US 11,724,350 B2
Automatic high-shear low-pressure force-controlled grinding device for complicated curved surface and machining method thereof
Yebing Tian, Zibo (CN); Linguang Li, Zibo (CN); Bing Liu, Zibo (CN); and Zenghua Fan, Zibo (CN)
Assigned to Shandong University of Technology
Filed by Shandong University of Technology, Zibo (CN)
Filed on Aug. 25, 2020, as Appl. No. 17/1,683.
Claims priority of application No. 201910787120.3 (CN), filed on Aug. 25, 2019.
Prior Publication US 2021/0053173 A1, Feb. 25, 2021
Int. Cl. B24B 5/16 (2006.01); B24B 41/04 (2006.01); B24B 41/06 (2012.01); B24B 49/16 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 21/00 (2006.01)
CPC B24B 5/16 (2013.01) [B24B 41/04 (2013.01); B24B 41/06 (2013.01); B24B 49/16 (2013.01); B25J 9/0018 (2013.01); B25J 9/0096 (2013.01); B25J 9/1633 (2013.01); B25J 11/0065 (2013.01); B25J 13/085 (2013.01); B25J 15/0019 (2013.01); B25J 21/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An automatic high-shear low-pressure force-controlled grinding device for a curved surface, comprising: an industrial robot base (1-1), a safeguard hood (1-2), columns (1-3), an industrial robot (1-4), an electrical spindle (1-5), a force-controlled floating work holder (1-6), a workpiece chuck (1-7), a grinder plate (1-9), a six-dimensional force sensor (1-10), a rotary table (1-11), a triaxial precision displacement table (1-12), a safety door (1-13), and a pedestal (1-14); wherein the structure of the grinder plate (1-9) comprises inner hexagon bolts (2-1), a press plate (2-2), an abrasive layer (2-3), a lining layer (2-4), and a grinder plate substrate (2-5); the abrasive layer (2-3) comprises longitude and latitude woven fiber fabric (6-1), abrasives (6-2), additives (6-3), dispersed phases (6-4), and dispersion mediums (6-5); the workpiece chuck (1-7) is mounted on the force-controlled floating work holder (1-6); a to-be-machined workpiece (1-8) is mounted on the workpiece chuck (1-7); one end of the electrical spindle (1-5) is connected with a tail end of the industrial robot (1-4), and the other end of the electric spindle (1-5) is connected with the force-controlled floating work holder (1-6); the industrial robot (1-4) is fixed to the industrial robot base (1-1); the grinder plate (1-9) is connected with the six-dimensional force sensor (1-10); one end of the rotary table (1-11) is connected with the triaxial precision displacement table (1-12), and the other end of the rotary table (1-11) is connected with the six-dimensional force sensor (1-10); the triaxial precision displacement table (1-12) is fixed to the pedestal (1-14); the lining layer (2-4) of the grinder plate (1-9) matches with the upper surface of the grinder plate substrate (2-5); the abrasive layer (2-3) covers the lining layer (2-4); the inner hexagon bolts (2-1) and the press plate (2-2) tension and press the abrasive layer (2-3) on the grinder plate substrate (2-5); and the automatic high-shear low-pressure force-controlled grinding device for a curved surface is protected by the safeguard hood (1-2).