On Energy Assessment of Titanium Alloys Belt Grinding Involving Abrasive Wear Effects

Improved energy utilisation,precision,and quality are critical in the current trend of low-carbon green manufactur-ing.In this study,three abrasive belts were prepared at various wear stages and characterised quantitatively.The effects of abrasive belt wear on the specific grinding energy partition were investigated by evaluating robotic belt grinding of titanium plates.A specific grinding energy model based on subdivided tangential forces of cutting and sliding was developed for investigating specific energy and energy utilisation coefficient EUC.The surface mor-phology and Abbott–Firestone curves of the belts were introduced to analyse the experimental findings from the per-spective of the micro cutting behaviour.The specific grinding energy increased with abrasive belt wear,especially when the belt was near the end of its life.Moreover,the belt wear could lead to a predominance change of sliding and chip formation energy.The highest EUC was observed in the middle of the belt life because of its retained sharp cutting edge and uniform distribution of the grit protrusion height.This study provides guidance for balancing the energy consumption and energy utilization efficiency of belt grinding.

Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

Allowance Extraction Considering of Inner and Outer Contour and Experimental Research on Belt Grinding of Hollow Blade

Aero-engine fan blades of ten use a cavity structure to improve the thrust-to-weight ratio of the aircraft.However,the use of the cavity structure brings a series of difficulties to the manufacturing and processing of the blades.Due to the limitation of blade manufacturing technology,it is difficult for the internal cavity structure to achieve the designed contour shape,so the blade has uneven wall thickness and poor consistency,which affects the fatigue performance and airflow dynamic performance of the blade.In order to reduce the influence of uneven wall thickness,this paper proposes a grinding allowance extraction method considering the double dimension constraints(DDC)of the inner and outer contours of the hollow blade.Constrain the two dimensions of the inner and outer contours of the hollow blade.On the premise of satisfying the outer contour constraints,the machining model of the blade is modified according to the distribution of the inwall contour to obtain a more reasonable distribution of the grinding allowance.On the premise of satisfying the contour constraints,according to the distribution of the inwall contour,the machining model of the blade is modified to obtain a more reasonable distribution of the grinding allowance.Through the grinding experiment of the hollow blade,the surface roughness is below Ra0.4μm,and the contour accuracy is between-0.05~0.14 mm,which meets the processing requirements.Compared with the allowance extraction method that only considers the contour,the problem of poor wall thickness consistency can be effectively improved.It can be used to extract the allowance of aero-engine blades with hollow features,which lays a foundation for the study of hollow blade grinding methods with high service performance.

THERMAL STUDY ON THE GRINDING OF GRANITE WITH SUPERABRASIVE TOOLS

In the present paer, a thermal study was conducted for the grinding of granite with diamond tools. Three types of grinding-straight surface grinding, deep grinding(circular sawing), and vertical spindle grinding-were studied. Some surface grinding tests were also conducted using a CBN(cubic boron nitride) wheel. Temperature distributions on the workpiece surface were measured using a foil thermocouple and the energy partition to the workpiece was estimated using a temperature matching method. The temperature for CBN surface grinding was found to be much higher than for diamond grinding. Energy partitions to the granite were 30%～36% for CBN surface grinding, 25%～32% for diamond surface grinding, about 53% for vertical spindle grinding, and 5.5%～9% for diamond deep grinding. The low energy partition value in deep grinding also suggested that more of the heat generated by grinding in this case can be conducted to the grinding tool and promote tool wear.

Contact Mechanism of Rail Grinding with Open-Structured Abrasive Belt Based on Pressure Grinding Plate

