CN114619336A - Force position control grinding head of laser abrasive belt grinding device - Google Patents

Force position control grinding head of laser abrasive belt grinding device Download PDF

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Publication number
CN114619336A
CN114619336A CN202210266288.1A CN202210266288A CN114619336A CN 114619336 A CN114619336 A CN 114619336A CN 202210266288 A CN202210266288 A CN 202210266288A CN 114619336 A CN114619336 A CN 114619336A
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CN
China
Prior art keywords
laser
grinding
force
abrasive belt
force sensor
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Granted
Application number
CN202210266288.1A
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Chinese (zh)
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CN114619336B (en
Inventor
肖贵坚
高慧
黄云
刘岗
张友栋
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Chongqing University
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Chongqing University
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Publication of CN114619336A publication Critical patent/CN114619336A/en
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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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
    • 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
    • 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
    • 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
    • B24B49/16—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 taking regard of the load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece

Abstract

The invention discloses a force position control grinding head of a laser abrasive belt grinding device, which comprises a laser abrasive belt grinding system, a laser displacement sensor and a force control system. The laser abrasive belt grinding system comprises a laser I, a grinding head mechanism and a workbench, wherein the grinding head mechanism comprises a driving wheel, a tensioning mechanism, a contact wheel, a supporting frame, a guide wheel, an abrasive belt and a driving motor. The force control system comprises a pressure gauge, a cylinder and a six-dimensional force sensor. During operation, a workpiece to be machined is fixed on the workbench, the driving motor drives the driving wheel to rotate, and the laser beam of the laser I and the abrasive belt are cooperatively machined. The laser displacement sensor monitors the size of a machined surface and sends the machined surface size to the PC end, the six-dimensional force sensor monitors the three-dimensional force and sends the three-dimensional force to the PC end, and the PC end controls pressure and adjusts grinding force through an air inlet valve and a throttle valve on the adjusting and controlling air cylinder. The device solves the problems that the actual grinding quantity is difficult to control due to the easy deformation of the current contact wheel, the grinding depth of a workpiece is not easy to control, the service life of an abrasive belt is influenced, and the like.

Description

Force position control grinding head of laser abrasive belt grinding device
Technical Field
The invention relates to the technical field of laser abrasive belt grinding, in particular to a force and position control grinding head of a laser abrasive belt grinding device.
Background
The laser displacement sensor can realize defect monitoring and appearance size scanning. The laser displacement sensor is arranged on the abrasive belt grinding head, so that the grinding depth of the surface of a workpiece can be monitored in real time. The six-dimensional force sensor is mainly used in the fields of industrial control, online control and the like, and can detect mechanical quantities such as tension, pressure, weight, torque, internal stress, strain and the like. The six-dimensional force sensor can keep the grinding force constant in the grinding process, thereby effectively reducing the vibration in the grinding process, and ensuring the quality of the processed surface and the service life of the abrasive belt. With the development of modern industrial processing technology, grinding processing is also developed towards high precision and high efficiency. The abrasive belt grinding is elastic grinding, the contact wheel is made of flexible materials such as rubber, and the contact wheel is easy to deform in the grinding process, so that the actual grinding quantity is not easy to control. The deformation of the contact wheel also has an influence on the grinding depth of the workpiece and the service life of the abrasive belt.
Therefore, there is a need for a belt grinding apparatus that solves the above problems.
Disclosure of Invention
The invention aims to provide a force position control grinding head of a laser abrasive belt grinding device, which aims to solve the problems in the prior art.
The technical scheme adopted for achieving the aim of the invention is that the force position control grinding head of the laser abrasive belt grinding device comprises a laser abrasive belt grinding system, a laser displacement sensor and a force control system.
The laser abrasive belt grinding system comprises a laser I, a grinding head mechanism and a workbench, wherein the laser I, the grinding head mechanism and the workbench are installed on a machine main body.
The workstation is XY moving platform, and laser instrument I and bistrique mechanism all are located the workstation top.
