CN112658920A - Special pneumatic control-based piston skirt porous grinding machine and force control method thereof - Google Patents
Special pneumatic control-based piston skirt porous grinding machine and force control method thereof Download PDFInfo
- Publication number
- CN112658920A CN112658920A CN202011497625.5A CN202011497625A CN112658920A CN 112658920 A CN112658920 A CN 112658920A CN 202011497625 A CN202011497625 A CN 202011497625A CN 112658920 A CN112658920 A CN 112658920A
- Authority
- CN
- China
- Prior art keywords
- grinding
- force
- pneumatic
- special
- piston skirt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a pneumatic control-based special piston skirt porous grinding machine and a force control method thereof. The special pneumatic control-based piston skirt porous grinding machine and the force control method thereof grind and deburr a workpiece through the special pneumatic control-based piston skirt porous grinding machine, adopt a pneumatic servo system to control and adjust the grinding force of a grinding head and the workpiece, perform state feedback on the system through optimal pole allocation, and obtain a state feedback matrix K of the control system, so that the control system can reach an expected excellent system from the existing poor system.
Description
Technical Field
The invention relates to the technical field of machine tool machining, in particular to a special porous grinding machine for a piston skirt based on pneumatic control and a force control method thereof.
Background
With the high-speed development of the manufacturing industry at home and abroad, the market of grinding machines is getting bigger, however, in the high-end numerical control grinding machine market in China, the import of the grinding machines in China is more than half, meanwhile, the middle-end grinding machine is taken as the main market of the grinding machines in China, the overall process capability of the grinding machines produced in China is lower than the level of the imported grinding machine, the common manual work is used, and the processing efficiency is low;
along with the continuous installation and use of grinding machine, the kind of grinding machine is more and more diversified, but lacks the special grinding equipment who gets rid of porous burr in the existing market, and traditional burring means is single, the burring is not thorough and form the secondary burr easily, still other positions of easy fish tail, like manual burring with high costs, inefficiency, machining precision, processing reliability and stability are difficult to guarantee, so need design a porous grinding special plane of piston skirt based on pneumatic control to above-mentioned problem.
Disclosure of Invention
The invention aims to provide a special machine for grinding multiple holes of a piston skirt based on pneumatic control and a force control method thereof, and aims to solve the problems that a special grinding device for removing multiple holes of burrs is lacked in the market at present, the traditional deburring method is single, deburring is not thorough, secondary burrs are easy to form, other parts are easy to scratch, and the cost is high, the efficiency is low, and the processing precision, the processing reliability and the stability are difficult to guarantee in the manual deburring.
In order to achieve the purpose, the invention provides the following technical scheme: a piston skirt multi-hole grinding special machine based on pneumatic control comprises a middle base, a first side base, a stand column main body and a first air cylinder, wherein the left side of the middle base is connected with the first side base, the stand column main body is fixed above the first side base, the first air cylinder is fixed above the stand column main body, an air cylinder output shaft is connected below the first air cylinder, a sliding table is arranged below the air cylinder output shaft, a sliding saddle is connected to the right side of the sliding table, a power box is arranged on the right side of the sliding saddle, a multi-shaft box is arranged below the power box, a vertical grinding head penetrates through the lower end of the multi-shaft box, an oil pressure buffer is arranged at the lower end of the sliding table, a pressure sensor is arranged below the vertical grinding head, a clamp body is connected below the pressure sensor, flat tongs are arranged above the clamp body, and are arranged outside the pressure sensor, the utility model discloses a grinding machine tool, including the anchor clamps body, the base is fixed with the side of second cylinder, the specific right side of anchor clamps is provided with the locking bolt, and the specific below of anchor clamps is connected with the revolving stage to the revolving stage is located the top of middle base, the right side of revolving stage is provided with horizontal grinding head, and the right side of horizontal grinding head is connected with the second cylinder, and the below of second cylinder is fixed with second side base, second side base is located the right side of middle base, the machined work piece has been put to the specific top of anchor clamps.
Preferably, the multi-shaft box is connected with the power box, the power box is installed on the saddle, and the output shaft of the multi-shaft box is provided with the vertical grinding head.
Preferably, the rotating table is connected with a clamp body connected with the flat tongs, the clamp body is provided with a pressure sensor for measuring force, and the lower end of the clamp body is arranged on a rotating table transmission system in the middle base.
Preferably, the output shaft of the second cylinder is connected with the base of the transverse grinding head.