The current research of abrasive belt grinding rail mainly focuses on the contact mechanism and structural design.Compared with the closed structure abrasive belt grinding,open-structured abrasive belt grinding has excellent performance in dynamic stability,consistency of grinding quality,extension of grinding mileage and improvement of working efficiency.However,in the contact structure design,the open-structured abrasive belt grinding rail using a profiling pressure grinding plate and the closed structure abrasive belt using the contact wheel are different,and the contact mechanisms of the two are different.In this paper,based on the conformal contact and Hertz theory,the contact mechanism of the pressure grinding plate,abrasive belt and rail is analyzed.Through finite element simulation and static pressure experiment,the contact behavior of pressure grinding plate,abrasive belt and rail under single concentrated force,uniform force and multiple concentrated force was studied,and the distribution characteristics of contact stress on rail surface were observed.The results show that under the same external load,there are three contact areas under the three loading modes.The outer contour of the middle contact area is rectangular,and the inner contour is elliptical.In the contact area at both ends,the stress is extremely small under a single concentrated force,the internal stress is drop-shaped under a uniform force,and the internal stress under multiple concentration forces is elliptical.Compared with the three,the maximum stress is the smallest and the stress distribution is more uniform under multiple concentrated forces.Therefore,the multiple concentrated forces is the best grinding pressure loading mode.The research provides support for the application of rail grinding with open-structured abrasive belt based on pressure grinding plate,such as contact mechanism and grinding pressure mode selection.

Analysis and prediction of surface roughness for robotic belt grinding of complex blade considering coexistence of elastic deformation and varying curvature

Precision prediction of machined surface roughness is challenging facing the robotic belt grinding of complex blade,since this process is accompanied by significant elastic deformation.The resulting poor prediction accuracy,to a great extent,is attributed to the existing prediction model which less considers the dynamics.In this paper,an improved scallop height model is developed to predict and assess the machined surface roughness by taking into account the elastic deformation and the varying curvature of blade,then robotic belt grinding experiments are carried out to evaluate the proposed model from the perspective of surface roughness.Finally factors that influence the scallop height are analyzed,and the suitable empirical equation of surface roughness is proposed to assess and predict the surface quality from the aspect of blade concave and convex surface by adopting the constant scallop height machining.

A Study on Aerodynamic Performance of Diff erent Bionic-Structured Surfaces via Belt Grinding

The structural characteristics of the surfaces of sharkskin have great influence on their aerodynamic performance.It has been proved that the sharkskin’s ribbed structure can improve the aerodynamic performance of the parts up to 10%.At present,the main processing methods for this structure are laser,rolling,etc.,which have low efficiency and poor surface integrity.Belt grinding is widely used in the surface grinding and polishing.It plays an important role in improving the surface integrity and can realize the micro-structure machining at the same time.To achieve drag reduction,based on the characteristics of drag reduction of Bionic-Ribbed Structures(BRS),diff erent BRS(V,trapezoid and wave)on a blade were processed and studied.First,this paper introduces the theory of drag reduction induced by BRS and processing methods of diff erent BRS on a blade by belt grinding,and carried out the verification of the belt-grinding methods.Then,diff erent BRS models were established on the blade with diff erent tip angles,and the aerodynamic performance was analyzed through simulation.It was found that the low-velocity layer near the BRS decreased when tip angle increased.Its wall shear stress also increased and tip angle of 45o had the best performance regardless of which BRS was.Some suggestions were given for belt grinding.The velocity along height from valley of BRS and velocity streamline was demonstrated.Secondary vortex was observed.Velocity gradient and vortex were the main reasons for the diff erence of wall shear stress.

A Novel Approach for the Fabrication of Sharkskin Structured Bionic Surfaces with Hydrophobic Wettability:Laser Processing and Ordered Abrasive Belt Grinding

A new process for the fabrication of sharkskin bionic structures on metal surfaces is proposed.The sharkskin bionic surface was successfully machined on the surface of IN718 by laser sequencing of the abrasive belt surface,laser processing of the layered scale-like structure,and ribbed texture grinding.The flexible contact properties of belt grinding allow ribbed structures to be machined uniformly on a hierarchical,scale-like microstructure.Sharkskin bionic microstructures with radii greater than 75µm were prepared after parameter optimisation.The influence of processing parameters on the geometrical accuracy of the microstructure was investigated,the microstructure microform and elemental distribution were analyzed,and the relationship between the ribbed microstructure and chemical properties of the surface of the bionic sharkskin on wettability was revealed.The results indicate that reducing the laser power and increasing the laser scan rate can reduce the laser thermal effect and improve the microstructure processing accuracy.The laser ablation process is accompanied by a violent chemical reaction that introduces a large amount of oxygen and carbon elements and infiltrates them at a certain depth.The wettability of the surface undergoes a transition from hydrophilic(contact angle 69.72°)to hydrophobic(contact angle 131.56°)due to the adsorption of C-C/C-H and the reduction of C=O/O=C-O during the placement process.The ribbed microstructure changes the solid-liquid contact on the surface into a solid-liquid-gas contact,which has an enhanced effect on hydrophobicity.This study is a valuable guide to the processing of hydrophobic layered bionic microstructures.