The grinding head mechanism comprises a driving wheel, a tensioning mechanism, a contact wheel, a supporting frame, a guide wheel, an abrasive belt, a bottom plate and a driving motor.
The face of bottom plate is vertical and fix in the machine main part, and driving motor is installed to one side of bottom plate towards the machine main part.
The base plate deviates from one side of the machine main body and is provided with a driving wheel, a tensioning mechanism and a guide wheel at intervals, the connecting lines of the driving wheel, the tensioning mechanism and the guide wheel form a triangle, and an output shaft of a driving motor penetrates through the base plate and is connected with the driving wheel.
The force control system comprises a pressure gauge, a cylinder and a six-dimensional force sensor, the cylinder is fixed on one side of the bottom plate, which is far away from the machine main body, and the upper end of the cylinder is located in a triangle.
Install manometer, a plurality of admission valve and choke valve on the cylinder, manometer and admission valve all are close to the upper end of cylinder, and the choke valve is close to the lower extreme of cylinder.
The lower extreme of cylinder is connected with the upper end of force sensor anchor clamps, and the recess that supplies the support frame upper end installation is seted up to the lower terminal surface of force sensor anchor clamps, and the support frame baffle is installed in the notch department of this recess and is fixed with the terminal surface of force sensor anchor clamps.
The support frame baffle is provided with a through hole for the support frame to pass through, the upper end of the support frame passes through the support frame baffle and extends into the groove of the force sensor clamp, the part of the support frame extending into the force sensor clamp is provided with a limiting bulge, and the size of the limiting bulge is larger than that of the through hole of the support frame baffle.
The six-dimensional force sensor is positioned in the groove of the force sensor clamp and is arranged on the upper end face of the support frame.
The lower end of the support frame is movably connected with the contact wheel through a rotating shaft, and the abrasive belt is wound on the driving wheel, the tensioning mechanism, the contact wheel and the guide wheel and is tightened.
The laser displacement sensor is arranged on one side of the bottom plate, which is far away from the machine body, and is close to the lower edge of the bottom plate.
When the laser processing device works, a part to be processed is fixed on the workbench, the laser I emits laser beams, the driving motor drives the driving wheel to rotate, and the laser beams and the abrasive belt process the upper surface of the part to be processed. The laser displacement sensor monitors the size of the machining surface of the part to be machined and sends the size to the PC end, the six-dimensional force sensor monitors axial grinding force, tangential grinding force and normal grinding force and sends the axial grinding force, the tangential grinding force and the normal grinding force to the PC end, the PC end controls the pressure of the air cylinder through regulating and controlling the air inlet valve and the throttle valve, and the grinding force of the abrasive belt at the contact wheel is further regulated.
Further, the laser displacement sensor comprises a linear CCD camera, a lens I, a lens II, a laser II and a signal processor.
During operation, the light beam that laser instrument II sent sees through lens II and projects the processing surface and intersects in a contour line with the processing surface, and the contour line sees through lens I and is gathered by linear CCD camera, and signal processor handles the information of gathering of linear CCD camera and sends to the PC end, and the PC end obtains the size information of processing surface profile through processing.
Further, the lens II is a semiconductor lens.
Further, the cylinder is connected with the force sensor clamp through a pin shaft.
Furthermore, an elastic gasket is arranged between the lower end face of the force sensor clamp and the baffle of the support frame, and the inner wall of the elastic gasket is in contact with the support frame.
Furthermore, the cylinder is fixed on the bottom plate through a hexagon bolt, and when the air cylinder works, the piston in the cylinder floats up and down along with the contact wheel.
The invention has the beneficial effects that:
1. the device realizes online profile monitoring on the surface of the workpiece based on the laser displacement sensor, and adjusts the grinding depth of the workpiece to be consistent;
2. the contact pressure of the contact wheel can be adjusted through the exhaust and intake of the cylinder by the barometer of the device, so that the quality of the processed surface and the service life of the abrasive belt are guaranteed;
3. the six-dimensional force sensor of the device can collect force signals and transmit the force signals to the industrial PC end so as to adjust the grinding force and realize the feedback process, thereby keeping the grinding force constant in the grinding process, effectively reducing the vibration in the grinding process, and ensuring the quality of a processed surface and the service life of an abrasive belt.