A force control method of a special porous grinding machine with a piston skirt based on pneumatic control preferably adopts a pneumatic control system, target force is input through a computer, then a signal is transmitted to a pneumatic servo valve through a D/A converter and a power amplifier, so that a pneumatic actuating mechanism is controlled to output grinding force contacting with a workpiece, if the output grinding force does not reach an ideal grinding force state through detection of a pressure sensor, a feedback element feeds back the signal to the computer through the A/D converter, and the output grinding force is continuously changed through the pneumatic system after the output grinding force is compared with the target grinding force.
A force control method of a special porous grinding machine for piston skirts based on pneumatic control comprises the following steps:
the method comprises the following steps: performing theoretical modeling on the special grinding machine and a force control system thereof, wherein the theoretical modeling comprises establishing an air cylinder flow continuity equation, a pneumatic servo valve mass flow equation, an air cylinder force balance equation and the like to form a transfer function;
step two: obtaining a closed-loop model of a valve control cylinder of the pneumatic servo system by using the equation established in the step one and combining constant setting;
step three: obtaining a closed-loop space expression of the special grinding machine and a force control system thereof by a pneumatic servo system valve control cylinder closed-loop model;
step four: and step three, solving a state feedback gain matrix K to enable the system state to reach the expected system state, and obtaining the expected system pole.
Compared with the prior art, the invention has the beneficial effects that: according to the special pneumatic control-based porous grinding machine for the piston skirt and the force control method thereof, the special grinding machine is used for grinding and deburring a workpiece, the pneumatic servo system is adopted for controlling and adjusting the contact force between a grinding head and the workpiece, the state feedback is carried out on the system through optimal pole allocation, and the state feedback matrix K of the control system is obtained, so that the control system can reach an expected excellent system from the existing poor system, the grinding and deburring processing quality is improved, the investment of human resources is reduced, the operation is simple, the working efficiency is high, the safety and the reliability are realized, and great convenience is brought to the production of people.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic front view of a turntable according to the present invention;
FIG. 3 is a schematic side view of the turntable according to the present invention;
FIG. 4 is a schematic top view of the turntable according to the present invention;
FIG. 5 is a schematic perspective view of a workpiece to be machined according to the present invention;
FIG. 6 is a schematic diagram of the control of the pneumatic servo system of the present invention;
fig. 7 is a block diagram of the operation of the pneumatic control of the present invention.
In the figure: 1. a middle base; 2. a first side base; 3. a column body; 4. a first cylinder; 5. a cylinder output shaft; 6. a sliding table; 7. a saddle; 8. a power box; 9. a multi-axis box; 10. a vertical grinding head; 11. a hydraulic shock absorber; 12. a pressure sensor; 13. flat tongs; 14. a clamp body; 15. locking the bolt; 16. a rotating table; 17. transversely grinding the head; 18. a second cylinder; 19. a second side base; 20. and (5) processing the workpiece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: a special machine for grinding multiple holes of a piston skirt based on pneumatic control and a force control method thereof comprise a middle base 1, a first side base 2, an upright post main body 3, a first air cylinder 4, an air cylinder output shaft 5, a sliding table 6, a sliding saddle 7, a power box 8, a multi-shaft box 9, a vertical grinding head 10, an oil pressure buffer 11, a pressure sensor 12, a flat tongs 13, a clamp body 14, a locking bolt 15, a rotating table 16, a transverse grinding head 17, a second air cylinder 18, a second side base 19 and a processed workpiece 20, wherein the left side of the middle base 1 is connected with the first side base 2, the upright post main body 3 is fixed above the first side base 2, the first air cylinder 4 is fixed above the upright post main body 3, the air cylinder output shaft 5 is connected below the first air cylinder 4, the sliding table 6 is arranged below the air cylinder output shaft 5, the sliding saddle 7 is connected on the right side of the sliding table 6, the power box 8 is arranged on the right side, a multi-shaft box 9 is arranged below the power box 8, a vertical grinding head 10 penetrates through the lower end of the multi-shaft box 9, an oil pressure buffer 11 is arranged at the lower end of the sliding table 6, a pressure sensor 12 is arranged below the vertical grinding head 10, a clamp body 14 is connected below the pressure sensor 12, and a flat-nose pliers 13 is arranged above the clamp body 14, the flat-nose pliers 13 is arranged outside the pressure sensor 12, a locking bolt 15 is arranged on the right side of the clamp body 14, a rotating platform 16 is connected below the clamp body 14, and the rotating platform 16 is positioned above the middle base 1, the right side of the rotating platform 16 is provided with a transverse grinding head 17, the right side of the transverse grinding head 17 is connected with a second air cylinder 18, a second side base 19 is fixed below the second cylinder 18, the second side base 19 is positioned at the right side of the middle base 1, and a workpiece 20 to be processed is placed above the clamp body 14;
