CN106563986A - Coping and swing and pitching-up control method of multi-deformation casting - Google Patents

Coping and swing and pitching-up control method of multi-deformation casting Download PDF

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Publication number
CN106563986A
CN106563986A CN201610909581.XA CN201610909581A CN106563986A CN 106563986 A CN106563986 A CN 106563986A CN 201610909581 A CN201610909581 A CN 201610909581A CN 106563986 A CN106563986 A CN 106563986A
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CN
China
Prior art keywords
pendulum
signal
circle
upward
swing
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Granted
Application number
CN201610909581.XA
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Chinese (zh)
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CN106563986B (en
Inventor
茅正冲
屈百达
黄艳芳
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TONGZHOU XINGCHEN MACHINERY Co.,Ltd.
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Jiangnan University
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece

Abstract

The invention relates to a coping and swing and pitching-up control method of a multi-deformation casting. The method is achieved through cooperation of a swing and pitching-up control system. The system is composed of a comparer, a swing and pitching-up procedure control calculation link, a swing and pitching-up parameter control calculation link, a summator, a swing and pitching-up signal amplification link, a swing and pitching-up execution link and a swing and pitching-up signal detection and conversion link. A swing and pitching-up procedure given signal given by a processing procedure is processed into a swing and pitching-up procedure control signal through the swing and pitching-up procedure control calculation link. A swing and pitching-up angle given signal given by initial setting is compared with a swing and pitching-up angle feedback signal through the comparer to obtain a swing and pitching-up angle deviation signal. The swing and pitching-up angle deviation signal is processed into a swing and pitching-up parameter control signal through the swing and pitching-up parameter control calculation link. The swing and pitching-up procedure control signal and the swing and pitching-up parameter control signal are added in the summator, and a swing and pitching-up control signal is obtained. The swing and pitching-up control signal is amplified into a swing and pitching-up drive signal through the swing and pitching-up signal amplification link. The swing and pitching-up drive signal is converted into a swing and pitching-up angle in the swing and pitching-up execution link. The swing and pitching-up angle is converted into the swing and pitching-up angle feedback signal through the swing and pitching-up signal detection and conversion link.

Description

A kind of many deformation foundry goods reconditioning pendulum face upward control method
Technical field
The present invention relates to a kind of foundry goods grinding method.
Background technology
Bend pipe or bend pipe tools processing and manufacturing side in many industrial circles, particularly in pipe fitting processing industry, compared with modern age Method usually adopts mould extrusion forming technology, and the core process of its shaping is to be extruded plan shaping using the guiding of preformation core die Bend pipe workpiece, is allowed in a heated condition, advance and bending forming with being squeezed, and this preformation core die is exactly a kind of high Temperature alloy material casting preformation core placenta.This casting preforming tool is high due to its hardness, in its blank casting shaping After the demoulding, shaping processing technology difficulty is also huge.Existing process is by veteran technician's manual grinding.Against the resistance to of firmness Power, the power that quicks observation, trickle sense of touch and operating work bottom really up to the mark are completing the polishing to workpiece, correction of the flank shape.Technique is time-consuming unrestrained The uniformity of long and workpiece size, precision etc. is difficult to ensure that.On the other hand, such old craftsman has faced leave no successor tired Border, and train, recruit new person it is unrealistic.This just urgently researches and develops a kind of many deformation foundry goods grinding methods, solved it is current such Many deformation foundry goods thinning techniques take the problem that the uniformity of very long and workpiece size, precision etc. is difficult to ensure that.
The content of the invention
The uniformity for taking very long and workpiece size, precision etc. to solve current such many deformation foundry goods thinning technique is difficult to The problem of guarantee, the present invention provides a kind of many deformation foundry goods reconditioning pendulum and faces upward control method.Control system is faced upward by pendulum and coordinates realization. System faces upward that programme-control is calculated, pendulum faces upward state modulator calculatings, adder, pendulum and faces upward that signal amplifies, pendulum faces upward execution and pendulum by comparing, put Face upward signal detection transform part composition.The pendulum that procedure is given is faced upward program Setting signal Jing pendulum and is faced upward at programme-control calculating link Reason becomes pendulum and faces upward program control signal；The pendulum elevation angle Setting signal Jing comparators that initial setting up is given face upward angle feedback signal with pendulum Relatively draw pendulum elevation deflection signal；Pendulum elevation deflection signal Jing pendulum faces upward state modulator and calculates link and be treated as pendulum and faces upward parameter control Signal processed；Pendulum faces upward program control signal and faces upward parameter control signal with pendulum and is added in adder, show that pendulum faces upward control signal；Pendulum is faced upward Control signal Jing pendulum is faced upward signal amplifying element and is amplified and becomes pendulum and face upward drive signal；Pendulum faces upward drive signal and faces upward execution link conversion in pendulum To put elevation angle degree；Jing pendulum faces upward the conversion of signal detection transform part, and pendulum elevation angle degree becomes pendulum and faces upward angle feedback signal.
The technical solution adopted for the present invention to solve the technical problems is：
The processing portion mechanism C of many deformation foundry goods reconditioning processing unit (plant)s performs to put elevation angle degree bo, swing angle roReconditioning workpiece The task of B；Swing angle roIt is positive with counterclockwise arrow mark；Tui Jin Liang ⊿ G effectively polish by emery wheel in emery wheel edge post side The minimum polishing push-in stroke of edge post side consolidation contact workpiece bows section convex surface is calculated, and can be advised according to workpiece number and selected emery wheel Lattice determine；First bending section axial line center of circle O1As feeding moving point, by horizontal feed initial bit reference value H0And vertical feed Initial bit reference value V0Estimate, relative processing free degree benchmark rectangular coordinate system origin O is relative to add according to Workpiece structure view Work free degree benchmark rectangular coordinate system origin O and benchmark rectangular coordinate system longitudinal axis y, is pushed away using the effectively polishing of emery wheel edge post side Jin Liang ⊿ G, grinding wheel radius RG, processing depth H, processing pendulum length R, and the first bending section axial line center of circle O1, the first bending section and Two bending section distance of center circle RO, the second bending section axial line center of circle O2The feed value of opposing right angles coordinate system xOy, can calculate determination pendulum Elevation angle degree bo, swing angle roSet-point and program set-point；
Many deformation foundry goods reconditioning processing unit (plant)s perform link and working power by the control of each free degree control system, will Soft and hardware combines and supports operation；Master control switch KC is push-botton operation contactor, for 380V three-phase alternating currents are electrically accessed into multiform Become foundry goods reconditioning processing unit (plant)；A, B and C phase line faces upward driving breaker S by pendulumbDrive motor driver Dr is faced upward with circle pendulumbEven Connect；A wherein phase line passes through power supply group breaker SUAccess computer operation power supply group UPS；Zero line is directly accessed circle pendulum and faces upward drive Dynamic motor driver DrbWith computer operation power supply group UPS；Circle pendulum faces upward drive motor driver DrbDrive signal b is faced upward by pendulumDControl System drives；Circle pendulum faces upward drive motor driver DrbFor the special AC/DC/AC-SPWM three-phase drive circuits mould of permanent-magnet servo motor Block；Industrial computer ICC is the control core and software carrier of this many deformation foundry goods reconditioning processing unit (plant)；Industrial computer ICC Computer operation power supply group UPS be multigroup DC output power device；
Many deformation foundry goods Regrinding System softwares include feeding subsystem and polishing subsystem；Feeding subsystem enters including level To portion and vertical feed portion；Polishing subsystem includes that portion, disk swing section and spray portion are faced upward by emery wheel portion, circle pendulum；
Many deformation foundry goods reconditioning processing circle pendulum face upward control system by comparatorPendulum faces upward programme-control and calculates link CbP, pendulum Face upward state modulator and calculate link Cb, adderPendulum faces upward signal amplifying element Ab, pendulum face upward execution link MbSignal detection is faced upward with pendulum Transform part TrbConstitute；The pendulum be given by procedure faces upward program Setting signal bP, Jing pendulum face upward programme-control calculate link CbPPlace Reason, becomes pendulum and faces upward program control signal b1；Meanwhile, the pendulum elevation angle Setting signal b for being given is calculated by initial setting upR, Jing comparators Angle feedback signal b is faced upward with pendulumfRelatively, pendulum elevation deflection Xin ⊿ b are drawn；Jing pendulum faces upward state modulator and calculates link CbProcess, pendulum Elevation deflection Xin ⊿ b become pendulum and face upward parameter control signal b2；Pendulum faces upward program control signal b1Parameter control signal b is faced upward with pendulum2 AdderMiddle addition, show that pendulum faces upward control signal b；Jing pendulum faces upward signal amplifying element AbAmplify, pendulum faces upward control signal b becomes pendulum Face upward drive signal bD；Execution link M is faced upward in pendulumb, put and face upward drive signal bDBe converted to pendulum elevation angle degree bo；Jing pendulum faces upward signal detection change Ring change section TrbConversion, puts elevation angle degree boBecome pendulum again and face upward angle feedback signal bf；
Circle pendulum faces upward motor and faces upward drive motor driver Dr by pendulum is enclosedbDriven with three phase sine electric current and run；Circle pendulum is faced upward The circle pendulum that motor passes through coaxially to assemble on its outer rotor, drive faces upward travelling gear, and band movable pendulum is faced upward bar generation and puts elevation angle degree bo； Circle pendulum faces upward that motor, circle pendulum face upward travelling gear and pendulum faces upward bar and constitutes pendulum and faces upward execution link MbPendulum is faced upward into drive signal bDConversion To put elevation angle degree bo；The 12V output lines of computer operation power supply group UPS are drawn as drive circuit works power positive end EN,- 12V output lines are drawn as drive circuit works power cathode end EP, 5V output lines draw as control circuit working power just Extreme ESP, the extraction of -5V output lines is used as control circuit working power negative pole end ESN；
During operation, many deformation foundry goods Regrinding Systems will intend on the whole processing Workpiece structure parameter, drawing data, add engineering Sequence, global variable and local variable, by horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum the free degree decomposed, distributed；To Horizontal feed portion, vertical feed portion, circle pendulum face upward portion, disk swing section and emery wheel subordinate up to correspondence local parameter, data, instruction；Together When receive horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum and each process of abrasion of grinding wheel, feedback of status data；And on the whole Synchronization Control horizontal feed, vertical feed, circle pendulum are faced upward, spiral and put each portion's data flow and run section suddenly.
The invention has the beneficial effects as follows：The method for being provided can cause current such many deformation foundry goods thinning technique time-consuming unrestrained The problem that the uniformity of long and workpiece size, precision etc. is difficult to ensure that is addressed, and can be adapted to the reconditioning of many size workpieces.Institute State method and instead of artificial reconditioning process completely, so as to evade the emotional factor of people to workpiece thinning technique and its shadow of quality Ring.Described device structure is simple and direct, compact, easily using standard parts and components manufacture, production.System is with compact, succinct structure reality The reconditioning operation of four frees degree is showed, its Control system architecture is simple, it is easy to adjust.Entirety is easy to batch production；System is tieed up Protect, keep in repair simple and easy to do.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Fig. 1 is a Workpiece structure view according to the present invention.
Fig. 2 is many deformation foundry goods reconditioning process and assemble views according to the present invention.
Fig. 3 is many deformation foundry goods reconditioning processing unit (plant) front views.
Fig. 4 is many deformation foundry goods reconditioning processing unit (plant) top views.
Fig. 5 is the A-A of many deformation foundry goods reconditioning processing unit (plant) top views to sectional view.
Fig. 6 is the workpiece clamp portion right side view of many deformation foundry goods reconditioning processing unit (plant)s.
Fig. 7 is the workpiece clamp portion front view of many deformation foundry goods reconditioning processing unit (plant)s.
Fig. 8 is the feeding portion right side view of many deformation foundry goods reconditioning processing unit (plant)s.
Fig. 9 is the B-B direction sectional view of the feeding portion right side view of many deformation foundry goods reconditioning processing unit (plant)s.
Figure 10 is the feeding portion top view of many deformation foundry goods reconditioning processing unit (plant)s.
Figure 11 is the feeding portion right side view of many deformation foundry goods reconditioning processing unit (plant) supports.
Figure 12 is the C-C of many deformation foundry goods reconditioning processing unit (plant) support feeding portion right side views to sectional view.
Figure 13 is the polishing portion upper left side view of many deformation foundry goods reconditioning processing unit (plant)s.
Figure 14 is the D-D of many deformation foundry goods reconditioning processing unit (plant) polishing portion upper left side views to sectional view.
Figure 15 is the E-E of many deformation foundry goods reconditioning processing unit (plant) polishing portion upper left side views to sectional view.
Figure 16 is the support polishing portion front view of many deformation foundry goods reconditioning processing unit (plant)s.
Figure 17 is many deformation foundry goods reconditioning processing unit (plant) support polishing portions (band broken section) left view.
Figure 18 is the F-F of many deformation foundry goods reconditioning processing unit (plant) support polishing portion left views to sectional view.
Figure 19 is many deformation foundry goods reconditioning processing unit (plant) horizontal feed control hydraulic schematics.
Figure 20 is horizontal feed control hydraulic system pre-amplification circuit structure chart.
Figure 21 is many deformation foundry goods reconditioning processing unit (plant) spray operation execution system schematic diagrames.
Figure 22 is the electromagnetic valve structure view of spray operation execution system.
Figure 23 is the driving circuit for electromagnetic valve structure chart of spray operation execution system.
Figure 24 is that many deformation foundry goods reconditioning processing unit (plant) controls are performed and working power electric hookup.
Figure 25 is many deformation foundry goods reconditioning level of processing feeding signal detection translation circuit figures.
Figure 26 is many deformation foundry goods reconditioning processing vertical feed signal detection translation circuit figures.
Figure 27 is that many deformation foundry goods reconditioning processing pendulum face upward signal detection translation circuit figure.
Figure 28 is many deformation foundry goods reconditioning processing swing signal detection translation circuit figures.
Figure 29 is the grinding wheel radius signal detection translation circuit figure of many deformation foundry goods reconditioning processing unit (plant)s.
