CN106563986B - A kind of multiform becomes casting reconditioning pendulum and faces upward control method - Google Patents

A kind of multiform becomes casting reconditioning pendulum and faces upward control method Download PDF

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Publication number
CN106563986B
CN106563986B CN201610909581.XA CN201610909581A CN106563986B CN 106563986 B CN106563986 B CN 106563986B CN 201610909581 A CN201610909581 A CN 201610909581A CN 106563986 B CN106563986 B CN 106563986B
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China
Prior art keywords
pendulum
signal
upward
faces upward
capstan
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CN106563986A (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

A kind of multiform becomes casting reconditioning pendulum and faces upward control method.Control system cooperation is faced upward by pendulum to realize.System faces upward that process control calculates, pendulum faces upward state modulator calculatings, adder, pendulum face upward that signal amplifies, pendulum faces upward execution and pendulum is faced upward signal detection transform part and constituted by comparing, putting.The pendulum that processing program provides face upward program Setting signal through pendulum face upward process control calculate link processing become pendulum face upward program control signal；The pendulum elevation angle Setting signal that initial setting up provides obtains pendulum elevation deflection signal through comparator compared with pendulum faces upward angle feedback signal；Pendulum elevation deflection signal faces upward state modulator calculating link processing through pendulum and faces upward parameter control signal as pendulum；Pendulum faces upward program control signal and pendulum and faces upward parameter control signal to be added in adder, show that pendulum faces upward control signal；Pendulum face upward control signal through pendulum face upward signal amplifying element amplification become pendulum face upward driving signal；Pendulum face upward driving signal pendulum face upward execute link be converted to pendulum elevation angle degree；The conversion of signal detection transform part is faced upward through pendulum, pendulum elevation angle degree becomes pendulum and faces upward angle feedback signal.

Description

A kind of multiform becomes casting reconditioning pendulum and faces upward control method
Technical field
The present invention relates to a kind of casting grinding methods.
Background technique
Bend pipe or bend pipe tools processing and manufacturing side in many industrial circles, especially in pipe fitting processing industry, compared with modern age Mold extrusion forming technology is usually used in method, and the core process of forming is to be extruded quasi- forming using the guiding of preforming core model Bend pipe workpiece is allowed in a heated condition, promote and bending forming with being squeezed, and this preforming core model is exactly a kind of high The preforming core placenta of temperature alloy material casting.This casting preforming tool is shaped due to its hardness height in its blank casting After demoulding, shaping processing technology difficulty is also huge.Prior art is by veteran technician's manual grinding.Against the resistance to of firmness Power, the power that quicks observation, subtle sense of touch and operating work bottom really up to the mark, to complete polishing, the correction of the flank shape to workpiece.Technique time-consuming is unrestrained Long and workpiece size, precision etc. consistency is difficult to ensure.On the other hand, such old craftsman faced leave no successor it is tired Border, and train, recruit new person it is unrealistic.This just urgently researches and develops a kind of multiform and becomes casting grinding method, solved it is current such The problem of consistency that multiform becomes the time-consuming very long and workpiece size of casting thinning technique, precision etc. is difficult to ensure.
Summary of the invention
The consistency for becoming the time-consuming very long and workpiece size of casting thinning technique, precision etc. to solve such current multiform is difficult to The problem of guarantee, the present invention, which provides a kind of multiform and becomes casting reconditioning pendulum, faces upward control method.Control system cooperation is faced upward by pendulum to realize. System faces upward that process control calculates, pendulum faces upward state modulator calculatings, adder, pendulum face upward signal amplification, puts and faces upward execution and pendulum by comparing, putting Face upward signal detection transform part composition.The pendulum that processing program provides is faced upward program Setting signal and is faced upward at process control calculating link through pendulum Reason becomes pendulum and faces upward program control signal；The pendulum elevation angle Setting signal that initial setting up provides faces upward angle feedback signal through comparator and pendulum Compare and obtains pendulum elevation deflection signal；Pendulum elevation deflection signal faces upward state modulator calculating link processing through pendulum and faces upward parameter control as pendulum Signal processed；Pendulum faces upward program control signal and pendulum and faces upward parameter control signal to be added in adder, show that pendulum faces upward control signal；Pendulum is faced upward Control signal faces upward the amplification of signal amplifying element through pendulum and faces upward driving signal as pendulum；Pendulum faces upward driving signal and faces upward execution link conversion in pendulum To put elevation angle degree；The conversion of signal detection transform part is faced upward through pendulum, pendulum elevation angle degree becomes pendulum and faces upward angle feedback signal.
The technical solution adopted by the present invention to solve the technical problems is：
The processing portion mechanism C that multiform becomes casting reconditioning processing unit (plant) is executed to put elevation angle degree bo, swing angle roReconditioning workpiece The task of B；Swing angle roIt is marked with counterclockwise arrow positive；Tui Jin Liang ⊿ G effectively polish by grinding wheel in grinding wheel edge column side The minimum polishing push-in stroke on edge column side consolidation contact workpiece bending section convex surface calculates, and can be advised according to workpiece number and selected grinding wheel Lattice determine；First bending section axial line center of circle O1As dynamic point is fed, pass through horizontal feed initial bit reference value H0And vertical feed Initial bit reference value V0Estimate, opposite freedom of processing benchmark rectangular coordinate system origin O is opposite to add according to Workpiece structure view Work freedom degree benchmark rectangular coordinate system origin O and benchmark rectangular coordinate system longitudinal axis y, is effectively polished using grinding wheel edge column side and is pushed away 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 with Second 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 Put elevation angle degree bo, swing angle roGiven value and program given value；
Multiform becomes casting reconditioning processing unit (plant) and executes link and working power by the control of each freedom 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 current is electrically accessed multiform Become casting 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 It connects；Wherein a phase line passes through power supply group breaker SUAccess computer operation power supply group UPS；Zero curve 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 DrbDriving signal b is faced upward by pendulumDControl System driving；Circle pendulum faces upward drive motor driver DrbFor the dedicated AC/DC/AC-SPWM three-phase drive circuit mould of permanent-magnet servo motor Block；Industrial control computer ICC is the control core and software carrier that this multiform becomes casting reconditioning processing unit (plant)；Industrial control computer ICC Computer operation power supply group UPS be multiple groups DC output power device；
It includes feeding subsystem and polishing subsystem that multiform, which becomes casting Regrinding System software,；Feed subsystem include it is horizontal into To portion and vertical feed portion；Polishing subsystem includes grinding wheel portion, encloses to put and face upward portion, disk swing section and spray portion；
Multiform becomes casting reconditioning processing circle pendulum and faces upward control system by comparatorPendulum faces upward process control and calculates link CbP, pendulum It faces upward state modulator and calculates link Cb, adderPendulum faces upward signal amplifying element Ab, pendulum face upward execute link MbSignal detection is faced upward with pendulum Transform part TrbIt constitutes；Program Setting signal b is faced upward by the pendulum that processing program providesP, process control, which is faced upward, through pendulum calculates link CbP Processing, becomes pendulum and faces upward program control signal b1；Meanwhile the pendulum elevation angle Setting signal b provided is calculated by initial setting upR, through comparatorAngle feedback signal b is faced upward with pendulumfCompare, obtains pendulum elevation deflection Xin ⊿ b；State modulator, which is faced upward, through pendulum calculates link CbProcessing, Pendulum elevation deflection Xin ⊿ b becomes pendulum and faces upward parameter control signal b2；Pendulum faces upward program control signal b1Parameter control signal b is faced upward with pendulum2 In adderMiddle addition show that pendulum faces upward control signal b；Signal amplifying element A is faced upward through pendulumbAmplification, pendulum, which faces upward control signal b, to be become Pendulum faces upward driving signal bD；It is faced upward in pendulum and executes link Mb, put and face upward driving signal bDBe converted to pendulum elevation angle degree bo；Signal detection is faced upward through pendulum Transform part TrbElevation angle degree b is put in conversionoBecome pendulum again and faces upward angle feedback signal bf；
Circle pendulum faces upward driving motor and faces upward drive motor driver Dr by circle pendulumbIt is driven and is run with three phase sine electric current；Circle pendulum is faced upward Driving motor faces upward transmission gear by the circle pendulum for coaxially assembling, driving on its outer rotor, and band movable pendulum faces upward bar and generates pendulum elevation angle degree bo； Circle pendulum faces upward driving motor, circle pendulum faces upward transmission gear and pendulum faces upward bar and constitutes pendulum and face upward and executes link MbPendulum is faced upward into driving signal bDConversion To put elevation angle degree bo；The 12V output line of computer operation power supply group UPS, which is drawn, is used as drive circuit works power positive end EN,- 12V output line, which is drawn, is used as drive circuit works power cathode end EP, 5V output line, which is drawn, is being used as control circuit working power just Extreme ESP, -5V output line, which is drawn, is used as control circuit working power negative pole end ESN；
When operation, multiform becomes casting Regrinding System on the whole for quasi- workpieces processing structural parameters, drawing data, processing journey Sequence, global variable and local variable are faced upward by horizontal feed, vertical feed, circle pendulum, spiral and put freedom degree and decomposed, distribute；To Horizontal feed portion, vertical feed portion, circle pendulum face upward portion, disk swing section and grinding wheel subordinate and reach corresponding 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, state feedback data；And on the whole Synchronously control horizontal feed, vertical feed, circle pendulum are faced upward, spiral and put each portion's data flow and operation section suddenly.
The beneficial effects of the invention are as follows：It is unrestrained that provided method may make that such current multiform becomes casting thinning technique time-consuming The problem of long and workpiece size, precision etc. consistency is difficult to ensure is addressed, and can be suitble to the reconditioning of more size workpieces.Institute Method is stated completely instead of artificial reconditioning process, to evade shadow of the emotional factor to workpiece thinning technique and its quality of people It rings.Described device structure is simple and direct, compact, and standard parts and components easy to use are manufactured, produced.System is real with compact, succinct structure The reconditioning operation of four freedom degrees is showed, Control system architecture is simple, is easy to adjust.Entirety is easy to produce in batches；System dimension Protect, repair it is simple and easy to do.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a Workpiece structure view of the present invention.
Fig. 2 is that multiform of the present invention becomes casting reconditioning process and assemble view.
Fig. 3 is that multiform becomes casting reconditioning processing unit (plant) main view.
Fig. 4 is that multiform becomes casting reconditioning processing unit (plant) top view.
Fig. 5 is the sectional view along A-A that multiform becomes casting reconditioning processing unit (plant) top view.
Fig. 6 is the workpiece clamping portion right side view that multiform becomes casting reconditioning processing unit (plant).
Fig. 7 is the workpiece clamping portion main view that multiform becomes casting reconditioning processing unit (plant).
Fig. 8 is the feeding portion right side view that multiform becomes casting reconditioning processing unit (plant).
Fig. 9 is the B-B direction cross-sectional view for the feeding portion right side view that multiform becomes casting reconditioning processing unit (plant).
Figure 10 is the feeding portion top view that multiform becomes casting reconditioning processing unit (plant).
Figure 11 is the feeding portion right side view that multiform becomes casting reconditioning processing unit (plant) base.
Figure 12 is that multiform becomes the C-C of casting reconditioning processing unit (plant) base feeding portion right side view to cross-sectional view.
Figure 13 is the polishing portion upper left side view that multiform becomes casting reconditioning processing unit (plant).
Figure 14 is that multiform becomes the D-D of casting reconditioning processing unit (plant) polishing portion upper left side view to cross-sectional view.
Figure 15 is that multiform becomes the E-E of casting reconditioning processing unit (plant) polishing portion upper left side view to cross-sectional view.
Figure 16 is the base polishing portion main view that multiform becomes casting reconditioning processing unit (plant).
Figure 17 is that multiform becomes casting reconditioning processing unit (plant) base polishing portion (band broken section) left view.
Figure 18 is that multiform becomes the F-F of casting reconditioning processing unit (plant) base polishing portion left view to cross-sectional view.
Figure 19 is that multiform becomes casting reconditioning processing unit (plant) horizontal feed control hydraulic schematic.
Figure 20 is horizontal feed control hydraulic system pre-amplification circuit structure chart.
Figure 21 is that multiform becomes casting reconditioning processing unit (plant) spray operation execution system schematic.
