CN107088813A - A kind of robot sbrasive belt grinding unit - Google Patents
A kind of robot sbrasive belt grinding unit Download PDFInfo
- Publication number
- CN107088813A CN107088813A CN201710572065.7A CN201710572065A CN107088813A CN 107088813 A CN107088813 A CN 107088813A CN 201710572065 A CN201710572065 A CN 201710572065A CN 107088813 A CN107088813 A CN 107088813A
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- CN
- China
- Prior art keywords
- polishing
- palm
- abrasive band
- grinding unit
- gas spring
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Classifications
-
- 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
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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
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/10—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving a rigid member, e.g. pressure bar, table, pressing or supporting the belt over substantially its whole span
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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
- B24B21/18—Accessories
- B24B21/22—Accessories for producing a reciprocation of the grinding belt normal to its direction of movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of robot sbrasive belt grinding unit, the abrasive band wabbler mechanism is arranged in the region of abrasive band closed loop moving path parcel, tacking motor seat is fixed on motor base plate, rack shaft is inserted into shaft bearing seat, the two ends of 3rd driven roll are equipped with bearing, are rotated freely in the U-shaped structure of passive roller support formation；The abrasive band tensioning apparatus is installed in the region of abrasive band closed loop path parcel, and gas both ends of the spring is respectively articulated with and base plate and swing rod；The pneumatic adaptive polishing palm mechanism is fixed on base plate, polishing palm platform is hinged by bearing pin with motor base plate, cylinder is fixed with polishing palm platform, its cylinder part is connected with polishing palm platform, piston rod is connected with the polishing palm, and the polishing palm is fixed with the axis of guide and inserted in the bearing holder (housing, cover) connected with polishing palm platform.Mutual correction time when the present invention reduces robot with grinding unit cooperating, efficiency can be improved during high-volume grinding operation.
Description
Technical field
The present invention relates to sbrasive belt grinding and grinding technology field, more particularly to a kind of robot sbrasive belt grinding unit.
Background technology
In current grinding and buffing technology, it is hand-held that the blank that numerous parts are processed needs skilled worker to carry out
Polishing is polished, with the burr and defective workmanship on the surface of removing part.China Today human cost rises quick.Country carries
Go out the development statement of made in China 2025, therefore grinding and buffing industry is also badly in need of deployment automation equipment to tackle industry gradually
Elevated cost.At present, robot grinding and buffing technology is not popularized in most of polishing work by being accomplished manually, also.Especially
Some tangible segmented industries, the polishing of such as wooden lacquer box, scheme is ground without ready-made roboticized workpiece.
A kind of robot belt grinder is elaborated in the A of patent CN 106514461, including tensioner designs
With dust suction design, the mechanism for being not directed to how how periodically to control abrasive band to swing in the operation process of abrasive band and
Robot how is coordinated to realize the mechanism of polishing.A kind of abrasive band wabbler mechanism is given in patent CN203390697 U, is passed through
The rotation that cylinder controls passive roller is waved, the elevating movement of rocking equipment is controlled using telescopic cylinder, but the patent is not
Provide and how to build belt sanding system using the rocking equipment, also do not provide how to control and adjust abrasive band wabbler mechanism
Amplitude of fluctuation and the explanation of hunting period.
The content of the invention
The invention aims to solve shortcoming present in prior art, and a kind of robot proposed is ground with abrasive band
Cut unit.
