fastened three-layer solid wood composite floor board, its production process and equipment. Said invention utilizes the combination of three-layer solid wood composition technique, notch lock-fastening technique and surface solid wood relief-making technique and adopts a swing type abrasive belt grinding steel brush dust-removing machine to implement said invention. Said invention also provides the concrete structure composition of said swing type abrasive belt grinding steel brush and dust-removing machine.

The invention discloses a robot abrasive belt grinding method combining active and passive force control. The method comprises the steps of S100, calibrating a robot, an active force sensor and a passive force sensor; S200, enabling the robot to clamp a workpiece to make flexible contact with an abrasive belt, and grinding the workpiece; S300, enabling the active force sensor to collect a contactforce signal of a workpiece in real time, carrying out real-time gravity compensation to obtain an active contact force signal, and enabling a one-dimensional force sensor to real-time collect a passive force signal of a contact wheel; S400, on the basis of the Kalman filtering method, carrying out information fusing on the active contact force signal and the passive force signal to obtain a feedback force signal; and S500, enabling the robot and an abrasive belt grinding and polishing machine to compare the feedback force and the preset contact force. The invention further discloses a grinding system. According to the method, the control precision of the contact force in the grinding machining environment of the robot is effectively improved; and on the other hand, the over and under grinding phenomena generated in the grinding process can be optimized, and material removal consistency of a machining workpiece and good surface roughness can be ensured.

The invention provides a grinding mechanism for an abrasive belt grinding machine. A supporting arm is connected with a rotating main shaft of a machine tool; a driving wheel, a driving device of the driving wheel, a driven wheel and a contact wheel are arranged on the grinding mechanism; an abrasive belt is sleeved on the driving wheel, the driven wheel and the contact wheel; and an abrasive belt grinding head is formed at the bottom of the contact wheel. The grinding mechanism comprises a fixed base and a displacement device, wherein the fixed base is connected with the supporting arm; a movement guide rail is arranged on the fixed base along the vertical direction; the displacement device is matched with the fixed base in a movable mode corresponding to the movement guide rail and slides up and down; the contact wheel is arranged at the bottom of the displacement device; a displacement driver and a displacement controller are arranged on the displacement device; and the abrasive belt grinding head is contacted with a surface to be machined in a free floating mode under the gravity action of the displacement device and the coordination action of the displacement driver and the displacement controller. The grinding mechanism can be conveniently and quickly operated, and constant-force grinding is realized; and the grinding mechanism is automatically operated in a full numerical control mode, so that the working efficiency is improved, the cost is saved, and large-scale popularization, usage and production are facilitated.