Figure 30 is many deformation foundry goods reconditioning level of processing feed control system block diagrams.
Figure 31 is many deformation foundry goods reconditioning processing vertical feed control system block diagrams.
Figure 32 is that many deformation foundry goods reconditioning processing circle pendulum face upward control system block diagram.
Figure 33 is that the oscillation control system block diagram that spirals is processed in many deformation foundry goods reconditionings.
Figure 34 is many deformation foundry goods reconditioning processing unit (plant) system software structure figures.
Figure 35 is many deformation foundry goods reconditioning processing unit (plant) systems soft ware overview flow charts.
In Fig. 1,2,29～31：U be straight rod segment length, Φ1For recess diameter, Φ2For mouth diameters, O1It is curved for first The tune axial line center of circle, ROFor the first bending section and the second bending section distance of center circle, O2For the second bending section axial line center of circle, R1For First bending section axis radius, R2For the second bending section axis radius.
In Fig. 2,24～27,29～35：A is feeding portion mechanism, and B is workpiece, and C is processing portion mechanism.UWFor straight rod section Clip residue length, V0For vertical feed initial bit reference value, H0It is 1. a workpiece card for horizontal feed initial bit reference value Mouthful, it is 2. No. two workpiece bayonet sockets, it is 3. No. three workpiece bayonet sockets, it is 4. No. four workpiece bayonet sockets, hoFor horizontal feed displacement, voFor Vertical feed displacement ， ⊿ G effectively polish push-in stroke for emery wheel edge post side, boTo put elevation angle degree, roFor swing angle, O is Processing free degree benchmark rectangular coordinate system origin, rectangular coordinate system transverse axis on the basis of x, the rectangular coordinate system longitudinal axis on the basis of y, RGFor Grinding wheel radius, H is processing depth, and R is processing pendulum length.
In Fig. 3～24：1. hydraulic cylinder, 2. support feeding portion, 3. piston rod, 4. feeding portion retractable cable, 5. feeding portion Horizontal kinetoplast, the 6. vertical kinetoplast in feeding portion, 7. support, 8. support processing department, 9. emery wheel motor, 10. pendulum face upward bar, 11. pendulum are faced upward Drive division, 12. processing department matrixes, 13. cantilevers, 14. circle pendulum face upward axle construction, 15. processing department retractable cables, 16. circle pendulum masses, and 17. Shower, 18. emery wheels.
In Fig. 4～24,26：19. spray telescoping tubes, 20. protective plates, 21. swing drive divisions, 22. dovetail convex shoulders, 23. horizontal kinetoplast dovetail chutes, 24. vertical feed displacement displacement transducers, 25. vertical feed turbine drives mechanisms, 26. drive Mechanism chamber, 27. hydraulic controls, 28. convex shoulder engaging pieces, 29. clip moving vanes, 30. leakage fluid drams.
In Fig. 5～20：31. pistons, 32. capstan Bearning mechanisms, 33. sliding rooms, 34. slide masses, 35. stopper slots, 36. Clip position, 37. coil engaging pieces, 38. capstans.
In Fig. 6～20：36.1. a quiet lobe bayonet socket, the quiet lobe bayonet sockets of 36.2. bis-, the quiet lobe bayonet sockets of 36.3. tri-, 36.4. No. four quiet lobe bayonet sockets.
In Fig. 7～20：22.1. vertical feed drive tooth bar, 39. clamp adjustment structures.
In Fig. 8～24：25.1. turbine drives motor, 40. vertical feed displacement sensings transmission bayonet lock.
In Fig. 9～20：41. horizontal feed displacement sensings are driven bayonet socket.
In Figure 11～20：42. horizontal feed displacement sensings are driven bayonet lock.
In Figure 12,25：43. horizontal feed displacement transducers.
In fig. 13：14.1. enclose pendulum and face upward axle.
In Figure 13,14,29：44. emery wheel edge sensors.
In Figure 14,15,28：16.1. swing angular displacement sensor, 45. emery wheel portion cables.
In Figure 15～24：46. processing department bunchs of cables, 47. spiral pendulum motor, and 48. circle pendulum face upward driving rack, and 49. Circle pendulum elevation angle displacement sensing transmission bayonet socket.
In figures 16-18：14.2. enclose pendulum and face upward bearing.
In Figure 17～20：50. circle pendulum face upward travelling gear, and 51. circle pendulum face upward driving rack telescopic cavity.
In Figure 18～24,27：52. circle pendulum face upward motor, 53. Quan Baiyang drive chamber, 54. pendulum elevation angle displacement sensings Device, 55. circle pendulum elevation angle displacement sensing transmission bayonet locks.
In Figure 19～23：56. left hydraulic tubes, 57. right hydraulic tubes, 27.1. valve pockets, 27.2. valve elements, 27.3. servo valves Driver, 58. safety valves, 59. high-voltage tubes, 60 force (forcing) pumps, 61. high-pressure switch, 62. liquid back pipes, p is positive solenoid Terminals, n be negative sense solenoid terminals, G be control circuit earth terminal, TQLine terminals are driven for force (forcing) pump.
In Figure 20,24～30：H be horizontal feed control signal, ESPFor control circuit working power positive terminal, ESNFor Control circuit working power negative pole end, Rh1For input coupling resistance, Rh2To feed back divider resistance, AhFor operational amplifier, RhfFor Feedback resistance, Rh3To drive input coupling resistance, Rh4For forward bias resistor, Rh5For reverse bias resistance, LChPFor forward direction every From optocoupler, Rh6For forward signal divider resistance, Rh7For reverse signal divider resistance, LChNFor reverse isolation optocoupler, DhPFor forward direction Isolating diode, DhNFor reverse isolation diode, QhPFor positive MOSFET element, QhNFor reverse MOSFET element, EPTo drive Circuit work power positive terminal, ENFor drive circuit works power cathode end, LPFor positive solenoid equivalent inductance, LNFor anti- To solenoid equivalent inductance.
In Figure 21～23,34,35：63. magnetic valves, 64. ftercompction pumps, 65. normal pressure pressure switches, 66. running water pipes, 67. relief valves, 68. flow pipes, w is spray operation signal, TWLine terminals are driven for ftercompction pump.
In Figure 22～23：63.1. valve pocket, 63.2. valve elements, 63.3. connecting rods, 63.4. circuit frameworks, 63.5. electromagnetic wires Circle, 63.6. cunning cylinders chamber, 63.7. antiposition electric contacts, 63.8. antiposition contacts, 63.9. permanent magnet N poles, 63.10. permanent magnet Ss pole, 63.11. cylinder sleeve, 63.12. normotopia contacts, 63.13. normotopia electric contacts, 63.14. circuit connections room are slided；po. forward drive wiring Terminal, pk. normotopia electric contact binding post, nk. antiposition electric contact binding post, no. reverse drive binding post.
In fig 23：C is differential capacitance, RP1For forward bias resistor, RP2For positive divider resistance, RN2For reverse partial pressure Resistance, RN1For reverse bias resistance, QP1For positive upper arm MOSFET element, QN1For reverse underarm MOSFET element, LCNFor anti- To isolation optocoupler, RN3For reverse signal divider resistance, DNFor reverse isolation diode, RP3For forward signal divider resistance, DPFor Positive isolating diode, LCPFor positive isolation optocoupler, QN2For reverse upper arm MOSFET element, QP2For positive underarm MOSFET devices Part, L is solenoid equivalent inductance.
In Figure 24～30：KC is master control switch, SvFor vertical drive breaker, SbDriving breaker, S are faced upward for pendulumrFor rotation Pendulum drives breaker, SgFor emery wheel operating breaker, SUFor power supply group breaker, vDFor vertical feed drive signal, bDFace upward for pendulum Drive signal, rDFor swing drive signal, g is emery wheel operation signal, DrvFor turbine drives motor driver, DrbFace upward to enclose pendulum Drive motor driver, DrrFor pendulum drive motor driver of spiraling, KgFor emery wheel motor signal Operation switch, UPS is to calculate Machine working power group, MvLink, M are performed for vertical feedbExecution link, M are faced upward for pendulumrLink is performed for swing, ICC is industry control Computer, USB is USB5V voltage power lines, and PG is industrial computer holding wire.
In fig. 25：Rsh1For horizontal signal divider resistance, Rsh2For horizontal signal balance resistance, LChFor horizontal signal light Coupling, Ash1Compare amplifier, G for horizontal signalhFor horizontal signal Coupling Potential device, Ash2For horizontal signal amplifier, shFor horizontal feed Sensing electric potential signal, Rsh5For horizontal signal feedback resistance, RhFor horizontal feed displacement transducer equivalent resistance, Rsh3For level letter Number balance adjustment resistance, TVShFor horizontal signal TVS diode, Rsh4For horizontal signal load resistance, Rsh6It is anti-for horizontal signal Feedback divider resistance.
In fig. 26：Rsv1For vertical signal divider resistance, Rsv2For vertical signal balance resistance, LCvFor vertical signal light Coupling, Asv1Compare amplifier, G for vertical signalvFor vertical signal Coupling Potential device, Asv2For vertical signal amplifier, svFor vertical feed Sensing electric potential signal, Rsv5For vertical signal feedback resistance, RvFor vertical feed displacement transducer equivalent resistance, Rsv3For vertical letter Number balance adjustment resistance, TVSvFor vertical signal TVS diode, Rsv4For vertical signal load resistance, Rsv6It is anti-for vertical signal Feedback divider resistance.
In figure 27：Rsb1Signal divider resistance, R are faced upward for pendulumsb2Signal-balanced resistance, LC are faced upward for pendulumbFlashlight is faced upward for pendulum Coupling, Asb1Signal is faced upward for pendulum compare amplifier, GbSignal Coupling Potential device, A are faced upward for pendulumsb2Signal amplifier, s are faced upward for pendulumbPass to put the elevation angle Sense electric potential signal, Rsb5Signal feedback resistance, R are faced upward for pendulumbTo put elevation angle displacement transducer equivalent resistance, Rsb3Signal is faced upward for pendulum to put down Weighing apparatus adjusts resistance, TVSbSignal TVS diode, R are faced upward for pendulumsb4Signal load resistance, R are faced upward for pendulumsb6Signal feedback point is faced upward for pendulum Piezoresistance.
In Figure 28：Rsr1For swing signal divider resistance, Rsr2For the signal-balanced resistance of swing, LCrFor swing flashlight Coupling, Asr1Compare amplifier, G for swing signalrFor swing signal Coupling Potential device, Asr2For swing signal amplifier, srFor swing angle biography Sense electric potential signal, Rsr5For swing signal feedback resistance, RrFor swing angular displacement sensor equivalent resistance, Rsr3It is flat for swing signal Weighing apparatus adjusts resistance, TVSrFor swing signal TVS diode, Rsr4For swing signal load resistance, Rsr6For swing signal feedback point Piezoresistance.
In Figure 29～34：Rsg1For infrared divider resistance, Rsg2For emery wheel signal divider resistance, Rsg3It is flat for emery wheel signal Weighing apparatus resistance, LCgFor emery wheel signal optocoupler, Rsg4For upper divider resistance, DgFor catching diode, sgFor infrared sensing electric potential signal, Asg1Compare amplifier, G for emery wheel signalgFor emery wheel signal Coupling Potential device, Asg2For emery wheel signal amplifier, LedgFor infrared emission Diode, RdgFor infrared sensor, Rsg5For the signal-balanced regulation resistance of emery wheel, TVSgFor emery wheel signal TVS diode, Rsg6For Emery wheel signal load resistance, Rsg7For lower divider resistance, rGFor grinding wheel radius feedback signal.
In Figure 30～33：hRFor horizontal feed Setting signal,For comparator ， ⊿ h be horizontal feed deviation signal, Ch Link, A are calculated for horizontal feed controlEhFor preposition amplifying element, hDFor horizontal feed drive signal, DhRing is performed to drive Section, hVFor spool displacement amount, AVFor hydraulic pressure amplifying element, q is pressure flow quantity, APLink, Tr are performed for hydraulic pressurehEnter for level Give signal detection transform part, hfFor horizontal feed feedback signal.
In Figure 31：vRFor vertical feed Setting signal ， ⊿ v be vertical feed deviation signal, CvCount for vertical feed control Calculate link, v be vertical feed control signal, AEvFor vertical feed amplifying element, TrvFor vertical feed signal detection changing ring Section, vfFor vertical feed feedback signal.
In Figure 32,33：bPProgram Setting signal, C are faced upward for pendulumbPProgramme-control is faced upward for pendulum calculate link, b1Journey is faced upward for pendulum Sequence control signal, bRTo put elevation angle Setting signal ， ⊿ b for pendulum elevation deflection signal, CbState modulator is faced upward for pendulum calculate link, b2 Parameter control signal is faced upward for pendulum,For adder, b faces upward control signal, A for pendulumbSignal amplifying element, Tr are faced upward for pendulumbLetter is faced upward for pendulum Number detection transform part, bfAngle feedback signal is faced upward for pendulum.
In fig. 33：rPFor swing program Setting signal, CrPLink, r are calculated for swing programme-control1For swing program control Signal processed, rRIt is swing deviation signal for swing angle Setting signal ， ⊿ r, CrLink, r are calculated for swing state modulator2For swing Parameter control signal, r be swing control signal, ArFor swing signal amplifying element, TrrFor swing signal detection transform part, rf For swinging feedback signal of spiraling.
In Figure 34～35：No be workpiece sequence number, RmFor emery wheel limit residue radius, TCTo polish, 1/4 cycle of ring ， ⊿ T are Controlling cycle；HIFor horizontal feed reference value variable, VIFor vertical feed reference value variable, hIFor horizontal feed quantitative change amount, vIFor Vertical feed quantitative change amount, bIAngle variables, r are faced upward for pendulumIFor swing angle variables, T is polishing time variable ， ⊿ RGFor emery wheel mill Variable ， ⊿ Φ are damaged for bending section expanded in diameter quantitative change amount, RIFor grinding wheel radius variable, RWFor workpiece radius variable, RSTo put the elevation angle Hypotenuse variable, vhFor horizontal feed speed variables, vvFor vertical feed speed variables, vrFor swing angular speed variable.