To achieve these goals, present invention employs following technical scheme：
A kind of robot sbrasive belt grinding unit, including abrasive band wabbler mechanism, abrasive band tensioning apparatus and the pneumatic adaptive polishing palm
Mechanism, the abrasive band wabbler mechanism is arranged in the region of abrasive band closed loop moving path parcel, including swing motor, motor
Seat, motor shaft sleeve, passive roller support, the 3rd driven roll, rack shaft, shaft bearing seat, tacking motor seat are fixed on motor
On base plate, rack shaft is inserted into shaft bearing seat, and the two ends of the 3rd driven roll are equipped with bearing, are formed in passive roller support
U-shaped structure in rotate freely；The abrasive band tensioning apparatus is installed in the region of abrasive band closed loop path parcel, including the 4th quilt
Dynamic roller, gas spring, swing rod and swing rod handle, gas both ends of the spring are respectively articulated with and base plate and swing rod；It is described pneumatic adaptive to beat
Runner bar mechanism is fixed on base plate, including pin joint bearing, adjusting rod, the first gas spring, the second gas spring, the 3rd gas spring
Support section is constituted with the 4th gas spring to be hinged with polishing palm platform；Polishing palm platform is cut with scissors by bearing pin and motor base plate
Connect, cylinder is fixed with polishing palm platform, its cylinder part is connected with polishing palm platform, and piston rod is connected with the polishing palm, polishing
The palm is fixed with the axis of guide and inserted in the bearing holder (housing, cover) connected with polishing palm platform.
It is preferred that, motor shaft sleeve has eccentric shaft structure, and is inserted into the I shape grooves of passive roller support, and in I shape grooves
Middle motion.
It is preferred that, passive roller support and the 3rd driven roll can be swung with rack shaft in shaft bearing seat.
It is preferred that, the axis of motor shaft sleeve and the diameter parallel of rack shaft.
It is preferred that, the polishing palm at least two gas springs of platform, such as the second gas spring, the 4th gas spring or the first gas bullet
Spring and the 3rd gas spring, are distributed in bearing pin both sides.
It is preferred that, polishing at least two axis of guides of the palm are inserted into the bearing holder (housing, cover) of polishing palm platform.
It is preferred that, the piston of the polishing palm and cylinder is connected, and the abrasive band of operating is pressed on into grinding workpiece in polishing
Surface.
It is preferred that, by adjusting the articulated position of gas spring on the base mounting plate, to adjust abrasive band tensioning degree.
It is preferred that, polishing palm is fixed with level meter.
A kind of robot sbrasive belt grinding unit used with industrial robot cooperating proposed by the present invention, equipped with sand
Band wabbler mechanism, abrasive band tension mechanism and pneumatic adaptive polishing palm mechanism.Abrasive band wabbler mechanism enables to abrasive band to complete company
Left and right cycle reciprocally swinging in reforwarding turn, keeps polishing uniform in effect；Abrasive band tension mechanism can keep constant force tensioning state to protect
Card abrasive band is not fallen off；Pneumatic polishing palm mechanism can adaptively adjustment posture to coordinate the grinding surface of workpiece, so as to improve dozen
Quality is ground, mutual correction time when reducing robot with grinding unit cooperating, can be improved during high-volume grinding operation
Efficiency；It can mitigate labor strength with this sbrasive belt grinding unit that industrial robot is used cooperatively, produce drop in enormous quantities
Low cost, improves grinding and polishing effect.Abrasive band wabbler mechanism periodically swing and then cause the abrasive band of high-speed rotation
Periodically swung in the range of roll width.Abrasive band tension mechanism can provide metastable tensile force and then guarantor
The tensioning state in abrasive band is demonstrate,proved, it is not come off during exercise from roller, the job stability of sbrasive belt grinding unit is improved.When
When the plane that buffed surface and pneumatic polishing are slapped is not parallel, swaying platform will free angular displacement and come that quasi-complement is polished face and polishing is slapped
The gap of plane, reaches coincidence contact, and then increases grinding area and improve grinding efficiency and quality.
A kind of robot of the present invention can be applicable to metal parts, the polishing grinding of wooden lacquer surface parts with sbrasive belt grinding unit
In, adjustable with rotating speed, tension force can adjust, the adjustable function of abrasive band reciprocating frequence, can with other automation equipments or
Robot is combined into automatic grinding system, improves processing efficiency and processing effect.
Brief description of the drawings
Fig. 1 is the composition and arrangement figure of a kind of robot sbrasive belt grinding unit of the invention.