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 multiform becomes casting reconditioning processing unit (plant) control execution and working power electric hookup.
Figure 25 is that multiform becomes casting reconditioning level of processing feeding signal detection translation circuit figure.
Figure 26 is that multiform becomes casting reconditioning processing vertical feed signal detection translation circuit figure.
Figure 27 is that multiform change casting reconditioning processing pendulum faces upward signal detection translation circuit figure.
Figure 28 is that multiform becomes casting reconditioning processing swing signal detection translation circuit figure.
Figure 29 is the grinding wheel radius signal detection translation circuit figure that multiform becomes casting reconditioning processing unit (plant).
Figure 30 is that multiform becomes casting reconditioning level of processing feed control system block diagram.
Figure 31 is that multiform becomes casting reconditioning processing vertical feed control system block diagram.
Figure 32 is that multiform change casting reconditioning processing circle pendulum faces upward control system block diagram.
Figure 33 is that the oscillation control system block diagram that spirals is processed in multiform change casting reconditioning.
Figure 34 is that multiform becomes casting reconditioning processing unit (plant) system software structure figure.
Figure 35 is that multiform becomes casting reconditioning processing unit (plant) system software overview flow chart.
In Fig. 1,2,29~31：U is straight stick 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 stick section Clip residue length, V0For vertical feed initial bit reference value, H0It is 1. No.1 workpiece card for horizontal feed initial bit reference value Mouthful, it is 2. No. two workpiece bayonets, is 3. No. three workpiece bayonets, is 4. No. four workpiece bayonets, hoFor horizontal feed displacement, voFor Vertical feed displacement , ⊿ G is that grinding wheel edge column side is effectively polished push-in stroke, boTo put elevation angle degree, roFor swing angle, O For freedom of processing benchmark rectangular coordinate system origin, x is benchmark rectangular coordinate system horizontal axis, and y is the benchmark rectangular coordinate system longitudinal axis, RGFor grinding wheel radius, H is processing depth, and R is processing pendulum length.
In Fig. 3~24：1. hydraulic cylinder, 2. base feeding portions, 3. piston rods, 4. feeding portion retractable cables, 5. feeding portions Horizontal kinetoplast, the vertical kinetoplast in 6. feeding portions, 7. bases, 8. base processing departments, 9. grinding wheel motor, 10. pendulum face upward bar, and 11. pendulum are faced upward Driving portion, 12. processing department matrixes, 13. cantilevers, 14. circles, which are put, faces upward axle construction, 15. processing department retractable cables, 16. circle pendulum masses, and 17. Spray tube, 18. grinding wheels.
In Fig. 4~24,26：19. telescoping tube is sprayed, 20. protective plates, 21. swing driving portions, 22. dovetail convex shoulders, 23. horizontal kinetoplast dovetail chute, 24. vertical feeds are displaced displacement sensor, 25. vertical feed turbine drives mechanisms, 26. drivings Mechanism chamber, 27. hydraulic controls, 28. convex shoulder engaging sections, 29. clip moving vanes, 30. leakage fluid drams.
In Fig. 5~20：31. piston, 32. capstan Bearning mechanisms, 33. sliding rooms, 34. slide masses, 35. limiting slots, 36. Clip position, 37. coil engaging sections, 38. capstans.
In Fig. 6~20：36.1. the quiet valve bayonet of No.1,36.2. bis- quiet valve bayonets, 36.3. tri- quiet valve bayonets, 36.4. No. four quiet valve bayonets.
In Fig. 7~20：22.1. vertical feed drive rack gear, 39. clamp adjustment structure.
In Fig. 8~24：25.1. turbine drives motor, 40. vertical feed displacement sensings are driven bayonet lock.
In Fig. 9~20：41. horizontal feed displacement sensing is driven bayonet.
In Figure 11~20：42. horizontal feed displacement sensing is driven bayonet lock.
In Figure 12,25：43. horizontal feed displacement sensor.
In Figure 13：14.1. circle pendulum faces upward axis.
In Figure 13,14,29：44. grinding wheel edge sensor.
In Figure 14,15,28：16.1. swing angular displacement sensor, 45. grinding wheel portion cables.
In Figure 15~24：46. processing department bunch of cables, 47., which spiral, puts driving motor, and 48. circles, which are put, faces upward driving rack, and 49. Circle pendulum elevation angle displacement sensing is driven bayonet.
In figures 16-18：14.2. circle pendulum faces upward bearing.
In Figure 17~20：50. circle pendulum faces upward transmission gear, 51. circle pendulum face upward driving rack telescopic cavity.
In Figure 18~24,27：52. circle pendulum faces upward driving motor, 53. Quan Baiyang drive chamber, 54. pendulum elevation angle displacement sensings Device, 55. circle pendulum elevation angle displacement sensings are driven bayonet lock.
In Figure 19~23：56. left hydraulic tube, 57. right hydraulic tubes, 27.1. valve pocket, 27.2. spool, 27.3. servo valve Driver, 58. safety valves, 59. high-voltage tubes, 60 force (forcing) pumps, 61. high-pressure switch, 62. liquid back pipes, p are positive electromagnetic wire Terminals are enclosed, n is negative sense electromagnetic coil terminals, and G is control circuit ground terminal, TQLine terminals are driven for force (forcing) pump.
In Figure 20,24~30：H is that horizontal feed controls 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 positive 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 reversed MOSFET device, EPTo drive Dynamic circuit work power positive terminal, ENFor drive circuit works power cathode end, LPFor positive electromagnetic coil equivalent inductance, LNFor Reversed electromagnetic coil equivalent inductance.
In Figure 21~23,34,35：63. solenoid valve, 64. ftercompctions pump, 65. normal pressure pressure switches, 66. running water pipes, 67. relief valve, 68. flow pipes, w are spray operation signal, TWDriving line terminals are pumped for ftercompction.
In Figure 22~23：63.1. valve pocket, 63.2. spool, 63.3. connecting rod, 63.4. circuit framework, 63.5. electromagnetic wire Circle, the sliding cylinder chamber of 63.6., 63.7. antiposition electric contact, 63.8. antiposition contact, the pole 63.9. permanent magnet N, 63.10. permanent magnet S pole, 63.11. cylinder sleeve, 63.12. normotopia contact, 63.13. normotopia electric contact, 63.14. circuit connection room are slided；poForward driving wiring Terminal, pkNormotopia electric contact connecting terminal, nkAntiposition electric contact connecting terminal, noIt is driven in the reverse direction connecting terminal.
In Figure 23：C is differential capacitance, RP1For forward bias resistor, RP2For positive divider resistance, RN2Reversely to divide Resistance, RN1For reverse bias resistance, QP1For arm MOSFET element forward, QN1For reversed lower arm MOSFET element, LCNIt is anti- To isolation optocoupler, RN3For reverse signal divider resistance, DNFor reverse isolation diode, RP3For positive signal divider resistance, DPFor Positive isolating diode, LCPFor positive isolation optocoupler, QN2For reversed upper arm MOSFET element, QP2For arm MOSFET device downward Part, L are electromagnetic coil equivalent inductance.
In Figure 24~30：KC is master control switch, SvFor breaker, S is vertically drivenbDriving breaker, S are faced upward for pendulumrFor rotation Pendulum driving breaker, SgFor grinding wheel operating breaker, SUFor power supply group breaker, vDFor vertical feed driving signal, bDIt is faced upward for pendulum Driving signal, rDFor swing driving signal, g is grinding wheel operation signal, DrvFor turbine drives motor driver, DrbIt is faced upward for circle pendulum Drive motor driver, DrrDrive motor driver is put to spiral, KgFor grinding wheel motor signal Operation switch, UPS is to calculate Machine working power group, MvLink, M are executed for vertical feedbExecution link, M are faced upward for pendulumrLink is executed for swing, ICC is industry control Computer, USB are USB5V voltage power line, and PG is industrial personal computer signal wire.
In Figure 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 level into Give sensing electric potential signal, Rsh5For horizontal signal feedback resistance, RhFor horizontal feed displacement sensor equivalent resistance, Rsh3For level Signal-balanced adjusting resistance, TVShFor horizontal signal TVS diode, Rsh4For horizontal signal load resistance, Rsh6For horizontal signal Feed back divider resistance.
In Figure 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 vertically into Give sensing electric potential signal, Rsv5For vertical signal feedback resistance, RvFor vertical feed displacement sensor equivalent resistance, Rsv3It is vertical Signal-balanced adjusting resistance, TVSvFor vertical signal TVS diode, Rsv4For vertical signal load resistance, Rsv6For vertical signal Feed back divider resistance.
In Figure 27：Rsb1Signal divider resistance, R are faced upward for pendulumsb2Signal-balanced resistance, LC are faced upward for pendulumbSignal light is faced upward for pendulum Coupling, Asb1Signal, which is faced upward, for pendulum compares amplifier, GbSignal Coupling Potential device, A are faced upward for pendulumsb2Signal amplifier, s are faced upward for pendulumbTo put the elevation angle Sense electric potential signal, Rsb5Signal feedback resistance, R are faced upward for pendulumbTo put elevation angle displacement sensor equivalent resistance, Rsb3Signal is faced upward for pendulum Balance adjustment resistance, TVSbSignal TVS diode, R are faced upward for pendulumsb4Signal load resistance, R are faced upward for pendulumsb6Signal feedback is faced upward for pendulum Divider resistance.
In Figure 28：Rsr1For swing signal divider resistance, Rsr2For the signal-balanced resistance of swing, LCrFor swing signal light Coupling, Asr1Compare amplifier, G for swing signalrFor swing signal Coupling Potential device, Asr2For swing signal amplifier, srFor swing angle biography Feel 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 grinding wheel signal divider resistance, Rsg3It is flat for grinding wheel signal Weigh resistance, LCgFor grinding wheel signal optocoupler, Rsg4For upper divider resistance, DgFor catching diode, sgFor infrared sensing electric potential signal, Asg1Compare amplifier, G for grinding wheel signalgFor grinding wheel signal Coupling Potential device, Asg2For grinding wheel signal amplifier, LedgFor infrared emission Diode, RdgFor infrared sensor, Rsg5For the signal-balanced adjusting resistance of grinding wheel, TVSgFor grinding wheel signal TVS diode, Rsg6 For grinding wheel signal load resistance, Rsg7For lower divider resistance, rGFor grinding wheel radius feedback signal.
In Figure 30~33：hRFor horizontal feed Setting signal,It is horizontal feed deviation signal, C for comparator , ⊿ hh It is controlled for horizontal feed and calculates link, AEhFor preposition amplifying element, hDFor horizontal feed driving signal, DhRing is executed for driving Section, hVFor spool displacement amount, AVFor hydraulic amplifying element, q is pressure flow quantity, APFor hydraulic execution link, TrhFor level into Give signal detection transform part, hfFor horizontal feed feedback signal.
In Figure 31：vRIt is vertical feed deviation signal, C for vertical feed Setting signal , ⊿ vvIt controls and counts for vertical feed Link is calculated, v is that vertical feed controls 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 pendulumbPProcess control, which is faced upward, for pendulum calculates link, b1Journey is faced upward for pendulum Sequence control signal, bRIt is pendulum elevation deflection signal, C for pendulum elevation angle Setting signal , ⊿ bbState modulator, which is faced upward, for pendulum calculates link, b2 Parameter control signal is faced upward for pendulum,For adder, b is that pendulum faces upward control signal, AbSignal 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 Figure 33：rPFor swing program Setting signal, CrPLink, r are calculated for swing process control1For swing program control Signal processed, rRIt is swing deviation signal, C for swing angle Setting signal , ⊿ rrLink, r are calculated for swing state modulator2For swing Parameter control signal, r are that swing controls signal, ArFor swing signal amplifying element, TrrFor swing signal detection transform part, rf For swinging feedback signal of spiraling.
In Figure 34~35：No is workpiece serial number, RmFor grinding wheel limit residue radius, TCIt is for polishing 1/4 period of ring , ⊿ T Control the period；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 grinding wheel mill Damage variable , ⊿ Φ is bending section expanded in diameter quantitative change amount, RIFor grinding wheel radius variable, RWFor workpiece radius variable, RSTo put the elevation angle Bevel edge variable, vhFor horizontal feed speed variables, vvFor vertical feed speed variables, vrFor swing angular speed variable.
