CN105150055A - Robot abrasive belt grinding machine for large flat-plate type workpiece - Google Patents

Robot abrasive belt grinding machine for large flat-plate type workpiece Download PDF

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Publication number
CN105150055A
CN105150055A CN201510560464.2A CN201510560464A CN105150055A CN 105150055 A CN105150055 A CN 105150055A CN 201510560464 A CN201510560464 A CN 201510560464A CN 105150055 A CN105150055 A CN 105150055A
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CN
China
Prior art keywords
grinding
driving gear
robot
bracing frame
grinding machine
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Granted
Application number
CN201510560464.2A
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Chinese (zh)
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CN105150055B (en
Inventor
卜迟武
邓兆军
唐庆菊
孙智慧
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Harbin University of Commerce
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Harbin University of Commerce
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Priority to CN201510560464.2A priority Critical patent/CN105150055B/en
Publication of CN105150055A publication Critical patent/CN105150055A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/04Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
    • B24B21/06Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving members with limited contact area pressing the belt against the work, e.g. shoes sweeping across the whole area to be ground
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18Accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18Accessories
    • B24B21/20Accessories for controlling or adjusting the tracking or the tension of the grinding belt
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00Measuring 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
    • B24B49/16Measuring 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06Dust extraction equipment on grinding or polishing machines
    • B24B55/08Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines

Abstract

A robot abrasive belt grinding machine for a large flat-plate type workpiece aims at solving the problems that existing machining equipment (including a machine tool and a robot) is small in operation space, cannot continuously machine large workpieces easily and is poor in machining environment. A grinding device is connected with the tail end of an industrial robot, a pressing unit is arranged in an inner cavity of a resin hood, and a driving gear and a driven gear are arranged on the two sides of the pressing unit respectively; two guiding gears are arranged above the driving gear, and an abrasive belt is arranged in belt grooves in a suspending mode and surrounds the driving gear, the driven gear and the two guiding gears in a closed mode; an electric field pole plate, a dust collecting hood and a brush are sequentially arranged above the two guiding gears in the moving direction of the abrasive belt, an inner cavity of the dust collecting hood is communicated with two first sucking openings in a supporting frame, and the electric field pole plate and the dust collecting hood are fixedly mounted on the supporting frame; a brush rod of the brush is fixedly mounted in the supporting frame through a bearing and connected with a sweeping motor. The robot abrasive belt grinding machine is used for grinding the surfaces of large workpieces.

Description

A kind of robot belt grinding machine for large flat class workpiece
Technical field
The present invention relates to a kind of robot belt grinding machine for the grinding of large flat class surface of the work.
Background technology
The large flat class workpiece such as deck, hull, train body of large-tonnage ships often depends on the hand-held milling tools of workman and processes when carrying out skin processing, this not only affects working (machining) efficiency and crudy, and the dust that processing produces also brings harm to the health of workman.
Sbrasive belt grinding is widely used in the skin processing of various parts, but along with the increase of grinding speed, the timely cleaning of abrasive dust in grinding process, ensures grinding area temperature, prevents abrasive band from blocking and having burnt into a technological challenge.
Standard machinery process equipment, because of the restriction by its bed dimension, is generally difficult to the processing of competent large-size workpiece.
The patent of invention that China Patent No. is 201180058860.5, publication date is on August 11st, 2013 discloses a kind of grinding attachment rotor blade for wind power station being carried out to mechanical grinding, and this patent is achieved by industrial robot and grinding unit to carry out grinding to blade surface.Although this patent solves the problem that manual difficulty of processing is large, be difficult to meet machining accuracy and working (machining) efficiency.But for being rigidly connected between each part in the grinding unit of this patent, therefore, this patent easily produces workpiece and damages, and causes percent defective high, large to the bistrique damage of instrument.In addition, in process, the function of automatic chip-removal is not carried out in existing published patent for grinding strip.
Summary of the invention
The present invention be for solve little between existing process equipment (comprising lathe and robot) operation area, be difficult to the problem that realizes large-scale workpiece being carried out to continous way processing and processing environment difference, and provide a kind of robot belt grinding machine for large flat class workpiece.