Fig. 2 is a kind of wabbler mechanism structure chart of robot sbrasive belt grinding unit of the invention.
Fig. 3 is a kind of robot sbrasive belt grinding unit eccentric swing mechanism figure of the invention.
Fig. 4 is a kind of supporting mechanism of robot sbrasive belt grinding unit of the invention and pneumatic polishing palm structure chart.
Fig. 5 slaps mechanism map for a kind of pneumatic adaptive polishing of robot sbrasive belt grinding unit of the invention.
Fig. 6 is the configuration diagram that a kind of robot sbrasive belt grinding unit of the invention constitutes polishing system with industrial robot.
Fig. 7 is a kind of outside drawing of robot sbrasive belt grinding unit of the invention.
Fig. 8 is a kind of structure chart of the embodiment 3 of robot sbrasive belt grinding unit of the invention.
Fig. 9 is a kind of structure chart of the embodiment 4,5 of robot sbrasive belt grinding unit of the invention.
In figure：1- ac motors；2- base plates；3- drive rolls；The driven rolls of 4- first；The driven rolls of 5- second；6- abrasive bands
Tensioning apparatus；7- abrasive bands；8- abrasive bands wabbler mechanism；The pneumatic adaptive polishing palm mechanisms of 9-；10- swing motors；11- motor cabinets；
12- motor shaft sleeves；The passive roller supports of 13-；The driven rolls of 14- the 3rd；15- rack shafts；16- shaft bearings seat；17- eccentric shafts；
18- gas springs；19- swing rod handles；20- swing rods；21- pin joint bearings；22- adjusting rods；23- the first gas springs；The gas of 24- second
Spring；The gas springs of 25- the 3rd；26- polishing palm platforms；27 cylinders；28- bearing pins；The 29- polishing palms；30- bearing holder (housing, cover)s；31- is oriented to
Axle；The gas springs of 32- the 4th；33- level meters；The driven rolls of 34- the 4th；35- grinding unit side doors；36- grinding unit top covers；37-
Motor cover；38- grinding workpieces；39- industrial robots.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Embodiment 1：
A kind of reference picture 1, robot sbrasive belt grinding unit of the present invention, is mainly used in roboticized polishing system
In, it can be used for changing traditional belt sander, improve polishing quality.Robot sbrasive belt grinding unit is main by being fixed on grinding
Ac motor 1 on motor base plate 2 drives drive roll 3 to move by belt transmission.Base plate 2 mainly has aluminum alloy plate materials
Built jointly with national standard aluminium alloy extrusions, constitute the pedestal of motor motivation and whole grinding unit, grinding unit can be with it
He is quickly installed apparatus for production line by national standard section bar connector.Drive roll 3 is the encapsulated cylindrical shape roller of aluminium core, outside it
Surface is provided with spiral shape skewed slot, and spiral chute is circumferentially uniform along periphery, the frictional force between increase drive roll 3 and abrasive band.
Abrasive band 7 bypasses the first driven roll 4, the second driven roll 5, the 4th driven roll 34 and the 3rd driven roll 14 one single closed loop of formation
Path, carries out closed loop reciprocating motion under the drive of drive roll 3.First driven roll 4, the second driven roll 5, the and of the 4th driven roll 34
3rd driven roll 14 is made up of aluminium alloy, and internal outer surface embossing is hollow mechanism, and two ends are equipped with bearing, are hinged on base plate 2
On.Abrasive band wabbler mechanism 8, abrasive band tensioning apparatus 6 and the pneumatic adaptive polishing palm are provided with the closed loop region that abrasive band is formed
Mechanism 9.
Further, the 3rd driven roll 14 in abrasive band wabbler mechanism 8 is contacted with abrasive band 7, in the drive of swing motor 10
Lower 3rd driven roll 14 carries out periodic reciprocally swinging and then drives abrasive band 7 back and forth to be moved on the outer surface of the 3rd driven roll 14
It is dynamic.