Specific embodiment
In the Workpiece structure view according to the present invention shown in Fig. 1：Straight rod Duan Weizhi rod segment length U of workpiece, directly Rod section diameter of phi1Isometrical cylindrical neck, its left end is the reserved solder side of 20 ° of tapers；Start from workpiece right-hand member curved with first Tune axial line center of circle O1For the center of circle, with the first bending section axis radius R1Under turn curved under 40 ° of transition；Again on 40 ° of lines, with One bending section axial line center of circle O1For starting point, away from the first bending section and the second bending section distance of center circle ROPlace, takes the second bending section axle center Line center of circle O2, then with the second bending section axial line center of circle O2For the center of circle, with the second bending section axis radius R2Under turn 30 ° under it is curved；From Workpiece right-hand member starts, and cylinder is from recess diameter Φ1To mouth diameters Φ2Equal proportion is gradually thick.The shape of Workpiece structure view, knot Structure line and its parameter be work pieces process program statement establishment foundation, such procedure will with programmed instruction, variable operate, Control the operation of many deformation foundry goods reconditioning processing unit (plant)s.
In the according to the present invention many deformation foundry goods reconditioning process and assemble views shown in Fig. 2：Many deformation foundry goods reconditionings add Frock is put and is made up of feeding portion, processing department and base portion.The feeding portion mechanism A of many deformation foundry goods reconditioning processing unit (plant)s performs folded Hold workpiece B with horizontal feed displacement ho, vertical feed displacement voThe task of feeding.Feeding portion mechanism A clamping parts press workpiece The specification of B, be furnished with a workpiece bayonet socket 1., No. two workpiece bayonet sockets 2., No. three workpiece bayonet sockets 3. with No. four workpiece bayonet sockets 4..Multiform The processing portion mechanism C for becoming foundry goods reconditioning processing unit (plant) performs to put elevation angle degree bo, swing angle roThe task of reconditioning workpiece B.Level Feeding displacement ho, vertical feed displacement voWith pendulum elevation angle degree boIt is positive with arrow mark；Swing angle roWith arrow counterclockwise Leader note is positive.Tui Jin Liang ⊿ G effectively polish by emery wheel edge post side consolidation contact workpiece bows section in emery wheel edge post side The minimum polishing push-in stroke of convex surface is calculated, and can be determined according to workpiece number and selected emery wheel specification.The first bending section axial line center of circle O1As feeding moving point, by horizontal feed initial bit reference value H0With vertical feed initial bit reference value V0Estimate, relative processing Free degree benchmark rectangular coordinate system origin O, according to Workpiece structure view, can respectively with benchmark rectangular coordinate system transverse axis x and benchmark The coordinate value of rectangular coordinate system longitudinal axis y, calculates and determines horizontal feed displacement hoWith vertical feed displacement voIt is initial given Value.According to Workpiece structure view, relative processing free degree benchmark rectangular coordinate system origin O and benchmark rectangular coordinate system longitudinal axis y, profit Effectively polished Tui Jin Liang ⊿ G, grinding wheel radius R with emery wheel edge post sideG, processing depth H, processing pendulum length R, and the first bending section Axial line center of circle O1, the first bending section and the second bending section distance of center circle RO, the second bending section axial line center of circle O2Opposing right angles coordinate It is the feed value of xOy, determination pendulum elevation angle degree b can be calculatedo, swing angle roSet-point and program set-point；Further, calculate true Determine horizontal feed displacement hoWith vertical feed displacement voFollow-up set-point.
Add frock in many deformation foundry goods reconditioning processing unit (plant) front views shown in Fig. 3, many deformation foundry goods reconditionings shown in Fig. 4 The A-A of top view and many deformation foundry goods reconditioning processing unit (plant) top views of Fig. 5 is put in sectional view：
The feeding portion of many deformation foundry goods reconditioning processing unit (plant)s includes hydraulic cylinder 1, piston rod 3, feeding portion retractable cable 4, enters To the horizontal kinetoplast 5 in portion, the vertical kinetoplast 6 in feeding portion.Base portion includes that support feeding portion 2, support 7, support processing department 8, pendulum face upward drive Dynamic portion 11 and processing department matrix 12.Processing department includes that emery wheel motor 9, pendulum face upward bar 10, cantilever 13, circle pendulum and face upward axle construction 14, add Ministry of worker's retractable cable 15, circle pendulum mass 16, shower 17 and emery wheel 18.
Hydraulic cylinder 1 is assemblied in the upper left quarter of support feeding portion 2；The right side of piston rod 3 is stretched, and right-hand member is fastenedly connected feeding portion press horizontal mobile Body 5.In the upper left face of support feeding portion 2 of the rear side of hydraulic cylinder 1, it is close to be equipped with hydraulic control 27.Feeding portion retractable cable 4 The horizontal kinetoplast 5 in feeding portion is introduced from the lower section of piston rod 3.The feeding portion right exchange premium of horizontal kinetoplast 5 gives portion vertical kinetoplast 6, and its right side The left surface longitudinal sliding motion of face kinetoplast 6 vertical with feeding portion coordinates.Support feeding portion 2 is assemblied in the left end of support 7；Support is processed Portion 8 is assemblied in the right-hand member of support 7；The right-hand member of support processing department 8 extends upward pendulum and faces upward drive division 11 and processing department matrix 12.Plus Cantilever 13 is extended on a lateral left side before and after the top of Ministry of worker's matrix 12.The left end of cantilever 13 faces upward the assembling circle pendulum mass of axle construction 14 to enclose pendulum 16.Extend pendulum down to the right and face upward bar 10 in the lower end of circle pendulum mass 16；Pendulum faces upward the right part of bar 10 and stretches into pendulum and face upward drive division 11.Circle pendulum mass 16 On be equipped with emery wheel motor 9, processing department retractable cable 15, shower 17 and emery wheel 18；Emery wheel 18 is coaxial by emery wheel motor 9 Drive.Processing department retractable cable 15 is the driving cable of motor in swing drive division 21, and its bottom right section passes through pedestal, draws Enter, be connected to electric-control system.
In the upper left quarter of support feeding portion 2, the rear side of hydraulic cylinder 1, it is close to hydraulic cylinder 1 and support feeding portion 2 is equipped with hydraulic pressure Controlling organization 27.The right side of piston rod 3 fixed as one with piston 31 is stretched, and right-hand member is fastenedly connected the horizontal kinetoplast 5 in feeding portion.Feeding Portion's retractable cable 4 introduces the horizontal kinetoplast 5 in feeding portion from position behind the lower section of piston rod 3.On the horizontal kinetoplast 5 in feeding portion, with feeding portion The right flank that vertical kinetoplast 6 is slidably matched, is milled with horizontal kinetoplast dovetail chute 23；On the left bottom surface of horizontal kinetoplast dovetail chute 23 Portion, is pasted with vertical feed displacement displacement transducer 24.In the central part of the horizontal kinetoplast 5 in feeding portion, digging has drive mechanism room 26； Drive mechanism room 26 is equipped with vertical feed turbine drives mechanism 25.On vertical kinetoplast 6, slide with the horizontal kinetoplast 5 in feeding portion The left surface of cooperation, is milled with dovetail convex shoulder 22；Wedge horizontal kinetoplast dovetail chute 23 and constitute therewith vertical in dovetail convex shoulder 22 To being slidably matched.In the forward right side of vertical kinetoplast 6, digging has the clip position 36 to assembly clip moving vane 29；Clip moving vane 29 Upper and lower, left surface and the upper and lower of clip position 36, left internal side are constituted and are slidably matched；The trailing flank of clip moving vane 29 and clip position 36 front inner side constitutes clip working face；Vertical kinetoplast 6 is each come clip with the cooperation of clip position 36, regulation by clip moving vane 29 Type workpiece.In the upper right quarter of support feeding portion 2, the stopper slot 35 for the horizontal translation of kinetoplast 5 or so in feeding portion is left；Stopper slot 35 The sliding room 33 for the sliding of slide mass 34 or so is made to the left in bottom.
Support feeding portion 2, support 7 and the connection of support processing department 8, constitute Base body.
The right-hand member of support processing department 8 extends upward pendulum and faces upward drive division 11 and processing department matrix 12.Processing department matrix 12 is pushed up Cantilever 13 is extended on a lateral left side before and after portion.The left end of cantilever 13 faces upward the assembling circle pendulum mass 16 of axle construction 14 to enclose pendulum.Enclosing pendulum mass 16 is Suit capstan 38 in cirque structure, ring；Circle pendulum mass 16 is constituted tangential skid and moved by capstan Bearning mechanism 32 and capstan 38 matches somebody with somebody Close；Make swing drive division 21 in the top of circle pendulum mass 16；Swing drive division 21 drives capstan 38 in circle by coil engaging piece 37 Rotation in pendulum mass 16.The upper left face of capstan 38 is processing work face, is furnished with to cover whole capstan 38 and capstan Bearning mechanism 32 protective plate 20.The upper middle position of capstan 38 is coated with shower 17；The left part of shower 17 is bent downwardly, and the mouth of pipe is with nozzle court To emery wheel 18；The right-hand member of shower 17 is connected to spray telescoping tube 19；By spraying telescoping tube 19, the insertion of shower 17, introducing, company It is connected to spray operation execution system.The lower middle position of capstan 38 is equipped with the emery wheel motor 9 for assembling and driving emery wheel 18.Circle pendulum mass Extend circular arc pendulum down to the right and face upward bar 10 in 16 lower end；Pendulum faces upward the right part of bar 10 and stretches into pendulum and face upward drive division 11.Support processing department 8 It is assemblied in the right-hand member of support 7；The left part of support processing department 8 makes bathtub construction, and its left-front corner is formed with leakage fluid dram 30.
Shown in Fig. 6 be many deformation foundry goods reconditioning processing unit (plant)s workpiece clamp portion's right side view and Fig. 7 shown in it is many In the workpiece clamp portion front view of deformation foundry goods reconditioning processing unit (plant)：Clip moving vane 29 is cuboid columnar structure, its is upper and lower, Upper and lower, the left internal side of left surface correspondence clip position 36, composition is slidably matched.A number quiet lobe of the working face of correspondence clip position 36 The quiet lobe bayonet socket 36.3 of quiet lobe bayonet socket 36.2, three of bayonet socket 36.1, two and No. four quiet lobe bayonet sockets 36.4, the work of clip moving vane 29 Face is also milled with correspondence sequence number moving vane bayonet socket.Clip moving vane 29 assembles and adjusts work with clip position 36 by clamping adjustment structure 39 Make face gap, and then realize to intending adding the dress of operation number workpiece hold, clamp, putting and unload operation.Make vertical in the left side of dovetail convex shoulder 22 Straight-in feed driving rack 22.1, to be slidably matched with vertical feed turbine drives mechanism 25.
The many deformation foundry goods shown in feeding portion right side view, Fig. 9 in many deformation foundry goods reconditioning processing unit (plant)s shown in Fig. 8 Many deformation foundry goods reconditioning processing unit (plant)s shown in the B-B direction sectional view and Figure 10 of the feeding portion right side view of reconditioning processing unit (plant) In feeding portion top view：The right flank that horizontal kinetoplast 5 kinetoplast 6 vertical with feeding portion is slidably matched in feeding portion, is milled with press horizontal mobile Body dovetail chute 23；The left bottom surface top of horizontal kinetoplast dovetail chute 23, is pasted with linear vertical feed displacement transducer 24；The middle position of vertical feed displacement transducer 24, is formed with vertical feed displacement sensing transmission bayonet lock 40.In the horizontal kinetoplast in feeding portion 5 central part, digging has drive mechanism room 26；The top of drive mechanism room 26 is equipped with vertical feed turbine drives mechanism 25, under Portion is equipped with the turbine drives motor 25.1 of Driven by Coaxial vertical feed turbine drives mechanism 25.The right-hand member fastening of piston rod 3 connects Tap into the left side middle position of the horizontal kinetoplast 5 in portion.Feeding portion retractable cable 4 introduces the horizontal kinetoplast 5 in feeding portion from the lower section of piston rod 3, And then the horizontal left part of kinetoplast 5 in feeding portion is passed through, access turbine drives motor 25.1；Turbine drives motor 25.1 is watched for AC permanent-magnet Take motor.Slide mass 34 is the extended structure of the horizontal kinetoplast 5 in feeding portion；Above the left end of slide mass 34, digging has horizontal feed position Move sensing transmission bayonet socket 41.
It is many shown in feeding portion right side view and Figure 12 in many deformation foundry goods reconditioning processing unit (plant) supports shown in Figure 11 The C-C of deformation foundry goods reconditioning processing unit (plant) support feeding portion right side view is in sectional view：Hydraulic cylinder 1 is non-symmetric pressure knot Structure, is assemblied in the upper left quarter in support feeding portion 2；Piston rod 3 fixes as one with the right flank of piston 31, from the right side of hydraulic cylinder 1 Stretch out at end.In the upper left face of support feeding portion 2 of the rear side of hydraulic cylinder 1, it is close to hydraulic cylinder 1 and support feeding portion 2, is equipped with hydraulic pressure control Mechanism processed 27.Below piston rod 3, feeding portion retractable cable 4 is drawn between hydraulic cylinder 1 and hydraulic control 27.In machine The upper right quarter of seat feeding portion 2, leaves stopper slot 35；The bottom of stopper slot 35, makes to the left between two parties sliding room 33.Support feeding portion 2 Right side rear portion, connect as one with support 7.
In many deformation foundry goods reconditioning processing unit (plant) support feeding portion views shown in Fig. 8～12：In sliding room 33 Upper wall center line position, along center line linear horizontal feed displacement transducer 43 is pasted with；Horizontal feed displacement transducer 43 is carried Horizontal feed displacement sensing transmission bayonet lock 42, correspondence horizontal feed displacement sensing transmission bayonet socket 41.
