CN112296852B - Movement device for polishing PE (polyethylene) ball core and control method - Google Patents
Movement device for polishing PE (polyethylene) ball core and control method Download PDFInfo
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- CN112296852B CN112296852B CN202010697961.8A CN202010697961A CN112296852B CN 112296852 B CN112296852 B CN 112296852B CN 202010697961 A CN202010697961 A CN 202010697961A CN 112296852 B CN112296852 B CN 112296852B
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- ball core
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- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
- B24B29/04—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for rotationally symmetrical workpieces, e.g. ball-, cylinder- or cone-shaped workpieces
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- 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
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- 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
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- 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
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- 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
- B24B49/12—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 involving optical means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a PE ball core automatic polishing system based on torque control and a control method. The problems of complex structure, high operation requirement and low applicability of PE ball core polishing equipment in the prior art are solved. The system comprises a supporting frame, wherein a ball core rotating mechanism for clamping the PE ball core is arranged in the supporting frame, and a two-degree-of-freedom motion mechanism is arranged at the upper part of the supporting frame; the two-degree-of-freedom motion mechanism comprises a first motion component and a second motion component, and the first motion component is arranged on the support frame in a sliding mode through the ball core positioning mechanism; the polishing mechanism is arranged on the second moving assembly and comprises a polishing cloth wheel, and the polishing cloth wheel does circular motion along the surface of the PE ball core. The polishing is carried out according to the sequence of ball core clamping, ball core positioning, parameter setting, ball core polishing and stopping resetting. The invention automatically finishes the polishing of the PE ball core, has simple operation, low requirements on the operation experience and the technical level of operators, wide applicability range and ensures high polishing precision.
Description
Technical Field
The invention relates to the technical field of polishing, in particular to a movement device for polishing a PE (polyethylene) ball core and a control method.
Background
Traditional natural gas pipeline components (including pipelines, valves, adapter joints, flanges, bolts, nut gaskets and the like) are generally processed by adopting metal materials, and due to the characteristic that the metal materials are easy to corrode, the natural gas pipeline components often need to be subjected to anticorrosion treatment and daily maintenance. In recent years, there has been a trend to use Polyethylene (PE) materials that are not susceptible to corrosion for natural gas pipeline components. Among them, the PE ball valve (polyethylene ball valve) has been widely adopted by various large gas companies in our country.
The PE ball valve mainly comprises a PE ball core and a PE pipe fitting, and the product performance (air tightness, flow characteristics, switching torsion and opening stability) and the like of the PE ball valve are directly influenced by the roundness and the surface roughness of the PE ball core: the smaller the roundness error and the surface roughness are, the easier the PE ball core is matched with the PE pipe fitting, so that the performance of the PE ball valve is better.
Polishing is the last process for ensuring the roundness and the surface roughness of the PE ball core, and is also the most important process. The traditional PE ball core polishing usually adopts a manual mode (firstly, the sand paper is used for manual grinding, and then a hand-held motor is used for driving a polishing cloth wheel to perform fine grinding). The manual polishing method has high requirements on the experience and level of operators, and particularly, the pressure between the polishing wheel and the ball core is kept constant in the polishing process so as to ensure the consistency of the surface roughness of the whole ball core. Therefore, the manual polishing method is time-consuming, labor-consuming, inefficient and costly. Aiming at the defects of manual polishing of the PE ball core, the industry needs to develop an automatic polishing device for the PE ball core.
Disclosure of Invention
The invention mainly solves the problems that in the prior art, a manual mode is adopted for polishing a PE ball core, the experience level of operators is high, the efficiency is low, and the contract is high, and provides a torque control-based automatic polishing system and a torque control-based automatic polishing control method for the PE ball core.
The technical problem of the invention is mainly solved by the following technical scheme: a sports apparatus for polishing a PE ball core is characterized in that: comprises that
The radial guide rail mechanism is connected with a polishing mechanism for polishing the PE ball core and drives the polishing mechanism to move radially;
the arc guide rail mechanism is provided with the radial guide rail mechanism and drives the radial guide rail mechanism to do circular motion, and the arc guide rail mechanism is arranged on the ball core positioning mechanism;
the ball core positioning mechanism comprises a center searching moving component for moving the arc guide rail mechanism and a laser distance sensor;
the polishing mechanism is provided with a polishing cloth wheel, the polishing cloth wheel does circular motion along the surface of the PE ball core, and a first laser sensor and a second laser sensor for detecting the surface roughness of the PE ball core are respectively arranged on two sides of the polishing cloth wheel;
and the controller controls the laser distance sensor to perform horizontal scanning to obtain the position of the center of the PE ball core, controls the ball core positioning mechanism to move to complete the positioning of the circle center of the circular motion and the center of the ball core, obtains the surface roughness information of the ball core before and after polishing, and adjusts the motion speed of the polishing cloth wheel according to the surface roughness.