Specific abrasive band wabbler mechanism refers to Figure of description 2 and accompanying drawing 3：Abrasive band wabbler mechanism 6 is by swing motor 10, electricity
Support 11, motor shaft sleeve 12, passive roller support 13, the 3rd driven roll 14, rack shaft 15, shaft bearing seat 16 are constituted.
Specifically, swing motor 10 is bolted on motor cabinet 11, motor cabinet 11 is fixed on base plate 2；Electricity
Arbor set 12 is connected and fixed on by key and jackscrew on the output shaft of swing motor 10.There is eccentric shaft knot on motor shaft axle sleeve 12
The diameter parallel of structure, the axis of eccentric shaft 17 and swing motor 10 simultaneously has one apart from d in structure（D is more than 0）, and it is eccentric
Axle 17 is inserted in the I font grooves of passive roller support 13（The nominal width of groove is also d, and tolerance is plus tolerance）.Rack shaft
15 are fixed on one integrated member of formation in passive roller support 13, rack shaft 15 and the shaft bearing being fixed on motor cabinet 11
Seat 16 is engaged, and rack shaft 15 can be rotated in shaft bearing seat 16.The two ends of 3rd driven roll 14 are equipped with bearing, can
Rotated freely in the U-shaped structure of passive roller support 13 formation.When swing motor 10 rotates, motor shaft sleeve 12 is with waving electricity
Eccentric shaft 17 on the output shaft rotation of machine 10, motor shaft sleeve 12 revolves round the sun around the output shaft of swing motor 10, and stirs driven roll
The groove of support 13 is swung, and then the 3rd driven roll 14 is swung.
Reference picture 4, further on the basis of abrasive band wabbler mechanism 8, arrangement abrasive band tensioning apparatus 6 can effectively make up
Introduce abrasive band caused by the motion of the 3rd driven roll 14 after swing mechanism causes closed loop moving length in width swing
Change.In order to solve this problem, abrasive band tensioning apparatus 6 is by the 4th driven roll 34, gas spring 18, swing rod 20 and swing rod handle
19 compositions.
Its principle is with base plate 2 to pass through bearing hinge connection, swing rod handle than the width of the 4th driven roll 34 slightly wide swing rod 20
19 are fixed on swing rod 20.4th driven roll 34 can freely be rotated on swing rod 20.One end of gas spring 18 is fixed on abrasive band
On machine pedestal, the other end is hinged with swing rod 20.The position of pin joint is hinged in the 4th driven roll 34 and swing rod 20, base plate 2
Between point, the elastic force of gas spring 18 makes the 4th driven roll 34 by the stretching of abrasive band 7, and tensile force is near constant, so can
Ensure steady in the running of abrasive band.Operating personnel can make the 4th driven roll 34 by the compressed gas spring 18 of swing rod handle 19
Released between abrasive band 7, and then abrasive band 7 is no longer on tensioned state, abrasive band easy removal can be facilitated into the replacing in abrasive band 7.
Sbrasive belt grinding unit has after abrasive band wabbler mechanism 8 and abrasive band tensioning apparatus 6, and abrasive band is in ac motor 1
Closing along the formation of the first driven roll 4, the second driven roll 5, the 4th driven roll 34, the 3rd driven roll 14 and drive roll 3 under drive
Endless path rotary motion.In the presence of the motor of abrasive band wabbler mechanism 8, the 3rd driven roll 14 can be driven by eccentric shaft 17
The passive driven roll 14 of roller support 13 and the 3rd carries out periodic reciprocally swinging, and then drives the abrasive band of rotation at a high speed in the 3rd quilt
The enterprising line period of width of dynamic roller 14 is moved back and forth.Abrasive band tensioning apparatus 6 can be supportted in abrasive band from inside to outside with constant force
Stabilization during can tightly remaining on is simultaneously difficult for drop-off, and the abrasive band being tensioned in addition is also such as not easy to occur in bruting process
Beat and influence polishing quality.