Drawings
FIG. 1 is an overall structural view of the apparatus of the present invention;
fig. 2 is a front view of the grinding head mechanism;
fig. 3 is a side view of the grinding head mechanism;
FIG. 4 is a schematic diagram of the working principle of the laser displacement sensor;
FIG. 5 is a flow chart of the control of the apparatus of the present invention.
In the figure: the device comprises a driving wheel 1, a tensioning mechanism 2, a six-dimensional force sensor 3, an elastic washer 4, a contact wheel 6, a support frame 7, a laser displacement sensor 8, a linear CCD camera 801, a lens I802, a processing surface 803, a lens II 804, a laser II 805, a signal processor 806, a guide wheel 9, a pressure gauge 10, an air inlet valve 11, an air cylinder 12, a throttle valve 13, a force sensor clamp 14, a support frame baffle 15, an abrasive belt 16, a pin shaft 17, a hexagon bolt 18, a bottom plate 19, a driving motor 20 and a laser I21.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
the embodiment discloses a force position control grinding head of a laser abrasive belt grinding device, which comprises a laser abrasive belt grinding system, a laser displacement sensor 8 and a force control system.
Referring to fig. 1, the laser belt grinding system includes a laser i 21 mounted on a machine body, a grinding head mechanism M, and a table H.
The workbench H is an XY moving platform, and the laser I21 and the grinding head mechanism M are both located above the workbench H. In this embodiment, the grinding head device is placed in a rectangular spatial coordinate system O-XYZ, the XY plane is a horizontal plane, the worktable H moves in the XY plane, and the Z axis is vertical.
Referring to fig. 2 or 3, the grinding head mechanism M includes a driving wheel 1, a tension mechanism 2, a contact wheel 6, a support frame 7, a guide wheel 9, a sanding belt 16, a base plate 19, and a driving motor 20.
The surface of the bottom plate 19 is vertical and fixed on the machine body, and a driving motor 20 is installed on one side of the bottom plate 19 facing the machine body.
The driving wheel 1, the tensioning mechanism 2 and the guide wheel 9 are arranged on one side of the bottom plate 19, which is far away from the machine body, at intervals, connecting lines of the driving wheel 1, the tensioning mechanism 2 and the guide wheel 9 form a triangle P, and an output shaft of the driving motor 20 penetrates through the bottom plate 19 and is connected with the driving wheel 1.
The force control system comprises a pressure gauge 10, a cylinder 12 and a six-dimensional force sensor 3, wherein the cylinder 12 is fixed on one side of a bottom plate 19 departing from the machine body through a hexagon bolt 18, and the upper end of the cylinder is located in a triangle P.
The air cylinder 12 is provided with a pressure gauge 10, a plurality of air inlet valves 11 and a throttle valve 13, the pressure gauge 10 and the air inlet valves 11 are both close to the upper end of the air cylinder 12, and the throttle valve 13 is close to the lower end of the air cylinder 12. The present embodiment provides two intake valves 11.
The cylinder 12 is a double-acting cylinder and comprises a cylinder barrel, an end cover, a piston rod, a sealing element and the like, the cylinder 12 supplies air from two sides of the piston alternately and outputs force in one or two directions, the piston performs linear reciprocating motion in the cylinder, and the air converts heat energy into mechanical energy through expansion in an engine cylinder; the gas is compressed by a piston in a compressor cylinder to increase pressure.
The pressure gauge 10 transmits pressure deformation to the pointer through elastic deformation of a sensitive element in the gauge and a conversion mechanism of a movement in the gauge, so that the pointer rotates to display pressure.