The radial guide rail mechanism and the arc guide rail mechanism jointly form a two-degree-of-freedom motion mechanism, and the radial guide rail mechanism drives the polishing mechanism to move radially, so that the radial guide rail mechanism is used for adjusting the contact distance between a polishing cloth wheel of the polishing mechanism and the PE ball core and controlling the polishing cloth wheel to apply constant radial pressure to the PE ball core. The circular arc guide rail mechanism makes circular motion, and the polishing mechanism is driven to make circular motion together through the radial guide rail mechanism, so that a polishing cloth wheel of the polishing mechanism can make circular motion along with the surface of the PE ball core, and polishing of the PE ball core is realized. The circular arc guide rail mechanism is arranged on the ball core positioning mechanism, the ball core positioning mechanism can respond, and the circular motion circle center of the circular arc guide rail mechanism is moved to the circle center position of the PE ball core under the control of the controller. The polishing mechanism is provided with a first laser sensor and a second laser sensor which are distributed on two sides of the polishing cloth wheel and used for respectively detecting the surface roughness information of the ball core before and after polishing. The first laser sensor/the second laser sensor detects whether the surface roughness of the ball core before or after polishing is determined according to the direction of the circular motion. The controller receives the information of the two laser sensors, judges the polishing effect according to the direct difference change of the surface roughness of the two ball cores, determines whether to increase or decrease the polishing speed according to the polishing effect, generally sets an upper threshold and a lower threshold, compares the difference with the upper threshold and the lower threshold, if the difference is smaller than the lower threshold, the polishing precision is lower, the polishing speed is controlled to be increased, and if the difference is larger than the upper threshold, the polishing speed is controlled to be decreased. The structure of the invention can simply and conveniently realize the circular motion and the radial motion of the polishing cloth wheel required in the process of the PE ball core polishing process, and does not need XY two-circle motion synthesis and complex interpolation algorithm. The device can conveniently realize various control algorithms in the PE ball core polishing process, including polishing motion datum positioning, polishing motion control and polishing speed control. The device has the advantages of simple structure, reliable operation, convenient control and low manufacturing cost.
As a preferred scheme, the arc guide rail mechanism comprises a supporting plate and an arc guide rail connected to the supporting plate, a swing arm is rotatably connected to the position, located at the circle center of the arc guide rail, of the supporting plate, the front end of the swing arm is connected with a guide rail trolley driven by a first motor, and the guide rail trolley is connected to the arc guide rail in a sliding mode. The arc guide rail of the arc guide rail mechanism is semicircular, and the semicircular arc guide rail can polish the surface of the PE ball core within 180 degrees. The circular arc guide rail is arranged on one side of the supporting plate, two ends of the circular arc guide rail are respectively fixed on the side face of the supporting plate, the circular position of the circular arc guide rail is located on the supporting plate, and a semicircular space is formed between the supporting plate and the circular arc guide rail so as to be used for setting and moving the polishing mechanism. Swing arm one end is rotated and is connected in the backup pad circular arc guide rail centre of a circle department, and the other end is connected with the guide rail dolly, and guide rail dolly sliding connection is on circular arc guide rail, and the swing arm can drive the guide rail dolly like this and carry out circular motion on circular arc guide rail.
As a preferred scheme, the guide rail trolley comprises a base and at least one pair of pulleys, the surfaces of the pulleys are arranged oppositely, a rotating shaft is arranged at the center of each pulley and fixed at the bottom of the base, the arc guide rail is clamped between the pair of pulleys, the first motor is arranged on the base, a driving gear linked with the first motor is arranged at the bottom of the base, a rack is arranged on the side surface of the arc guide rail, and the driving gear is meshed with the rack. The guide rail dolly instruction includes a pair of pulley in this scheme, generally adopts two pairs of pulleys, and the pulley adopts the setting of keeping flat, then installs on the base bottom through the pivot, and the pulley is two rows of correspondences and sets up, forms the space of installation circular arc guide rail between two rows of pulleys, and the circular arc guide rail centre gripping is between two rows of pulleys during the installation. This circular arc guide rail is T shape structure, is provided with the draw-in groove on the wheel face of pulley, and when the pulley was connected with the circular arc guide rail, the draw-in groove of pulley and the circular arc guide rail upper portion edge block of T shape for the pulley combines inseparabler with the circular arc guide rail, prevents that the pulley from breaking away from the guide rail, and plays the guide effect, makes the pulley slide more smoothly. The rack is specifically arranged on the side face of the lower part of the T-shaped arc guide rail, the rotating shaft of the first motor penetrates through the base, the bottom of the base is connected with the driving gear, the driving gear is meshed with the rack, and the first motor drives the driving gear to rotate, so that the guide rail trolley moves on the arc guide rail.