Pneumatic adaptive polishing palm mechanism 9 is main by pin joint bearing 21, the gas spring 23, second of adjusting rod 22 and first
Gas spring 24, the 3rd gas spring 25 and the 4th gas spring 32 composition support section are hinged with polishing palm platform 26.The polishing palm is flat
Platform 26 is hinged by bearing pin 28 with base plate 2.Cylinder 27 is fixed with polishing palm platform 26, its cylinder part and the polishing palm are flat
Platform 26 is connected, and piston rod is connected with the polishing palm 29, is fixed with four axis of guides 31 on the polishing palm 29 simultaneously and inserts and is slapped with polishing
In the connected bearing holder (housing, cover) 30 of platform, the source of the gas of cylinder 27 is provided by air supply system.Pneumatic adaptive polishing palm mechanism is by pre-
First the initial of platform 26 is slapped in the position of regulation adjusting rod 22 to adjust the relative length position of four gas springs and then determine to polish
Position.When preparing polishing, the air inlet of cylinder 27 ejects piston and the polishing palm 29, and the polishing palm 29 after ejection can be by motion
Abrasive band is pressed on the face of being polished upper progress grinding operation.The axle sleeve of the axis of guide 31 and polishing palm platform 26 on the polishing palm 29 can be with
Ensure that the polishing palm 29 ensures parallel with polishing palm platform 26.Polishing palm can show inclining for polishing palm platform equipped with level meter 33
Oblique degree.
Pneumatic adaptive polishing palm mechanism 9 and the cooperating reference picture 5 of industrial robot 9, pre-adjust beating for good position
Runner bar platform 26, the polishing palm 29 is ejected by cylinder 27 is pressed in abrasive band 7 above grinding workpiece 38, when industrial robot 39 is pressed from both sides
Hold grinding workpiece 38 not with vertical posture close to abrasive band and polishing the palm 29 when, due to initial contact for cusp contact,
The reaction force of the tip contacts can make the polishing palm 29 and polishing palm platform 26 produce and be rotated into up to the polishing palm 29 in pin
The part of the opposite side of axle 28 can also be come in contact with being polished face, and at this moment the pose of polishing palm platform 26 and the polishing palm 29 is completed
Face full contact is adjusted and be polished, the adaptive adjustment process of polishing contact is completed.Bruting process ensures industrial robot 39
Grinding workpiece 38 was pressed in the polishing palm 29 and the preceding paragraph time of abrasive band 7, defined grinding task is completed.
Reference picture 6, installs grinding unit side door 35 and grinding unit top cover 36 additional by grinding unit on the basis of Fig. 5 mechanisms
Closed with abrasive band.And motor cover 37 is installed in the lower end of base plate 2, its openend is horn opening, bruting process
The dust of middle generation will be collected by cleaning shaft, keep the air cleaning of grinding area.Grinding unit side door 35, grinding
Unit top cover 36 and motor cover 37 can close the operating path in abrasive band well, prevent other flour dust overflows to air
In.
In practical application, grinding unit can be placed on around robot and work according to the actual size of industrial robot
The cooperating of industry robot 39 carries out the automation grinding work of part, constitutes roboticized polishing system.
Reference picture 7, a kind of robot sbrasive belt grinding unit, its front portion is the polishing region in abrasive band 7, abrasive band wabbler mechanism
8th, abrasive band tensioning apparatus 6 and pneumatic adaptive polishing palm mechanism 9 are all ground unit side door 35, grinding unit top cover 36 and driving
Motor cover 37 is closed.Motor 1 is in motor cover 37, to prevent dust from entering rotor.Polishing unit can pass through pedestal 2
National standard aluminium alloy extrusions be fixed on around robot 39.