A kind of robot belt grinding machine for large flat class workpiece of the present invention comprises industrial robot (1), base (2), mobile platform (3), leading screw (4) and track (5), the afterbody of industrial robot (1) is packed on mobile platform (3) by base (2), mobile platform (3) is threaded with leading screw (4), mobile platform (3) and track (5) are slidably connected, described belt grinding machine also comprises grinding attachment (6), bracing frame (71) on grinding attachment (6) is connected with the end of industrial robot (1), described grinding attachment (6) comprises compressing unit (60), bracing frame (71), resin cover (72), joint pin (73), driving gear (74), driven gear (75), grinding strip (76), Electrode (77), dust shield (78), brush (79), cleaning motor (80), two long stents (81), two guide gears (82) and two short supports (83), compressing unit (60) comprises compression cover (61), iron core (62), connecting rod (65), workbench (67), pressure sensor (69), two are expanded receipts motor (63), two driving gears (64), two drive rods (66) and two tooth bars (68), compress cover (61) to be made up of trough plate (611) and two mobile covers (612), two mobile covers (612) are symmetricly set on the two ends of trough plate (611), each mobile cover (612) is provided with link slot (613) towards the end face of trough plate (611), the lower surface of each mobile cover (612) is provided with belt grooves (614), the two ends of trough plate (611) are separately positioned in corresponding link slot (613), iron core (62) is arranged in the inner chamber compressing cover (61), upper end and the connecting rod (65) of iron core (62) are connected, the upper end of connecting rod (65) is connected through trough plate 611 and workbench (67), the two ends of workbench (67) are respectively equipped with chute (671), a drive rod (66) is provided with in each chute (671), a driving gear (64) and a tooth bar (68), drive rod (66) and driving gear (64) are arranged from the inside to the outside in chute (671), upper end and the tooth bar (68) of drive rod (66) are connected, lower end and the mobile cover (612) of drive rod (66) are connected, driving gear (64) engages with tooth bar (68), driving gear (64) is packed in expansion and receives on the output shaft of motor (63), pressure sensor (69) is packed on the upper surface of workbench (67), the lower end of resin cover (72) is open, bracing frame (71) is arranged on the upper end of resin cover (72), compressing unit (60) is arranged in the inner chamber of resin cover (72), workbench (67) on compressing unit (60) is connected with bracing frame (71) by joint pin (73), driving gear (74) and driven gear (75) are separately positioned on the both sides of compressing unit (60), and driving gear (74) and driven gear (75) are packed on corresponding long stent (81) respectively, long stent (81) is connected with bracing frame (71), two guide gears (82) are all arranged on the top of driving gear (74), each guide gear (82) is packed on corresponding short support (83), short support (83) is connected with bracing frame (71), grinding strip (76) is unsettled to be arranged in belt grooves (614), grinding strip (76) closed-loop is around driving gear (74), on driven gear (75) and two guide gears (82), Electrode (77), dust shield (78) and brush (79) are successively set on the top of two guide gears (82) by input direction to the outbound course of grinding strip (76), the inner chamber of dust shield (78) all communicates with two the first suction inlets (711) on bracing frame (71), Electrode (77) and dust shield (78) are all packed on bracing frame (71), the brush holder support of brush (79) is packed in bracing frame (71) by bearing, the brush holder support of brush (79) is connected with cleaning motor (80), grinding strip (76) is by magnetic rubber layer (761), silastic-layer (762), electricity rubber layer (763) and grinding layer (764) composition, magnetic rubber layer (761), silastic-layer (762), electricity rubber layer (763), grinding layer (764) binds successively from the inside to the outside and forms, the inner surface of magnetic rubber layer (761) is provided with the internal tooth (765) be meshed with driving gear (74).
The present invention compared with prior art has following beneficial effect:
One, the present invention carries out grinding by grinding strip (76) to surface of the work, Electrode (77), dust shield (78) and brush (79) form cleaning device, cleaning device is cleared up the abrasive dust that the abrasive dust produced in grinding process and grinding strip adhere to, grinding strip is not easily blocked, prevent the burned work-surface phenomenon produced because machining area temperature is too high, so also can ensure the service life of grinding strip.Driving gear (74), driven gear (75), grinding strip (76) and two guide gears (82) form sanding apparatus, sanding apparatus adopts noncontact to compress mode and grinding strip is pressed on surface of the work, this configuration avoids having the too high situation of grinding temperature between grinding strip and workpiece to occur, prevent the gross distortion of grinding strip and affect machining accuracy.