As a preferred scheme, the radial guide rail mechanism comprises a radial guide rail, a radial lead screw and a sliding block, the radial lead screw is fixedly arranged on the swing arm in a rotating mode, one end of the radial lead screw is connected with a second motor for driving the radial lead screw to rotate, the radial guide rail comprises a pair of radial lead screws which are respectively arranged on two sides of the radial lead screw, the sliding block is slidably arranged on the radial guide rail, a threaded sleeve is arranged at the bottom of the sliding block and in threaded connection with the radial lead screw, and the polishing mechanism is fixed on the sliding block. The fixed axis of radial lead screw rotates in this scheme and installs in the swing arm, and specific one that is located the backup pad in the swing arm is served and is provided with first fixed plate, is located one of guide rail dolly in the swing arm and serves and be provided with the second fixed plate, and radial silk axle one end is passed through the bearing and is installed on first fixed plate, and the second fixed plate is passed to the radial silk axle other end, is connected with second motor shaft, and radial silk axle also passes through the bearing and connects on the second fixed plate. Under the drive of the second motor, the radial screw shaft rotates in situ, and the slide block moves back and forth on the radial guide rail under the rotation of the screw thread of the radial screw shaft to drive the polishing mechanism to move radially.
As a preferred scheme, still include the motion control subassembly, the motion control subassembly includes two first limit switch, two second limit switch, first origin switch and second origin switch, two first limit switch set up respectively at circular arc guide rail both ends, first origin switch sets up in one of them first limit switch inboard, two second limit switch set up respectively at radial guide rail both ends, second origin switch sets up in one of them second limit switch inboard, first limit switch, the second limit switch, first origin switch, second origin switch connects the controller respectively. First initial point switch on the arc guide rail provides the benchmark for the cylinder motion in this scheme, the controller uses first initial point switch signal trigger point as the benchmark, a plurality of pulse signal is sent to the first motor mutually, the rotatory a plurality of circles of first motor (the motor rotates the pulse quantity that the round needs, there is the pulse equivalent to decide), promote a plurality of angles of guide rail dolly forward motion, after the guide rail dolly moves the settlement angle, the controller is to first motor send direction signal to this circular scanning motion of accomplishing the cycle and beginning. The first limit switch is used for preventing the guide rail trolley from moving excessively, when the guide rail trolley rushes out of a set range due to reasons such as faults, the guide rail trolley touches the first limit switch, and the controller stops the first motor from rotating after receiving a signal of the first limit switch. Similarly, install the second origin switch on radial guide for radial motion provides the benchmark, the controller passes through the required distance of second motor drive slider motion on this benchmark, and second limit switch also prevents that the slider motion is excessive, and when rushing out the limited range because of the fault slider, will touch second limit switch, the controller stops the second motor after receiving the second limit switch signal and rotates.
As a preferred scheme, the center-seeking moving assembly comprises a first long slide rail, a long lead screw and a second long slide rail, a first long slide rail sliding block is connected to the first long slide rail in a sliding mode, the long lead screw is installed in a fixed shaft mode, one end of the long lead screw is connected with a third motor for driving the long lead screw to rotate, the second long slide rail comprises a pair of long slide rails, the long slide rails are arranged on two sides of the second long slide rail respectively, a second long slide rail sliding block is connected to the second long slide rail in a sliding mode, a threaded sleeve is arranged at the bottom of the second long slide rail sliding block and connected with the long lead screw in a threaded mode, and the arc guide rail mechanism is installed on the first long slide rail sliding block and the second long slide rail sliding block. The ball core positioning mechanism in the scheme is used for moving the rotating center of the arc guide rail mechanism to the linear position of the center of the PE ball core. The first long slide rail and the second long slide rail are respectively arranged at the two sides of the fixed carrier, and the arc guide rail mechanism is arranged on the first long slide rail slide block and the second long slide rail slide block at the two sides in a spanning manner. And the third motor drives the filament shaft to rotate in a fixed shaft mode, the filament shaft rotates to drive the second long slide rail slide block in threaded connection with the filament shaft to slide on the second long slide rail, so that the arc guide rail mechanism is driven to move back and forth, and the position is adjusted until the rotating center of the swing arm of the arc guide rail mechanism is on the straight line where the center of the circle of the PE ball core is located.
As a preferred scheme, the laser distance sensor is arranged at the position, corresponding to the circle center of the arc guide rail, on the bottom of the supporting plate. The laser distance sensor detects the distance value between the surfaces of the PE spherical cores, the controller obtains the minimum distance point on the PE spherical cores according to the distance value, the center-searching moving assembly is controlled to move, and the laser distance sensor is moved to the minimum distance point on the surfaces of the PE spherical cores.
