CN108436688B - Install at terminal abrasive band grinding tool of robot - Google Patents
Install at terminal abrasive band grinding tool of robot Download PDFInfo
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- CN108436688B CN108436688B CN201810542799.5A CN201810542799A CN108436688B CN 108436688 B CN108436688 B CN 108436688B CN 201810542799 A CN201810542799 A CN 201810542799A CN 108436688 B CN108436688 B CN 108436688B
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- wheel
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- abrasive belt
- 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
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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
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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
- B24B21/20—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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A belt sanding tool installed at the tail end of a robot relates to a sanding tool. The invention solves the problems of great difficulty in force control, higher requirement on performance of a control system and higher cost of the existing grinding tool for the robot. The tension wheel is installed on the upper end face of the frame through a tension wheel support, the low-friction cylinder is fixedly installed on the frame and located below the tension wheel support, the servo electric cylinder is horizontally installed at the bottom of the frame, the motor supporting plate is fixedly installed on the front end face of the frame, an output shaft of the servo motor is in transmission connection with the driving wheel through a synchronous belt, the contact wheel is connected to the servo electric cylinder through a contact wheel support, the contact wheel is provided with a high-precision sensor, the high-precision sensor is electrically connected with the servo electric cylinder, the transition wheel is installed in the middle of the frame, the abrasive belt is sequentially installed on the driving wheel, the tension wheel and the contact wheel, and the transition wheel presses the abrasive belt between the tension wheel and. The invention is used for aerospace product manufacturing and automobile manufacturing grinding.
Description
Technical Field
The invention relates to a belt sanding tool, in particular to a belt sanding tool arranged at the tail end of a robot.
Background
Grinding is a common technology and is widely applied to various fields of manufacturing industries such as aerospace product manufacturing, automobile manufacturing and the like due to irreplaceable technical characteristics. However, the grinding work intensity is high, the working environment is severe, the grinding needs to be completed by experienced workers, and most of China depends on manual grinding. For grinding automation applications, the most common are robot-based grinding applications, which are mainly divided into two modes. One method is to use an end effector of a robot as a grinding tool, and to process a blade is the most typical application, the end of the robot is fixed with a grinding tool such as a grinding wheel, a workpiece to be processed is placed on a tool, and the robot processes the workpiece according to a predetermined track. In this manner, the end tool of the robot needs to be replaced frequently. The other mode is that a workpiece to be processed is placed on automatic equipment, and the equipment controls the workpiece to operate on a fixed processing device such as an abrasive belt machine, and the like. Meanwhile, the mechanism of the grinding process is complex, and the machining effect is difficult to control accurately, so that the machining effect is difficult to ensure only by adopting a robot machining mode of position control, a force control mode is required, the force control of the robot needs a more accurate dynamic model of the robot, the control difficulty is high, the requirement on the performance of a control system is high, and the cost is high.
In conclusion, the existing grinding tool force control for the robot has the defects of high difficulty, high performance requirement of a control system and high cost.
Disclosure of Invention
The invention provides an abrasive belt grinding tool arranged at the tail end of a robot, aiming at solving the problems of high force control difficulty, high performance requirement of a control system and high cost of the existing grinding tool for the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the abrasive belt grinding tool arranged at the tail end of a robot comprises a driving wheel 1, a synchronous belt 2, a servo motor 4, a low-friction cylinder 5, a tension wheel support 6, a tension wheel 7, a frame 8, a motor support plate 9, a transition wheel 10, a servo electric cylinder 11, an abrasive belt 12, a contact wheel support 13, a high-precision sensor 14 and a contact wheel 15; the tension wheel 7 is arranged on the upper end face of the frame 8 through a tension wheel bracket 6, the low-friction cylinder 5 is fixedly arranged on the frame 8 and is positioned below the tension wheel bracket 6, the driving wheel 1 is arranged at the bottom of the frame 8, the servo electric cylinder 11 is horizontally arranged at the bottom of the frame 8, the motor supporting plate 9 is fixedly arranged on the front end face of the frame 8, the servo motor 4 is fixedly arranged on the motor supporting plate 9, the output shaft of the servo motor 4 is in transmission connection with the driving wheel 1 through a synchronous belt 2, the contact wheel 15 is connected on the servo electric cylinder 11 through a contact wheel bracket 13, the contact wheel 15 is provided with a high-precision sensor 14, the high-precision sensor 14 is electrically connected with the servo electric cylinder 11, the transition wheel 10 is arranged in the middle of the frame 8, the tension wheel 7 and the contact wheel 15, and the transition wheel 10 presses the abrasive belt 12 between the tension wheel 7 and the contact wheel 15.
Further, two sides of the transition wheel 10 are provided with annular flanges.
Further, the contact wheel 15 is a cylindrical helical gear.
Further, the abrasive belt grinding tool further comprises a first radial telescopic sleeve 16 and a second radial telescopic sleeve 17, the first radial telescopic sleeve 16 and the second radial telescopic sleeve 17 are fixedly sleeved on the contact wheel mounting shaft, and the first radial telescopic sleeve 16 and the second radial telescopic sleeve 17 are matched with the contact wheel support 13.