Specific embodiment
In a Workpiece structure view of the present invention shown in Fig. 1：The straight stick Duan Weizhi stick segment length U of workpiece, directly Stick section diameter of phi1Isometrical cylindrical neck, left end is that 20 ° of tapers reserve welding surface；It is curved with first since workpiece right end 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 curved under 30 °；From Workpiece right end starts, and cylindrical body 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 processing program will with program instruction, variable operation, Control the operation that multiform becomes casting reconditioning processing unit (plant).
Multiform of the present invention shown in Fig. 2 becomes in casting reconditioning process and assemble view：Multiform becomes casting reconditioning and adds Tooling is set to be made of feeding portion, processing department and base portion.Folded by the feeding portion mechanism A that multiform becomes casting reconditioning processing unit (plant) is executed Hold workpiece B with horizontal feed displacement ho, vertical feed displacement voThe task of feeding.It feeds portion mechanism A clamping part and presses work The specification of part B, equipped with No.1 workpiece bayonet 1., No. two workpiece bayonets 2., No. three workpiece bayonets 3. with No. four workpiece bayonets 4..It is more The processing portion mechanism C of deformation casting reconditioning processing unit (plant) is executed to put elevation angle degree bo, swing angle roThe task of reconditioning workpiece B.Water Flat feeding displacement ho, vertical feed displacement voWith pendulum elevation angle degree boIt is marked with arrow positive；Swing angle roWith counterclockwise Arrow mark is positive.Tui Jin Liang ⊿ G effectively polish by the bending of grinding wheel edge column side consolidation contact workpiece in grinding wheel edge column side The minimum polishing push-in stroke on section convex surface calculates, and can be determined according to workpiece number and selected grinding wheel specification.First bending section axial line circle Heart O1As dynamic point is fed, pass through horizontal feed initial bit reference value H0With vertical feed initial bit reference value V0Estimate, it is opposite to add Work freedom degree benchmark rectangular coordinate system origin O can be respectively with benchmark rectangular coordinate system horizontal axis x and base according to Workpiece structure view The coordinate value of angle of collimation 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, opposite freedom of processing benchmark rectangular coordinate system origin O and benchmark rectangular coordinate system longitudinal axis y, benefit It is effectively polished Tui Jin Liang ⊿ G, grinding wheel radius R with grinding wheel edge column 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, can calculates and determine pendulum elevation angle degree bo, swing angle roGiven value and program given value；In turn, it calculates true Determine horizontal feed displacement hoWith vertical feed displacement voSubsequent given value.
Multiform shown in Fig. 3 becomes casting reconditioning processing unit (plant) main view, multiform shown in Fig. 4 becomes casting reconditioning processing dress It sets top view and Fig. 5 multiform becomes in the sectional view along A-A of casting reconditioning processing unit (plant) top view：
Multiform become casting reconditioning processing unit (plant) feeding portion include hydraulic cylinder 1, piston rod 3, feeding portion retractable cable 4, into To the horizontal kinetoplast 5 in portion, the vertical kinetoplast 6 in feeding portion.Base portion includes base feeding portion 2, base 7, base processing department 8, puts and face upward drive Dynamic portion 11 and processing department matrix 12.Processing department includes grinding wheel motor 9, puts and face upward bar 10, cantilever 13, enclose to put and face upward axle construction 14, add Ministry of worker's retractable cable 15, circle pendulum mass 16, spray tube 17 and grinding wheel 18.
Hydraulic cylinder 1 is assemblied in 2 upper left quarter of base feeding portion；3 right side of piston rod is stretched, and right end is fastenedly connected feeding portion press horizontal mobile Body 5.In the 2 upper left face of base feeding portion of 1 rear side of hydraulic cylinder, abutting is equipped with hydraulic control 27.Feeding portion retractable cable 4 introduce the horizontal kinetoplast 5 in feeding portion below piston rod 3.The feeding portion right exchange premium of horizontal kinetoplast 5 gives portion vertical kinetoplast 6, and it is right The left side longitudinal sliding motion of side kinetoplast 6 vertical with feeding portion cooperates.Base feeding portion 2 is assemblied in the left end of base 7；Base adds The Ministry of worker 8 is assemblied in the right end of base 7；The right end of base processing department 8 extends upward pendulum and faces upward driving portion 11 and processing department matrix 12.Extend cantilever 13 in the 12 lateral left side in top front and back of processing department matrix.The assembly circle of axle construction 14 is faced upward to enclose pendulum in the left end of cantilever 13 Pendulum mass 16.Extend pendulum down to the right and face upward bar 10 in the lower end of circle pendulum mass 16；The right part that pendulum faces upward bar 10 protrudes into pendulum and faces upward driving portion 11.Circle pendulum Grinding wheel motor 9, processing department retractable cable 15, spray tube 17 and grinding wheel 18 are equipped on body 16；Grinding wheel 18 is by grinding wheel motor 9 It is coaxial to drive.Processing department retractable cable 15 is the driving cable of driving motor in swing driving portion 21, and bottom right section passes through pedestal, It introduces, be connected to electric-control system.
In 2 upper left quarter of base feeding portion, the rear side of hydraulic cylinder 1, be close to hydraulic cylinder 1 and base feeding portion 2 be equipped with it is hydraulic Control mechanism 27.3 right side of piston rod to fix as one with piston 31 is stretched, and right end 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 3 lower section of piston rod.On the horizontal kinetoplast 5 in feeding portion, with feeding portion The right side 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 sensor 24.In the central part of the horizontal kinetoplast 5 in feeding portion, digging has driving mechanism room 26； Driving mechanism room 26 is equipped with vertical feed turbine drives mechanism 25.On vertical kinetoplast 6, slided with the horizontal kinetoplast 5 in feeding portion The left side of cooperation is milled with dovetail convex shoulder 22；Dovetail convex shoulder 22 is wedged horizontal kinetoplast dovetail chute 23 and is constituted therewith vertical To being slidably matched.In the forward right side of vertical kinetoplast 6, the clip position 36 having to assembly clip moving vane 29 is dug；Clip moving vane 29 Above and below, left side and the upper and lower of clip position 36, left internal side composition are slidably matched；The trailing flank and clip position of clip moving vane 29 36 preceding inside constitutes clip working face；Vertical kinetoplast 6 is each come clip by clip moving vane 29 and cooperation, the adjusting of clip position 36 Type workpiece.In 2 upper right quarter of base feeding portion, there are the limiting slots 35 translated for the horizontal kinetoplast 5 or so in feeding portion；Limiting slot 35 The sliding room 33 slid for slide mass 34 or so is made in bottom to the left.
The connection in base feeding portion 2, base 7 and base processing department 8 constitutes Base body.
The right end of base processing department 8 extends upward pendulum and faces upward driving portion 11 and processing department matrix 12.Processing department matrix 12 pushes up Cantilever 13 is extended on a lateral left side before and after portion.The assembly circle pendulum mass 16 of axle construction 14 is faced upward to enclose pendulum in the left end of cantilever 13.Enclosing pendulum mass 16 is Cirque structure, ring is interior to be set with capstan 38；Circle pendulum mass 16 is constituted tangential skid and moved by capstan Bearning mechanism 32 with capstan 38 matches It closes；Swing driving portion 21 is made in the top of circle pendulum mass 16；Swing driving portion 21 drives capstan 38 to exist by coil engaging section 37 Enclose rotation in pendulum mass 16.The upper left face of capstan 38 is processing work face, equipped with to cover entire capstan 38 and capstan bearing machine The protective plate 20 of structure 32.The upper middle position of capstan 38 is coated with spray tube 17；The left part of spray tube 17 is bent downwardly, and nozzle is with nozzle Towards grinding wheel 18；The right end of spray tube 17 is connected to spray telescoping tube 19；By spraying telescoping tube 19, the perforation of spray tube 17 is drawn Enter, be connected to spray operation execution system.The lower middle position of capstan 38 is equipped with assembly and drives the grinding wheel motor 9 of grinding wheel 18. Extend arc-shaped pendulum down to the right and face upward bar 10 in the lower end of circle pendulum mass 16；The right part that pendulum faces upward bar 10 protrudes into pendulum and faces upward driving portion 11.Base Processing department 8 is assemblied in the right end of base 7；Bathtub construction is made in the left part of base processing department 8, and left-front corner is formed with leakage fluid dram 30.
Shown in Fig. 6 is that multiform becomes workpiece clamping portion's right side view of casting reconditioning processing unit (plant) and shown in Fig. 7 more In the workpiece clamping portion main view of deformation casting reconditioning processing unit (plant)：Clip moving vane 29 is cuboid columnar structure, upper and lower, Left side corresponds to upper and lower, the left internal side of clip position 36, and composition is slidably matched.The quiet valve of No.1 of corresponding 36 working face of clip position The quiet valve bayonet 36.3 of bayonet 36.1, two quiet valve bayonets 36.2, three and No. four quiet valve bayonets 36.4, the work of clip moving vane 29 Make face and is also milled with corresponding serial number moving vane bayonet.Clip moving vane 29 is assembled and is adjusted by clamping adjustment structure 39 with clip position 36 Working face gap, and then realize that the dress to quasi- processing serial number workpiece is held, clamps, puts and unload operation.It is made on the left of dovetail convex shoulder 22 Vertical feed drive rack gear 22.1, to be slidably matched with vertical feed turbine drives mechanism 25.
Multiform shown in Fig. 8 becomes the feeding portion right side view of casting reconditioning processing unit (plant), multiform shown in Fig. 9 becomes casting The B-B direction cross-sectional view of the feeding portion right side view of reconditioning processing unit (plant) and multiform shown in Fig. 10 become casting reconditioning processing unit (plant) In feeding portion top view：The right side 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 sensor 24；The middle position of vertical feed displacement sensor 24 is formed with vertical feed displacement sensing transmission bayonet lock 40.In the horizontal kinetoplast in feeding portion 5 central part, digging have driving mechanism room 26；The top of driving 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 end of piston rod 3, which fastens, to be connected Tap into position in the left side to the horizontal kinetoplast 5 in portion.Feeding portion retractable cable 4 introduces the horizontal kinetoplast 5 in feeding portion below piston rod 3, And then horizontal 5 left part of kinetoplast 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 41.
The multiform shown in Figure 11 becomes more shown in the feeding portion right side view and Figure 12 of casting reconditioning processing unit (plant) base The C-C of deformation casting reconditioning processing unit (plant) base feeding portion right side view is into cross-sectional view：Hydraulic cylinder 1 is non-symmetric pressure knot Structure is assemblied in the upper left quarter in base feeding portion 2；Piston rod 3 and the right side of piston 31 fix as one, from the right side of hydraulic cylinder 1 End is stretched out.In the 2 upper left face of base feeding portion of 1 rear side of hydraulic cylinder, it is close to hydraulic cylinder 1 and base feeding portion 2, is equipped with hydraulic control Mechanism 27 processed.Below piston rod 3, feeding portion retractable cable 4 is drawn between hydraulic cylinder 1 and hydraulic control 27.In machine 2 upper right quarter of seat feeding portion, there are limiting slots 35；Sliding room 33 is made in the bottom of limiting slot 35 to the left between two parties.Base feeding portion 2 Right side rear portion, be connected as one with base 7.
The multiform shown in Fig. 8~12 becomes in casting reconditioning processing unit (plant) base feeding portion view：In sliding room 33 Upper wall middle line position is pasted with linear horizontal feed displacement sensor 43 along middle line；Horizontal feed displacement sensor 43 has Horizontal feed displacement sensing be driven bayonet lock 42, corresponding horizontal feed displacement sensing is driven bayonet 41.