The Method and Experiment Research on Down-stroke Abrasive Belt Grinding under Micro Feeding for Noise Reduction Surface

This paper proposes a down-stroke abrasive belt grinding under micro feeding for noise reduction surface.Firstly,a physical model of processing under micro feeding for noise reduction structure was established.Based on the flexible contact characteristics of abrasive belt grinding and Hertz contact theory,a mathematical model suitable for this method was established,considering vibration and abrasive belt wear.Secondly,a simulation analysis was carried out.Then,an experimental platform was built to analyze the influence of process parameters on surface roughness and surface microstructure,with the model verified.Finally,the propeller with pit structure was simulated,and the noise reduction performance of the propeller under this method and general abrasive belt grinding was compared and analyzed.The results show that the maximum error of the model based on proposed method does not exceed 10%,and the coincidence degree of the minimum error point can reach 90%at lower feed speed and higher linear velocity of the abrasive belt.The noise reduction effect of the propeller with pit-shaped surfaces can reach 35%.Through the above analysis,the proposed method can be used for the processing of noise reduction surfaces.

Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades

Robotic belt grinding has emerged as a finishing process in recent years for machining components with high surface finish and flexibility.The surface machining consistency,however,is difficult to be guaranteed in such a process.To overcome this problem,a method of hybrid force-position control combined with PI/PD control is proposed to be applied in robotic abrasive belt grinding of complex geometries.Voltage signals are firstly obtained and transformed to force information with signal conditioning methods.Secondly,zero drift and gravity compensation algorithms are presented to calibrate the F/T transducer which is installed on the robot end-effector.Next,a force control strategy combining hybrid force-position control with PI/PD control is introduced to be employed in robotic abrasive belt grinding operations where the force control law is applied to the Z direction of the tool frame and the positon control law is used in the X direction of the tool frame.Then,the accuracy of the F/T transducer and the robotic force control system is analyzed to ensure the stability and reliability of force control in the robotic grinding process.Finally,two typical cases on robotic belt grinding of a test workpiece and an aero-engine blade are conducted to validate the practicality and effectiveness of the force control technology proposed.

Single-grain cutting based modeling of abrasive belt wear in cylindrical grinding

A systematic wear model of the cylindrical grinding process with an alumina abrasive belt from the perspective of single grain sliding wear was established in this study.The model consists of three parts:a single cutting force model derived by applying a stress integration method,a single grain wear height analysis based on the wear rate of alumina,and a grinding mileage prediction of multiple grains with Gaussian distributed protrusion heights.Cutting force,single grain wear height and full‐size grinding mileage verification experiments were conducted.The results indicated that the established model was in reasonable agreement with the experimental outcomes,which suggests that this model could be useful in the industry to predict the wear process of abrasive belts.

基于驻留时间控制的压气机叶片前缘砂带磨削研究

提出了一种面向叶片前缘廓形精准控制的机器人砂带磨削加工方法.以轴流压气机叶片为研究对象,结合半赫兹接触理论和有限元仿真获取了柔性磨具和叶片前缘的接触区域内的应力分布,基于Preston方程求解材料去除函数.遍历刀位点对控制点的磨削深度,建立全局材料去除矩阵,搭建驻留时间求解非线性方程组.采用带有阻尼因子的Tikhonov正则化消除大型稀疏病态矩阵对求解精度波动的影响,将所求驻留时间转换为对应刀位点的进给速度,生成机器人加工代码.磨削试验结果表明,基于驻留时间控制的机器人砂带磨削方法能够实现给定允差范围内叶片前缘廓形的精准加工,型面误差可以控制在0.02mm以内.