The lower end of the cylinder 12 is connected with the upper end of the force sensor clamp 14 through a pin shaft 17, the lower end face of the force sensor clamp 14 is provided with a groove for mounting the upper end of the support frame 7, and the support frame baffle 15 is mounted at the groove opening of the groove and fixed with the end face of the force sensor clamp 14.
The support frame baffle 15 is provided with a through hole for the support frame 7 to pass through, the upper end of the support frame 7 passes through the support frame baffle 15 and extends into the groove of the force sensor clamp 14, the part of the support frame 7 extending into the force sensor clamp 14 is provided with a limiting bulge, the size of the limiting bulge is larger than that of the through hole of the support frame baffle 15, and the upper end of the support frame 7 can float up and down in the groove of the force sensor clamp 14. An elastic gasket 4 is arranged between the lower end face of the force sensor clamp 14 and the supporting frame baffle 15, and the inner wall of the elastic gasket 4 is in contact with the supporting frame 7.
The six-dimensional force sensor 3 is positioned in a groove of the force sensor clamp 14 and is arranged on the upper end surface of the support frame 7. The six-dimensional force sensor 3 is a diaphragm type six-dimensional force sensor, an elastic sensitive element of the six-dimensional force sensor is a metal flat diaphragm fixed on the periphery, the diaphragm deforms under pressure, and the six-dimensional force sensor acquires a force signal.
The lower end of the support frame 7 is movably connected with the contact wheel 6 through a rotating shaft, and the abrasive belt 16 is wound on the driving wheel 1, the tensioning mechanism 2, the contact wheel 6 and the guide wheel 9 and is tightened.
The laser displacement sensor 8 is mounted on the side of the base plate 19 facing away from the machine body and near the lower edge of the base plate 19.
Referring to fig. 4, the laser displacement sensor 8 includes a linear CCD camera 801, a lens i 802, a lens ii 804, a laser ii 805, and a signal processor 806, and the lens ii 804 is a semiconductor lens. The laser displacement sensor 8 adopts a laser triangular reflection type principle to measure the size of a processed workpiece, and the laser displacement sensor 8 can monitor the grinding depth.
When the abrasive belt machining device works, a part to be machined is fixed on the workbench H, the laser I21 emits a laser beam L, the laser beam L is a Gaussian laser beam and irradiates the surface of the part to be machined under the action of the reflecting mirror, the driving motor 20 drives the driving wheel 1 to rotate, and the laser beam L and the abrasive belt 16 cooperatively machine the upper surface of the part to be machined. The laser displacement sensor 8 monitors the size of the machining surface 803 of the part to be machined and sends the size to the PC end, a light beam emitted by the laser II 805 penetrates through the lens II 804 to be projected to the machining surface 803 and is intersected with the machining surface 803 on a contour line, a light spot is formed on the linear CCD camera 801 through the lens I802, the signal processor 806 extracts corresponding data information and sends the data information to the PC end, the PC end obtains the size information of the contour of the machining surface 803 through processing, and the grinding depth of the workpiece is monitored in real time and controlled to be consistent. The six-dimensional force sensor 3 monitors axial grinding force, tangential grinding force and normal grinding force and sends the axial grinding force, the tangential grinding force and the normal grinding force to the PC end, the PC end can obtain size information of the outline of a part to be processed after algorithm processing, the PC end controls the pressure of the air cylinder 12 by regulating and controlling the air inlet valve 11 and the throttle valve 13, a piston in the air cylinder 12 floats up and down along with the contact wheel 6, and the grinding force of the abrasive belt 16 at the contact wheel 6 is further regulated.
Fig. 5 is a flow chart of the control of the device according to the embodiment, in which an air source a is connected to an air inlet b of a solenoid valve through an air pipe, and an air outlet c and an air outlet d are connected to two air inlet valves 11 on an air cylinder 12 through air pipes, respectively. When the electromagnetic valve is not electrified, compressed air enters from the air inlet hole b, exits from the air outlet hole c and is exhausted from the air outlet hole d to the hole s; the reverse happens when the electromagnetic valve is electrified. Thereby effecting intake and exhaust of the cylinders 12.