The multiform shown in polishing portion upper left side view and Figure 14 in many deformation foundry goods reconditioning processing unit (plant)s shown in Figure 13 The D-D of change foundry goods reconditioning processing unit (plant) polishing portion upper left side view is in sectional view：Circle pendulum mass 16 is cirque structure, same in ring Axle sleeve fills capstan 38；Circle pendulum mass 16 constitutes tangential rolling and is slidably matched by capstan Bearning mechanism 32 and capstan 38；Capstan 38 can be The relative circle coaxial rotating of pendulum mass 16 in circle pendulum mass 16.The disk body of capstan 38 is to be formed with " I " the shape structure for increasing matching ring along axle section, is matched somebody with somebody The working face dorsal part for closing the outer edge of circle is formed with the external tooth of coil engaging piece 37, and capstan Bearning mechanism 32 is assembled in working face side. The matching ring of capstan 38 it is interior along working face side, in the face of emery wheel edge, a pair of emery wheel edge sensors 44 of symmetrical assembling.Rotation The working face of disk 38 is furnished with the protective plate 20 for covering whole capstan 38 and capstan Bearning mechanism 32.It is equipped with circle pendulum mass 16 Emery wheel motor 9, processing department retractable cable 15, shower 17 and emery wheel 18.Through capstan 38 and protective plate 20, under capstan 38 Middle position fastening is equipped with emery wheel motor 9；The fastening assembling of the shaft end of motor 9 simultaneously coaxially drives emery wheel 18 by emery wheel.Through capstan 38 and protective plate 20, the upper middle position of capstan 38 is equipped with shower 17；The mouth of pipe of shower 17 is with nozzle towards emery wheel 18.In rotation Between disk 38 and protective plate 20, the cable that drives of emery wheel motor 9 comes together with the holding wire of emery wheel edge sensor 44, and set is Emery wheel portion cable 45.The annulus outside of circle pendulum mass 16, symmetrically fastens a pair of circle pendulum of assembling and faces upward axle 14.1 along transverse axis.Circle pendulum mass 16 Extend pendulum and face upward bar 10 in lower end.Along top in the ring of circle pendulum mass 16, between circle pendulum mass 16 and protective plate 20, along circle pendulum mass 16 Ring be pasted with the swing angular displacement sensor 16.1 of circular arc line style.
The many deformation foundry goods reconditioning processing unit (plant) polishing portion upper left side views shown in Figure 15 E-E in sectional view：Circle Pendulum mass 16 be cirque structure, coaxial package capstan 38 in ring；Circle pendulum mass 16 is consisted of capstan Bearning mechanism 32 with capstan 38 Tangential rolling is slidably matched.Make swing drive division 21 in the top of circle pendulum mass 16；The mounted inside of swing drive division 21 is spiraled to put and is driven Motor 47；The pendulum motor 47 that spirals is external rotor permanent magnet servomotor, and with its outer rotor swing drive division 21 is driven；Swing is driven The external tooth in dynamic portion 21 is engaged with the external tooth of capstan 38, constitutes coil engaging piece 37；By coil engaging piece 37, swing drive division 21 Drive the relative circle coaxial rotating of pendulum mass 16 in circle pendulum mass 16 of capstan 38.Spiral pendulum motor 47 inner stator fastening be assemblied in The top of circle pendulum mass 16.Processing department retractable cable 15 is drawn from the outer end axle of the pendulum motor 47 that spirals.The disk body edge of capstan 38 Axle section is to be formed with " I " the shape structure for increasing matching ring, and the working face dorsal part of the outer edge of matching ring is formed with coil engaging piece 37 Assemble capstan Bearning mechanism 32 in external tooth, working face side.The working face of capstan 38 is furnished with to cover whole capstan 38 and capstan The protective plate 20 of Bearning mechanism 32.Emery wheel motor 9, processing department retractable cable 15, the and of shower 17 are equipped with circle pendulum mass 16 Emery wheel 18.Through capstan 38 and protective plate 20, the lower middle position fastening of capstan 38 is equipped with emery wheel motor 9；The shaft end of motor 9 is tight Emery wheel 18 is fixedly mounted with and coaxially driven by emery wheel.In working face dorsal part, shower 17 and spray telescoping tube 19 continue, insertion.Wear Capstan 38 and protective plate 20 are crossed, the upper middle position of capstan 38 is equipped with shower 17；The mouth of pipe of shower 17 is with nozzle towards emery wheel 18.Between capstan 38 and protective plate 20, emery wheel portion cable 45 is applied to shower 17 along the card of capstan 38 and wears place, with spray Shower pipe 17 is come together, and is covered through for the Pan Bi of capstan 38.In working face dorsal part, processing department retractable cable 15 converges with emery wheel portion cable 45 Hold together, be listed as processing department bunch of cables 46.Extend pendulum and face upward bar 10 in the lower end of circle pendulum mass 16.Pendulum faces upward bar 10 for circular arc reinforcement knot Structure, circular arc outside is milled with circle pendulum and faces upward driving rack 48；Dorsad working face one end on the inside of circular arc, is milled with circle pendulum elevation angle displacement and passes Propagated sensation moves bayonet socket 49.Along top in the ring of circle pendulum mass 16, between circle pendulum mass 16 and protective plate 20, along the ring of circle pendulum mass 16 It is pasted with the swing angular displacement sensor 16.1 of circular arc line style；The circular arc inner side of swing angular displacement sensor 16.1 is formed with swing angle Displacement sensing is driven bayonet lock, and the transmission bayonet lock drives with the draw-in groove at the top of the longitudinal axis of capstan 38.
In the polishing portion view of many deformation foundry goods reconditioning processing unit (plant)s shown in Figure 13～15：Circle pendulum mass 16 is annular Structure, the working face dorsal part of annulus inside edge is formed with the internal tooth of coil engaging piece 37, working face side assembling capstan Bearning mechanism 32.Coaxial package capstan 38 in annulus；The disk body of capstan 38 is to be formed with " I " the shape structure for increasing matching ring along axle section, matching ring The working face dorsal part of outer edge is formed with the external tooth of coil engaging piece 37, and capstan Bearning mechanism 32 is assembled in working face side.Circle pendulum mass 16 constitute tangential rolling by capstan Bearning mechanism 32 and capstan 38 is slidably matched；Capstan 38 relative in circle pendulum mass 16 can enclose pendulum mass 16 coaxial rotatings.
The many deformation foundry goods shown in polishing portion front view, Figure 17 in many deformation foundry goods reconditioning processing unit (plant)s shown in Figure 16 Many deformation foundry goods reconditioning processing unit (plant) machines shown in reconditioning processing unit (plant) support polishing portion's (with broken section) left view and Figure 18 The F-F of seat polishing portion left view is in sectional view：Support 7 is connected as in the left back of support processing department 8 with support processing department 8 Integrally.The right-hand member of support processing department 8 extends upward pendulum and faces upward drive division 11 and processing department matrix 12.Before the top of processing department matrix 12 Rear side extends to the left cantilever 13.The left end of cantilever 13 is equipped with circle pendulum and faces upward bearing 14.2.Pendulum faces upward the outer main body of drive division 11 Triangle reinforcing rib structure；Pendulum is faced upward the inside of drive division 11 and dug has circle pendulum to face upward driving rack telescopic cavity 51 and Quan Baiyang drive chamber 53. It is circular arc cavity that pendulum faces upward driving rack telescopic cavity 51, and circular arc axial line as encloses the axial line that pendulum faces upward bearing 14.2, outside circular arc The inclined-plane side opening of drive division 11 is faced upward in pendulum in end；53 transverse presentation axial line cylindrical cavities of Quan Baiyang drive chamber, cylinder axial line with Circle pendulum faces upward the axis parallel of bearing 14.2, and the insertion of driving rack telescopic cavity 51 is faced upward in cylinder upside with pendulum.In Quan Baiyang drive chamber In 53, coaxially it is equipped with the circle pendulum for facing upward travelling gear 50 with moving-coil pendulum and faces upward motor 52；Circle pendulum is faced upward motor 52 and is turned for outer Sub- alternating-current permanent-magnet servo motor, its two end axles fastening is assemblied on the side wall of cylinder two of Quan Baiyang drive chamber 53.Face upward in pendulum The circular arc madial wall of driving rack telescopic cavity 51, is pasted with the pendulum elevation angle displacement transducer 54 of circular arc line style；Pendulum elevation angle displacement is passed The circular arc outside of sensor 54 is formed with circle pendulum elevation angle displacement sensing transmission bayonet lock 55.Bathtub construction is made above support processing department 8, The bathtub construction inclined-plane curved surface that dorsad drive division 11 is faced upward in the side of working face with pendulum is connected.
In many deformation foundry goods reconditioning processing unit (plant) horizontal feeds control hydraulic schematic shown in Figure 19：Hydraulic cylinder 1 left end insertion connects left hydraulic tube 56, and right-hand member insertion connects right hydraulic tube 57；The other end of left hydraulic tube 56 and valve pocket 27.1 The connection insertion of left delivery outlet, the other end of right hydraulic tube 57 is connected insertion with the right delivery outlet of valve pocket 27.1.Cylindrical shape valve pocket Cylindrical spool 27.2, and axial sliding fit therewith are cased with 27.1, zero lap four-way servo valve is constituted.The one of valve element 27.2 End is affixed with the kinetoplast of servo valve actuator 27.3；The solenoid of the quiet body of servo valve actuator 27.3 is connect by positive solenoid Line end p, negative sense solenoid terminals n and control circuit earth terminal G draw.The left and right input port insertion connection of valve pocket 27.1 High-voltage tube 59；The middle position input port insertion connection liquid back pipe 62 of valve pocket 27.1；The other end of liquid back pipe 62 is passed through pressure fluid tank. The other end insertion of high-voltage tube 59 connects the high-pressure mouth of force (forcing) pump 60, and is connected insertion with the high-pressure mouth of safety valve 58.Force (forcing) pump 60 low pressure port and the low pressure port of safety valve 58 are passed through pressure fluid tank.Force (forcing) pump 60 is driven by single-phase AC motor；It is logical Cross and connected with the make and break contact of high-pressure switch 61, the phase line drives line of single-phase AC motor is drawn out to force (forcing) pump drives line Terminal TQPhase line end；The zero line drives line of single-phase AC motor directly leads out force (forcing) pump and drives line terminals TQZero line side. The pressure nozzle of high-pressure switch 61 is passed through and is connected to high-voltage tube 59.
In the horizontal feed control hydraulic system pre-amplification circuit structure chart shown in Figure 20：Horizontal feed control signal H passes through input coupling resistance Rh1Send into operational amplifier AhIn-phase input end：Operational amplifier AhInverting input pass through Feedback divider resistance Rh2Ground connection, and by feedback resistance RhfIt is connected to operational amplifier AhOutput end.Operational amplifier Ah's Cathode power supply end is connected to control circuit working power positive terminal ESP, operational amplifier AhNegative electricity source be connected to control electricity Road working power negative pole end ESN.Operational amplifier AhOutput end with drive input coupling resistance Rh3One end connection, drive it is defeated Enter coupling resistance Rh3One end and forward signal divider resistance Rh6With reverse signal divider resistance Rh7Connect simultaneously；Forward signal Divider resistance Rh6The other end and reverse signal divider resistance Rh7The other end respectively with positive isolation optocoupler LChPNegative pole it is defeated Enter end and reverse isolation optocoupler LChNElectrode input end connection；Positive isolation optocoupler LChPElectrode input end and reverse isolation Optocoupler LChNNegative input be connected respectively to control circuit working power positive terminal ESPWith control circuit working power negative pole End ESN.Positive isolation optocoupler LChPCathode output end and reverse isolation optocoupler LChNCathode output end be connected respectively to driving Circuit work power positive terminal EPWith drive circuit works power cathode end EN.Positive isolation optocoupler LChPCathode output end and Reverse isolation optocoupler LChNCathode output end be connected respectively to positive MOSFET element QhPGrid and reverse MOSFET element QhNGrid；Meanwhile, positive isolation optocoupler LChPCathode output end and reverse isolation optocoupler LChNCathode output end again respectively With positive isolating diode DhPPositive pole and reverse isolation diode DhNNegative pole connection；Positive isolating diode DhPNegative pole With reverse isolation diode DhNPositive pole respectively pass through forward bias resistor Rh4With reverse bias resistance Rh5Ground connection.It is positive MOSFET element QhPFor P-channel enhancement type device, QhNReversely MOSFET element is N-channel enhancement device.Positive MOSFET devices Part QhPDrain electrode be connected to drive circuit works power positive end EP；Reverse MOSFET element QhNSource electrode be connected to drive circuit Working power negative pole end EN；Positive MOSFET element QhPSource electrode be connected to positive solenoid terminals p；Reverse MOSFET devices Part QhNDrain electrode be connected to negative sense solenoid terminals n.Positive solenoid equivalent inductance LPIt is equivalent with reverse solenoid Inductance LNForward and around solenoid, to constitute the main body of the quiet body of servo valve actuator 27.3.Positive solenoid equivalent inductance LP Same Name of Ends and reverse solenoid equivalent inductance LNSame Name of Ends be connected respectively to positive solenoid terminals p and negative sense electricity Magnetic coil terminals n.Positive solenoid equivalent inductance LPDifferent name end and reverse solenoid equivalent inductance LNDifferent name end phase Connect and be grounded to control circuit earth terminal G.
In many deformation foundry goods reconditioning processing unit (plant)s spray operation execution system schematic diagram shown in Figure 21：Spray telescoping tube 19 are connected insertion by magnetic valve 63 with flow pipe 68.The insertion simultaneously of the other end of flow pipe 68 is connected to the high pressure of ftercompction pump 64 The high-pressure mouth of mouth and relief valve 67.The low pressure port of ftercompction pump 64 and the insertion simultaneously of the low pressure port of relief valve 67 are connected to running water pipe 66.Ftercompction pump 64 is driven by single-phase AC motor；By connecting with the make and break contact of normal pressure pressure switch 65, single-phase alternating current The phase line drives line of motivation is drawn out to ftercompction pump and drives line terminals TWPhase line end；The zero line drives line of single-phase AC motor is straight Connect and be drawn out to ftercompction pump driving line terminals TWZero line side.The pressure nozzle of normal pressure pressure switch 65 is passed through and is connected to flow pipe 68.Electromagnetism Valve 63 is by drive circuit works power positive end EP, spray operation signal w input terminal and control circuit earth terminal G connection electricity Electromagnetic valve driving circuit is controlling break-make.