As a preferred scheme, polishing mechanism includes the fixed bolster, is provided with the card concave on fixed bolster upper portion, and the concave upper end of card is provided with the buckle, the concave from bottom to top cover of card is outside radial guide mechanism, and the buckle is fixed on the slider, is provided with polishing motor in the fixed bolster, polishing motor shaft wear out the fixed bolster lower extreme with polishing cloth takes turns to and connects, still is provided with torque sensor in polishing motor shaft, and torque sensor is connected to the controller, first laser sensor and second laser sensor set up in the fixed bolster bottom and are located through the connecting rod respectively polishing cloth takes turns both sides. Polishing mechanism hangs and puts in radial guide mechanism in this scheme, and the fixed bolster is long columnar structure, and fixed bolster upper portion is that the card of U-shaped is concave, during the installation, will block concavely by lower supreme cover outside radial guide mechanism, radial guide mechanism on swing arm and the swing arm is crossed by lower supreme cover promptly, fixes the buckle on the slider, and the buckle is connected with the upper end of the concave both sides of card, hangs the fixed bolster whole on the slider like this, blocks concavely and the swing arm contactless. The upper surface of the sliding block is provided with a limiting groove, the lower surface of the pinch plate is provided with a corresponding limiting block, and the limiting block is clamped into the limiting groove to be fixed during installation, so that the buckle is more stable. The torque sensor is used for collecting a torque value of the motor rotating shaft and sending the torque value to the controller. The polishing cloth wheel is arranged on the lower portion of the fixed support, a third motor rotating shaft penetrates through the fixed support to be connected with the polishing cloth wheel, the polishing cloth wheel is horizontally arranged, and the polishing cloth wheel is driven by the third motor to rotate in the horizontal plane. The installation height of the polishing cloth wheel is adjusted in advance, so that the plane where the polishing cloth wheel is located is superposed with the spherical center of the PE spherical core. The constancy of the radial pressure applied to the PE ball core by the polishing cloth wheel in the polishing process is the key for ensuring the polishing precision of the PE ball core. The polishing radial pressure is determined by the contact distance between the polishing cloth wheel and the PE ball core, and the smaller the distance between the polishing cloth wheel and the PE ball core, the larger the polishing radial pressure. To control the polishing precision accurately, need adjust their distance according to the pressure between polishing cloth wheel and the PE ball core, in practical application, it is comparatively difficult complicated that contact pressure sensor installation between polishing cloth wheel (soft material) and the PE ball core (rigid material), there is the direct proportion relation between polishing moment of torsion and the polishing pressure in consideration, polishing pressure is big more means to press between polishing cloth wheel and the PE ball core and more tightly, the moment of torsion that polishing cloth wheel received is also big more, adopt torque sensor to detect the polishing moment of torsion that polishing cloth wheel received in this scheme, replace the direct detection of polishing pressure, installation easy operation is convenient, also do not influence the control to polishing precision simultaneously. The controller controls the first motor to drive the polishing cloth wheel to do circular motion, and if the roundness error of the PE ball core is zero, namely the PE ball core is a strict sphere, the distance between the polishing cloth wheel and the PE ball core is kept constant, so that the polishing pressure is constant. In the actual polishing process, the roundness error of the PE ball core cannot be zero, so that the polishing pressure is changed in real time in the actual polishing process, and the control unit adjusts the distance between the polishing cloth wheel and the PE ball core by controlling the second motor according to the change of the received torque value, so that the torque value is kept in a proper range.
A motion control method for polishing a PE ball core comprises a ball core positioning step and a polishing motion control step, wherein the ball core positioning step comprises,
s11, controlling a ball core positioning mechanism to move a laser distance sensor to a position above the PE ball core;
s12, moving the laser distance sensor to perform horizontal scanning movement, detecting a distance value between the surface of the PE ball core and the laser distance sensor in real time, and sending data to a controller after scanning is finished;
s13, comparing the distance value by the controller to obtain the point position with the minimum distance value;
s14, controlling the ball core positioning mechanism to move the laser distance sensor to a point position with the minimum distance value.
Preferably, the polishing motion controlling step includes,
s21, after polishing motion starts, the first laser sensor and the second laser sensor are used for detecting the surface roughness of the ball core in real time and sending the detected surface roughness to the controller;
s22, the controller calculates the difference value of the roughness detected by the first laser sensor and the roughness detected by the second laser sensor;
s23, presetting an upper difference value limit and a lower difference value limit, comparing the difference value with the upper difference value limit and the lower difference value limit, controlling the polishing motor to increase the polishing speed if the difference value is smaller than the lower difference value limit, and controlling the polishing motor to decrease the polishing speed if the difference value is larger than the upper difference value limit. The preset upper limit value and the preset lower limit value of the difference value are set according to the requirements in practical application, and the polishing speed is adjusted to be matched with the field process working conditions such as the material, the surface roughness and the size of the ball core.
Therefore, the invention has the advantages that:
1. by adopting the radial guide rail mechanism and the circular arc guide rail mechanism, the circular motion and the radial motion of the polishing cloth wheel required in the PE ball core polishing process are simply and conveniently realized, XY two-cycle motion synthesis is not required, and a complex interpolation algorithm is also not required;
2. various control algorithms in the PE ball core polishing process can be conveniently realized, including polishing motion datum positioning, polishing motion control and polishing speed control;
3. the device has the advantages of simple structure, reliable operation, convenient control and low manufacturing cost, and effectively promotes the industrialization and the practicability of the automatic PE ball core polishing machine.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a core positioning mechanism according to the present invention;
FIG. 3 is a schematic view of a combination of the circular arc guide rail and the guide rail trolley according to the present invention;
FIG. 4 is a schematic view of a polishing mechanism according to the present invention;
FIG. 5 is a schematic diagram of one configuration of a polishing system employing the apparatus of the present invention;
FIG. 6 is a schematic diagram of the operation of the core positioning mechanism of the present invention;
FIG. 7 is a schematic view of a configuration of the present invention in which the buffing wheel contacts the PE core;
FIG. 8 is a schematic view of the control of the circular motion speed of the polishing cloth wheel in the present invention;
FIG. 9 is a schematic flow chart of the center of sphere positioning step of the method of the present invention;
FIG. 10 is a schematic flow chart of the polishing motion control step of the method of the present invention;
fig. 11 is a schematic view of an installation structure of the motion control assembly of the present invention.