an up-down sliding structure is formed between the saddle 7 and the sliding table 6, the sliding table 6 is arranged on the upright post main body 3, and the saddle 7 is connected with the cylinder output shaft 5, so that the subsequent first cylinder 4 can drive the saddle 7 to move up and down along the Z axis;
the multi-shaft box 9 is connected with the power box 8, the power box 8 is installed on the saddle 7, the vertical grinding head 10 is installed on the output shaft of the multi-shaft box 9, and the power box 8 is installed on the saddle 7 to provide power for the multi-shaft box 9;
the rotating platform 16 is connected with a clamp body 14 connected with the flat tongs 13, the clamp body 14 is provided with a pressure sensor 12 for measuring force, and the lower end of the clamp body 14 is arranged on a transmission system of the rotating platform 16 in the middle base 1, so that a processed workpiece 20 fixed by the flat tongs 13 is driven to rotate;
an output shaft of the second air cylinder 18 is connected with a base of the transverse grinding head 17, so that the transverse grinding head 17 can move left and right along the Y-axis direction;
a force control method of a special porous grinding machine with a piston skirt based on pneumatic control comprises the steps of inputting a target force through a computer by a pneumatic control system, transmitting a signal to a pneumatic servo valve through a D/A converter and a power amplifier, controlling a pneumatic actuating mechanism to output a grinding force contacting with a workpiece, feeding a signal back to the computer by a feedback element through the A/D converter if the output grinding force does not reach an ideal grinding force state through detection of a pressure sensor 12, and continuously changing the output grinding force through the pneumatic system after comparing the output grinding force with the target grinding force;
a force control method of a special porous grinding machine for piston skirts based on pneumatic control comprises the following steps:
the method comprises the following steps: performing theoretical modeling on the special grinding machine and a force control system thereof, wherein the theoretical modeling comprises establishing an air cylinder flow continuity equation, a pneumatic servo valve mass flow equation, an air cylinder force balance equation and the like to form a transfer function;
step two: obtaining a closed-loop model of a valve control cylinder of the pneumatic servo system by using the equation established in the step one and combining constant setting;
step three: obtaining a closed-loop space expression of the special grinding machine and a force control system thereof by a pneumatic servo system valve control cylinder closed-loop model;
step four: and step three, solving a state feedback gain matrix K to enable the system state to reach the expected system state, and obtaining the expected system pole.
The modeling method of the aerodynamic control system comprises the following steps:
(1) cylinder flow continuity equation:
in the formula, qm1、qm2The mass flow of two cavities of the cylinder is kg/s;
V1、V2is the volume of two cavities of the cylinder, m3；
P1、P2The pressure of two cavities of the cylinder is Pa;
t is the thermodynamic temperature of the cylinder, K;
r is a gas constant.
(2) Pneumatic servo valve mass-flow equation:
qm＝K1Δu+K2ΔP
in the formula (I), the compound is shown in the specification,
qmis the mass flow of the servo valve, kg/s;
u is the control voltage of the servo valve;
p is the absolute pressure of the valve port, MPa.
(3) Cylinder force balance equation
In the formula, A1、A2Is the area of the piston of two cavities of the cylinder, m2；
P1、P2The pressure of two cavities of the cylinder is MPa;
Fnactual polishing force, N;
Ffthe friction force borne by the cylinder, N;
m is the sum of the masses of all moving parts on the cylinder, kg;
f is the viscous damping coefficient.
Thereby obtaining a mathematically simplified model of the pneumatic control system:
in the formula, KmIs the pneumatic servo valve sensor gain;
a is the area of rodless cavity of cylinder, m2；
V is the volume of the rodless cavity of the cylinder, m3；
k is a heat transfer constant.
In the second step, the open-loop model of the pneumatic control system is as follows:
the closed-loop expression is:
the expression of the closed loop state space of the special grinding machine and the force control system thereof in the third step is as follows:
in the formula, x1x2x3Is a state vector
Three components of (a).