In the electromagnetic valve structure view of the spray operation execution system shown in Figure 22：Magnetic valve is by valve pocket 63.1, valve element 63.2nd, connecting rod 63.3, circuit framework 63.4, solenoid 63.5, sliding cylinder chamber 63.6, antiposition electric contact 63.7, antiposition contact 63.8th, permanent magnet N poles 63.9, permanent magnet S pole 63.10, sliding cylinder sleeve 63.11, normotopia contact 63.12, the and of normotopia electric contact 63.13 Circuit connection room 63.14 is constituted；Including driving circuit for electromagnetic valve power positive end EW, spray operation signal w input terminal, just To driving binding post poNormotopia electric contact binding post pk, antiposition electric contact binding post nk, reverse drive binding post noWith Control circuit earth terminal G.Magnetic valve is divided into the valve body of left part and the drive division of right part.Valve body is to include valve pocket 63.1, valve The executive agent structure of core 63.2 and connecting rod 63.3, drive division is to include connecting rod 63.3, circuit framework 63.4, permanent magnet N poles 63.9th, permanent magnet S pole 63.10, sliding cylinder chamber 63.6, sliding cylinder sleeve 63.11, solenoid 63.5, antiposition electric contact 63.7, antiposition are touched 63.8, normotopia contact 63.12, normotopia electric contact 63.13, circuit connection room 63.14, driving circuit for electromagnetic valve power positive end EW, spray operation signal w input terminal, forward drive binding post po, normotopia electric contact binding post pk, antiposition electric contact Binding post nk, reverse drive binding post noWith the electromagnetic drive mechanism of control circuit earth terminal G；Wherein valve pocket 63.1 with it is sliding Cylinder sleeve 63.11 is two chamber integrative-structures being separated by by partition, is made up of nonferromagnetic material.
Valve element 63.2 in valve pocket 63.1 is mechanically connected with one end fastening of connecting rod 63.3, the other end of connecting rod 63.3 with The left section fastening of permanent magnet N poles 63.9 is mechanically connected；Connecting rod 63.3 passes through the partition of valve pocket 63.1 and sliding cylinder sleeve 63.11, and Airtight being slidably matched is constituted with the partition；Permanent magnet N poles 63.9 and permanent magnet S pole 63.10 are consubstantiality column construction, its lateral wall It is slidably matched with the madial wall in sliding cylinder chamber 63.6.In the left inside wall in sliding cylinder chamber 63.6, digging has a groove room, and a pair of assembly is normal in groove room The antiposition electric contact 63.7 for closing；In the left side of permanent magnet N poles 63.9, the assembly of correspondence antiposition electric contact 63.7 has the anti-of a protrusion Position contact 63.8, to touch when reversely in place antiposition electric contact 63.7 is opened.In the right inwall in sliding cylinder chamber 63.6, digging has a groove Room, a pair normally closed normotopia electric contacts 63.13 of assembly in groove room；In the right side of permanent magnet S pole 63.10, correspondence normotopia electricity is touched 63.13 assemblies of point have the normotopia contact 63.12 of a protrusion, to it is positive in place when touch and open normotopia electric contact 63.13.Circuit bone The fastening of frame 4 is sleeved on the lateral wall of sliding cylinder sleeve 63.11；63.4 points of skeleton portions of solenoid 63.5 for left portion of circuit framework With the circuit connection room 63.14 of right part.
In circuit connection room 63.14, drive signal change-over circuit and internal and external line binding post are equipped with.Solenoid 63.5 two ends are connected respectively to normotopia electric contact binding post pkWith antiposition electric contact binding post nkOn；Normotopia electric contact connects Line terminals pkWith forward drive binding post poConstitute with two terminals of normotopia electric contact 63.13 respectively and electrically connect；Antiposition electricity is touched Point binding post nkWith reverse drive binding post noConstitute with two terminals of antiposition electric contact 63.7 respectively and electrically connect.Drive Circuit work power positive terminal EP, spray operation signal w input terminal and control circuit earth terminal G be respectively used to connect electromagnetism Valve-driving circuit positive source, spray operation signal input line and ground connection.
In the driving circuit for electromagnetic valve structure chart of the spray operation execution system shown in Figure 23：
Drive signal change-over circuit is applied to the control mode of low and high level control, by differential capacitance C, forward bias resistor RP1, positive divider resistance RP2, reverse divider resistance RN2, reverse bias resistance RN1, P-channel enhancement type forward direction upper arm MOSFET devices Part QP1, reverse underarm MOSFET element Q of N-channel enhancement modeN1, reverse isolation optocoupler LCN, reverse signal divider resistance RN3, reversely Isolating diode DN, forward signal divider resistance RP3, positive isolating diode DP, positive isolation optocoupler LCP, N-channel enhancement mode it is anti- To upper arm MOSFET element QN2, P-channel enhancement type forward direction underarm MOSFET element QP2, solenoid equivalent inductance L constitute.
Spray operation signal w is input to the negative pole of differential capacitance C.Forward bias resistor RP1One end be connected to working power Positive terminal E, forward bias resistor RP1The other end and positive divider resistance RP2One end connection；Forward bias resistor RP1With just To divider resistance RP2Tie point and positive upper arm MOSFET element QP1Grid connection.Reverse divider resistance RN2One end with Reverse bias resistance RN1One end connection, reverse bias resistance RN1The other end ground connection；Reverse divider resistance RN2With reverse bias Resistance RN1Tie point and reverse underarm MOSFET element QN1Grid connection.Positive upper arm MOSFET element QP1Source electrode connect It is connected to driving circuit for electromagnetic valve power positive end EW, positive upper arm MOSFET element QP1Drain electrode be connected to forward drive terminals Sub- po.Reverse underarm MOSFET element QN1Drain electrode be connected to normotopia electric contact binding post pk；Reverse underarm MOSFET element QN1Source ground.Reverse isolation optocoupler LCN1,4 pin be connected to working power positive terminal E, reverse isolation optocoupler LCN2 pin With 4 pin respectively with reverse signal divider resistance RN3One end and reverse upper arm MOSFET element QN2Grid connection.Forward direction isolation Optocoupler LCP1 pin and 4 pin respectively with forward signal divider resistance RP3One end and positive underarm MOSFET element QP2Grid connect Connect, reverse isolation optocoupler LCN2,4 pin ground connection.Reverse signal divider resistance RN3The other end and forward signal divider resistance RP3 Other end connection, the tie point is connected to the positive pole of differential capacitance C.Reverse isolation diode DNNegative pole and reverse upper arm MOSFET element QN2Grid connection, reverse isolation diode DNPositive pole and reverse divider resistance RN2The other end connection.Just To isolating diode DPPositive pole and positive underarm MOSFET element QP2Grid connection, positive isolating diode DPNegative pole with Positive divider resistance RP2The other end connection.Reverse upper arm MOSFET element QN2Drain electrode be connected to driving circuit for electromagnetic valve electricity Source positive terminal EW, reverse upper arm MOSFET element QN2Source electrode be connected to reverse drive binding post no.Positive underarm MOSFET Device QP2Source electrode be connected to antiposition electric contact binding post nk, positive underarm MOSFET element QP2Grounded drain.
Solenoid 63.5, the i.e. two ends of solenoid equivalent inductance L are connected respectively to antiposition electric contact binding post nk With normotopia electric contact binding post pk。
In many deformation foundry goods reconditioning processing unit (plant)s control execution shown in Figure 24 with working power electric hookup：Master control Switch KC is push-botton operation contactor, and for 380V three-phase alternating currents are electrically accessed into multiform foundry goods reconditioning processing unit (plant) is become.It is vertical to drive Dynamic breaker Sv, A, B and C phase line respectively by pendulum face upward driving breaker SbBreaker S is driven with swingrWith turbine drive electric Machine driver Drv, circle pendulum face upward drive motor driver DrbWith pendulum drive motor driver Dr of spiralingrConnection；A wherein phase line By emery wheel operating breaker SgWith power supply group breaker SUIt is respectively connected to emery wheel motor signal Operation switch KgWith computer work Make power supply group UPS；Zero line is directly accessed turbine drives motor driver Drv, circle pendulum face upward drive motor driver Drb, spiral pendulum drive Dynamic motor driver Drr, emery wheel motor signal Operation switch KgWith computer operation power supply group UPS.Turbine drives motor drives Device Drv, circle pendulum face upward drive motor driver DrbWith pendulum drive motor driver Dr of spiralingrRespectively by vertical feed drive signal vD, pendulum face upward drive signal bD, swing drive signal rDControl drives；Emery wheel motor signal Operation switch KgLetter is operated by emery wheel Number g operation.Turbine drives motor driver Drv, circle pendulum face upward drive motor driver Drb, spiral pendulum drive motor driver Drr It is the special AC/DC/AC-SPWM three-phase drive circuits module of permanent-magnet servo motor.Emery wheel motor signal Operation switch KgFor Level operation monophase solid contactor.Industrial computer ICC is the control core of this many deformation foundry goods reconditioning processing unit (plant) and soft Part carrier；Computer operation power supply group UPS of industrial computer ICC is multigroup DC output power device.
Process in many deformation foundry goods reconditioning processing unit (plant) views shown in Fig. 2～9, many deformation foundry goods reconditionings shown in Figure 13 The E-E of many deformation foundry goods reconditioning processing unit (plant) polishing portion upper left side views shown in the polishing portion upper left side view of device, Figure 15 To the F-F of many deformation foundry goods reconditioning processing unit (plant) support polishing portion left views shown in sectional view, Figure 18 to sectional view, Tu20Suo Many deformation foundry goods reconditioning processing unit (plant)s shown in the horizontal feed control hydraulic system pre-amplification circuit structure chart for showing and Figure 24 In control execution and working power electric hookup：Turbine drives motor 25.1, circle pendulum face upward motor 52 and the pendulum that spirals drives Motor 47 is respectively by turbine drives motor driver Drv, circle pendulum face upward drive motor driver DrbPendulum motor drives with spiraling Device DrrDriven with three phase sine electric current and run.Emery wheel motor 9 is by emery wheel motor signal Operation switch KgOperation start-stop.Turbine Motor 25.1 coaxially drives vertical feed turbine drives mechanism 25, by vertical feed drive tooth bar 22.1, drive feeding The vertical kinetoplast 6 in portion produces vertical feed displacement vo；Circle pendulum faces upward motor 52, by coaxially assembling, drive on its outer rotor Circle pendulum face upward travelling gear 50, band movable pendulum is faced upward bar 10 and produces pendulum elevation angle degree bo；The pendulum motor 47 that spirals passes through coil engaging piece 37, drive capstan 38 to produce swing angle ro.Turbine drives motor 25.1, vertical feed turbine drives mechanism 25, vertical feed The kinetoplast 6 vertical with feeding portion of driving rack 22.1 constitutes vertical feed and performs link Mv, by vertical feed drive signal vDConversion For vertical feed displacement vo；Circle pendulum faces upward that motor 52, circle pendulum face upward travelling gear 50 and pendulum faces upward bar 10 and constitutes pendulum and faces upward execution Link MbPendulum is faced upward into drive signal bDBe converted to pendulum elevation angle degree bo；Spiral pendulum motor 47, coil engaging piece 37 and the structure of capstan 38 Link M is performed into swingrBy swing drive signal rDBe converted to swing angle ro.The 12V of computer operation power supply group UPS is defeated Outlet is drawn as drive circuit works power positive end EN, the extraction of -12V output lines is used as drive circuit works power cathode end EP, the extraction of 5V output lines is used as control circuit working power positive terminal ESP, the extraction of -5V output lines is used as control circuit working power Negative pole end ESN。
In many deformation foundry goods reconditioning level of processing feeding signal detection translation circuit figure shown in Figure 25：Horizontal signal point Piezoresistance Rsh1One end be connected to control circuit working power positive terminal ESP, the other end compares amplifier A with horizontal signalsh1It is same Phase input connects.Horizontal signal balance resistance Rsh2One end be connected to control circuit working power positive terminal ESP, the other end with Horizontal signal compares amplifier Ash1Inverting input connection.Horizontal signal compares amplifier Ash1Cathode power supply end be connected to control Circuit work power positive terminal ESP.Horizontal signal optocoupler LChElectrode input end be connected to control circuit working power positive terminal ESP, negative input and horizontal signal Coupling Potential device GhA quiet arm connection；Horizontal signal optocoupler LChCathode output end connect It is connected to control circuit working power positive terminal ESP, cathode output end and horizontal signal amplifier Ash2Inverting input connection.Level Signal amplifier Ash2Cathode power supply end be connected to control circuit working power positive terminal ESP.Horizontal signal compares amplifier Ash1It is same Phase input is drawn and senses electric potential signal s as horizontal feedhInput.Horizontal signal compares amplifier Ash1Output end and water Ordinary mail Coupling Potential device GhSwing arm connection.Horizontal signal feedback resistance Rsh5One end and horizontal signal amplifier Ash2Positive Input connection, the other end and horizontal signal amplifier Ash2Output end connection；Horizontal signal amplifier Ash2Output end draw make For horizontal feed feedback signal hfOutput end.Horizontal feed displacement transducer equivalent resistance in horizontal feed displacement transducer 43 RhA quiet arm compare amplifier A with horizontal signal together with swing armsh1In-phase input end connection；Another quiet arm ground connection.Level is believed Number balance adjustment resistance Rsh3A quiet arm compare amplifier A with horizontal signal together with swing armsh1Inverting input connection；It is another Quiet arm ground connection.Horizontal signal compares amplifier Ash1Negative power supply end ground connection.Horizontal signal TVS diode TVShNegative pole and water Ordinary mail Coupling Potential device GhAnother quiet arm connection, plus earth.Horizontal signal load resistance Rsh4One end and horizontal signal Amplifier Ash2Inverting input connection, the other end is connected to control circuit working power negative pole end ESN.Horizontal signal feeds back partial pressure Resistance Rsh6One end and horizontal signal amplifier Ash2Normal phase input end connection, the other end ground connection.Horizontal signal amplifier Ash2It is negative Pole power end is connected to control circuit working power negative pole end ESN。