Two, the clearing and retrieving work of grinding process of the present invention and abrasive dust is all in the confined space that resin cover (72) and workpiece surround, and whole grinding process to external world environment does not produce any pollution.
Three, after the dust granules such as abrasive dust absorb by cleaning device, the recycling of abrasive dust can be realized, there is certain economic worth.
Four, cleaning device cleans processing environment continuously in process.Meanwhile, cleaning device can regulate clean power automatically according to the size of stock removal, namely with the absorptive collection of suitable power assurance abrasive dust.
Five, the compression length of compressing unit (60) to grinding strip freely can adjust with processing tasks, meets the processing request of different processing object.
Six, in the end of compressing unit (60), pressure sensor (69) is housed, active force in real-time detection bruting process between compressing unit (60) and sanding apparatus, the size of this active force directly affects the size of stock removal, so by the Detection & Controling to this active force, thus realize the stable of stock removal in grinding process, to ensure machining accuracy.In addition, by the Shared control to this active force, robot can be avoided and produce collision between grinding attachment and processing work, protection workpiece and robot polishing system.
Seven, being installed on by the robot belt grinding machine for large flat class workpiece of the present invention can along the platform of guide rail movement, thus make this robot grinding machine movable operation, and possess flexible operation, accurately feature, and mobile operating can be carried out along guide rail (5), expand the working space of robot, can realize, to the continous way grinding of large-scale workpiece whole body, meeting the processing request of large-size workpiece, achieve the continous way processing of large-size workpiece.
Accompanying drawing explanation
Fig. 1 is overall structure front view of the present invention;
Fig. 2 is the front view of grinding attachment 6;
Fig. 3 is the main sectional view of compressing unit 60;
Fig. 4 is the left view (remove to expand and receive motor 63 and driving gear 64) of Fig. 3;
Fig. 5 is the top view of Fig. 3;
Fig. 6 is the upward view of Fig. 3;
Fig. 7 is the stereogram compressing cover 610;
Fig. 8 is the stereogram of mobile cover 612;
Fig. 9 is the upward view of trough plate 611;
Figure 10 is the left view of Fig. 9;
Figure 11 is the position relationship schematic diagram of Electrode 77, dust shield 78, brush 79, the short support 83 of cleaning motor 80, two guide gears 82, two and supporting traverse 71;
Figure 12 is the structure sectional view of grinding strip 76.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Figure 12 illustrates present embodiment, present embodiment comprises industrial robot 1, base 2, mobile platform 3, leading screw 4 and track 5, the afterbody of industrial robot 1 is packed on mobile platform 3 by base 2, mobile platform 3 is threaded with leading screw 4, mobile platform 3 and track 5 are slidably connected, described belt grinding machine also comprises grinding attachment 6, and the bracing frame 71 on grinding attachment 6 is connected with the end of industrial robot 1;
Described grinding attachment 6 comprises compressing unit 60, bracing frame 71, resin cover 72, joint pin 73, driving gear 74, driven gear 75, grinding strip 76, Electrode 77, dust shield 78, brush 79, cleaning motor 80, two long stents 81, two guide gears 82 and two short supports 83;
Compressing unit 60 comprises compression cover 61, iron core 62, connecting rod 65, workbench 67, pressure sensor 69, two expansion receipts motor 63, two driving gears 64, two drive rods 66 and two tooth bars 68;
Compress cover 61 to be made up of trough plate 611 and two mobile covers 612, two mobile covers 612 are symmetricly set on the two ends of trough plate 611, each mobile cover 612 is provided with link slot 613 towards the end face of trough plate 611, the lower surface of each mobile cover 612 is provided with belt grooves 614, the two ends of trough plate 611 are separately positioned in corresponding link slot 613, iron core 62 is arranged in the inner chamber compressing cover 61, upper end and the connecting rod 65 of iron core 62 are connected, the upper end of connecting rod 65 is connected through trough plate 611 and workbench 67, the two ends of workbench 67 are respectively equipped with chute 671, a drive rod 66 is provided with in each chute 671, a driving gear 64 and a tooth bar 68, drive rod 66 and driving gear 64 are arranged from the inside to the outside in chute 671, upper end and the tooth bar 68 of drive rod 66 are connected, lower end and the mobile cover 612 of drive rod 66 are connected, driving gear 64 engages with tooth bar 68, driving gear 64 is packed in expansion and receives on the output shaft of motor 63, pressure sensor 69 is packed on the upper surface of workbench 67,