The PC end collects axial grinding force, tangential grinding force and normal grinding force, calculates and processes the axial grinding force, the tangential grinding force and the normal grinding force to obtain information of the grinding force, and controls the electromagnetic valve to adjust air inlet and air exhaust of the air cylinder if the grinding force is too large or too small, so that the grinding force in the grinding process is kept constant, vibration in the grinding process is effectively reduced, and the quality of a machined surface and the service life of an abrasive belt are guaranteed.
The pressure gauge 10 can read the pressure value of the cylinder 12 in real time, and when a computer fails, experimenters can adjust air intake and exhaust of the cylinder 12 according to the pressure value displayed by the pressure gauge 10, so that a supplementary effect on feedback adjustment is realized.
It is worth explaining that the design of the force position control grinding head of the laser abrasive belt grinding device provided by the embodiment comprehensively solves the problems that the actual grinding amount is difficult to control due to the fact that the current contact wheel is easy to deform, the grinding depth of a workpiece and the service life of an abrasive belt are affected, and the like.
Example 2:
the embodiment discloses a force position control grinding head of a laser abrasive belt grinding device, which comprises a laser abrasive belt grinding system, a laser displacement sensor 8 and a force control system.
Referring to fig. 1, the laser belt grinding system includes a laser i 21 mounted on a machine body, a grinding head mechanism M, and a table H.
The workbench H is an XY moving platform, and the laser I21 and the grinding head mechanism M are both located above the workbench H.
Referring to fig. 2 or 3, the grinding head mechanism M includes a driving wheel 1, a tensioning mechanism 2, a contact wheel 6, a support frame 7, a guide wheel 9, a sanding belt 16, a base plate 19, and a driving motor 20.
The surface of the bottom plate 19 is vertical and fixed on the machine body, and a driving motor 20 is installed on one side of the bottom plate 19 facing the machine body.
The driving wheel 1, the tensioning mechanism 2 and the guide wheel 9 are arranged on one side of the bottom plate 19, which is far away from the machine body, at intervals, connecting lines of the driving wheel 1, the tensioning mechanism 2 and the guide wheel 9 form a triangle P, and an output shaft of the driving motor 20 penetrates through the bottom plate 19 and is connected with the driving wheel 1.
The force control system comprises a pressure gauge 10, a cylinder 12 and a six-dimensional force sensor 3, wherein the cylinder 12 is fixed on one side of the bottom plate 19, which is far away from the machine body, and the upper end of the cylinder is positioned in a triangle P.
The air cylinder 12 is provided with a pressure gauge 10, a plurality of air inlet valves 11 and a throttle valve 13, the pressure gauge 10 and the air inlet valves 11 are both close to the upper end of the air cylinder 12, and the throttle valve 13 is close to the lower end of the air cylinder 12.
The lower end of the cylinder 12 is connected with the upper end of the force sensor clamp 14, the lower end face of the force sensor clamp 14 is provided with a groove for mounting the upper end of the support frame 7, and the support frame baffle 15 is mounted at the groove opening of the groove and fixed with the end face of the force sensor clamp 14.
The support frame baffle 15 is provided with a through hole for the support frame 7 to pass through, the upper end of the support frame 7 passes through the support frame baffle 15 and extends into the groove of the force sensor clamp 14, the part of the support frame 7 extending into the force sensor clamp 14 is provided with a limiting bulge, and the size of the limiting bulge is larger than that of the through hole of the support frame baffle 15.
The six-dimensional force sensor 3 is positioned in a groove of the force sensor clamp 14 and is arranged on the upper end surface of the support frame 7.
The lower end of the support frame 7 is movably connected with the contact wheel 6 through a rotating shaft, and the abrasive belt 16 is wound on the driving wheel 1, the tensioning mechanism 2, the contact wheel 6 and the guide wheel 9 and is tightened.