In many deformation foundry goods reconditionings processing vertical feed signal detection translation circuit figure shown in Figure 26：Vertical signal point Piezoresistance Rsv1One end be connected to control circuit working power positive terminal ESP, the other end compares amplifier A with vertical signalsv1It is same Phase input connects.Vertical signal balance resistance Rsv2One end be connected to control circuit working power positive terminal ESP, the other end with Vertical signal compares amplifier Asv1Inverting input connection.Vertical signal compares amplifier Asv1Cathode power supply end be connected to control Circuit work power positive terminal ESP.Vertical signal optocoupler LCvElectrode input end be connected to control circuit working power positive terminal ESP, negative input and vertical signal Coupling Potential device GvA quiet arm connection；Vertical signal optocoupler LCvCathode output end connect It is connected to control circuit working power positive terminal ESP, cathode output end and vertical signal amplifier Asv2Inverting input connection.Vertically Signal amplifier Asv2Cathode power supply end be connected to control circuit working power positive terminal ESP.Vertical signal compares amplifier Asv1It is same Phase input is drawn and senses electric potential signal s as vertical feedvInput.Vertical signal compares amplifier Asv1Output end with hang down Straight signal Coupling Potential device GvSwing arm connection.Vertical signal feedback resistance Rsv5One end and vertical signal amplifier Asv2Positive Input connection, the other end and vertical signal amplifier Asv2Output end connection；Vertical signal amplifier Asv2Output end draw make For vertical feed feedback signal vfOutput end.Vertical feed displacement transducer is equivalent in vertical feed displacement displacement transducer 24 Resistance RvA quiet arm compare amplifier A with vertical signal together with swing armsv1In-phase input end connection；Another quiet arm ground connection.Hang down Straight signal-balanced regulation resistance Rsv3A quiet arm compare amplifier A with vertical signal together with swing armsv1Inverting input connection； Another quiet arm ground connection.Vertical signal compares amplifier Asv1Negative power supply end ground connection.Vertical signal TVS diode TVSvNegative pole With vertical signal Coupling Potential device GvAnother quiet arm connection, plus earth.Vertical signal load resistance Rsv4One end with it is vertical Signal amplifier Asv2Inverting input connection, the other end is connected to control circuit working power negative pole end ESN.Vertical signal feeds back Divider resistance Rsv6One end and vertical signal amplifier Asv2Normal phase input end connection, the other end ground connection.Vertical signal amplifier Asv2 Negative electricity source be connected to control circuit working power negative pole end ESN。
Face upward in signal detection translation circuit figure in many deformation foundry goods reconditionings processing pendulum shown in Figure 27：Pendulum faces upward signal partial pressure electricity Resistance Rsb1One end be connected to control circuit working power positive terminal ESP, the other end faces upward signal and compares amplifier A with pendulumsb1Homophase it is defeated Enter end connection.Pendulum faces upward signal-balanced resistance Rsb2One end be connected to control circuit working power positive terminal ESP, the other end faces upward with pendulum Signal compares amplifier Asb1Inverting input connection.Pendulum faces upward signal and compares amplifier Asb1Cathode power supply end be connected to control circuit Working power positive terminal ESP.Pendulum faces upward signal optocoupler LCbElectrode input end be connected to control circuit working power positive terminal ESP, bear Pole input faces upward signal Coupling Potential device G with pendulumbA quiet arm connection；Pendulum faces upward signal optocoupler LCbCathode output end be connected to control Circuit work power positive terminal E processedSP, cathode output end and pendulum face upward signal amplifier Asb2Inverting input connection.Pendulum faces upward signal fortune Put Asb2Cathode power supply end be connected to control circuit working power positive terminal ESP.Pendulum faces upward signal and compares amplifier Asb1Homophase input Draw and face upward feeding sensing electric potential signal s as pendulum in endbInput.Pendulum faces upward signal and compares amplifier Asb1Output end and pendulum face upward signal Coupling Potential device GbSwing arm connection.Pendulum faces upward signal feedback resistance Rsb5One end and pendulum face upward signal amplifier Asb2Normal phase input end Connection, the other end faces upward signal amplifier A with pendulumsb2Output end connection；Pendulum faces upward signal amplifier Asb2Output end draw face upward as pendulum Feeding feedback signal bfOutput end.Pendulum elevation angle displacement transducer equivalent resistance R in pendulum elevation angle displacement transducer 54bIt is one quiet Arm faces upward signal and compares amplifier A together with swing arm with pendulumsb1In-phase input end connection；Another quiet arm ground connection.Pendulum faces upward signal-balanced tune Economize on electricity resistance Rsb3A quiet arm face upward signal with pendulum together with swing arm and compare amplifier Asb1Inverting input connection；Another quiet arm connects Ground.Pendulum faces upward signal and compares amplifier Asb1Negative power supply end ground connection.Pendulum faces upward signal TVS diode TVSbNegative pole and pendulum face upward signal Coupling Potential device GbAnother quiet arm connection, plus earth.Pendulum faces upward signal load resistance Rsb4One end and pendulum face upward signal amplifier Asb2Inverting input connection, the other end is connected to control circuit working power negative pole end ESN.Pendulum faces upward signal feedback divider resistance Rsb6One end and pendulum face upward signal amplifier Asb2Normal phase input end connection, the other end ground connection.Pendulum faces upward signal amplifier Asb2Negative electricity Source is connected to control circuit working power negative pole end ESN。
In many deformation foundry goods reconditionings processing swing signal detection translation circuit figure shown in Figure 28：Swing signal partial pressure electricity Resistance Rsr1One end be connected to control circuit working power positive terminal ESP, the other end compares amplifier A with swing signalsr1Homophase it is defeated Enter end connection.The signal-balanced resistance R of swingsr2One end be connected to control circuit working power positive terminal ESP, the other end and swing Signal compares amplifier Asr1Inverting input connection.Swing signal compares amplifier Asr1Cathode power supply end be connected to control circuit Working power positive terminal ESP.Swing signal optocoupler LCrElectrode input end be connected to control circuit working power positive terminal ESP, bear Pole input and swing signal Coupling Potential device GrA quiet arm connection；Swing signal optocoupler LCrCathode output end be connected to control Circuit work power positive terminal E processedSP, cathode output end and swing signal amplifier Asr2Inverting input connection.Swing signal is transported Put Asr2Cathode power supply end be connected to control circuit working power positive terminal ESP.Swing signal compares amplifier Asr1Homophase input Draw as swing feeding sensing electric potential signal s at endrInput.Swing signal compares amplifier Asr1Output end and swing signal Coupling Potential device GrSwing arm connection.Swing signal feedback resistance Rsr5One end and swing signal amplifier Asr2Normal phase input end Connection, the other end and swing signal amplifier Asr2Output end connection；Swing signal amplifier Asr2Output end draw as swing Feeding feedback signal rfOutput end.Swing angular displacement sensor equivalent resistance R in swing angular displacement sensor 16.1rIt is one quiet Arm compares amplifier A together with swing arm with swing signalsr1In-phase input end connection；Another quiet arm ground connection.The signal-balanced tune of swing Economize on electricity resistance Rsr3A quiet arm compare amplifier A with swing signal together with swing armsr1Inverting input connection；Another quiet arm connects Ground.Swing signal compares amplifier Asr1Negative power supply end ground connection.Swing signal TVS diode TVSrNegative pole and swing signal Coupling Potential device GrAnother quiet arm connection, plus earth.Swing signal load resistance Rsr4One end and swing signal amplifier Asr2Inverting input connection, the other end is connected to control circuit working power negative pole end ESN.Swing signal feeds back divider resistance Rsr6One end and swing signal amplifier Asr2Normal phase input end connection, the other end ground connection.Swing signal amplifier Asr2Negative electricity Source is connected to control circuit working power negative pole end ESN。
In the grinding wheel radius signal detection translation circuit figure of many deformation foundry goods reconditioning processing unit (plant)s shown in Figure 29：It is infrared Divider resistance Rsg1One end be connected to drive circuit works power positive end EP, the other end is connected to emery wheel edge sensor 44 Mid-infrared emitting diode LedgPositive terminal.Emery wheel signal divider resistance Rsg2One end be connected to drive circuit works power supply Positive terminal EP, the other end is connected to the mid-infrared sensor Rd of emery wheel edge sensor 44gPositive terminal.The signal-balanced resistance of emery wheel Rsg3One end be connected to drive circuit works power positive end EP, the other end compares amplifier A with emery wheel signalsg1Anti-phase input End connection.Emery wheel signal compares amplifier Asg1Cathode power supply end be connected to drive circuit works power positive end EP.Emery wheel signal Optocoupler LCgElectrode input end be connected to drive circuit works power positive end EP, negative input and emery wheel signal Coupling Potential Device GgA quiet arm connection；Emery wheel signal optocoupler LCgCathode output end be connected to drive circuit works power positive end EP, bear Pole output end and emery wheel signal amplifier Asg2Inverting input connection.Upper divider resistance Rsg4One end be connected to drive circuit work Make power positive end EP, the other end and emery wheel signal amplifier Asg2In-phase input end connection., emery wheel signal amplifier Asg2Positive pole Power end is connected to drive circuit works power positive end EP.Catching diode DgNegative pole be connected to drive circuit works power supply Positive terminal EP, positive pole and emery wheel signal amplifier Asg2Output end connection；Emery wheel signal amplifier Asg2Output end draw as red Unofficial biography sense electric potential signal sgOutput end.Emery wheel signal compares amplifier Asg1Output end and emery wheel signal Coupling Potential device GgIt is dynamic Arm connects；Emery wheel signal Coupling Potential device GgAnother quiet arm and emery wheel signal TVS diode TVSgNegative pole connection.Emery wheel side Along the mid-infrared emitting diode Led of sensor 44gMinus earth；The mid-infrared sensor Rd of emery wheel edge sensor 44gNegative pole Ground connection.The signal-balanced regulation resistance R of emery wheelsg5A quiet arm be all connected to emery wheel signal together with swing arm and compare amplifier Asg1It is anti-phase Input；Another quiet arm ground connection.Emery wheel signal compares amplifier Asg1Negative power supply end ground connection.Emery wheel signal TVS diode TVSg Plus earth.Emery wheel signal load resistance Rsg6One end and emery wheel signal amplifier Asg2Inverting input connection；The other end Ground connection.Lower divider resistance Rsg7One end and emery wheel signal amplifier Asg2In-phase input end connection；The other end is grounded.Emery wheel signal Compare amplifier Asg1Negative power supply end ground connection.
In many deformation foundry goods reconditioning level of processing feed control system block diagrams shown in Figure 30：Many deformation foundry goods reconditionings add Work horizontal feed control system is by comparatorHorizontal feed control calculates link Ch, preposition amplifying element AEh, drive perform ring Section Dh, hydraulic pressure amplifying element AV, hydraulic pressure perform link APWith horizontal feed signal detection transform part TrhConstitute.By procedure Or initial setting up calculates the horizontal feed Setting signal h for providingR, Jing comparatorsWith horizontal feed feedback signal hfRelatively, draw Horizontal feed Pian differs from Xin ⊿ h；Link C is calculated in horizontal feed controlh, horizontal feed Pian difference Xin ⊿ h switch to horizontal feed Control signal h；It is premenstrual to put amplifying element AEhAmplify, horizontal feed control signal h becomes horizontal feed drive signal hD；Driving Perform link Dh, horizontal feed drive signal hDBe converted to spool displacement amount hV, Jing hydraulic pressure amplifying element AVControl, amplification, valve element Displacement hVBe converted to pressure flow quantity q；Link A is performed in hydraulic pressureP, pressure flow quantity q is converted to horizontal feed displacement ho； Jing horizontal feed signal detection transform part TrhConversion, horizontal feed displacement hoBecome horizontal feed feedback signal h againf。
In many deformation foundry goods reconditionings processing vertical feed control system block diagram shown in Figure 31：Many deformation foundry goods reconditionings add Work vertical feed control system is by Jing comparatorsVertical feed control calculates link Cv, vertical feed amplifying element AEv, it is vertical Feeding performs link MvWith vertical feed signal detection transform part TrvConstitute.Calculate what is provided by procedure or initial setting up Vertical feed Setting signal vR, Jing comparatorsWith vertical feed feedback signal vfRelatively, show that vertical feed Pian differs from Xin ⊿ v； Link C is calculated in vertical feed controlv, vertical feed Pian difference Xin ⊿ v be converted to vertical feed control signal v；Jing vertically enters Give amplifying element AEvAmplify, vertical feed control signal v becomes vertical feed drive signal vD；Link is performed in vertical feed Mv, vertical feed drive signal vDBe converted to vertical feed displacement vo；Jing vertical feed signal detection transform part TrvConversion, Vertical feed displacement voBecome vertical feed feedback signal v againf。
Face upward in control system block diagram in many deformation foundry goods reconditionings processing circle pendulum shown in Figure 32：Many deformation foundry goods reconditioning processing Circle pendulum faces upward control system by comparatorPendulum faces upward programme-control and calculates link CbP, pendulum face upward state modulator calculate link Cb, adderPendulum faces upward signal amplifying element Ab, pendulum face upward execution link MbSignal detection transform part Tr is faced upward with pendulumbConstitute.Given by procedure The pendulum for going out faces upward program Setting signal bP, Jing pendulum face upward programme-control calculate link CbPProcess, become pendulum and face upward program control signal b1；Together When, the pendulum elevation angle Setting signal b for being given is calculated by initial setting upR, Jing comparatorsAngle feedback signal b is faced upward with pendulumfRelatively, obtain Go out to put elevation deflection Xin ⊿ b；Jing pendulum faces upward state modulator and calculates link CbProcess, pendulum elevation deflection Xin ⊿ b become pendulum and face upward ginseng Number control signal b2；Pendulum faces upward program control signal b1Parameter control signal b is faced upward with pendulum2In adderMiddle addition, show that pendulum faces upward control Signal b processed；Jing pendulum faces upward signal amplifying element AbAmplify, pendulum faces upward control signal b and becomes pendulum and faces upward drive signal bD；Execution ring is faced upward in pendulum Section Mb, put and face upward drive signal bDBe converted to pendulum elevation angle degree bo；Jing pendulum faces upward signal detection transform part TrbConversion, puts elevation angle degree boAgain Become pendulum and face upward angle feedback signal bf。
Spiral in oscillation control system block diagram in many deformation foundry goods reconditionings processing shown in Figure 33：Many deformation foundry goods reconditioning processing Oscillation control system spiral by comparatorSwing programme-control calculates link CrP, swing state modulator calculate link Cr, adderSwing signal amplifying element Ar, swing perform link Mr, swing signal detection transform part TrrConstitute.Given by procedure The swing program Setting signal r for going outP, Jing swings programme-control calculating link CrPProcess, become swing program control signal r1；Together When, the swing Setting signal r for being given is calculated by initial setting upR, Jing comparatorsWith swinging feedback signal r of spiralingfRelatively, obtain Go out swing Pian difference Xin ⊿ r；Jing swings state modulator calculates link CrProcess, swing Pian difference Xin ⊿ r become swing parameter control Signal r processed2；Swing program control signal r1With swing parameter control signal r2In adderMiddle addition, draws swing control letter Number r；Jing swing signal amplifying element ArAmplify, swing control signal r becomes swing drive signal rD；Link M is performed in swingr, Swing drive signal rDBe converted to swing angle ro；Jing swing signal detection transform part TrrConversion, swing angle roBecome again Spiral swinging feedback signal rf。
In many deformation foundry goods reconditioning processing unit (plant) system software architecture diagrams shown in Figure 34：Many deformation foundry goods Regrinding Systems Software includes feeding subsystem and polishing subsystem.Feeding subsystem includes horizontal feed portion and vertical feed portion.Polishing subsystem System includes that portion, disk swing section and spray portion are faced upward by emery wheel portion, circle pendulum.