1-support plate 2-arc guide rail 3-swing arm 4-first motor 5-guide rail trolley 6-base 7-pulley 8-radial guide rail 9-radial lead screw 10-slider 11-second motor 12-first long slide rail 13-filament rod 14-second long slide rail 15-first long slide rail slider 16-second long slide rail slider 17-third motor 18-fixed support 19-clamping concave 20-buckle 21-polishing motor 22-polishing cloth wheel 23-torque sensor 24-support frame 25-upright post 26-crossbeam 27-machine base 28-PE ball core 29-laser distance sensor 32-first limit switch 33-first origin switch 34-second limit switch 35 Two-origin switch.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the present embodiment of a sports apparatus for polishing PE ball core, as shown in FIG. 1, comprises
The radial guide rail mechanism is connected with a polishing mechanism for polishing the PE ball core and drives the polishing mechanism to move radially;
the arc guide rail mechanism is provided with the radial guide rail mechanism and drives the radial guide rail mechanism to do circular motion, and the arc guide rail mechanism is arranged on the ball core positioning mechanism;
the ball core positioning mechanism comprises a center searching moving component for moving the arc guide rail mechanism and a laser distance sensor 29;
the polishing mechanism is provided with a polishing cloth wheel 22, the polishing cloth wheel does circular motion along the surface of the PE ball core, and a first laser sensor and a second laser sensor for detecting the surface roughness of the PE ball core are respectively arranged on two sides of the polishing cloth wheel;
and the controller controls the laser distance sensor to perform horizontal scanning to obtain the position of the center of the PE ball core, controls the ball core positioning mechanism to move to complete the positioning of the circle center of the circular motion and the center of the ball core, obtains the surface roughness information of the ball core before and after polishing, and adjusts the motion speed of the polishing cloth wheel according to the surface roughness.
As shown in fig. 5, the PE ball center polishing sports apparatus is integrally mounted on a support frame, and the support frame 24 includes four columns 25 and a beam 26 connected between the top ends of the columns to form a directional frame structure. A ball core rotating mechanism for clamping the PE ball core 28 is arranged in the supporting frame, and a moving device for polishing the PE ball core is positioned above the PE ball core and bridged on the cross beams at two sides. The polishing mechanism is hung in the supporting frame, and a polishing cloth wheel of the polishing mechanism is contacted with the PE ball core.
The arc guide rail mechanism comprises a support plate 1 and an arc guide rail 2 connected to the support plate, a swing arm 3 is rotatably connected to the circle center of the arc guide rail in the support plate, the front end of the swing arm is connected with a guide rail trolley 5 driven by a first motor 4, and the guide rail trolley is slidably connected to the arc guide rail. The circular arc guide rail is semi-circular in this embodiment, can realize 180 degrees rotations, and the circular arc guide rail both ends are connected in backup pad one side, form the space that sets up polishing mechanism between circular arc guide rail and the backup pad. In order to ensure that the arc guide rail mechanism is more stably installed, a connecting plate is arranged between the outer side of the arc guide rail and the supporting plate for fixing. As shown in fig. 3, the rail trolley 5 includes a base 6 and two pairs of pulleys 7, the two pairs of pulleys are arranged in two rows, the pulleys are horizontally placed, the pulley surfaces of the two rows of pulleys are opposite, a rotating shaft is arranged at the center of the pulley, the rotating shaft is fixed at the bottom of the base, and the arc guide rail is clamped between the two rows of pulleys during installation. The arc guide rail is of a T-shaped structure, a clamping groove is correspondingly arranged on the wheel surface of the pulley, and the edge of the upper part of the arc guide rail is clamped in the clamping groove of the pulley during connection. The first motor 4 is installed on the base, a rotating shaft of the first motor penetrates through the base, the bottom of the base is connected with a driving gear, a rack is arranged on the side face of the lower portion of the arc sliding rail, and the driving gear is meshed with the rack. One end of the swing arm is fixed on the base.
The radial guide rail mechanism comprises a radial guide rail 8, a radial lead screw 9 and a slide block 10. Radial lead screw dead axle rotates to be installed on swing arm 3, is provided with first fixed plate in the swing arm is located one end of backup pad, is located one end of guide rail dolly in the swing arm and is provided with the second fixed plate, and radial silk axle one end is installed on first fixed plate through the bearing, and its pivoted second motor 12 of drive is connected to the radial silk axle other end through the second fixed plate, and radial silk axle also is connected through the bearing with the second fixed plate. The radial guide rail comprises a pair of radial guide rails which are respectively arranged on two sides of the radial screw rod and fixed between the first fixing plate and the second fixing plate. The sliding block is slidably mounted on the radial guide rail, a threaded sleeve is arranged at the bottom of the sliding block and is in threaded connection with the radial lead screw, and the polishing mechanism is fixed on the sliding block.