Those not described in detail in this specification are within the skill of the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a porous grinding special plane of piston skirt based on pneumatic control, includes middle base (1), first side base (2), stand main part (3) and first cylinder (4), its characterized in that: the left side of the middle base (1) is connected with a first side base (2), a stand column main body (3) is fixed above the first side base (2), a first air cylinder (4) is fixed above the stand column main body (3), an air cylinder output shaft (5) is connected below the first air cylinder (4), a sliding table (6) is arranged below the air cylinder output shaft (5), a sliding saddle (7) is connected on the right side of the sliding table (6), a power box (8) is arranged on the right side of the sliding saddle (7), a multi-shaft box (9) is arranged below the power box (8), a vertical grinding head (10) penetrates through the lower end of the multi-shaft box (9), an oil pressure buffer (11) is arranged at the lower end of the sliding table (6), a pressure sensor (12) is arranged below the vertical grinding head (10), and a clamp body (14) is connected below the pressure sensor (12), and the top of the anchor clamps body (14) is provided with flat-nose pliers (13), flat-nose pliers (13) set up the outside at pressure sensor (12), the right side of the anchor clamps body (14) is provided with locking bolt (15), and the below of the anchor clamps body (14) is connected with revolving stage (16), and revolving stage (16) are located the top of middle base (1), the right side of revolving stage (16) is provided with horizontal grinding head (17), and the right side of horizontal grinding head (17) is connected with second cylinder (18), and the below of second cylinder (18) is fixed with second side base (19), second side base (19) are located the right side of middle base (1), the processed work piece (20) has been put to the top of the anchor clamps body (14).
2. The special machine for grinding the multiple holes in the piston skirt based on the pneumatic control as claimed in claim 1, wherein: an up-down sliding structure is formed between the saddle (7) and the sliding table (6), the sliding table (6) is installed on the upright post main body (3), and the saddle (7) is connected with the cylinder output shaft (5).
3. The special machine for grinding the multiple holes in the piston skirt based on the pneumatic control as claimed in claim 2, wherein: the multi-shaft box (9) is connected with the power box (8), the power box (8) is installed on the sliding saddle (7), and the output shaft of the multi-shaft box (9) is provided with a vertical grinding head (10).
4. The special machine for grinding the multiple holes in the piston skirt based on the pneumatic control as claimed in claim 3, wherein: the rotary table (16) is connected with a clamp body (14) connected with the flat tongs (13), the clamp body (14) is provided with a pressure sensor (12) for measuring force, and the lower end of the clamp body (14) is arranged on a rotary table (16) transmission system in the middle base (1).
5. The special machine for grinding the multiple holes in the piston skirt based on the pneumatic control as claimed in claim 4, wherein: the output shaft of the second air cylinder (18) is connected with the base of the transverse grinding head (17).
6. The force control method of the special pneumatic control-based piston skirt porous grinding machine is characterized in that: a pneumatic control system is adopted, target force is input through a computer, signals are transmitted to a pneumatic servo valve through a D/A converter and a power amplifier, so that a pneumatic actuating mechanism is controlled to output grinding force contacting with a workpiece, if the output grinding force is detected by a pressure sensor (12) and does not reach an ideal grinding force state, a feedback element feeds back the signals to the computer through the A/D converter, and the output grinding force is continuously changed through the pneumatic system after being compared with the target grinding force.
7. The force control method of the special pneumatic control-based piston skirt multi-hole grinding machine is characterized by comprising the following steps of:
the method comprises the following steps: performing theoretical modeling on the special grinding machine and a force control system thereof, wherein the theoretical modeling comprises establishing an air cylinder flow continuity equation, a pneumatic servo valve mass flow equation, an air cylinder force balance equation and the like to form a transfer function;
step two: obtaining a closed-loop model of a valve control cylinder of the pneumatic servo system by using the equation established in the step one and combining constant setting;
step three: obtaining a closed-loop space expression of the special grinding machine and a force control system thereof by a pneumatic servo system valve control cylinder closed-loop model;