Horizontal feed portion is by parameter processing, program process, data are calculated and data memory module is constituted.Vertical feed portion By the parameter processing of oneself, program process, data are calculated and data memory module is constituted.
Emery wheel portion includes data processing module.Circle pendulum is faced upward portion and is calculated and data storage by parameter processing, program process, data Module is constituted.Disk swing section is also made up of the parameter processing of oneself, program process, data calculating and data memory module.
During operation, many deformation foundry goods Regrinding Systems will intend on the whole processing Workpiece structure parameter, drawing data, add engineering Sequence, global variable and local variable, by horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum the free degree decomposed, distributed；To Horizontal feed portion, vertical feed portion, circle pendulum face upward portion, disk swing section and emery wheel subordinate up to correspondence local parameter, data, instruction；Together When receive horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum and each process of abrasion of grinding wheel, feedback of status data；And on the whole Synchronization Control horizontal feed, vertical feed, circle pendulum are faced upward, spiral and put each portion's data flow and run section suddenly.
Horizontal feed portion totally receives horizontal feed local parameter, data, instruction from many deformation foundry goods Regrinding Systems, passes through Its parameter processing, program process and the process of data computation module, calculating, obtain the given number of horizontal feed desired level feeding According to, then stored by data memory module, and to general feedback horizontal feed data-oriented：Simultaneously by data memory module The conversion of digital-to-analogue conversion submodule, by horizontal feed data-oriented horizontal feed Setting signal h is converted toR, to many deformation foundry goods Reconditioning level of processing feed control system is sent.
Vertical feed portion totally receives vertical feed local parameter, data, instruction from many deformation foundry goods Regrinding Systems, passes through Its parameter processing, program process and the process of data computation module, calculating, obtain the given number of vertical feed needed for vertical feed According to, then stored by data memory module, and to each process data of general feedback vertical feed：Pass through data memory module simultaneously The conversion of middle digital-to-analogue conversion submodule, by vertical feed data-oriented vertical feed Setting signal v is converted toR, to many deformation casting Part reconditioning processing vertical feed control system is sent.
Circle pendulum faces upward portion, and from many deformation foundry goods Regrinding Systems, totally acceptance circle pendulum faces upward local parameter, data, instruction, by its ginseng Number is processed, program is processed and the process of data computation module, calculating, is obtained pendulum needed for pendulum is faced upward and is faced upward program data-oriented and put the elevation angle Data-oriented, then stored by data memory module, and face upward each process data to general feedback circle pendulum：Pass through data storage simultaneously The conversion of digital-to-analogue conversion submodule in module, faces upward pendulum program data-oriented and pendulum elevation angle data-oriented is converted to pendulum and faces upward journey respectively Sequence Setting signal bPWith pendulum elevation angle Setting signal bR, face upward control system to many deformation foundry goods reconditionings processing pendulum and send.
Joined by it from many deformation foundry goods Regrinding Systems totality receiving plate swing local parameter, data, instruction disk swing section Number process, program process and data computation module process, calculate, obtain swing program data-oriented needed for swing and swing to Fixed number evidence, then stored by data memory module, and spiral each process data of pendulum to general feedback：Pass through data storage mould simultaneously The conversion of digital-to-analogue conversion submodule in block, respectively by swing program data-oriented swing angle data-oriented be converted to swing program to Determine signal rPSwing angle Setting signal rR, send to many deformation foundry goods reconditionings processing swing control system.
Spray portion totally receives spray operation local instruction from many deformation foundry goods Regrinding Systems, and by its process, obtains Spray operation signal w instruction needed for spray operation, operation spray is opened (w=1), is closed down (w=0).
In many deformation shown in many deformation foundry goods reconditioning processing unit (plant) topology view figures and Figure 34 shown in Fig. 3,4,9,15 In foundry goods reconditioning processing unit (plant) system software architecture diagram：Emery wheel portion totally receives emery wheel operation office from many deformation foundry goods Regrinding Systems Portion's parameter, data, instruction, by the process of its data processing module, obtain emery wheel operation desired data and emery wheel operation signal g Instruction, by high level (g=1) instruction or low level (g=0) instruction, operates respectively the logical (g of the power switch of emery wheel motor 9 =1) or disconnected (g=0), i.e., the unlatching of emery wheel operation is operated respectively or is closed down：Simultaneously by analog-to-digital conversion in data processing module The conversion of submodule, by grinding wheel radius feedback signal r of emery wheel running statusGThe abrasion of grinding wheel for being converted to emery wheel running status becomes Liang ⊿ RG, to general feedback.
In many deformation foundry goods reconditioning processing unit (plant) systems soft ware overview flow charts shown in Figure 35：
Many deformation foundry goods reconditioning processing unit (plant) systems soft ware overall procedures with hand inspection, confirm readiness for operation (such as Electricity, water, pressure fluid, workpiece clip etc. equipment it is ready) and the machine self-inspection of program start；If it is confirmed that errorless and self-inspection passes through, Then carry out such as workpiece sequence number No, straight rod segment length U, straight rod section clip by the man-machine interface of many deformation foundry goods Regrinding Systems to remain Remaining length UW, horizontal feed initial bit reference value H0, vertical feed initial bit reference value V0, emery wheel edge post side effectively polishes Tui Jin Liang ⊿ G, grinding wheel radius RG, emery wheel limit residue radius Rm, processing depth H, processing pendulum length R, the first bending section axis radius R1, the first bending section and the second bending section distance of center circle RO, the second bending section axis radius R2, recess diameter Φ1, mouth diameters Φ2、 The polishing cycle T of ring 1/4CWith the parameter setting of control Zhou Qi ⊿ T；Then, horizontal feed reference value variable H is setI, vertical feed Reference value variable VI, horizontal feed quantitative change amount hI, vertical feed quantitative change amount vI, pendulum face upward angle variables bI, swing angle variables rI, it is curved Tune expanded in diameter quantitative change Liang ⊿ Φ, polishing time variable T, abrasion of grinding wheel Bian Liang ⊿ RG, grinding wheel radius variable RI, workpiece radius Variable RW, pendulum elevation angle hypotenuse variable RS, horizontal feed speed variables vh, vertical feed speed variables vy, swing angular speed variable vr And its word length；Finally, operation starts, and goes to Step1, otherwise shuts down.
Step1. enabled instruction ， is connected to An ⊿ Φ=18 ⊿ G (Φ2-Φ1)/((4(R1+Φ1/2)+3(R2+Φ2/ 2)) π), To bending section expanded in diameter Liang ⊿ Φ assignment, by grinding wheel radius variable RIIt is entered as RI=RG-⊿RG, by horizontal feed reference value Variable HIIt is entered as HI=H0, by vertical feed reference value variable VIIt is entered as VI=V0, by pendulum elevation angle hypotenuse variable RSIt is entered as RS =R+R1, by workpiece radius variable RWIt is entered as RW=Φ1/2。
Meanwhile, by 0 ° of initial bit at the pendulum elevation angle to putting elevation angle Setting signal bRAssignment, by rR=sin-1((Φ2/2+RI)/R) + ⊿ Φ are to swing Setting signal rRAssignment, i.e. control loop, Pan Jiao preparations.
Step2. H is pressedI- H is to horizontal feed Setting signal hRAssignment, by VI-RSTo vertical feed Setting signal vRAssignment, i.e., Control feeding is in place.
Step3. spray operation signal w is entered as into w=1, i.e., spray is opened.
Step4. emery wheel operation signal g is entered as into g=1, i.e. emery wheel to open.
Step5. straight rod and curve transition section bruting process Proc0 are entered：
Step6. emery wheel operating mode is judged, by grinding wheel radius variable RIIt is entered as RI=RI-⊿RG；If wear and tear overrun, i.e. RI≤ Rm, then Step10 is jumped to.
Step7. bending section bruting process Proc1 is entered：
Step8. emery wheel operating mode is judged, by grinding wheel radius variable RIIt is entered as RI=RI-⊿RG；If wear and tear overrun, i.e. RI≤ Rm, then Step11 is jumped to.
Step9. judge that bending section axis radius change point reaches situation, if pendulum elevation angle degree bo>=40 °, then by horizontal feed Reference value variable HIIt is entered as HI=H0-0.6428R0, then by vertical feed reference value variable VIIt is entered as VI=V0-0.766R0, Pendulum elevation angle hypotenuse variable RSIt is entered as RS=R+R2。
Step10. judge that bending section axis radius translation-angle reaches situation, if pendulum elevation angle degree bo>70 °, then jump to Step11；Otherwise, the process of Proc1 is repeated with Tui Jin Liang ⊿ G/2 and expansion Liang ⊿ Φ/2.
Step11. emery wheel operation signal g is entered as into g=0, i.e. emery wheel to close down.
Step12. spray operation signal w is entered as into w=0, i.e., spray is closed down.
Step13. by horizontal feed Setting signal hR0 is entered as, by pendulum elevation angle Setting signal bR0 is entered as, that is, controls water Flat feeding and the pendulum elevation angle reset.
Step14. by vertical feed Setting signal vR0 is entered as, by swing angle Setting signal rR0 is entered as, that is, controls to hang down Straight-in feed and pivot angle reset of spiraling.
Finally, manual stoppage.