As shown in fig. 2, the core positioning mechanism includes a centering and moving assembly, a laser distance sensor 29. It includes first long slide rail 12 to seek heart removal subassembly, long filament pole 13 and the long slide rail 14 of second, first long slide rail and long filament pole set up respectively on the crossbeam of braced frame last both sides, sliding connection has first long slide rail slider 15 on first long slide rail, long filament pole dead axle is installed on the crossbeam, it is specific to set up third fixed plate and fourth fixed plate respectively at the crossbeam both ends, long filament pole one end is passed through the bearing and is connected on the third fixed plate, the long filament pole other end rushes its pivoted third motor 17 of drive through the fourth fixed plate connection, long filament pole links to each other through the bearing with the fourth fixed plate. The second field slide rail comprises a pair of second long slide rails, the second long slide rails are respectively arranged on two sides of the second long slide rail and fixed between the third fixing plate and the fourth fixing plate, a second long slide rail sliding block 16 is connected to the second long slide rail in a sliding mode, and a threaded sleeve is arranged at the bottom of the second long slide rail sliding block and in threaded connection with the long screw rod. Two sides of a connecting plate of the two-degree-of-freedom motion mechanism are respectively connected to the first long slide rail slide block and the second long slide rail slide block, and the two-degree-of-freedom motion mechanism is erected on the supporting frame. The laser distance sensor is arranged at the position of the bottom of the supporting plate corresponding to the circle center of the arc guide rail.
As shown in FIG. 4, the polishing mechanism comprises a fixed bracket 18, a clamping groove 19 is arranged at the upper part of the fixed bracket, and a buckle plate 20 is arranged at the upper end of the clamping groove. When the polishing mechanism is installed, the buckle plate is fixed on the sliding block, the clamping groove is sleeved outside the radial guide rail mechanism from bottom to top, and the buckle plate and the clamping groove are fixed, so that the polishing mechanism is integrally hung on the radial guide rail mechanism and moves along with the sliding block. A polishing motor 21 is arranged in the fixed support, a rotating shaft of the polishing motor penetrates out of the lower end of the fixed support to be connected with a polishing cloth wheel 22, and the polishing cloth wheel is horizontally arranged and rotates in the horizontal plane under the driving of the polishing motor. The first laser sensor and the second laser sensor are respectively arranged at the bottom of the fixed support through connecting rods and are positioned at two sides of the polishing cloth wheel, and the first laser sensor and the second laser sensor are not shown in the figure. A notch is arranged on one side of the polishing support clamping concave towards the support plate, the shape of the notch is matched with that of the support plate, and when the fixed support moves to the position close to the support plate part of the radial guide rail mechanism, the notch can be sleeved into the support plate to prevent the fixed support from being blocked by the support plate.
And a torque sensor is also arranged on the rotating shaft of the polishing motor, the system comprises a controller, and the torque sensor is connected to the controller. The torque sensor is used for collecting a torque value of the motor rotating shaft and sending the torque value to the controller. Because the polishing precision is related to the constancy of the radial pressure applied to the PE ball core by the polishing cloth wheel in the polishing process, the distance between the polishing cloth wheel and the PE ball core needs to be adjusted according to the pressure between the polishing cloth wheel and the PE ball core in order to accurately control the polishing precision, in practical application, a contact pressure sensor between the polishing cloth wheel (made of soft materials) and the PE ball core (made of hard materials) is difficult and complicated to mount, and the polishing torque and the polishing pressure are in direct proportion. The controller is also connected with the first motor, the second motor, the third motor and the polishing motor to control the motors to work. The controller compares the torque value sent by the torque sensor with a set torque control value, and controls the second motor to adjust the distance between the polishing cloth wheel and the PE ball core according to the comparison structure so as to keep the torque value within a proper range, achieve the constancy of radial pressure and accurately control the polishing precision.
The core rotating mechanism comprises a base 27, and a support claw which rotates along a horizontal shaft is arranged on the base and is inserted into a through hole of the PE core and is supported and fixed. The support claw is a claw which is opened or contracted through rotation, the whole support claw can rotate under the control of a motor, the support claw is arranged to rotate along the horizontal axial direction, the ball core rotating mechanism can be replaced by a common lathe, and the support claw uses a gripping disk of the common lathe to grip the PE ball core. The PE ball core is provided with a through hole, the clamping jaw is inserted into the through hole during installation, and the supporting jaw is opened through rotation, so that the supporting jaw is supported in the through hole to form fixation. As shown in fig. 7, during polishing operation, the PE core is driven to rotate around the horizontal axis by the rotating support claws, and the polishing cloth wheel is driven by the arc guide rail mechanism to make circular motion around the PE core, and the plane of the rotation motion and the plane of the circular motion are perpendicular to each other. Ensure that every part of the PE core cannot be polished.