多烯酯共混超细研磨改性裂解炭黑及其在输送带贴胶中的应用

通过与多烯酯共混并超细研磨改性裂解炭黑(CBp),研究改性CBp的理化性能及其在输送带贴胶中的应用,并与炭黑N660对比。结果表明,多烯酯改性CBp的粒径减小,其补强性能提高,多烯酯改性CBp可完全替代炭黑N660用于输送带贴胶,胶料的加工性能和粘合性能变化不大,成品输送带性能满足指标要求,同时胶料的生产成本降低。

面向钢轨修复的不同槽型接触轮砂带打磨接触行为及材料去除特性

为掌握不同槽型接触轮砂带对钢轨打磨接触行为及材料去除特性的影响规律,基于橡胶接触特性,建立X齿型、锯齿型和人字型3种典型接触轮砂带打磨仿真模型,模拟分析不同槽型特征对接触轮-钢轨静态接触行为和动态冲击应力的影响机制;通过钢轨砂带打磨试验,对比研究3种槽型接触轮的材料去除特性。结果表明:3种槽型接触轮与钢轨的接触区域整体均呈椭圆形态,符合赫兹接触理论,内部接触形态则随槽型特征呈现为块状分布;接触区域应力分布总体符合弹性半空间接触理论,但在接触块边缘会出现应力集中;X齿型接触轮和人字型接触轮因齿尖和齿槽结构的存在而具有较高的材料去除能力,同等打磨条件下X齿型接触轮较平型接触轮的材料去除能力提高了79%;顺磨条件下的材料去除能力高于逆磨,以X齿型接触轮为例,顺磨比逆磨的材料去除能力提高了22.7%;X齿型和人字型接触轮砂带打磨的噪声、振动、粗糙度、平均电流均较高,锯齿型接触轮具有较低的振动、粗糙度及平均电流,平型轮则具有较低的噪声和电流。

复杂曲面机器人砂带磨抛材料去除深度预测模型及试验研究

针对复杂曲面零件的磨抛过程中曲率半径对机器人砂带磨抛加工中型面精度的影响,开展基于多曲率半径镍基高温合金的机器人磨抛加工试验研究。主要探究不同曲率半径的试验件的磨抛加工性,对不同曲率半径的镍基高温合金试验件进行砂带磨抛加工设置相应的砂带粒度和磨抛工艺参数,采集试验件的材料去除深度,并对试验结果进行研究分析。试验结果表明,曲率半径的变化对材料去除深度存在着一定的影响,在曲率半径由大到小的变化中,材料去除深度也随之增加,即材料去除深度与曲率半径呈负相关关系。基于多元非线性回归模型提出关于砂带粒度、进给速度、接触力、工件曲率半径等影响因素的机器人砂带磨抛材料去除深度预测模型,模型的平均预测误差为1.45μm,准确率达到91.04%,预测误差区间为–5.34~4.57μm,并对预测模型进行显著性检验,表明该预测模型可为实际机器人砂带磨抛加工前期工艺参数设计提供重要的理论支持。

基于PSO-LSSVR的机器人磨抛材料去除模型

为了建立磨抛工艺参数与材料去除深度的关系,建立一种基于最小二乘法支持向量回归机(LSSVR)的材料去除深度预测模型,并引入粒子群优化(PSO)算法来优化LSSVR的超参数,可提高LSSVR模型的预测准确性和全局优寻能力。搭建叶片机器人砂带磨抛实验平台,设计并进行多工艺参数实验,考虑工艺参数:砂带粒度、砂带转速、进给速度、接触力和叶片表面曲率半径,获得叶片表面的材料去除深度,最终利用实验数据建立了PSO-LSSVR叶片材料去除深度预测模型。结果表明,PSO-LSSVR模型的预测准确率为95.37%,平均预测误差为0.003463,说明PSO-LSSVR模型具有较高的预测精度,并结合实际加工情况进行实验验证可行性,证明PSO-LSSVR模型可以有效合理地建立工艺参数与材料去除深度的关系。

工业机器人磨抛柔性加工单元磨削参数识别方法优化试验

为解决工业机器人磨抛柔性加工单元因砂带磨损导致工件磨削量减少、被加工工件表面质量一致性差的问题,提出建立基于砂带磨削参数识别方法,以此作为判断砂带磨损程度依据,并进行相应的补偿。在分析砂带磨削参数的理论基础上,设计基于磨削力、磨削深度、砂带粗糙度、砂带厚度、磨削量5种不同的磨削参数识别方法,并通过试验测试,分析优化出砂带磨削参数识别方法,即通过调整磨削参数,补偿因砂带磨损而减少的工件磨削量,可有效保证加工表面一致性。