Claims (7)

1. a kind of many deformation foundry goods reconditioning pendulum face upward control method, by soft using many deformation foundry goods reconditioning processing unit (plant)s and its system Part is realizing；It is characterized in that：
The processing portion mechanism C of many deformation foundry goods reconditioning processing unit (plant)s performs to put elevation angle degree bo, swing angle roReconditioning workpiece B's Task；Swing angle roIt is positive with counterclockwise arrow mark；Tui Jin Liang ⊿ G effectively polish by emery wheel edge in emery wheel edge post side The minimum polishing push-in stroke of post side consolidation contact workpiece bows section convex surface is calculated, can be true according to workpiece number and selected emery wheel specification It is fixed；First bending section axial line center of circle O1As feeding moving point, by horizontal feed initial bit reference value H0It is initial with vertical feed Position reference value V0Estimate, relatively processing free degree benchmark rectangular coordinate system origin O, according to Workpiece structure view, relative processing is certainly By degree benchmark rectangular coordinate system origin O and benchmark rectangular coordinate system longitudinal axis y, effectively polished push-in stroke using emery wheel edge post side ⊿ G, grinding wheel radius RG, processing depth H, processing pendulum length R, and the first bending section axial line center of circle O1, the first bending section it is curved with second Tune distance of center circle RO, the second bending section axial line center of circle O2The feed value of opposing right angles coordinate system xOy, can calculate the determination pendulum elevation angle Degree bo, swing angle roSet-point and program set-point；
Many deformation foundry goods reconditioning processing unit (plant)s perform link and working power by the control of each free degree control system, by it is soft, Combination of hardware simultaneously supports operation；Master control switch KC is push-botton operation contactor, is become for 380V three-phase alternating currents are electrically accessed into multiform Foundry goods reconditioning processing unit (plant)；A, B and C phase line faces upward driving breaker S by pendulumbDrive motor driver Dr is faced upward with circle pendulumbEven Connect；A wherein phase line passes through power supply group breaker SUAccess computer operation power supply group UPS；Zero line is directly accessed circle pendulum and faces upward drive Dynamic motor driver DrbWith computer operation power supply group UPS；Circle pendulum faces upward drive motor driver DrbDrive signal b is faced upward by pendulumDControl System drives；Circle pendulum faces upward drive motor driver DrbFor the special AC/DC/AC-SPWM three-phase drive circuits mould of permanent-magnet servo motor Block；Industrial computer ICC is the control core and software carrier of this many deformation foundry goods reconditioning processing unit (plant)；Industrial computer ICC Computer operation power supply group UPS be multigroup DC output power device；
Many deformation foundry goods Regrinding System softwares include feeding subsystem and polishing subsystem；Feeding subsystem includes horizontal feed portion With vertical feed portion；Polishing subsystem includes that portion, disk swing section and spray portion are faced upward by emery wheel portion, circle pendulum；
Many deformation foundry goods reconditioning processing circle pendulum face upward control system by comparatorPendulum faces upward programme-control and calculates link CbP, pendulum face upward ginseng Numerical control system calculates link Cb, adderPendulum faces upward signal amplifying element Ab, pendulum face upward execution link MbSignal detection conversion is faced upward with pendulum Link TrbConstitute；The pendulum be given by procedure faces upward program Setting signal bP, Jing pendulum face upward programme-control calculate link CbPProcess, Become pendulum and face upward program control signal b1；Meanwhile, the pendulum elevation angle Setting signal b for being given is calculated by initial setting upR, Jing comparatorsWith Pendulum faces upward angle feedback signal bfRelatively, pendulum elevation deflection Xin ⊿ b are drawn；Jing pendulum faces upward state modulator and calculates link CbProcess, pendulum is faced upward Angular displacement Xin ⊿ b become pendulum and face upward parameter control signal b2；Pendulum faces upward program control signal b1Parameter control signal b is faced upward with pendulum2Adding Musical instruments used in a Buddhist or Taoist massMiddle addition, show that pendulum faces upward control signal b；Jing pendulum faces upward signal amplifying element AbAmplify, pendulum faces upward control signal b and becomes pendulum and faces upward Drive signal bD；Execution link M is faced upward in pendulumb, put and face upward drive signal bDBe converted to pendulum elevation angle degree bo；Jing pendulum faces upward signal detection conversion Link TrbConversion, puts elevation angle degree boBecome pendulum again and face upward angle feedback signal bf；
Circle pendulum faces upward motor and faces upward drive motor driver Dr by pendulum is enclosedbDriven with three phase sine electric current and run；Circle pendulum faces upward driving electricity The circle pendulum that machine passes through coaxially to assemble on its outer rotor, drive faces upward travelling gear, and band movable pendulum is faced upward bar generation and puts elevation angle degree bo；Circle pendulum is faced upward Motor, circle pendulum face upward travelling gear and pendulum faces upward bar and constitutes pendulum and faces upward execution link MbPendulum is faced upward into drive signal bDBe converted to pendulum to face upward Angle bo；The 12V output lines of computer operation power supply group UPS are drawn as drive circuit works power positive end EN, -12V outputs Line is drawn as drive circuit works power cathode end EP, the extraction of 5V output lines is used as control circuit working power positive terminal ESP,- 5V output lines are drawn as control circuit working power negative pole end ESN；
During operation, many deformation foundry goods Regrinding Systems on the whole will intend processing Workpiece structure parameter, drawing data, procedure, Global variable and local variable, by horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum the free degree decomposed, distributed；Xiang Shui Flat feeding portion, vertical feed portion, circle pendulum face upward portion, disk swing section and emery wheel subordinate up to correspondence local parameter, data, instruction；Simultaneously Reception horizontal feed, vertical feed, circle pendulum are faced upward, spiral and put and each process of abrasion of grinding wheel, feedback of status data；And it is same on the whole Walk and control horizontal feed, vertical feed, circle pendulum is faced upward, each portion's data flow of pendulum of spiraling and operation are saved suddenly.
2. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：The right-hand member of support processing department Extend upward pendulum and face upward drive division and processing department matrix；Cantilever is extended on a lateral left side before and after processing department baseline top；A left side for cantilever Axle construction assembling circle pendulum mass is faced upward to enclose pendulum in end；Circle pendulum mass is suit capstan in cirque structure, ring；Circle pendulum mass passes through capstan bearing Mechanism constitutes tangential rolling and is slidably matched with capstan；Make swing drive division in the top of circle pendulum mass；Swing drive division is nibbled by coil Conjunction portion, drives capstan to rotate in circle pendulum mass；The upper left face of capstan is processing work face, is furnished with to cover whole capstan and rotation The protective plate of disk Bearning mechanism；The upper middle position of capstan is coated with shower；The left part of shower is bent downwardly, and the mouth of pipe is with nozzle court To emery wheel；The right-hand member of shower is connected to spray telescoping tube；By spray telescoping tube, shower insertion, introduce, be connected to spray behaviour Make execution system；The lower middle position of capstan is equipped with the emery wheel motor for assembling and driving emery wheel；The lower end of circle pendulum mass is downward to the right Stretch out circular arc pendulum and face upward bar；Pendulum faces upward the right part of bar and stretches into pendulum and face upward drive division；Support processing department is assemblied in the right-hand member of support；Support adds The left part of the Ministry of worker makes bathtub construction, and its left-front corner is formed with leakage fluid dram.
3. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：Circle pendulum mass is annular knot Structure, coaxial package capstan in ring；Circle pendulum mass constitutes tangential rolling and is slidably matched by capstan Bearning mechanism and capstan；Capstan can be in circle Relative circle pendulum mass coaxial rotating in pendulum mass；Capstan disk body is to be formed with " I " the shape structure for increasing matching ring along axle section, outside matching ring The working face dorsal part at edge is formed with the external tooth of coil engaging piece, working face side assembling capstan Bearning mechanism；Capstan matching ring It is interior along working face side, in the face of emery wheel edge, a pair of emery wheel edge sensors of symmetrical assembling；The working face of capstan is with useful To cover the protective plate of whole capstan and capstan Bearning mechanism；Circle pendulum mass on be equipped with emery wheel motor, processing department retractable cable, Shower and emery wheel；Through capstan and protective plate, the lower middle position fastening of capstan is equipped with emery wheel motor；Motor shaft end is fastened Assembling simultaneously coaxially drives emery wheel by emery wheel；Through capstan and protective plate, the upper middle position of capstan is equipped with shower；The pipe of shower Mouth is with nozzle towards emery wheel；Between capstan and protective plate, the driving cable and the letter of emery wheel edge sensor of emery wheel motor Number congruence is held together, and it is emery wheel portion cable to cover；The annulus outside of circle pendulum mass, symmetrically fastens a pair of circle pendulum of assembling and faces upward axle along transverse axis；Circle Extend pendulum and face upward bar in the lower end of pendulum mass；Along top in the ring of circle pendulum mass, between circle pendulum mass and protective plate, along the circle of circle pendulum mass Ring is pasted with the swing angular displacement sensor of circular arc line style.
4. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：Circle pendulum mass is annular knot Structure, coaxial package capstan in ring；Circle pendulum mass constitutes tangential rolling and is slidably matched by capstan Bearning mechanism and capstan；Enclose the upper of pendulum mass Make swing drive division in portion；Swing drive division mounted inside is spiraled pendulum motor；The pendulum motor that spirals is external rotor permanent magnet Servomotor, with its outer rotor swing drive division is driven；The external tooth of swing drive division is engaged with the external tooth of capstan, is constituted coil and is nibbled Conjunction portion；By coil engaging piece, swing drive division drives capstan relative circle pendulum mass coaxial rotating in circle pendulum mass；The pendulum that spirals drives The inner stator fastening of motor is assemblied in the top of circle pendulum mass；Processing department retractable cable draws from the outer end axle for spiraling pendulum motor Go out；Capstan disk body is to be formed with " I " the shape structure for increasing matching ring along axle section, and the working face dorsal part of the outer edge of matching ring is formed with disk The external tooth of circle engaging piece, working face side assembling capstan Bearning mechanism；The working face of capstan be furnished with to cover whole capstan and The protective plate of capstan Bearning mechanism；Emery wheel motor, processing department retractable cable, shower and emery wheel are equipped with circle pendulum mass；Wear Capstan and protective plate are crossed, the lower middle position fastening of capstan is equipped with emery wheel motor；Motor shaft end fastening assembling simultaneously coaxially drives Emery wheel is by emery wheel；In working face dorsal part, shower and spray telescoping tube continue, insertion；Through capstan and protective plate, capstan it is upper Middle position is equipped with shower；The mouth of pipe of shower is with nozzle towards emery wheel；Between capstan and protective plate, emery wheel portion cable is along rotation The card of disk is applied to shower and wears place, is come together with shower, and is covered through for capstan Pan Bi；In working face dorsal part, processing Portion's retractable cable comes together with emery wheel portion cable, is listed as processing department bunch of cables；Extend pendulum and face upward bar in the lower end of circle pendulum mass；Pendulum faces upward bar For circular arc reinforcing rib structure, circular arc outside is milled with circle pendulum and faces upward driving rack；Dorsad working face one end on the inside of circular arc, is milled with Circle pendulum elevation angle displacement sensing transmission bayonet socket；Along top in the ring of circle pendulum mass, between circle pendulum mass and protective plate, along circle pendulum mass Ring is pasted with the swing angular displacement sensor of circular arc line style；The circular arc inner side of swing angular displacement sensor is formed with swing angular displacement Sensing transmission bayonet lock, the transmission bayonet lock drives with the draw-in groove at the top of capstan longitudinal axis.
5. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：Circle pendulum mass is annular knot Structure, the working face dorsal part of annulus inside edge is formed with the internal tooth of coil engaging piece, working face side assembling capstan Bearning mechanism；Annulus Interior coaxial package capstan；Capstan disk body is to be formed with " I " the shape structure for increasing matching ring along axle section, the work of the outer edge of matching ring Face dorsal part is formed with the external tooth of coil engaging piece, working face side assembling capstan Bearning mechanism；Circle pendulum mass passes through capstan Bearning mechanism Tangential rolling is constituted with capstan to be slidably matched；Capstan relative in circle pendulum mass can enclose pendulum mass coaxial rotating.
6. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：Support is in support processing department Left back connect as one with support processing department；The right-hand member of support processing department extends upward pendulum and faces upward drive division and processing department Matrix；Cantilever is extended on a lateral left side before and after processing department baseline top；The left end of cantilever is equipped with circle pendulum and faces upward bearing；Pendulum faces upward drive division Outer main body be triangle reinforcing rib structure；Pendulum face upward drive division inside dig have circle pendulum face upward driving rack telescopic cavity and circle pendulum face upward driving Room；It is circular arc cavity that pendulum faces upward driving rack telescopic cavity, and circular arc axial line as encloses the axial line that pendulum faces upward bearing, and circular arc outer end exists Pendulum faces upward drive division inclined-plane side opening；Quan Baiyang drive chamber position transverse presentation axial line cylindrical cavity, cylinder axial line faces upward axle with circle pendulum Driving rack telescopic cavity insertion is faced upward with pendulum in the axis parallel for holding, cylinder upside；Driving interior is faced upward in circle pendulum, band is coaxially equipped with Moving-coil pendulum faces upward the circle pendulum of travelling gear and faces upward motor；It is outer rotor alternating-current permanent-magnet servo motor that circle pendulum faces upward motor, and it two End axle fastening is assemblied on the side wall of cylinder two of Quan Baiyang drive chamber；Face upward on the inside of the circular arc of driving rack telescopic cavity in pendulum Wall, is pasted with the pendulum elevation angle displacement transducer of circular arc line style；The circular arc outside of pendulum elevation angle displacement transducer is formed with circle pendulum elevation angle position Move sensing transmission bayonet lock；Bathtub construction is made above support processing department, dorsad drive is faced upward in the side of working face to bathtub construction with pendulum The inclined-plane curved surface connection in dynamic portion.
7. many deformation foundry goods reconditioning pendulum according to claim 1 face upward control method, it is characterized in that：Many deformation foundry goods reconditionings add Work pendulum faces upward signal detection translation circuit for two stage amplifer signal processing circuit；Pendulum faces upward signal divider resistance Rsb1One end be connected to Control circuit working power positive terminal ESP, the other end faces upward signal and compares amplifier A with pendulumsb1In-phase input end connection；Pendulum faces upward signal Balance resistance Rsb2One end be connected to control circuit working power positive terminal ESP, the other end faces upward signal and compares amplifier A with pendulumsb1's Inverting input connects；Pendulum faces upward signal and compares amplifier Asb1Cathode power supply end be connected to control circuit working power positive terminal ESP； Pendulum faces upward signal optocoupler LCbElectrode input end be connected to control circuit working power positive terminal ESP, negative input and pendulum face upward letter Number Coupling Potential device GbA quiet arm connection；Pendulum faces upward signal optocoupler LCbCathode output end be connected to control circuit working power just Extreme ESP, cathode output end and pendulum face upward signal amplifier Asb2Inverting input connection；Pendulum faces upward signal amplifier Asb2Cathode power supply End is connected to control circuit working power positive terminal ESP；Pendulum faces upward signal and compares amplifier Asb1In-phase input end draw face upward as pendulum Feeding sensing electric potential signal sbInput；Pendulum faces upward signal and compares amplifier Asb1Output end and pendulum face upward signal Coupling Potential device GbIt is dynamic Arm connects；Pendulum faces upward signal feedback resistance Rsb5One end and pendulum face upward signal amplifier Asb2Normal phase input end connection, the other end with pendulum Face upward signal amplifier Asb2Output end connection；Pendulum faces upward signal amplifier Asb2Output end draw as pendulum face upward feeding feedback signal bf's Output end；Pendulum elevation angle displacement transducer equivalent resistance R in pendulum elevation angle displacement transducerbA quiet arm face upward with pendulum together with swing arm Signal compares amplifier Asb1In-phase input end connection；Another quiet arm ground connection；Pendulum faces upward signal-balanced regulation resistance Rsb3A quiet arm Signal is faced upward together with swing arm with pendulum compare amplifier Asb1Inverting input connection；Another quiet arm ground connection；Pendulum faces upward signal and compares amplifier Asb1Negative power supply end ground connection；Pendulum faces upward signal TVS diode TVSbNegative pole and pendulum face upward signal Coupling Potential device GbIt is another quiet Arm connects, plus earth；Pendulum faces upward signal load resistance Rsb4One end and pendulum face upward signal amplifier Asb2Inverting input connection, separately One end is connected to control circuit working power negative pole end ESN；Pendulum faces upward signal feedback divider resistance Rsb6One end and pendulum face upward signal fortune Put Asb2Normal phase input end connection, the other end ground connection；Pendulum faces upward signal amplifier Asb2Negative electricity source be connected to control circuit work Make power cathode end ESN。
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