Be provided with the motion control subassembly on the telecontrol equipment, as shown in fig. 11, the motion control subassembly includes two first limit switch 32, two second limit switch 34, first origin switch 33 and second origin switch 35, two first limit switch set up respectively at circular arc guide rail both ends, first origin switch sets up in one of them first limit switch inboardly, two second limit switch set up respectively at radial guide rail 8 both ends, second origin switch sets up in one of them second limit switch inboardly, first limit switch, the second limit switch, first origin switch, second origin switch connects the controller respectively. In addition, the first motor, the second motor, the third motor, the polishing motor, the laser distance sensor, the first laser sensor, the second laser sensor and the torque sensor are respectively connected with the controller.
A motion control method for polishing a PE ball core comprises a ball core positioning step and a polishing motion control step.
As shown in fig. 9, the core positioning step includes,
s11, controlling a ball core positioning mechanism to move a laser distance sensor to a position above the PE ball core;
s12, as shown in FIG. 6, moving the laser distance sensor to perform horizontal scanning movement, moving the laser distance sensor above the PE ball core, detecting the distance value between the surface of the PE ball core and the laser distance sensor in real time by adopting a laser ranging method, and sending data to the controller after scanning is finished;
s13, comparing the distance value by the controller to obtain the point position with the minimum distance value;
s14, controlling the ball core positioning mechanism to move the laser distance sensor to a point position with the minimum distance value.
The core is positioned to provide a reference for movement of the exercise device. The circle center of the arc guide rail is moved to a preset diameter specification position by controlling the rotating long screw rod, namely, the circle center of the arc guide rail is roughly adjusted to be positioned on the ball core, and then the ball core positioning is completed through the ball core positioning step. For polishing the PE ball cores of the same specification, the first positioning is generally needed, and the subsequent batch polishing of the cylinder specification does not need to be positioned again.
As shown in fig. 10, the polishing motion control step includes,
s21, after the polishing motion starts, as shown in figure 8, a first laser sensor and a second laser sensor are positioned on two sides of a polishing cloth wheel, and the first laser sensor and the second laser detect the roughness of the surface of the ball core before and after polishing in real time and send the roughness to a controller;
s22, the controller calculates the difference value of the roughness detected by the first laser sensor and the roughness detected by the second laser sensor;
s23, presetting an upper difference value limit and a lower difference value limit, comparing the difference value with the upper difference value limit and the lower difference value limit, controlling the polishing motor to increase the polishing speed if the difference value is smaller than the lower difference value limit, and controlling the polishing motor to decrease the polishing speed if the difference value is larger than the upper difference value limit.
In addition, in the whole polishing process, the polishing torque control step is also included, and a torque sensor acquires the polishing torque information of the polishing motor in real time and sends the information to a controller; the controller compares the acquired torque information with a set torque control value, and controls the second motor to drive the polishing cloth wheel to move according to a comparison result, namely, the distance between the polishing cloth wheel and the surface of the ball core is increased to reduce the polishing torque when the torque is increased, and the distance between the polishing cloth wheel and the surface of the ball core is reduced to increase the polishing pressure when the torque is decreased. So that the detected torque is kept within a proper range, ensuring constant torque control. If the torque is suddenly increased, the machine is locked and the like, the controller controls the second motor to drive the polishing cloth wheel to move away along the diameter direction. In addition, in order to ensure safety, an emergency stop button is further arranged and is connected with the controller.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms support plate, circular arc guide, swing arm, first motor, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A sports apparatus for polishing a PE ball core is characterized in that: comprises that
The radial guide rail mechanism is connected with a polishing mechanism for polishing the PE ball core and drives the polishing mechanism to move radially;
the arc guide rail mechanism is provided with the radial guide rail mechanism and drives the radial guide rail mechanism to do circular motion, and the arc guide rail mechanism is arranged on the ball core positioning mechanism;
the ball core positioning mechanism comprises a center searching moving component for moving the arc guide rail mechanism and a laser distance sensor (29);
the polishing mechanism is provided with a polishing cloth wheel (22), the polishing cloth wheel does circular motion along the surface of the PE ball core, and a first laser sensor and a second laser sensor for detecting the surface roughness of the PE ball core are respectively arranged on two sides of the polishing cloth wheel;
and the controller controls the laser distance sensor to perform horizontal scanning to obtain the position of the center of the PE ball core, controls the ball core positioning mechanism to move to complete the positioning of the circle center of the circular motion and the center of the ball core, obtains the surface roughness information of the ball core before and after polishing, and adjusts the motion speed of the polishing cloth wheel according to the surface roughness.
2. The moving device for polishing the PE ball core is characterized in that the arc guide rail mechanism comprises a support plate (1) and an arc guide rail (2) connected to the support plate, a swing arm (3) is rotatably connected to the support plate at the center of the arc guide rail, a guide rail trolley (5) driven by a first motor (4) is connected to the front end of the swing arm, and the guide rail trolley is slidably connected to the arc guide rail.
3. The moving device for polishing the PE ball core as claimed in claim 2, wherein the guide rail trolley (5) comprises a base (6) and at least one pair of pulleys (7), the surfaces of the pulleys are oppositely arranged, a rotating shaft is arranged at the center of each pulley and fixed at the bottom of the base, the arc guide rail is clamped between the pair of pulleys, the first motor is arranged on the base, a driving gear linked with the first motor is arranged at the bottom of the base, a rack is arranged on the side surface of the arc guide rail, and the driving gear is meshed with the rack.