铝镁合金砂带磨削工艺与粘附特性实验研究

铝镁合金以其质量轻、耐腐蚀等良好材料性能,广泛应用于各个领域。针对当前铝镁合金砂轮磨削加工存在的效率低、表面质量难以保证、砂轮表面易发生粘附等问题,提出采用砂带磨削技术对铝镁合金进行加工。为研究铝镁合金砂带磨削工艺规律以及在磨削过程中容易产生的粘附特性问题,运用36、60两种目数的氧化铝陶瓷、碳化硅和锆刚玉砂带进行铝镁合金磨削实验,分析不同磨削压力和砂带转速下的铝镁合金材料去除率、磨削噪声、磨削能耗和砂带材料粘附率的变化规律。结果表明:在相同磨削参数下,3种砂带中锆刚玉砂带因磨料韧性、抗冲击性、锋利程度更优,其材料去除率最高,粘附率最低,但磨削噪声和能耗更大,故在铝镁合金砂带磨削中,如果不考虑噪声和能耗的影响,可选择锆刚玉砂带以提高磨削效率;3种砂带的磨削压力达到20 N后,砂带粘附达到稳定形成阶段,磨屑堵塞磨粒间隙,使材料去除效率降低。这一结论可为铝镁合金砂带磨削压力参数的选取提供参考;在10~30 N、1 500~3 500 r/min的工艺参数范围内,磨削压力和砂带转速对材料去除率、粘附率都有很大影响,但砂带转速对磨削噪声的影响更大,磨削压力对磨削能耗的影响更大。研究结论可为提高铝镁合金砂带磨削效率与质量,降低磨削噪声与能耗提供一定参考。

金字塔砂带磨损状态的声信号GA-BP识别方法

目的金字塔砂带连续磨损会引发钝峰、材料去除能力差和产热多等问题,为避免砂带磨损造成加工效率持续降低和工件表面质量逐渐恶化,需提高金字塔砂带磨损预测能力。方法在配有声音采集系统的力控机器人磨削系统中对钛合金工件进行了砂带磨损试验;基于Archard模型建立了金字塔砂带磨损模型,并对金字塔砂带磨损程度进行量化;然后利用短时傅里叶和小波包分解分析、提取砂带磨损相关的声音特征;基于声音信号特征建立GA-BP模型,并对金字塔砂带磨损状态进行预测。结果K_(r)与R_(0)规律相近,随着磨削速度的增大而略微增大。对磨削声音进行小波包分解,DD2频段的声音特征随磨削时间逐渐降低,相较于其他频段更具有规律性。提取DD2频段的声音信号特征建立GA-BP模型,并对金字塔砂带磨损状态进行预测。结果表明,决定系数(R^(2))大于0.8,平均绝对误差(MAE)小于0.04,平均偏差误差(MBE)在±0.002之间,均方误差(RMSE)小于0.05。结论随着砂带的磨损,金字塔尖锐的胞体开始磨平,单颗胞体的局部压力逐渐减小,材料去除能力减弱,产生的微振荡越来越弱,高频信号的声音特征逐渐下降。通过DD2频段声音信号特征建立的GA-BP模型对金字塔砂带磨损状态进行预测,具有准确性和稳定性。

砂带磨削工艺参数试验及试验结果预测研究

通过分析Preston方程得出影响砂带磨削材料去除率的工艺参数,并结合砂带磨削经验,在试验装置一定的情况下,确定了影响叶片加工质量和加工效率的主要4个砂带磨削工艺参数:砂带线速度、工件与砂带法向接触力、砂带磨粒粒度和工件进给速度。对4个工艺参数进行单因素试验和L18(3^(4))正交试验,得到了各个工艺参数对工件表面粗糙度和材料去除率的影响规律,确定了各工艺参数的合理范围。基于多层感知器的非线性预测算法对试验数据进行训练拟合,得到工件表面粗糙度和材料去除率的预测模型。最后根据砂带磨削验证试验和模型间性能对比,确定了模型对表面粗糙度和材料去除率的预测绝对百分比误差分别在2.30%~6.47%和1.00%~6.67%之间,并且此模型预测的计算时间更短,证明了此模型通过工艺参数来预测试验结果的鲁棒性和快速性。