Embodiment 2：
For adaptive pneumatic polishing palm mechanism 9 embodiment, put down in embodiment above using four gas spring air exercise runner bars
Platform 26 carries out angle of inclination regulation.The first gas spring 23 and the 3rd gas spring 25 can also be only used in practice.Or multiple gas
Spring and making spring of bringing about the desired sensation is distributed in the both sides of bearing pin 28, can reach the purpose at adjustment polishing palm platform 26 inclination angle.
Embodiment 3：
With industrial robot composition automation polishing system, the appearance that the posture of sbrasive belt grinding unit is always placed vertically in Fig. 6
State.Other embodiment will also include, using the installation pedestal of industrial robot as the center of circle, set up polar coordinates, sbrasive belt grinding unit
Upper and lower, front, rear, left and right all directions of industrial robot 39 can be placed on.Polishing system is constituted with robot, and
Grinding unit is in the coverage of robot arm.Abrasive band is with being polished the state that relation of plane is also not necessarily limited in Fig. 6.Also may be used
With grinding unit level or placement is inclined at an angle, sees Fig. 8.
Embodiment 4：
Reference picture 9, for the first gas spring 23, the second gas spring 24, the 3rd gas spring 25 and the 4th used in embodiment 1
Gas spring 32, the elastic portion that the hollow intracavitary with cavity structure shell 41, piston rod 42 and in shell 41 can be used to place
The elastic telescopicing rod that part 43 is constituted is replaced.Other building forms are identical with embodiment 1.
Embodiment 5：
Reference picture 9, for the first gas spring 23, the second gas spring 24, the 3rd gas spring 25 and the 4th used in embodiment 1
Gas spring 32, can use 43 groups of elastomeric element being set with cavity structure shell 41, piston rod 42 and on piston rod 42
Into elastic telescopicing rod replace.Other building forms are identical with embodiment 1.
Embodiment 6：
For the first gas spring 23 used in embodiment 1, the second gas spring 24, the 3rd gas spring 25 and the 4th gas spring
32, extension spring can be used to be connected with the oscillating bearing 21 in embodiment 1.Other building forms are identical with embodiment 1.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (9)
1. a kind of robot sbrasive belt grinding unit, including abrasive band wabbler mechanism（8）, abrasive band tensioning apparatus（6）With it is pneumatic adaptive
Should be polished palm mechanism（9）, it is characterised in that the abrasive band wabbler mechanism（8）It is arranged in the area of abrasive band closed loop moving path parcel
In domain, including swing motor（10）, motor base (frame)（11）, motor shaft sleeve（12）, passive roller support（13）, the 3rd driven roll
（14）, rack shaft（15）, shaft bearing seat（16）, tacking motor seat（11）It is fixed on motor base plate（2）On, support turns
Axle（15）It is inserted into shaft bearing seat（16）In, the 3rd driven roll（14）Two ends be equipped with bearing, in passive roller support（13）Shape
Into U-shaped structure in rotate freely；The abrasive band tensioning apparatus（6）In the region for being installed on abrasive band closed loop path parcel, including
4th driven roll（34）, gas spring（18）, swing rod（20）With swing rod handle（19）, gas spring（18）Two ends are respectively articulated with and pedestal
Plate（2）And swing rod（20）；The pneumatic adaptive polishing palm mechanism（9）It is fixed on base plate（2）On, including pin joint bearing
（21）, adjusting rod（22）, the first gas spring（23）, the second gas spring（24）, the 3rd gas spring（25）With the 4th gas spring（32）
Constitute support section and polishing palm platform（26）It is hinged；Polishing palm platform（26）Pass through bearing pin（28）With motor base plate（2）
It is hinged, polishing palm platform（26）On be fixed with cylinder（27）, platform is slapped in its cylinder part and polishing（26）It is connected, piston rod is with beating
Runner bar（29）It is connected, the polishing palm（29）It is fixed with the axis of guide（31）And insert and polishing palm platform（26）Connected bearing holder (housing, cover)（30）
In.
2. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that motor shaft sleeve（12）Have
Eccentric shaft（17）Structure, and it is inserted into passive roller support（13）I shape grooves in, and in I shape grooves move.
3. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that passive roller support（13）With
3rd driven roll（14）Can be with rack shaft（15）In shaft bearing seat（16）It is middle to swing.
4. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that motor shaft sleeve（12）Axle
Line and rack shaft（15）Diameter parallel.
5. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that polishing palm platform（26）Extremely
Rare two gas springs, such as the second gas spring（24）, the 4th gas spring（32）Or the first gas spring（23）With the 3rd gas spring
（25）, it is distributed in bearing pin（28）Both sides.
6. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）At least
Two axis of guides（31）It is inserted into the bearing holder (housing, cover) of polishing palm platform（30）In.
7. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）With cylinder
（27）Piston be connected, in polishing by the abrasive band of operating（7）It is pressed on grinding workpiece（39）Surface.
8. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that by adjusting gas spring
（18）In base plate（2）On articulated position, to adjust abrasive band tensioning degree.
9. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）Upper fixation
There is level meter（33）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572065.7A CN107088813B (en) | 2017-07-13 | 2017-07-13 | Abrasive belt grinding unit for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572065.7A CN107088813B (en) | 2017-07-13 | 2017-07-13 | Abrasive belt grinding unit for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107088813A true CN107088813A (en) | 2017-08-25 |
| CN107088813B CN107088813B (en) | 2023-07-07 |
Family
ID=59641154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710572065.7A Active CN107088813B (en) | 2017-07-13 | 2017-07-13 | Abrasive belt grinding unit for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107088813B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188882A (en) * | 2018-01-08 | 2018-06-22 | 盐城宝鼎电动工具有限公司 | Belt grinder |
| CN109366316A (en) * | 2018-12-05 | 2019-02-22 | 安徽正义研磨环保科技有限公司 | Abrasive band reciprocating moving device and belt sander in belt sander |
| CN109719599A (en) * | 2019-03-13 | 2019-05-07 | 广东智多慧智能装备有限公司 | Aluminum section door window frame grinding device |
| CN109986442A (en) * | 2018-01-02 | 2019-07-09 | 广东罗庚机器人有限公司 | A kind of multi-functional belt sander |
| CN110281118A (en) * | 2019-07-22 | 2019-09-27 | 张宇 | A kind of sheet metal component intelligence polishing machine |
| CN111975562A (en) * | 2020-08-06 | 2020-11-24 | 潘剑 | Polishing device for automobile chassis parts |
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| DE20213986U1 (en) * | 2001-12-05 | 2002-10-31 | Chuang Bor Yann | Roller vibrating device for an emery belt machine |
| EP1514641A1 (en) * | 2003-09-12 | 2005-03-16 | Thielenhaus Technologies GmbH | Apparatus for Finishing Shafts, particularly Crank- and Camshafts |
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| CN109986442A (en) * | 2018-01-02 | 2019-07-09 | 广东罗庚机器人有限公司 | A kind of multi-functional belt sander |
| CN108188882A (en) * | 2018-01-08 | 2018-06-22 | 盐城宝鼎电动工具有限公司 | Belt grinder |
| CN109366316A (en) * | 2018-12-05 | 2019-02-22 | 安徽正义研磨环保科技有限公司 | Abrasive band reciprocating moving device and belt sander in belt sander |
| CN109719599A (en) * | 2019-03-13 | 2019-05-07 | 广东智多慧智能装备有限公司 | Aluminum section door window frame grinding device |
| CN110281118A (en) * | 2019-07-22 | 2019-09-27 | 张宇 | A kind of sheet metal component intelligence polishing machine |
| CN110281118B (en) * | 2019-07-22 | 2020-05-01 | 蓬莱鸿鑫平衡器有限公司 | Intelligent sheet metal part polishing machine |
| CN111975562A (en) * | 2020-08-06 | 2020-11-24 | 潘剑 | Polishing device for automobile chassis parts |
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