The lower end of resin cover 72 is open, bracing frame 71 is arranged on the upper end of resin cover 72, compressing unit 60 is arranged in the inner chamber of resin cover 72, workbench 67 on compressing unit 60 is connected with bracing frame 71 by joint pin 73, driving gear 74 and driven gear 75 are separately positioned on the both sides of compressing unit 60, and driving gear 74 and driven gear 75 are packed on corresponding long stent 81 respectively, long stent 81 is connected with bracing frame 71, two guide gears 82 are all arranged on the top of driving gear 74, each guide gear 82 is packed on corresponding short support 83, short support 83 is connected with bracing frame 71, grinding strip 76 is unsettled to be arranged in belt grooves 614, namely contactless between grinding strip 76 and trough plate 611, frictional heat can not be produced, decrease fretting wear and the fire damage of grinding strip, grinding strip 76 closed-loop is around on driving gear 74, driven gear 75 and two guide gears 82, Electrode 77, dust shield 78 and brush 79 are successively set on the top of two guide gears 82 by input direction to the outbound course of grinding strip 76, the inner chamber of dust shield 78 all communicates with first suction inlet 711 of two on bracing frame 71, Electrode 77 and dust shield 78 are all packed on bracing frame 71, the brush holder support of brush 79 is packed in bracing frame 71 by bearing, and the brush holder support of brush 79 is connected with cleaning motor 80,
Grinding strip 76 is made up of magnetic rubber layer 761, silastic-layer 762, electric rubber layer 763 and grinding layer 764, magnetic rubber layer 761, silastic-layer 762, electric rubber layer 763, grinding layer 764 bind successively from the inside to the outside and form, and the inner surface of magnetic rubber layer 761 is provided with the internal tooth 765 be meshed with driving gear 74.The electric rubber layer 763 of the electric field that Electrode 77 produces to grinding strip 76 produces piezo-electric effect, makes grinding strip 76 produce micro-vibration, thus knocks out by the abrasive dust blocked in grinding strip internal tooth 765 and groove, reaches the object of clean grinding strip 76.Silastic-layer 762 also can isolate the magnetic field that compressing unit produces, and prevents it abrasive dust to be adsorbed onto grinding strip 76 surface, affects grinding efficiency;
The operation principle of compressing unit 60 is: iron core 62 produces magnetic field when being energized, the magnetic rubber layer 761 of grinding strip 76 produces the pressure acted on workpiece 7 surface under magnetic fields, thus realizes compressing unit 60 and be pressed on workpiece by grinding strip in a non-contact manner;
Industrial robot 1 is for adopting existing articulated type industrial robot.Resin cover 72 is translucent cover, and translucent cover is conducive to the observation of machining status and has good impact resistance.First suction inlet 711 is connected with collected outside device.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, the axis of two guide gears 82 of present embodiment is parallel to each other and is arranged in same level.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 3 illustrates present embodiment, the mobile cover 612 of present embodiment and the material of trough plate 611 are silicon steel, this material can by magnet coil produce magnetic field all be limited in compressing unit 60, other composition and annexation identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 2 illustrates present embodiment, the resin cover 72 of present embodiment is provided with the second suction inlet 721 near bottom, second suction inlet 721 is connected with collecting bag, the abrasive dust that grinding strip 76 and workpiece 7 grinding are got off is absorbed in collection bag by the second suction inlet 721 by the second suction inlet 721, other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 2 illustrates present embodiment, the driving gear 74 of present embodiment and the diameter of driven gear 75, the number of teeth are identical, other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 2 and Figure 12 illustrate present embodiment, because grinding strip 76 has certain elasticity, when tensioning its internal tooth 765 and groove the facewidth can increase, in order to ensure engaging of driving wheel 74 and grinding strip 76, realize the steady of motion, the facewidth of driving gear 74 should than the internal tooth 765 of grinding strip 76 and the large 3mm ~ 5mm of the groove facewidth, other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 2 illustrates present embodiment, present embodiment and detailed description of the invention six also increase unlike it regulating wheel 84 and tension pulley support 85, regulating wheel 84 is pressed on grinding strip 76, regulating wheel 84 is packed on tension pulley support 85, tension pulley support 85 is connected with bracing frame 71, by controlling the control that the position of regulating wheel 84 can realize grinding strip 76 tensioning, other composition and annexation identical with detailed description of the invention six.