The multiform shown in Figure 13 becomes multiform shown in the polishing portion upper left side view and Figure 14 of casting reconditioning processing unit (plant) Become the D-D of casting reconditioning processing unit (plant) polishing portion upper left side view into cross-sectional view：Circle pendulum mass 16 is cirque structure, same in ring Axle sleeve fills capstan 38；Circle pendulum mass 16 constitutes tangential rolling with capstan 38 by capstan Bearning mechanism 32 and is slidably matched；Capstan 38 can be Enclose opposite circle 16 coaxial rotating of pendulum mass in pendulum mass 16.38 disk body of capstan is to be formed with " I " the shape structure for increasing matching ring along axis section, is matched The working face back side for closing the outer edge of circle is formed with the external tooth of coil engaging section 37, and capstan Bearning mechanism 32 is assembled in working face side. The interior of 38 matching ring of capstan faces grinding wheel edge along working face side, and bilateral symmetry assembles a pair of of grinding wheel edge sensor 44.Rotation The working face of disk 38 is furnished with the protective plate 20 to cover entire capstan 38 and capstan Bearning mechanism 32.It is equipped on circle pendulum mass 16 Grinding wheel motor 9, processing department retractable cable 15, spray tube 17 and grinding wheel 18.Under capstan 38 and protective plate 20, capstan 38 Middle position fastening is equipped with grinding wheel motor 9；The fastening of 9 shaft end of motor assembles and coaxially drives grinding wheel 18 by grinding wheel.Across capstan 38 and protective plate 20, the upper middle position of capstan 38 be equipped with spray tube 17；The nozzle of spray tube 17 is with nozzle towards grinding wheel 18.It is revolving Between disk 38 and protective plate 20, the signal wire of the driving cable and grinding wheel edge sensor 44 of grinding wheel motor 9 comes together, and covers and be Grinding wheel portion cable 45.It encloses on the outside of the annulus of pendulum mass 16, a pair of of circle pendulum of assembly is symmetrically fastened along horizontal axis and faces upward axis 14.1.Enclose pendulum mass 16 Extend pendulum and face upward bar 10 in lower end.It along top in the ring of circle pendulum mass 16, encloses between 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.
Become the E-E of casting reconditioning processing unit (plant) polishing portion upper left side view into cross-sectional view in multiform shown in figure 15：Circle Pendulum mass 16 is cirque structure, coaxial package capstan 38 in ring；Pendulum mass 16 is enclosed to be made up of capstan Bearning mechanism 32 and capstan 38 Tangential rolling is slidably matched.Swing driving portion 21 is made in the top of circle pendulum mass 16；21 mounted inside of swing driving portion, which is spiraled, puts driving Motor 47；It spirals and puts driving motor 47 as external rotor permanent magnet servo motor, swing driving portion 21 is driven with its outer rotor；Swing is driven The external tooth in dynamic portion 21 and the outer tooth engagement of capstan 38, constitute coil engaging section 37；Pass through coil engaging section 37, swing driving portion 21 drive opposite circle 16 coaxial rotating of pendulum mass in circle pendulum mass 16 of capstan 38.It spirals and puts the inner stator fastening assembly of driving motor 47 In the top of circle pendulum mass 16.Processing department retractable cable 15 is drawn out of spiral the outer end axis for putting driving motor 47.38 disk body of capstan It is to be formed with " I " the shape structure for increasing matching ring along axis section, the working face back side of the outer edge of matching ring is formed with coil engaging section 37 External tooth, working face side assemble capstan Bearning mechanism 32.The working face of capstan 38 is furnished with to cover entire capstan 38 and rotation The protective plate 20 of disk Bearning mechanism 32.Grinding wheel motor 9, processing department retractable cable 15, spray tube 17 are equipped on circle pendulum mass 16 With grinding wheel 18.Across capstan 38 and protective plate 20, the lower middle position fastening of capstan 38 is equipped with grinding wheel motor 9；9 shaft end of motor Fastening assembles and coaxially drives grinding wheel 18 by grinding wheel.In working face back side, spray tube 17 and spray telescoping tube 19 are connected, are penetrated through. Across capstan 38 and protective plate 20, the upper middle position of capstan 38 is equipped with spray tube 17；The nozzle of spray tube 17 is with nozzle towards sand Wheel 18.Between capstan 38 and protective plate 20, grinding wheel portion cable 45 applies to spray tube 17 along the disk of capstan 38 and wears place, with Spray tube 17 comes together, and covers across for 38 Pan Bi of capstan.In working face back side, processing department retractable cable 15 and grinding wheel portion cable 45 Come together, is listed as processing department bunch of cables 46.Extend pendulum and face upward bar 10 in the lower end of circle pendulum mass 16.It is arc-shaped reinforcing rib that pendulum, which faces upward bar 10, Structure, circular arc outside are milled with circle pendulum and face upward driving rack 48；Working face one end backwards on the inside of circular arc is milled with the elevation angle displacement of circle pendulum Sensing transmission bayonet 49.It along top in the ring of circle pendulum mass 16, encloses between pendulum mass 16 and protective plate 20, along the circle of circle pendulum mass 16 Ring is pasted with the swing angular displacement sensor 16.1 of circular arc line style；Swing is formed on the inside of the circular arc of swing angular displacement sensor 16.1 Angle displacement transducer is driven bayonet lock, which drives with the card slot at the top of 38 longitudinal axis of capstan.
The multiform shown in Figure 13~15 becomes in the polishing portion view of casting reconditioning processing unit (plant)：Circle pendulum mass 16 is circular ring shape Structure, the working face back side of annulus inside edge are formed with the internal tooth of coil engaging section 37, and capstan Bearning mechanism is assembled in working face side 32.Coaxial package capstan 38 in annulus；38 disk body of capstan is to be formed with " I " the shape structure for increasing matching ring along axis section, matching ring The working face back side of outer edge is formed with the external tooth of coil engaging section 37, and capstan Bearning mechanism 32 is assembled in working face side.Enclose pendulum mass 16, which constitute tangential rolling with capstan 38 by capstan Bearning mechanism 32, is slidably matched；Capstan 38 opposite in circle pendulum mass 16 can enclose pendulum mass 16 coaxial rotatings.
The multiform shown in Figure 16 becomes multiform shown in the polishing portion main view of casting reconditioning processing unit (plant), Figure 17 and becomes casting Multiform shown in reconditioning processing unit (plant) base polishing portion (band broken section) left view and Figure 18 becomes casting reconditioning processing unit (plant) machine The F-F of seat polishing portion left view is into cross-sectional view：Base 7 is connected as in the left back of base processing department 8 with base processing department 8 One.The right end of base processing department 8 extends upward pendulum and faces upward driving portion 11 and processing department matrix 12.Before 12 top of processing department matrix Rear side extends cantilever 13 to the left.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 driving portion 11 Triangle reinforcing rib structure；The inside that pendulum faces upward driving portion 11, which is dug, has circle pendulum to face upward driving rack telescopic cavity 51 and Quan Baiyang drive chamber 53. It is arc-shaped cavity that pendulum, which faces upward driving rack telescopic cavity 51, and circular arc axial line is to enclose pendulum to face upward the axial line of bearing 14.2, outside circular arc 11 inclined-plane side opening of driving portion 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, faces upward driving rack telescopic cavity 51 with pendulum on the upside of cylinder and penetrates through.In Quan Baiyang drive chamber In 53, coaxially it is equipped with the circle pendulum for facing upward transmission gear 50 with moving-coil pendulum and faces upward driving motor 52；It is outer turn that circle pendulum, which faces upward driving motor 52, Sub- alternating-current permanent-magnet servo motor, two end axles fastening are assemblied on the cylindrical both ends side wall of Quan Baiyang drive chamber 53.It is faced upward in pendulum The circular arc inner sidewall of driving rack telescopic cavity 51 is pasted with the pendulum elevation angle displacement sensor 54 of circular arc line style；Elevation angle displacement is put to pass Circle pendulum elevation angle displacement sensing transmission bayonet lock 55 is formed on the outside of the circular arc of sensor 54.Bathtub construction is made in the upper surface of base processing department 8, Bathtub construction is connect backwards to the side of working face with the inclined-plane curved surface that pendulum faces upward driving portion 11.
The multiform shown in Figure 19 becomes in casting reconditioning processing unit (plant) horizontal feed control hydraulic schematic：Hydraulic cylinder 1 left end perforation connects left hydraulic tube 56, and right end perforation connects right hydraulic tube 57；The other end and valve pocket 27.1 of left hydraulic tube 56 Left delivery outlet connect perforation, the other end of right hydraulic tube 57 connect perforation with the right delivery outlet of valve pocket 27.1.Cylinder-shaped valve pocket It is cased with cylindrical spool 27.2 in 27.1, and axial sliding fit therewith, constitutes zero lap four-way servo valve.Spool 27.2 One end and 27.3 kinetoplast of servo valve actuator are affixed；The electromagnetic coil of the quiet body of servo valve actuator 27.3 passes through positive electromagnetic coil Terminals p, negative sense electromagnetic coil terminals n and control circuit ground terminal G are drawn.The left and right input port of valve pocket 27.1, which penetrates through, to be connected Connect high-voltage tube 59；The middle position input port perforation connection liquid back pipe 62 of valve pocket 27.1；The other end of liquid back pipe 62 is passed through pressure fluid appearance Case.The high-pressure mouth of the other end perforation connection force (forcing) pump 60 of high-voltage tube 59, and perforation is connect with the high-pressure mouth of safety valve 58.Pressurization The low pressure port of pump 60 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； By connecting with the make and break contact of high-pressure switch 61, the phase line driving line of single-phase AC motor is drawn out to force (forcing) pump driving Line terminals TQPhase line end；The zero curve driving line of single-phase AC motor directly leads out force (forcing) pump driving line terminals TQZero curve End.The pressure nozzle of high-pressure switch 61, which passes through, is connected to high-voltage tube 59.
The horizontal feed shown in Figure 20 controls in hydraulic system pre-amplification circuit structure chart：Horizontal feed controls signal H passes through input coupling resistance Rh1It is sent into operational amplifier AhNon-inverting input terminal：Operational amplifier AhInverting input terminal pass through Feed back divider resistance Rh2Ground connection, and pass through 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 and driving 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 Rh7It connects simultaneously；Forward signal Divider resistance Rh6The other end and reverse signal divider resistance Rh7The other end respectively with positive isolation optocoupler LChPCathode 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 cathode Hold 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 reversed MOSFET element QhNGrid；Meanwhile positive isolation optocoupler LChPCathode output end and reverse isolation optocoupler LChNCathode output end again respectively With positive isolating diode DhPAnode and reverse isolation diode DhNCathode connection；Positive isolating diode DhPCathode With reverse isolation diode DhNAnode respectively pass through forward bias resistor Rh4With reverse bias resistance Rh5Ground connection.It is positive MOSFET element QhPFor P-channel enhancement type device, QhNReversed MOSFET element is N-channel enhancement device.Positive MOSFET device Part QhPDrain electrode be connected to drive circuit works power positive end EP；Reversed MOSFET element QhNSource electrode be connected to driving circuit Working power negative pole end EN；Positive MOSFET element QhPSource electrode be connected to positive electromagnetic coil terminals p；Reversed MOSFET device Part QhNDrain electrode be connected to negative sense electromagnetic coil terminals n.Positive electromagnetic coil equivalent inductance LPIt is equivalent with reversed electromagnetic coil Inductance LNTo constitute the main body of the quiet body of servo valve actuator 27.3 forward and around electromagnetic coil.Positive electromagnetic coil equivalent inductance LP Same Name of Ends and reversed electromagnetic coil equivalent inductance LNSame Name of Ends be connected respectively to positive electromagnetic coil terminals p and negative sense electricity Magnetic coil terminals n.Positive electromagnetic coil equivalent inductance LPDifferent name end and reversed electromagnetic coil equivalent inductance LNDifferent name end phase Connect and is grounded to control circuit ground terminal G.
The multiform shown in Figure 21 becomes the spray operation of casting reconditioning processing unit (plant) and executes in system schematic：Spray telescoping tube 19 connect perforation with flow pipe 68 by solenoid valve 63.The other end of flow pipe 68 penetrates through the high pressure for being connected to ftercompction pump 64 simultaneously The high-pressure mouth of mouth and relief valve 67.The low pressure port of ftercompction pump 64 and the low pressure port of relief valve 67 penetrate through be connected to running water pipe simultaneously 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 driving line of motivation is drawn out to ftercompction pump driving line terminals TWPhase line end；The zero curve driving line of single-phase AC motor is straight It connects and is drawn out to ftercompction pump driving line terminals TWZero line side.The pressure nozzle of normal pressure pressure switch 65, which passes through, is connected to flow pipe 68.Electromagnetism Valve 63 is by drive circuit works power positive end EP, spray operation signal w input terminal connect electricity with control circuit ground terminal G Electromagnetic valve driving circuit controls on-off.