The laser displacement sensor 8 is mounted on the side of the base plate 19 facing away from the machine body and near the lower edge of the base plate 19.
When the laser machining device works, a part to be machined is fixed on the workbench H, the laser I21 emits a laser beam L, the driving motor 20 drives the driving wheel 1 to rotate, and the laser beam L and the abrasive belt 16 machine the upper surface of the part to be machined. The laser displacement sensor 8 monitors the size of the machining surface 803 of the part to be machined and sends the size to the PC end, the six-dimensional force sensor 3 monitors the axial grinding force, the tangential grinding force and the normal grinding force and sends the axial grinding force, the tangential grinding force and the normal grinding force to the PC end, the PC end controls the pressure of the air cylinder 12 by regulating and controlling the air inlet valve 11 and the throttle valve 13, and the grinding force of the abrasive belt 16 at the contact wheel 6 is further regulated. Fig. 5 is a flowchart of the control implemented by the apparatus of the present embodiment.
Example 3:
the main structure of this embodiment is the same as that of embodiment 2, and further, referring to fig. 4, the laser displacement sensor 8 includes a linear CCD camera 801, a lens i 802, a lens ii 804, a laser ii 805, and a signal processor 806.
When the laser processing device works, a light beam emitted by the laser II 805 is projected to the processing surface 803 through the lens II 804 and intersects with the processing surface 803 in a contour line, the contour line is collected by the linear CCD camera 801 through the lens I802, the signal processor 806 processes the collected information of the linear CCD camera 801 and sends the processed information to the PC end, and the PC end processes the processed information to obtain the size information of the contour of the processing surface 803.
Example 4:
the main structure of this embodiment is the same as that of embodiment 3, and further, the lens ii 804 is a semiconductor lens.
Example 5:
the main structure of this embodiment is the same as that of embodiment 2, and further, the air cylinder 12 is connected with the force sensor clamp 14 through a pin 17.
Example 6:
the main structure of this embodiment is the same as that of embodiment 2, and further, an elastic washer 4 is installed between the lower end face of the force sensor clamp 14 and the support frame baffle 15, and the inner wall of the elastic washer 4 contacts with the support frame 7.
Example 7:
the main structure of this embodiment is the same as that of embodiment 2, and further, the cylinder 12 is fixed on the bottom plate 19 through the hexagon bolt 18, and when the device works, the piston in the cylinder 12 floats up and down along with the contact wheel 6.

Claims (6)

1. The utility model provides a laser abrasive band grinding device's power position control bistrique which characterized in that: the system comprises the laser abrasive belt grinding system, a laser displacement sensor (8) and a force control system;
the laser abrasive belt grinding system comprises a laser I (21), a grinding head mechanism (M) and a workbench (H), wherein the laser I, the grinding head mechanism (M) and the workbench are arranged on a machine main body;
the workbench (H) is an XY moving platform, and the laser I (21) and the grinding head mechanism (M) are both positioned above the workbench (H);
the grinding head mechanism (M) comprises a driving wheel (1), a tensioning mechanism (2), a contact wheel (6), a support frame (7), a guide wheel (9), an abrasive belt (16), a bottom plate (19) and a driving motor (20);
the surface of the bottom plate (19) is vertical and fixed on the machine main body, and one side of the bottom plate (19) facing the machine main body is provided with a driving motor (20);
a driving wheel (1), a tensioning mechanism (2) and a guide wheel (9) are arranged on one side of the bottom plate (19) departing from the machine body at intervals, connecting lines of the driving wheel (1), the tensioning mechanism (2) and the guide wheel (9) form a triangle (P), and an output shaft of a driving motor (20) penetrates through the bottom plate (19) and is connected with the driving wheel (1);
the force control system comprises a pressure gauge (10), a cylinder (12) and a six-dimensional force sensor (3), wherein the cylinder (12) is fixed on one side of the bottom plate (19) departing from the machine main body, and the upper end of the cylinder is positioned in the triangle (P);