Operation principle of the present invention:
During grinding attachment 6 operation, driving gear 74 starts to rotate under the driving of driver part, grinding strip 76 is driven to move, abrasive dust is splashes under centrifugal action, but under resin cover 77 stops, the region of grinding strip 76 and workpiece 7 surface contact is after completing polishing task, part abrasive dust falls into resin cover 77, another part abrasive dust remains on grinding strip 76, when region grinding strip 76 speckling with abrasive dust is between two guide gears 82, first Electrode 77 place is entered, the electric field that Electrode 77 produces produces piezo-electric effect to the electric rubber layer 763 on grinding strip 76, grinding strip 76 is made to produce micro-vibration, thus make grinding strip 76 to block and is stained with the abrasive dust disengaging grinding strip in interior flank profil 765 and groove, namely the once cleaning of grinding strip 76 is realized, collected outside device is recycled in collected outside device by the first suction inlet 711 grinding strip 76 surface of being blown off by abrasive dust, namely realizes secondary cleaning, under brush 79 further cleaning effect, realize the cleaning completely of remaining abrasive dust in grinding strip 76, i.e. three cleanings.
The operation principle of compressing unit 60: see Fig. 3,4,5, two are expanded receipts motor 63 and start and rotate backward, driving gear 64 is driven to rotate, because tooth bar 68 engages with driving gear 64, outwards or move inward, drive rod 66 and mobile cover 612 move thereupon, by controlling the size of the coil current in iron core 62 simultaneously for two tooth bars 68, regulate iron core 62 to produce the intensity in magnetic field, realize the control of the thrust size of compressing unit 60 pairs of grinding strips 76; The magnetic field that coil produces all can be limited in compressing unit 60.

Claims (7)

1. the robot belt grinding machine for large flat class workpiece, described belt grinding machine comprises industrial robot (1), base (2), mobile platform (3), leading screw (4) and track (5), the afterbody of industrial robot (1) is packed on mobile platform (3) by base (2), mobile platform (3) is threaded with leading screw (4), mobile platform (3) and track (5) are slidably connected, it is characterized in that: described belt grinding machine also comprises grinding attachment (6), bracing frame (71) on grinding attachment (6) is connected with the end of industrial robot (1),
Described grinding attachment (6) comprises compressing unit (60), bracing frame (71), resin cover (72), joint pin (73), driving gear (74), driven gear (75), grinding strip (76), Electrode (77), dust shield (78), brush (79), cleaning motor (80), two long stents (81), two guide gears (82) and two short supports (83);
Compressing unit (60) comprises compression cover (61), iron core (62), connecting rod (65), workbench (67), pressure sensor (69), two expansions receipts motor (63), two driving gears (64), two drive rods (66) and two tooth bars (68)
Compress cover (61) to be made up of trough plate (611) and two mobile covers (612), two mobile covers (612) are symmetricly set on the two ends of trough plate (611), each mobile cover (612) is provided with link slot (613) towards the end face of trough plate (611), the lower surface of each mobile cover (612) is provided with belt grooves (614), the two ends of trough plate (611) are separately positioned in corresponding link slot (613), iron core (62) is arranged in the inner chamber compressing cover (61), upper end and the connecting rod (65) of iron core (62) are connected, the upper end of connecting rod (65) is connected through trough plate 611 and workbench (67), the two ends of workbench (67) are respectively equipped with chute (671), a drive rod (66) is provided with in each chute (671), a driving gear (64) and a tooth bar (68), drive rod (66) and driving gear (64) are arranged from the inside to the outside in chute (671), upper end and the tooth bar (68) of drive rod (66) are connected, lower end and the mobile cover (612) of drive rod (66) are connected, driving gear (64) engages with tooth bar (68), driving gear (64) is packed in expansion and receives on the output shaft of motor (63), pressure sensor (69) is packed on the upper surface of workbench (67),