step four: and step three, solving a state feedback gain matrix K to enable the system state to reach the expected system state, and obtaining the expected system pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011497625.5A CN112658920A (en) | 2020-12-17 | 2020-12-17 | Special pneumatic control-based piston skirt porous grinding machine and force control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011497625.5A CN112658920A (en) | 2020-12-17 | 2020-12-17 | Special pneumatic control-based piston skirt porous grinding machine and force control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112658920A true CN112658920A (en) | 2021-04-16 |
Family
ID=75404893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011497625.5A Pending CN112658920A (en) | 2020-12-17 | 2020-12-17 | Special pneumatic control-based piston skirt porous grinding machine and force control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112658920A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284107A (en) * | 2022-08-11 | 2022-11-04 | 江苏城乡建设职业学院 | Forging deckle edge grinding device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635490A (en) * | 2014-12-15 | 2015-05-20 | 南京理工大学 | Output feedback control method for asymmetric servo cylinder positional servo system |
| CN106078422A (en) * | 2016-06-30 | 2016-11-09 | 肖锐 | A kind of blade burnishing device based on pneumatic control |
| CN206373778U (en) * | 2016-12-14 | 2017-08-04 | 洛阳理工学院 | A kind of feed speed adaptive control system based on grinding force |
| CN207414811U (en) * | 2017-11-13 | 2018-05-29 | 盐城苏工高科机械有限公司 | A kind of Multifunctional vertical machine tool |
| CN108857814A (en) * | 2018-08-06 | 2018-11-23 | 中车株洲电机有限公司 | A kind of conducting bar grinding apparatus |
| CN111338209A (en) * | 2020-03-03 | 2020-06-26 | 南京理工大学 | Electro-hydraulic servo system self-adaptive control method based on extended disturbance observer |
| CN111694276A (en) * | 2020-06-12 | 2020-09-22 | 常州工业职业技术学院 | Robust control research method for uncertain fractional order switching system |
-
2020
- 2020-12-17 CN CN202011497625.5A patent/CN112658920A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635490A (en) * | 2014-12-15 | 2015-05-20 | 南京理工大学 | Output feedback control method for asymmetric servo cylinder positional servo system |
| CN106078422A (en) * | 2016-06-30 | 2016-11-09 | 肖锐 | A kind of blade burnishing device based on pneumatic control |
| CN206373778U (en) * | 2016-12-14 | 2017-08-04 | 洛阳理工学院 | A kind of feed speed adaptive control system based on grinding force |
| CN207414811U (en) * | 2017-11-13 | 2018-05-29 | 盐城苏工高科机械有限公司 | A kind of Multifunctional vertical machine tool |
| CN108857814A (en) * | 2018-08-06 | 2018-11-23 | 中车株洲电机有限公司 | A kind of conducting bar grinding apparatus |
| CN111338209A (en) * | 2020-03-03 | 2020-06-26 | 南京理工大学 | Electro-hydraulic servo system self-adaptive control method based on extended disturbance observer |
| CN111694276A (en) * | 2020-06-12 | 2020-09-22 | 常州工业职业技术学院 | Robust control research method for uncertain fractional order switching system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284107A (en) * | 2022-08-11 | 2022-11-04 | 江苏城乡建设职业学院 | Forging deckle edge grinding device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103056658B (en) | A kind of aggregation type lathe | |
| CN203265681U (en) | Double-end centre-drilling-hole special machine | |
| CN206981805U (en) | A kind of horizontal large aperture numerical control deep-hole bores drilling machine | |
| CN201470894U (en) | Numerical control vertical lathe | |
| CN112658920A (en) | Special pneumatic control-based piston skirt porous grinding machine and force control method thereof | |
| CN114226781B (en) | Five-axis high-speed numerically-controlled drilling machine | |
| CN207086962U (en) | A kind of FE Tiler twin tip drill milling special plane | |
| CN202963995U (en) | Multifunctional automatic machine tool | |
| CN205128964U (en) | Parallelly connected compound lathe of numerical control | |
| CN217617783U (en) | Milling and positioning tool for ball valve body | |
| CN206763939U (en) | Differential mechanism four sides boring machine tool | |
| CN209364166U (en) | A kind of hardware precision part drilling machine for machining | |
| CN210588135U (en) | Small five-axis metal cutting machine tool | |
| CN210209529U (en) | Universal positioning and clamping system | |
| CN213530827U (en) | Gantry type multi-axis numerical control drilling machine | |
| CN202964019U (en) | Automatically adjusted tool bit of small metal cutting lathe | |
| CN209954216U (en) | Stand alone type machining center workstation | |
| CN111822764A (en) | Device and method for machining and measuring window of conical cylinder | |
| CN220007021U (en) | Machining center upset centre gripping tool | |
| CN205764892U (en) | Lathe for the processing of guide rail termination drilling and tapping | |
| CN205415079U (en) | Quick aligning device of large -scale work piece | |
| CN213319010U (en) | Tool for quickly drilling elliptical head | |
| CN110666449A (en) | Machining method for aluminum alloy virtual reference part | |
| CN216463087U (en) | Angle-adjustable multi-directional numerical control drilling device | |
| CN216178581U (en) | Laser generator casing inclined hole processing frock |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210416 |