the air cylinder (12) is provided with a pressure gauge (10), a plurality of air inlet valves (11) and a throttle valve (13), the pressure gauge (10) and the air inlet valves (11) are both close to the upper end of the air cylinder (12), and the throttle valve (13) is close to the lower end of the air cylinder (12);
the lower end of the air cylinder (12) is connected with the upper end of the force sensor clamp (14), the lower end face of the force sensor clamp (14) is provided with a groove for mounting the upper end of the support frame (7), and a support frame baffle (15) is mounted at the notch of the groove and fixed with the end face of the force sensor clamp (14);
the supporting frame baffle (15) is provided with a through hole for the supporting frame (7) to pass through, the upper end of the supporting frame (7) passes through the supporting frame baffle (15) and extends into the groove of the force sensor clamp (14), a limiting bulge is arranged on the part of the supporting frame (7) extending into the force sensor clamp (14), and the size of the limiting bulge is larger than that of the through hole of the supporting frame baffle (15);
the six-dimensional force sensor (3) is positioned in a groove of the force sensor clamp (14) and is arranged on the upper end surface of the support frame (7);
the lower end of the support frame (7) is movably connected with the contact wheel (6) through a rotating shaft, and the abrasive belt (16) is wound on the driving wheel (1), the tensioning mechanism (2), the contact wheel (6) and the guide wheel (9) and tightened;
the laser displacement sensor (8) is arranged on one side of the bottom plate (19) departing from the machine body and close to the lower edge of the bottom plate (19);
when the device works, a part to be processed is fixed on the workbench (H), the laser I (21) emits a laser beam (L), the driving motor (20) drives the driving wheel (1) to rotate, and the laser beam (L) and the abrasive belt (16) process the upper surface of the part to be processed; the laser displacement sensor (8) monitors the size of a machining surface (803) of a part to be machined and sends the size to the PC end, the six-dimensional force sensor (3) monitors axial grinding force, tangential grinding force and normal grinding force and sends the axial grinding force, the tangential grinding force and the normal grinding force to the PC end, the PC end controls the pressure of the air cylinder (12) by regulating and controlling the air inlet valve (11) and the throttle valve (13), and the grinding force of the abrasive belt (16) at the contact wheel (6) is further adjusted.
2. A force-position controlled grinding head for a laser belt sander as set forth in claim 1, wherein: the laser displacement sensor (8) comprises a linear CCD camera (801), a lens I (802), a lens II (804), a laser II (805) and a signal processor (806);
when the laser processing device works, light beams emitted by the laser II (805) penetrate through the lens II (804) to be projected to a processing surface (803) and intersect with the processing surface (803) in a contour line, the contour line penetrates through the lens I (802) to be collected by the linear CCD camera (801), the signal processor (806) processes collected information of the linear CCD camera (801) and sends the processed information to the PC end, and the PC end processes the processed information to obtain size information of the contour of the processing surface (803).
3. A force position control grinding head of a laser belt grinding apparatus according to claim 2, characterized in that: the lens II (804) is a semiconductor lens.
4. A force position control grinding head of a laser belt grinding apparatus according to claim 1, characterized in that: the air cylinder (12) is connected with the force sensor clamp (14) through a pin shaft (17).
5. A force position control grinding head of a laser belt grinding apparatus according to claim 1, characterized in that: an elastic gasket (4) is installed between the lower end face of the force sensor clamp (14) and the support frame baffle (15), and the inner wall of the elastic gasket (4) is in contact with the support frame (7).
6. A force position control grinding head of a laser belt grinding apparatus according to claim 1, characterized in that: the air cylinder (12) is fixed on the bottom plate (19) through a hexagon bolt (18), and when the air cylinder works, a piston in the air cylinder (12) floats up and down along with the contact wheel (6).
CN202210266288.1A 2022-03-17 2022-03-17 Force position control grinding head of laser abrasive belt grinding device Active CN114619336B (en)

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