The lower end of resin cover (72) is open, bracing frame (71) is arranged on the upper end of resin cover (72), compressing unit (60) is arranged in the inner chamber of resin cover (72), workbench (67) on compressing unit (60) is connected with bracing frame (71) by joint pin (73), driving gear (74) and driven gear (75) are separately positioned on the both sides of compressing unit (60), and driving gear (74) and driven gear (75) are packed on corresponding long stent (81) respectively, long stent (81) is connected with bracing frame (71), two guide gears (82) are all arranged on the top of driving gear (74), each guide gear (82) is packed on corresponding short support (83), short support (83) is connected with bracing frame (71), grinding strip (76) is unsettled to be arranged in belt grooves (614), grinding strip (76) closed-loop is around driving gear (74), on driven gear (75) and two guide gears (82), Electrode (77), dust shield (78) and brush (79) are successively set on the top of two guide gears (82) by input direction to the outbound course of grinding strip (76), the inner chamber of dust shield (78) all communicates with two the first suction inlets (711) on bracing frame (71), Electrode (77) and dust shield (78) are all packed on bracing frame (71), the brush holder support of brush (79) is packed in bracing frame (71) by bearing, the brush holder support of brush (79) is connected with cleaning motor (80),
Grinding strip (76) is made up of magnetic rubber layer (761), silastic-layer (762), electric rubber layer (763) and grinding layer (764), magnetic rubber layer (761), silastic-layer (762), electric rubber layer (763), grinding layer (764) bind successively from the inside to the outside and form, and the inner surface of magnetic rubber layer (761) is provided with the internal tooth (765) be meshed with driving gear (74).
2. a kind of robot belt grinding machine for large flat class workpiece according to claim 1, is characterized in that: the axis of described two guide gears (82) is parallel to each other and is arranged in same level.
3. a kind of robot belt grinding machine for large flat class workpiece according to claim 1 or 2, is characterized in that: the material of described mobile cover (612) and trough plate (611) is silicon steel.
4. a kind of robot belt grinding machine for large flat class workpiece according to claim 3, is characterized in that: described resin cover (72) is provided with the second suction inlet (721) near bottom.
5. a kind of robot belt grinding machine for large flat class workpiece according to claim 4, is characterized in that: diameter, the number of teeth of driving gear (74) and driven gear (75) are identical.
6. a kind of robot belt grinding machine for large flat class workpiece according to claim 5, is characterized in that: the facewidth 3mm ~ 5mm larger than internal tooth (765) facewidth of grinding strip (76) of driving gear (74).
7. a kind of robot belt grinding machine for large flat class workpiece according to claim 6, it is characterized in that: described milling drum also comprises regulating wheel (84) and tension pulley support (85), regulating wheel (84) is pressed on grinding strip (76), regulating wheel (84) is packed on tension pulley support (85), and tension pulley support (85) is connected with bracing frame (71).
CN201510560464.2A 2015-08-27 2015-08-27 A kind of robot belt grinding machine for large flat class workpiece Active CN105150055B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105628739A (en) * 2015-12-25 2016-06-01 黑龙江科技大学 Robot laser infrared nondestructive testing device for large workpiece and flaw detection method
CN107932278A (en) * 2017-11-21 2018-04-20 华中科技大学 A kind of full feature robot grinding and polishing apparatus of blade
CN111015455A (en) * 2019-12-29 2020-04-17 合肥宽信机电有限公司 Axle casting accessory surface grinding device
CN112676995A (en) * 2020-12-23 2021-04-20 中建筑港集团有限公司 Steel form polishing device

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