In the electromagnetic valve structure view of spray operation execution system shown in Figure 22：Solenoid valve is by valve pocket 63.1, spool 63.2, connecting rod 63.3, circuit framework 63.4, electromagnetic coil 63.5, sliding cylinder chamber 63.6, antiposition electric contact 63.7, antiposition contact 63.8, the pole permanent magnet N 63.9, permanent magnet S pole 63.10, sliding cylinder sleeve 63.11, normotopia contact 63.12,63.13 and of normotopia electric contact 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 connecting terminal poNormotopia electric contact connecting terminal pk, antiposition electric contact connecting terminal nk, be driven in the reverse direction connecting terminal noWith Control circuit ground terminal G.Solenoid valve is divided into the valve body of left part and the driving portion of right part.Valve body be include valve pocket 63.1, valve The executing subject structure of core 63.2 and connecting rod 63.3, driving portion be include connecting rod 63.3, circuit framework 63.4, the pole permanent magnet N 63.9, permanent magnet S pole 63.10, sliding cylinder chamber 63.6, sliding cylinder sleeve 63.11, electromagnetic coil 63.5, antiposition electric contact 63.7, antiposition touching First 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 driving connecting terminal po, normotopia electric contact connecting terminal pk, antiposition electric contact Connecting terminal nk, be driven in the reverse direction connecting terminal noWith the electromagnetic drive mechanism of control circuit ground terminal G；Wherein valve pocket 63.1 and cunning Cylinder sleeve 63.11 is two chamber integral structures being separated by by partition, is made of nonferromagnetic material.
One end of spool 63.2 in valve pocket 63.1 and connecting rod 63.3, which fastens, to be mechanically connected, the other end of connecting rod 63.3 with The left section of the pole permanent magnet N 63.9 fastens mechanical connection；Connecting rod 63.3 passes through the partition of valve pocket 63.1 and sliding cylinder sleeve 63.11, and Airtight be slidably matched is constituted with the partition；The pole permanent magnet N 63.9 and permanent magnet S pole 63.10 are androgynous column construction, lateral wall It is slidably matched with the inner sidewall of sliding cylinder chamber 63.6.In the left inside wall of sliding cylinder chamber 63.6, digging has a slot room, and assembly is a pair of often in slot room The antiposition electric contact 63.7 closed；In the left side of the pole permanent magnet N 63.9, corresponding 63.7 assembly of antiposition electric contact has one outstanding anti- Position contact 63.8 opens antiposition electric contact 63.7 to touch when reversely in place.In the right inner wall of sliding cylinder chamber 63.6, digging has a slot Room, a pair of normally closed normotopia electric contact 63.13 of assembly in slot room；In the right side of permanent magnet S pole 63.10, corresponding normotopia electricity touching 63.13 assemblies of point have a normotopia contact 63.12 outstanding, to it is positive in place when touching open normotopia electric contact 63.13.Circuit bone 4 adapter sleeve of frame is mounted on the lateral wall of sliding cylinder sleeve 63.11；The 63.5 skeleton portion of electromagnetic coil that circuit framework 63.4 divides for left portion With the circuit connection room 63.14 of right part.
In circuit connection room 63.14, it is equipped with driving signal conversion circuit and internal and external line connecting terminal.Electromagnetic coil 63.5 both ends are connected respectively to normotopia electric contact connecting terminal pkWith antiposition electric contact connecting terminal nkOn；Normotopia electric contact connects Line terminals pkWith forward driving connecting terminal poIt is electrically connected respectively with two terminals of normotopia electric contact 63.13 composition；Antiposition electricity Contact lug terminal nkBe driven in the reverse direction connecting terminal noIt is electrically connected respectively with two terminals of antiposition electric contact 63.7 composition.It drives Dynamic circuit work power positive terminal EP, spray operation signal w input terminal and control circuit ground terminal G be respectively used to connection electricity Electromagnetic valve driving circuit positive pole, spray operation signal input line and ground connection.
In the driving circuit for electromagnetic valve structure chart of spray operation execution system shown in Figure 23：
Driving signal conversion 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, reversed divider resistance RN2, reverse bias resistance RN1, P-channel enhancement type forward direction upper arm MOSFET device Part QP1, the enhanced reversed lower arm MOSFET element Q of N-channelN1, reverse isolation optocoupler LCN, reverse signal divider resistance RN3, it is reversed Isolating diode DN, forward signal divider resistance RP3, positive isolating diode DP, positive isolation optocoupler LCP, N-channel it is enhanced Reversed upper arm MOSFET element QN2, P-channel enhancement type forward direction lower arm MOSFET element QP2, electromagnetic coil equivalent inductance L constitute.
Spray operation signal w is input to the cathode 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.Reversed divider resistance RN2One end with Reverse bias resistance RN1One end connection, reverse bias resistance RN1The other end ground connection；Reversed divider resistance RN2With reverse bias Resistance RN1Tie point and reversed lower arm MOSFET element QN1Grid connection.Positive upper arm MOSFET device 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 driving terminals Sub- po.Reversed lower arm MOSFET element QN1Drain electrode be connected to normotopia electric contact connecting terminal pk；Reversed lower arm MOSFET element QN1Source electrode ground connection.Reverse isolation optocoupler LCN1,4 feet be connected to working power positive terminal E, reverse isolation optocoupler LCN2 feet With 4 feet respectively with reverse signal divider resistance RN3One end and reversed upper arm MOSFET element QN2Grid connection.Forward direction every From optocoupler LCP1 foot and 4 feet respectively with forward signal divider resistance RP3One end and positive lower arm MOSFET element QP2Grid Connection, reverse isolation optocoupler LCN2,4 feet ground connection.Reverse signal divider resistance RN3The other end and forward signal divider resistance RP3Other end connection, which is connected to the anode of differential capacitance C.Reverse isolation diode DNCathode and reversed upper arm MOSFET element QN2Grid connection, reverse isolation diode DNAnode with reversed divider resistance RN2The other end connection.Just To isolating diode DPAnode and positive lower arm MOSFET element QP2Grid connection, positive isolating diode DPCathode with Positive divider resistance RP2The other end connection.Reversed upper arm MOSFET element QN2Drain electrode be connected to driving circuit for electromagnetic valve electricity Source positive terminal EW, reversed upper arm MOSFET element QN2Source electrode be connected to and be driven in the reverse direction connecting terminal no.Positive lower arm MOSFET Device QP2Source electrode be connected to antiposition electric contact connecting terminal nk, positive lower arm MOSFET element QP2Grounded drain.
Electromagnetic coil 63.5, the i.e. both ends of electromagnetic coil equivalent inductance L are connected respectively to antiposition electric contact connecting terminal nk With normotopia electric contact connecting terminal pk。
The multiform shown in Figure 24 becomes in casting reconditioning processing unit (plant) control execution and working power electric hookup：Master control Switch KC is push-botton operation contactor, becomes casting reconditioning processing unit (plant) for 380V three-phase alternating current is electrically accessed multiform.It is vertical to drive Dynamic breaker Sv, A, B and C phase line pass through respectively pendulum face upward driving breaker SbBreaker S is driven with swingrWith turbine drive electric Machine driver Drv, circle pendulum face upward drive motor driver DrbDrive motor driver Dr is put with spiralingrConnection；A wherein phase line Pass through grinding wheel operating breaker SgWith power supply group breaker SUIt is respectively connected to grinding wheel motor signal Operation switch KgWith computer work Make power supply group UPS；Zero curve is directly accessed turbine drives motor driver Drv, circle pendulum face upward drive motor driver Drb, spiral pendulum drive Dynamic motor driver Drr, grinding wheel motor signal Operation switch KgWith computer operation power supply group UPS.The driving of turbine drives motor Device Drv, circle pendulum face upward drive motor driver DrbDrive motor driver Dr is put with spiralingrRespectively by vertical feed driving signal vD, pendulum face upward driving signal bD, swing driving signal rDControl driving；Grinding wheel motor signal Operation switch KgLetter is operated by grinding wheel Number g operation.Turbine drives motor driver Drv, circle pendulum face upward drive motor driver Drb, spiral and put drive motor driver Drr It is the dedicated AC/DC/AC-SPWM three-phase drive circuit module of permanent-magnet servo motor.Grinding wheel motor signal Operation switch KgFor Level operation monophase solid contactor.Industrial control computer ICC is that this multiform becomes the control core of casting reconditioning processing unit (plant) and soft Part carrier；The computer operation power supply group UPS of industrial control computer ICC is multiple groups DC output power device.