4. The moving device for polishing the PE ball core as claimed in claim 2, wherein the radial guide rail mechanism comprises a radial guide rail (8), a radial lead screw (9) and a slide block (10), the radial lead screw is fixedly and rotatably mounted on the swing arm (3), one end of the radial lead screw is connected with a second motor (11) for driving the radial lead screw to rotate, the radial guide rail comprises a pair of radial guide rails which are respectively arranged at two sides of the radial lead screw, the slide block is slidably mounted on the radial guide rail, a threaded sleeve is arranged at the bottom of the slide block and is in threaded connection with the radial lead screw, and the polishing mechanism is fixed on the slide block.
5. The movement device for polishing the PE ball core according to claim 4, further comprising a movement control assembly, wherein the movement control assembly comprises two first limit switches (32), two second limit switches (34), a first origin switch (33) and a second origin switch (35), the two first limit switches are respectively arranged at two ends of the circular arc guide rail, the first origin switch is arranged at the inner side of one of the first limit switches, the two second limit switches are respectively arranged at two ends of the radial guide rail (8), the second origin switch is arranged at the inner side of one of the second limit switches, and the first limit switch, the second limit switch, the first origin switch and the second origin switch are respectively connected with the controller.
6. The moving device for polishing the PE ball core as claimed in claim 1, wherein the center-finding moving assembly comprises a first long slide rail (12), a long screw rod (13) and a second long slide rail (14), a first long slide rail slider (15) is slidably connected to the first long slide rail, the long screw rod is fixedly mounted on a shaft, one end of the long screw rod is connected with a third motor (17) for driving the long screw rod to rotate, the second long slide rail comprises a pair of long screw rails which are respectively arranged on two sides of the second long slide rail, a second long slide rail slider (16) is slidably connected to the second long slide rail, a threaded sleeve is arranged at the bottom of the second long slide rail slider and is in threaded connection with the long screw rod, and the circular arc guide rail mechanisms are mounted on the first long slide rail slider and the second long slide rail slider.
7. A sports apparatus for PE core polishing as claimed in claim 2, characterized in that the laser distance sensor (29) is arranged on the bottom of the supporting plate (1) at the position corresponding to the centre of the circular arc guide rail (2).
8. The moving device for polishing the PE ball core is characterized in that the polishing mechanism comprises a fixed support (18), a clamping groove (19) is arranged at the upper part of the fixed support, a buckling plate (20) is arranged at the upper end of the clamping groove, the clamping groove is sleeved outside the radial guide rail mechanism from bottom to top, the buckling plate is fixed on a sliding block (10), a polishing motor (21) is arranged in the fixed support, a rotating shaft of the polishing motor penetrates out of the lower end of the fixed support and is connected with the polishing cloth wheel (22), a torque sensor is further arranged on the rotating shaft of the polishing motor and is connected to a controller, and the first laser sensor and the second laser sensor are respectively arranged at the bottom of the fixed support and are positioned on two sides of the polishing cloth wheel through connecting rods.
9. A motion control method for polishing PE cores, using the apparatus as claimed in any one of claims 1 to 8, characterized by comprising a core positioning step and a polishing motion control step, the core positioning step comprising,
s11, controlling a ball core positioning mechanism to move a laser distance sensor to a position above the PE ball core;
s12, moving the laser distance sensor to perform horizontal scanning movement, detecting a distance value between the surface of the PE ball core and the laser distance sensor in real time, and sending data to a controller after scanning is finished;
s13, comparing the distance value by the controller to obtain the point position with the minimum distance value;
s14, controlling the ball core positioning mechanism to move the laser distance sensor to a point position with the minimum distance value.
10. The motion control method for polishing a PE core according to claim 9, wherein the polishing motion control step comprises,
s21, after polishing motion starts, the first laser sensor and the second laser sensor are used for detecting the surface roughness of the ball core in real time and sending the detected surface roughness to the controller;
s22, the controller calculates the difference value of the roughness detected by the first laser sensor and the roughness detected by the second laser sensor;
s23, presetting an upper difference value limit and a lower difference value limit, comparing the difference value with the upper difference value limit and the lower difference value limit, controlling the polishing motor to increase the polishing speed if the difference value is smaller than the lower difference value limit, and controlling the polishing motor to decrease the polishing speed if the difference value is larger than the upper difference value limit.
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| CN114683137B (en) * | 2022-03-30 | 2023-05-26 | 江苏绿能汽配科技有限公司 | Automobile rectifier bridge mould processingequipment that polishes |
| CN115229642B (en) * | 2022-09-22 | 2022-12-02 | 山东瑞博电机有限公司 | Cleaning equipment for processing inner surface of stator core of alternating-current reversing motor |
| CN116652791B (en) * | 2022-11-08 | 2024-06-04 | 杭州盾源聚芯半导体科技有限公司 | Silicon electrode surface polishing equipment and polishing method |
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