The multiform shown in Fig. 2~9 becomes multiform shown in casting reconditioning processing unit (plant) view, Figure 13 and becomes casting reconditioning processing The polishing portion upper left side view of device, multiform shown in figure 15 become the E-E of casting reconditioning processing unit (plant) polishing portion upper left side view Become the F-F of casting reconditioning processing unit (plant) base polishing portion left view to cross-sectional view, Tu20Suo to multiform shown in cross-sectional view, Figure 18 Multiform shown in the horizontal feed control hydraulic system pre-amplification circuit structure chart and Figure 24 shown becomes casting reconditioning processing unit (plant) In control execution and working power electric hookup：Turbine drives motor 25.1, circle pendulum face upward driving motor 52 and pendulum driving of spiraling Motor 47 is respectively by turbine drives motor driver Drv, circle pendulum face upward drive motor driver DrbDriving motor driving is put with spiraling Device DrrIt is driven and is run with three phase sine electric current.Grinding wheel motor 9 is by grinding wheel motor signal Operation switch KgOperate start-stop.Turbine Driving motor 25.1 coaxially drives vertical feed turbine drives mechanism 25, by vertical feed drive rack gear 22.1, drives feeding The vertical kinetoplast 6 in portion generates vertical feed displacement vo；Circle pendulum faces upward driving motor 52, by coaxially assembling, driving on its outer rotor Circle pendulum face upward transmission gear 50, band movable pendulum faces upward bar 10 and generates pendulum elevation angle degree bo；It spirals and puts driving motor 47 by coil engaging section 37, drive capstan 38 to generate 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 executes link Mv, by vertical feed driving signal vDTurn It is changed to vertical feed displacement vo；Circle pendulum faces upward driving motor 52, circle pendulum faces upward transmission gear 50 and pendulum faces upward bar 10 and constitutes pendulum and face upward and holds Row link MbPendulum is faced upward into driving signal bDBe converted to pendulum elevation angle degree bo；It spirals and puts driving motor 47, coil engaging section 37 and capstan 38, which constitute swing, executes link MrBy swing driving signal rDBe converted to swing angle ro.Computer operation power supply group UPS's 12V output line, which is drawn, is used as drive circuit works power positive end EN, -12V output line, which is drawn, is used as drive circuit works power supply Negative pole end EP, 5V output line, which is drawn, is used as control circuit working power positive terminal ESP, -5V output line, which is drawn, is used as control circuit work Make power cathode end ESN。
The multiform shown in Figure 25 becomes in casting reconditioning level of processing feeding signal detection translation circuit figure：Horizontal signal point Piezoresistance Rsh1One end be connected to control circuit working power positive terminal ESP, other end amplifier A compared with horizontal signalsh1's Non-inverting input terminal connection.Horizontal signal balance resistance Rsh2One end be connected to control circuit working power positive terminal ESP, the other end The amplifier A compared with horizontal signalsh1Inverting input terminal connection.Horizontal signal compares amplifier Ash1Cathode power supply end be connected to control Circuit work power positive terminal E processedSP.Horizontal signal optocoupler LChElectrode input end be connected to control circuit working power anode Hold ESP, negative input and horizontal signal Coupling Potential device GhA quiet arm connection；Horizontal signal optocoupler LChCathode output end It is connected to control circuit working power positive terminal ESP, cathode output end and horizontal signal amplifier Ash2Inverting input terminal connection.Water Ordinary mail amplifier Ash2Cathode power supply end be connected to control circuit working power positive terminal ESP.Horizontal signal compares amplifier Ash1's Non-inverting input terminal, which is drawn, senses electric potential signal s as horizontal feedhInput terminal.Horizontal signal compares amplifier Ash1Output end with Horizontal signal Coupling Potential device GhSwing arm connection.Horizontal signal feedback resistance Rsh5One end and horizontal signal amplifier Ash2's Normal phase input end connection, the other end and horizontal signal amplifier Ash2Output end connection；Horizontal signal amplifier Ash2Output end draw It is used as horizontal feed feedback signal h outfOutput end.Horizontal feed displacement sensor is equivalent in horizontal feed displacement sensor 43 Resistance RhA quiet arm together with swing arm the amplifier A compared with horizontal signalsh1Non-inverting input terminal connection；Another quiet arm ground connection.Water Ordinary mail balance adjustment resistance Rsh3A quiet arm together with swing arm the amplifier A compared with horizontal signalsh1Inverting input terminal connection； Another quiet arm ground connection.Horizontal signal compares amplifier Ash1Negative power supply end ground connection.Horizontal signal TVS diode TVShCathode With horizontal signal Coupling Potential device GhAnother quiet arm connection, plus earth.Horizontal signal load resistance Rsh4One end and horizontal Signal amplifier Ash2Inverting input terminal connection, the other end is connected to control circuit working power negative pole end ESN.Horizontal signal feedback Divider resistance Rsh6One end and horizontal signal amplifier Ash2Normal phase input end connection, the other end ground connection.Horizontal signal amplifier Ash2Negative electricity source be connected to control circuit working power negative pole end ESN。
The multiform shown in Figure 26 becomes in casting reconditioning processing vertical feed signal detection translation circuit figure：Vertical signal point Piezoresistance Rsv1One end be connected to control circuit working power positive terminal ESP, other end amplifier A compared with vertical signalsv1's Non-inverting input terminal connection.Vertical signal balance resistance Rsv2One end be connected to control circuit working power positive terminal ESP, the other end The amplifier A compared with vertical signalsv1Inverting input terminal connection.Vertical signal compares amplifier Asv1Cathode power supply end be connected to control Circuit work power positive terminal E processedSP.Vertical signal optocoupler LCvElectrode input end be connected to control circuit working power anode Hold ESP, negative input and vertical signal Coupling Potential device GvA quiet arm connection；Vertical signal optocoupler LCvCathode output end It is connected to control circuit working power positive terminal ESP, cathode output end and vertical signal amplifier Asv2Inverting input terminal connection.It hangs down Straight signal amplifier Asv2Cathode power supply end be connected to control circuit working power positive terminal ESP.Vertical signal compares amplifier Asv1's Non-inverting input terminal, which is drawn, senses electric potential signal s as vertical feedvInput terminal.Vertical signal compares amplifier Asv1Output end with Vertical signal Coupling Potential device GvSwing arm connection.Vertical signal feedback resistance Rsv5One end and vertical signal amplifier Asv2's Normal phase input end connection, the other end and vertical signal amplifier Asv2Output end connection；Vertical signal amplifier Asv2Output end draw It is used as vertical feed feedback signal v outfOutput end.Vertical feed is displaced vertical feed displacement sensor in displacement sensor 24 Equivalent resistance RvA quiet arm together with swing arm the amplifier A compared with vertical signalsv1Non-inverting input terminal connection；Another quiet arm connects Ground.Vertical signal balance adjustment resistance Rsv3A quiet arm together with swing arm the amplifier A compared with vertical signalsv1Inverting input terminal Connection；Another quiet arm ground connection.Vertical signal compares amplifier Asv1Negative power supply end ground connection.Vertical signal TVS diode TVSv's Cathode and vertical signal Coupling Potential device GvAnother quiet arm connection, plus earth.Vertical signal load resistance Rsv4One end with Vertical signal amplifier Asv2Inverting input terminal connection, the other end is connected to control circuit working power negative pole end ESN.Vertical signal Feed back divider resistance Rsv6One end and vertical signal amplifier Asv2Normal phase input end connection, the other end ground connection.Vertical signal fortune Put Asv2Negative electricity source be connected to control circuit working power negative pole end ESN。
The multiform shown in Figure 27 becomes casting reconditioning processing pendulum and faces upward in signal detection translation circuit figure：Pendulum faces upward signal partial pressure electricity Hinder Rsb1One end be connected to control circuit working power positive terminal ESP, amplifier A compared with the other end faces upward signal with pendulumsb1It is same mutually 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 terminal 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 terminal and pendulum face upward signal Coupling Potential device GbA 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 terminal 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 End, which is drawn, faces upward feeding sensing electric potential signal s as pendulumbInput terminal.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 and pendulum face upward signal amplifier Asb2Output end connection；Pendulum faces upward signal amplifier Asb2Output end draw as pendulum face upward Feed feedback signal bfOutput end.Put the pendulum elevation angle displacement sensor equivalent resistance R in elevation angle displacement sensor 54bIt is one quiet Amplifier A compared with arm faces upward signal with pendulum together with swing armsb1Non-inverting input terminal 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 compared with amplifier Asb1Inverting input terminal 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 TVSbCathode 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 terminal 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。
The multiform shown in Figure 28 becomes in casting reconditioning processing swing signal detection translation circuit figure：Swing signal partial pressure electricity Hinder Rsr1One end be connected to control circuit working power positive terminal ESP, other end amplifier A compared with swing signalsr1It is same mutually 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 terminal 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 terminal 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 terminal connection.Swing signal fortune Put Asr2Cathode power supply end be connected to control circuit working power positive terminal ESP.Swing signal compares amplifier Asr1Homophase input It draws as swing feeding sensing electric potential signal s at endrInput terminal.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 be used as swing Feed feedback signal rfOutput end.Swing angular displacement sensor equivalent resistance R in swing angular displacement sensor 16.1rIt is one quiet Arm amplifier A compared with swing signal together with swing armsr1Non-inverting input terminal connection；Another quiet arm ground connection.The signal-balanced tune of swing Economize on electricity resistance Rsr3A quiet arm together with swing arm the amplifier A compared with swing signalsr1Inverting input terminal connection；Another quiet arm connects Ground.Swing signal compares amplifier Asr1Negative power supply end ground connection.Swing signal TVS diode TVSrCathode and swing signal Coupling Potential device GrAnother quiet arm connection, plus earth.Swing signal load resistance Rsr4One end and swing signal amplifier Asr2Inverting input terminal 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。
The multiform shown in Figure 29 becomes in the grinding wheel radius signal detection translation circuit figure of casting reconditioning processing unit (plant)：It is infrared Divider resistance Rsg1One end be connected to drive circuit works power positive end EP, the other end is connected to grinding wheel edge sensor 44 Middle infrared-emitting diode LedgPositive terminal.Grinding wheel signal divider resistance Rsg2One end be connected to drive circuit works power supply Positive terminal EP, the other end is connected to infrared sensor Rd in grinding wheel edge sensor 44gPositive terminal.The signal-balanced resistance of grinding wheel Rsg3One end be connected to drive circuit works power positive end EP, other end amplifier A compared with grinding wheel signalsg1Anti-phase input End connection.Grinding wheel signal compares amplifier Asg1Cathode power supply end be connected to drive circuit works power positive end EP.Grinding wheel signal Optocoupler LCgElectrode input end be connected to drive circuit works power positive end EP, negative input and grinding wheel signal Coupling Potential Device GgA quiet arm connection；Grinding wheel signal optocoupler LCgCathode output end be connected to drive circuit works power positive end EP, bear Pole output end and grinding wheel signal amplifier Asg2Inverting input terminal connection.Upper divider resistance Rsg4One end be connected to driving circuit Working power positive terminal EP, the other end and grinding wheel signal amplifier Asg2Non-inverting input terminal connection., grinding wheel signal amplifier Asg2Just Pole power end is connected to drive circuit works power positive end EP.Catching diode DgCathode be connected to drive circuit works electricity Source positive terminal EP, positive and grinding wheel signal amplifier Asg2Output end connection；Grinding wheel signal amplifier Asg2Output end draw conduct Infrared sensing electric potential signal sgOutput end.Grinding wheel signal compares amplifier Asg1Output end and grinding wheel signal Coupling Potential device Gg's Swing arm connection；Grinding wheel signal Coupling Potential device GgAnother quiet arm and grinding wheel signal TVS diode TVSgCathode connection.Grinding wheel Infrared-emitting diode Led in edge sensor 44gCathode ground connection；Infrared sensor Rd in grinding wheel edge sensor 44g's Cathode ground connection.The signal-balanced adjusting resistance R of grinding wheelsg5A quiet arm be all connected to grinding wheel signal together with swing arm and compare amplifier Asg1's Inverting input terminal；Another quiet arm ground connection.Grinding wheel signal compares amplifier Asg1Negative power supply end ground connection.Grinding wheel signal TVS diode TVSgPlus earth.Grinding wheel signal load resistance Rsg6One end and grinding wheel signal amplifier Asg2Inverting input terminal connection；Separately One end ground connection.Lower divider resistance Rsg7One end and grinding wheel signal amplifier Asg2Non-inverting input terminal connection；Other end ground connection.Grinding wheel Signal compares amplifier Asg1Negative power supply end ground connection.
The multiform shown in Figure 30 becomes in casting reconditioning level of processing feed control system block diagram：Multiform becomes casting reconditioning and adds Work horizontal feed control system is by comparatorHorizontal feed control calculates link Ch, preposition amplifying element AEh, driving execute ring Save Dh, hydraulic amplifying element AV, hydraulic execution link APWith horizontal feed signal detection transform part TrhIt constitutes.By processing program Or initial setting up calculates the horizontal feed Setting signal h providedR, through comparatorWith horizontal feed feedback signal hfCompare, obtains Horizontal feed Pian difference Xin ⊿ h；It is controlled in horizontal feed and calculates link Ch, horizontal feed Pian difference Xin ⊿ h switchs to horizontal feed Control signal h；Amplifying element A is set before menstruationEhAmplification, horizontal feed, which controls signal h, becomes horizontal feed driving signal hD；It is driving Execute link Dh, horizontal feed driving signal hDBe converted to spool displacement amount hV, through hydraulic amplifying element AVControl, amplification, spool Displacement hVBe converted to pressure flow quantity q；In hydraulic execution link AP, pressure flow quantity q is converted to horizontal feed displacement ho； Through horizontal feed signal detection transform part TrhConversion, horizontal feed displacement hoBecome horizontal feed feedback signal h againf。
The multiform shown in Figure 31 becomes in casting reconditioning processing vertical feed control system block diagram：Multiform becomes casting reconditioning and adds Work vertical feed control system is by through comparatorVertical feed control calculates link Cv, vertical feed amplifying element AEv, it is vertical Feeding executes link MvWith vertical feed signal detection transform part TrvIt constitutes.It is provided by processing program or initial setting up calculating Vertical feed Setting signal vR, through comparatorWith vertical feed feedback signal vfCompare, obtains vertical feed Pian difference Xin ⊿ v； It is controlled in vertical feed and calculates link Cv, vertical feed Pian difference Xin ⊿ v be converted to vertical feed control signal v；Through vertically into Give amplifying element AEvAmplification, vertical feed, which controls signal v, becomes vertical feed driving signal vD；Link is executed in vertical feed Mv, vertical feed driving signal vDBe converted to vertical feed displacement vo；Through vertical feed signal detection transform part TrvConversion, Vertical feed displacement voBecome vertical feed feedback signal v againf。
The multiform shown in Figure 32 becomes casting reconditioning processing circle pendulum and faces upward in control system block diagram：Multiform becomes casting reconditioning processing Circle pendulum faces upward control system by comparatorPendulum faces upward process control and calculates link CbP, pendulum face upward state modulator calculate link Cb, adderPendulum faces upward signal amplifying element Ab, pendulum face upward execute link MbSignal detection transform part Tr is faced upward with pendulumbIt constitutes.It is given by processing program Pendulum out faces upward program Setting signal bP, process control, which is faced upward, through pendulum calculates link CbPProcessing, becomes pendulum and faces upward program control signal b1；Together When, the pendulum elevation angle Setting signal b provided is calculated by initial setting upR, through comparatorAngle feedback signal b is faced upward with pendulumfCompare, obtains Elevation deflection Xin ⊿ b is put out；State modulator, which is faced upward, through pendulum calculates link CbProcessing, 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 is faced upward Control signal b；Signal amplifying element A is faced upward through pendulumbAmplification, pendulum face upward control signal b and face upward driving signal b as pendulumD；Execution is faced upward in pendulum Link Mb, put and face upward driving signal bDBe converted to pendulum elevation angle degree bo；Signal detection transform part Tr is faced upward through pendulumbElevation angle degree b is put in conversiono Become pendulum again and faces upward angle feedback signal bf。
The multiform shown in Figure 33 becomes casting reconditioning and processes in the oscillation control system block diagram that spirals：Multiform becomes casting reconditioning processing Oscillation control system spiral by comparatorSwing process control calculates link CrP, swing state modulator calculate link Cr, adderSwing signal amplifying element Ar, swing execute link Mr, swing signal detection transform part TrrIt constitutes.It is given by processing program Swing program Setting signal r outP, link C is calculated through swing process controlrPProcessing, becomes swing program control signal r1；Together When, the swing Setting signal r provided is calculated by initial setting upR, through comparatorWith the swinging feedback signal r that spiralsfCompare, obtains Swing Pian difference Xin ⊿ r out；Link C is calculated through swing state modulatorrProcessing, swing Pian difference Xin ⊿ r become the control of swing parameter Signal r processed2；Swing program control signal r1With swing parameter control signal r2In adderMiddle addition obtains swing control letter Number r；Through swing signal amplifying element ArAmplification, swing, which controls signal r, becomes swing driving signal rD；Link M is executed in swingr, Swing driving signal rDBe converted to swing angle ro；Through swing signal detection transform part TrrConversion, swing angle roBecome again Swinging feedback signal of spiraling rf。
The multiform shown in Figure 34 becomes in casting reconditioning processing unit (plant) system software architecture diagram：Multiform becomes casting Regrinding System Software includes feeding subsystem and polishing subsystem.Feeding subsystem includes horizontal feed portion and vertical feed portion.Polishing subsystem System includes grinding wheel portion, encloses to put and face upward portion, disk swing section and spray portion.
Horizontal feed portion is made of parameter processing, program processing, data calculating and data memory module.Vertical feed portion By the parameter processing of oneself, program processing, data calculate and data memory module forms.
Grinding wheel portion includes data processing module.Circle pendulum is faced upward portion and is stored by parameter processing, program processing, data calculating and data Module composition.Disk swing section is also made of the parameter processing of oneself, program processing, data calculating and data memory module.
When operation, multiform becomes casting Regrinding System on the whole for quasi- workpieces processing structural parameters, drawing data, processing journey Sequence, global variable and local variable are faced upward by horizontal feed, vertical feed, circle pendulum, spiral and put freedom degree and decomposed, distribute；To Horizontal feed portion, vertical feed portion, circle pendulum face upward portion, disk swing section and grinding wheel subordinate and reach corresponding 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, state feedback data；And on the whole Synchronously control horizontal feed, vertical feed, circle pendulum are faced upward, spiral and put each portion's data flow and operation section suddenly.
Horizontal feed portion becomes casting Regrinding System from multiform and totally receives horizontal feed local parameter, data, instruction, passes through Its parameter processing, program processing and the processing of data computation module calculate, and obtain horizontal feed needed for horizontal feed to fixed number According to, then stored by data memory module, and to general feedback horizontal feed data-oriented：Simultaneously by data memory module Horizontal feed data-oriented is converted to horizontal feed Setting signal h by the conversion of digital-to-analogue conversion submoduleR, become casting to multiform Reconditioning level of processing feed control system is sent out.
Vertical feed portion becomes casting Regrinding System from multiform and totally receives vertical feed local parameter, data, instruction, passes through Its parameter processing, program processing and the processing of data computation module calculate, and obtain vertical feed needed for vertical feed to fixed number According to, then stored by data memory module, and to each process data of general feedback vertical feed：Pass through data memory module simultaneously Vertical feed data-oriented is converted to vertical feed Setting signal v by the conversion of middle digital-to-analogue conversion submoduleR, become to multiform and cast Part reconditioning is processed vertical feed control system and is sent out.
Circle pendulum faces upward portion, and from multiform change casting Regrinding System, totally receiving circle pendulum faces upward local parameter, data, instruction, passes through its ginseng Number processing, program processing and the processing of data computation module calculate, and obtain pendulum needed for pendulum is faced upward and face upward program data-oriented and the pendulum elevation angle Data-oriented, then stored by data memory module, and face upward each process data to general feedback circle pendulum：It is stored simultaneously by data Pendulum is faced upward program data-oriented respectively and pendulum elevation angle data-oriented is converted to pendulum and faces upward journey by the conversion of digital-to-analogue conversion submodule in module Sequence Setting signal bPWith pendulum elevation angle Setting signal bR, become casting reconditioning processing pendulum to multiform and face upward control system submitting.
Disk swing section becomes casting Regrinding System totality receiving plate swing local parameter, data, instruction from multiform, is joined by it Number processing, program processing and data computation module processing, calculate, obtain swing program data-oriented and swing needed for swing to Fixed number evidence, then stored by data memory module, and spiral to general feedback and put each process data：Mould is stored by data 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, become casting reconditioning processing swing control system to multiform and send out.
Spray portion becomes casting Regrinding System from multiform and totally receives spray operation local instruction, and is handled by it, obtains Spray operation signal w instruction needed for spray operation, operation spray open (w=1), shut down (w=0).
The multiform shown in Fig. 3,4,9,15 becomes multiform shown in casting reconditioning processing unit (plant) topology view figure and Figure 34 and becomes In casting reconditioning processing unit (plant) system software architecture diagram：Grinding wheel portion becomes casting Regrinding System from multiform and totally receives grinding wheel operation office Portion's parameter, data, instruction obtain data and grinding wheel operation signal g needed for grinding wheel is run by the processing of its data processing module Instruction, is instructed by high level (g=1) instruction or low level (g=0), operates the logical (g of 9 power switch of grinding wheel motor respectively =1) unlatching or shut down or disconnected (g=0), i.e., that operation grinding wheel is run respectively：Pass through analog-to-digital conversion in data processing module simultaneously The conversion of submodule, by the grinding wheel radius feedback signal r of grinding wheel operating statusGThe abrasion of grinding wheel for being converted to grinding wheel operating status becomes Liang ⊿ RG, to general feedback.
The multiform shown in Figure 35 becomes in casting reconditioning processing unit (plant) system software overview flow chart：
Multiform becomes casting reconditioning processing unit (plant) system software overall procedure to manually check, confirm readiness for operation (such as Electricity, water, pressure fluid, workpiece clip etc. equipment it is ready) and the machine self-test of program start；If it is confirmed that errorless and self-test passes through, It is surplus that such as workpiece serial number No, straight stick segment length U, straight stick section clip are then carried out by the man-machine interface that multiform becomes casting Regrinding System Remaining length UW, horizontal feed initial bit reference value H0, vertical feed initial bit reference value V0, grinding wheel edge column side effectively polishes Tui Jin Liang ⊿ G, grinding wheel radius RG, grinding 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、 Polishing 1/4 cycle T of ringCWith 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 bevel edge variable RS, horizontal feed speed variables vh, vertical feed speed variables vy, swing angular speed variable vr And its word length；Finally, operation starting, goes to Step1, otherwise shuts down.
Step1. enabled instruction , is connected to An the ⊿ G of ⊿ Φ=18 (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 assigned a value of RI=RG-⊿RG, by horizontal feed reference value Variable HIIt is assigned a value of HI=H0, by vertical feed reference value variable VIIt is assigned a value of VI=V0, elevation angle bevel edge variable R will be putSIt is assigned a value of RS =R+R1, by workpiece radius variable RWIt is assigned a value of RW=Φ1/2。
Meanwhile by 0 ° of initial bit at the pendulum elevation angle to pendulum elevation angle Setting signal bRAssignment, by rR=sin-1((Φ2/2+RI)/R) + ⊿ Φ is to swing Setting signal rRAssignment, i.e. control loop, Pan Jiao preparation.
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 assigned a value of w=1, i.e., spray is opened.
Step4. grinding wheel operation signal g is assigned a value of g=1, i.e. grinding wheel is opened.
Step5. enter straight stick and curve transition section bruting process Proc0：
Step6. grinding wheel operating condition is judged, by grinding wheel radius variable RIIt is assigned a value of RI=RI-⊿RG；If wear and tear overrun, i.e. RI≤ Rm, then Step10 is jumped to.
Step7. enter bending section bruting process Proc1：
Step8. grinding wheel operating condition is judged, by grinding wheel radius variable RIIt is assigned a value of 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 assigned a value of HI=H0-0.6428R0, then by vertical feed reference value variable VIIt is assigned a value of VI=V0-0.766R0, Put elevation angle bevel edge variable RSIt is assigned a value of RS=R+R2。
Step10. judge that bending section axis radius transformation angle reaches situation, if pendulum elevation angle degree bo>It 70 °, then jumps to Step11；Otherwise, the process of Proc1 is repeated with Tui Jin Liang ⊿ G/2 and expansion Liang ⊿ Φ/2.
Step11. grinding wheel operation signal g is assigned a value of g=0, i.e. grinding wheel is shut down.
Step12. spray operation signal w is assigned a value of w=0, i.e., spray is shut down.
Step13. by horizontal feed Setting signal hRIt is assigned a value of 0, elevation angle Setting signal b will be putRIt is assigned a value of 0, i.e. control water Flat feeding and the pendulum elevation angle reset.
Step14. by vertical feed Setting signal vRIt is assigned a value of 0, by swing angle Setting signal rRIt is assigned a value of 0, i.e. control is hung down Straight-in feed and pivot angle reset of spiraling.
Finally, manual stoppage.

Claims (7)

1. a kind of multiform, which becomes casting reconditioning pendulum, faces upward control method, casting reconditioning processing unit (plant) is become by application multiform and its system is soft Part is realized；It is characterized in that：
The processing portion mechanism C that multiform becomes casting reconditioning processing unit (plant) is executed to put elevation angle degree bo, swing angle roReconditioning workpiece B's Task；Swing angle roIt is marked with counterclockwise arrow positive；Tui Jin Liang ⊿ G effectively polish by grinding wheel edge in grinding wheel edge column side The minimum polishing push-in stroke on column side consolidation contact workpiece bending section convex surface calculates, true according to workpiece number and selected grinding wheel specification It is fixed；First bending section axial line center of circle O1As dynamic point is fed, pass through horizontal feed initial bit reference value H0It is initial with vertical feed Position reference value V0Estimate, opposite freedom of processing benchmark rectangular coordinate system origin O, according to Workpiece structure view, opposite 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 grinding wheel edge column 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 and second curved 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 calculates and determines pendulum elevation angle degree bo, swing angle roGiven value and program given value；
Multiform becomes casting reconditioning processing unit (plant) by the control of each freedom degree control system execution link and working power, 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 current is electrically accessed multiform Casting 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 It connects；Wherein a phase line passes through power supply group breaker SUAccess computer operation power supply group UPS；Zero curve 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 DrbDriving signal b is faced upward by pendulumDControl System driving；Circle pendulum faces upward drive motor driver DrbFor the dedicated AC/DC/AC-SPWM three-phase drive circuit mould of permanent-magnet servo motor Block；Industrial control computer ICC is the control core and software carrier that this multiform becomes casting reconditioning processing unit (plant)；Industrial control computer ICC Computer operation power supply group UPS be multiple groups DC output power device；
It includes feeding subsystem and polishing subsystem that multiform, which becomes casting Regrinding System software,；Feeding subsystem includes horizontal feed portion With vertical feed portion；Polishing subsystem includes grinding wheel portion, encloses to put and face upward portion, disk swing section and spray portion；
Multiform becomes casting reconditioning processing circle pendulum and faces upward control system by comparatorPendulum faces upward process control and calculates link CbP, pendulum face upward ginseng Number control calculates link Cb, adder ⊕, pendulum face upward signal amplifying element Ab, pendulum face upward execute link MbSignal detection transformation is faced upward with pendulum Link TrbIt constitutes；Program Setting signal b is faced upward by the pendulum that processing program providesP, process control, which is faced upward, through pendulum calculates link CbPProcessing, Program control signal b is faced upward as pendulum1；Meanwhile the pendulum elevation angle Setting signal b provided is calculated by initial setting upR, through comparatorWith Pendulum faces upward angle feedback signal bfCompare, obtains pendulum elevation deflection Xin ⊿ b；State modulator, which is faced upward, through pendulum calculates link CbProcessing, pendulum are faced upward Angular displacement Xin ⊿ b becomes pendulum and faces upward parameter control signal b2；Pendulum faces upward program control signal b1Parameter control signal b is faced upward with pendulum2Adding It is added in musical instruments used in a Buddhist or Taoist mass ⊕, show that pendulum faces upward control signal b；Signal amplifying element A is faced upward through pendulumbAmplification, pendulum are faced upward control signal b and are faced upward as pendulum Driving signal bD；It is faced upward in pendulum and executes link Mb, put and face upward driving signal bDBe converted to pendulum elevation angle degree bo；Signal detection transformation is faced upward through pendulum Link TrbElevation angle degree b is put in conversionoBecome pendulum again and faces upward angle feedback signal bf；
Circle pendulum faces upward driving motor and faces upward drive motor driver Dr by circle pendulumbIt is driven and is run with three phase sine electric current；Circle pendulum faces upward driving electricity Machine faces upward transmission gear by the circle pendulum for coaxially assembling, driving on its outer rotor, and band movable pendulum faces upward bar and generates pendulum elevation angle degree bo；Circle pendulum is faced upward Driving motor, circle pendulum face upward transmission gear and pendulum faces upward bar and constitutes pendulum and face upward and executes link MbPendulum is faced upward into driving signal bDPendulum is converted to face upward Angle bo；The 12V output line of computer operation power supply group UPS, which is drawn, is used as drive circuit works power positive end EN, -12V output Line, which is drawn, is used as drive circuit works power cathode end EP, 5V output line, which is drawn, is used as control circuit working power positive terminal ESP,- 5V output line, which is drawn, is used as control circuit working power negative pole end ESN；
When operation, multiform become casting Regrinding System on the whole by quasi- workpieces processing structural parameters, drawing data, processing program, Global variable and local variable are faced upward by horizontal feed, vertical feed, circle pendulum, spiral and put freedom degree and decomposed, distribute；Xiang Shui Flat feeding portion, vertical feed portion, circle pendulum face upward portion, disk swing section and grinding wheel subordinate and reach corresponding local parameter, data, instruction；Simultaneously Receive horizontal feed, vertical feed, circle pendulum face upward, spiral pendulum and each process of abrasion of grinding wheel, state feedback data；And it is same on the whole Controlled level feeding, vertical feed are walked, encloses to put and faces upward, spirals and put each portion's data flow and operation section suddenly.
2. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：The right end of base processing department It extends upward pendulum and faces upward driving portion 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 assembly circle pendulum mass is faced upward to enclose pendulum in end；Circle pendulum mass is cirque structure, is set with capstan in ring；It encloses pendulum mass and passes through capstan bearing Mechanism constitutes tangential rolling with capstan and is slidably matched；Swing driving portion is made in the top of circle pendulum mass；Swing driving portion is nibbled by coil Conjunction portion drives capstan to rotate in circle pendulum mass；The upper left face of capstan is processing work face, equipped with to cover entire capstan and rotation The protective plate of disk Bearning mechanism；The upper middle position of capstan is coated with spray tube；The left part of spray tube is bent downwardly, and nozzle is with nozzle court To grinding wheel；The right end of spray tube is connected to spray telescoping tube；By spraying telescoping tube, spray tube is penetrated through, is introduced, being connected to spray behaviour Make execution system；The lower middle position of capstan is equipped with assembly and drives the grinding wheel motor of grinding wheel；The lower end for enclosing pendulum mass is downward to the right It stretches out arc-shaped pendulum and faces upward bar；The right part that pendulum faces upward bar protrudes into pendulum and faces upward driving portion；Base processing department is assemblied in the right end of base；Base adds Bathtub construction is made in the left part of the Ministry of worker, and left-front corner is formed with leakage fluid dram.
3. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：Circle pendulum mass is circular ring shape knot Structure, coaxial package capstan in ring；Circle pendulum mass constitutes tangential rolling with capstan by capstan Bearning mechanism and is slidably matched；Capstan can enclose Opposite 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 axis section, outside matching ring The working face back side at edge is formed with the external tooth of coil engaging section, and capstan Bearning mechanism is assembled in working face side；Capstan matching ring Interior to face grinding wheel edge along working face side, bilateral symmetry assembles a pair of of grinding wheel edge sensor；The working face of capstan is with useful To cover the protective plate of entire capstan and capstan Bearning mechanism；Circle pendulum mass on be equipped with grinding wheel motor, processing department retractable cable, Spray tube and grinding wheel；Across capstan and protective plate, the lower middle position fastening of capstan is equipped with grinding wheel motor；Motor shaft end fastening It assembles and coaxially drives grinding wheel；Across capstan and protective plate, the upper middle position of capstan is equipped with spray tube；The nozzle of spray tube is to spray Mouth is towards grinding wheel；Between capstan and protective plate, the signal congruence of the driving cable and grinding wheel edge sensor of grinding wheel motor Hold together, and covering is grinding wheel portion cable；It encloses on the outside of the annulus of pendulum mass, a pair of of circle pendulum of assembly is symmetrically fastened along horizontal axis and faces upward axis；Enclose pendulum mass Extend pendulum and face upward bar in lower end；It along top in the ring of circle pendulum mass, encloses between pendulum mass and protective plate, along the ring attachment of circle pendulum mass There is the swing angular displacement sensor of circular arc line style.
4. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：Circle pendulum mass is circular ring shape knot Structure, coaxial package capstan in ring；Circle pendulum mass constitutes tangential rolling with capstan by capstan Bearning mechanism and is slidably matched；Enclose the upper of pendulum mass Swing driving portion is made in portion；Swing driving portion mounted inside, which is spiraled, puts driving motor；It spirals and puts driving motor as external rotor permanent magnet Servo motor drives swing driving portion with its outer rotor；The external tooth of swing driving portion and the outer tooth engagement of capstan constitute coil and nibble Conjunction portion；By coil engaging section, swing driving portion drives capstan opposite 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 out of spiral the outer end axis for putting driving motor Out；Capstan disk body is to be formed with " I " the shape structure for increasing matching ring along axis section, and the working face back side of the outer edge of matching ring is formed with disk The external tooth of engaging section is enclosed, capstan Bearning mechanism is assembled in working face side；The working face of capstan be furnished with to cover entire capstan and The protective plate of capstan Bearning mechanism；Grinding wheel motor, processing department retractable cable, spray tube and grinding wheel are equipped on circle pendulum mass；It wears Capstan and protective plate are crossed, the lower middle position fastening of capstan is equipped with grinding wheel motor；Motor shaft end fastening is assembled and is coaxially driven Grinding wheel；In working face back side, spray tube and spray telescoping tube are connected, are penetrated through；Across capstan and protective plate, the upper middle position dress of capstan Equipped with spray tube；The nozzle of spray tube is with nozzle towards grinding wheel；Between capstan and protective plate, disk of the grinding wheel portion cable along capstan Face is applied to spray tube and wears place, comes together with spray tube, and wears capstan Pan Bi；In working face back side, the flexible electricity of processing department Cable comes together with grinding 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；It is arc-shaped that pendulum, which faces upward bar, Reinforcing rib structure, circular arc outside are milled with circle pendulum and face upward driving rack；Working face one end backwards on the inside of circular arc is milled with the circle pendulum elevation angle Displacement sensing is driven bayonet；It along top in the ring of circle pendulum mass, encloses between pendulum mass and protective plate, along the ring attachment of circle pendulum mass There is the swing angular displacement sensor of circular arc line style；The transmission of swing angle displacement transducer is formed on the inside of the circular arc of swing angular displacement sensor Bayonet lock, the transmission bayonet lock drive with the card slot at the top of capstan longitudinal axis.
5. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：Circle pendulum mass is circular ring shape knot Structure, the working face back side of annulus inside edge are formed with the internal tooth of coil engaging section, and capstan Bearning mechanism is assembled in working face side；Annulus Interior coaxial package capstan；Capstan disk body is to be formed with " I " the shape structure for increasing matching ring along axis section, the work of the outer edge of matching ring Face back side is formed with the external tooth of coil engaging section, and capstan Bearning mechanism is assembled in working face side；It encloses pendulum mass and passes through capstan Bearning mechanism Tangential rolling is constituted with capstan to be slidably matched；Capstan opposite in circle pendulum mass can enclose pendulum mass coaxial rotating.
6. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：Base is in base processing department Left back be connected as one with base processing department；The right end of base processing department extends upward pendulum and faces upward driving portion 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 driving portion Outer main body be triangle reinforcing rib structure；Pendulum face upward driving portion inside dig have circle pendulum face upward driving rack telescopic cavity and circle pendulum face upward driving Room；It is arc-shaped cavity that pendulum, which faces upward driving rack telescopic cavity, and circular arc axial line is the axial line for enclosing pendulum and facing upward bearing, and circular arc outer end exists Pendulum faces upward driving portion inclined-plane side opening；Quan Baiyang drive chamber position transverse presentation axial line cylindrical cavity, cylinder axial line and circle pendulum face upward axis The perforation of driving rack telescopic cavity is faced upward with pendulum in the axis parallel held, cylinder upside；In Quan Baiyang drive chamber, it is coaxially equipped with band The circle pendulum that moving-coil pendulum faces upward transmission gear faces upward driving motor；Circle pendulum face upward driving motor be outer rotor alternating-current permanent-magnet servo motor, two End axis fastening is assemblied on the cylindrical both ends side wall of Quan Baiyang drive chamber；On the inside of the circular arc that pendulum faces upward driving rack telescopic cavity Wall is pasted with the pendulum elevation angle displacement sensor of circular arc line style；It puts and is formed with circle pendulum elevation angle position on the outside of the circular arc of elevation angle displacement sensor Move sensing transmission bayonet lock；Bathtub construction is made in the upper surface of base processing department, and bathtub construction faces upward drive backwards to the side of working face and pendulum The inclined-plane curved surface connection in dynamic portion.
7. multiform according to claim 1, which becomes casting reconditioning pendulum, faces upward control method, it is characterized in that：Multiform becomes casting reconditioning and adds It is two stage amplifer signal processing circuit that work pendulum, which faces upward signal detection translation circuit,；Pendulum faces upward signal divider resistance Rsb1One end be connected to Control circuit working power positive terminal ESP, amplifier A compared with the other end faces upward signal with pendulumsb1Non-inverting input terminal connection；Pendulum faces upward signal Balance resistance Rsb2One end be connected to control circuit working power positive terminal ESP, amplifier A compared with the other end faces upward signal with pendulumsb1's Inverting input terminal 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, 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 terminal 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 Asb1Non-inverting input terminal draw as pendulum face upward Feeding sensing electric potential signal sbInput terminal；Pendulum faces upward signal and compares amplifier Asb1Output end and pendulum face upward signal Coupling Potential device GbIt is dynamic Arm connection；Pendulum faces upward signal feedback resistance Rsb5One end and pendulum face upward signal amplifier Asb2Normal phase input end connection, the other end and 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；Put the pendulum elevation angle displacement sensor equivalent resistance R in the displacement sensor of the elevation anglebA quiet arm faced upward with pendulum together with swing arm Signal compares amplifier Asb1Non-inverting input terminal connection；Another quiet arm ground connection；Pendulum faces upward signal-balanced adjusting resistance Rsb3A quiet arm Amplifier A compared with facing upward signal with pendulum together with swing armsb1Inverting input terminal 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 TVSbCathode and pendulum face upward signal Coupling Potential device GbIt is another quiet Arm connection, plus earth；Pendulum faces upward signal load resistance Rsb4One end and pendulum face upward signal amplifier Asb2Inverting input terminal 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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CN2865998Y (en) * 2005-08-19 2007-02-07 北京英讯通光电科技有限公司 Double-oscillating grinder
CN201552474U (en) * 2009-10-30 2010-08-18 深圳市金钻工具制造技术有限公司 Asymmetric multipoint tool sharpening numerically controlled grinder
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