Furthermore, the abrasive belt grinding tool further comprises a tension adjusting device 3, the tension adjusting device 3 comprises a connecting rod, a connecting rod shaft, a pressing wheel and an adjusting bolt, one end of the connecting rod is rotatably connected with the frame 8, the pressing wheel is mounted at the other end of the connecting rod through the connecting rod shaft, the adjusting bolt is mounted on the frame 8, and the tension degree of the synchronous belt 2 is adjusted through the pressing wheel.
Furthermore, the abrasive belt grinding tool further comprises two guide posts and two guide sleeves, the upper ends of the two guide posts are fixedly arranged at the lower part of the tension wheel bracket 6, the two guide sleeves are arranged at the upper part of the frame 8, and one guide post penetrates through each guide sleeve.
Compared with the prior art, the invention has the following beneficial effects:
the abrasive belt speed of the abrasive belt grinding tool is controlled by a servo motor to ensure process parameters, signals of a force sensor are used as feedback values of a system, so that the contact force between the abrasive belt and a workpiece is adjusted, and the feeding of a servo electric cylinder realizes force control to ensure the processing quality of the workpiece;
the abrasive belt grinding tool can realize grinding of metal workpieces, and meanwhile, the abrasive belt is adopted to prolong the service life of abrasive material consumables; the tension wheel is used for controlling the tension degree of the abrasive belt and is driven by the low-friction cylinder, so that the tension degree of the abrasive belt grinding tool in the working process is basically kept unchanged, and the grinding force of the abrasive belt is controlled in an auxiliary manner; thereby reducing the polishing cost by more than 10 percent;
the transition wheel of the abrasive belt grinding tool is used for adjusting the trend of an abrasive belt and increasing the wrap angle of the contact wheel, so that the abrasive belt grinding tool can grind a workpiece to be processed in a large-angle range.
Drawings
Figure 1 is a perspective view of a belt sander tool of the present invention mounted at the end of a robot;
FIG. 2 is a front cross-sectional view of a belt sander tool of the present invention mounted at the end of a robot;
fig. 3 is a cross-sectional view of a support structure for the contact wheel 15 in accordance with a first embodiment of the present invention.
Detailed Description
The first embodiment is as follows: as shown in fig. 1 to 3, the abrasive belt polishing tool installed at the end of the robot in the present embodiment includes a driving wheel 1, a synchronous belt 2, a servo motor 4, a low friction cylinder 5, a tension wheel bracket 6, a tension wheel 7, a frame 8, a motor support plate 9, a transition wheel 10, a servo electric cylinder 11, an abrasive belt 12, a contact wheel bracket 13, a high-precision sensor 14, and a contact wheel 15; the tension wheel 7 is arranged on the upper end face of the frame 8 through a tension wheel bracket 6, the low-friction cylinder 5 is fixedly arranged on the frame 8 and is positioned below the tension wheel bracket 6, the driving wheel 1 is arranged at the bottom of the frame 8, the servo electric cylinder 11 is horizontally arranged at the bottom of the frame 8, the motor supporting plate 9 is fixedly arranged on the front end face of the frame 8, the servo motor 4 is fixedly arranged on the motor supporting plate 9, the output shaft of the servo motor 4 is in transmission connection with the driving wheel 1 through a synchronous belt 2, the contact wheel 15 is connected on the servo electric cylinder 11 through a contact wheel bracket 13, the contact wheel 15 is provided with a high-precision sensor 14, the high-precision sensor 14 is electrically connected with the servo electric cylinder 11, the transition wheel 10 is arranged in the middle of the frame 8, the tension wheel 7 and the contact wheel 15, and the transition wheel 10 presses the abrasive belt 12 between the tension wheel 7 and the contact wheel 15.
When the abrasive belt 12 is used for polishing a workpiece to be polished, the polishing quality depends on the movement speed of the abrasive belt 12 to a great extent, so that the abrasive belt polishing device is driven by the servo motor 4, power is transmitted to the driving wheel 1 through the synchronous belt 2, the driving wheel 1 drives the abrasive belt 12 to rotate, the driving wheel 1 is tightly attached to the abrasive belt 12, and the abrasive belt 12 is prevented from deviating;
in the grinding process, because the grinding object is unknown, the grinding tool consumption changes at any time, which causes the friction force between the abrasive belt 12 and the processed workpiece to change continuously, thereby causing the tension force of the abrasive belt to change and influencing the control of the system on the grinding quality to a certain extent. The tension wheel 7 in the abrasive belt polishing device is used for controlling the tension degree of an abrasive belt, and the position of the tension wheel is driven by the low-friction cylinder 5, so that the tension degree in the working process of the abrasive belt polishing device is basically kept unchanged, and the polishing force is controlled in an auxiliary manner;
the low-friction cylinder 5 can adapt to the occasion of adjusting the expansion degree of the abrasive belt 12 at high frequency in the actual processing process;
the transition wheel 10 is used for adjusting the trend of the abrasive belt and increasing the wrap angle of the contact wheel, and the abrasive belt polishing device can polish a workpiece to be processed within a large angle range.
In the operation of the device, the contact wheel 15 presses the abrasive belt 12 on a workpiece to be processed to realize grinding. In order to control the polishing effect, the contact wheel 15 is connected with the special precise servo electric cylinder 11 through the contact wheel bracket 13 and is used for adjusting the contact force between the abrasive belt and the workpiece. The contact wheel 15 is provided with a high-precision force sensor 14, the friction force and the feeding force are detected in real time during work, and a force signal is fed back to a control system and then is subjected to high-frequency adjustment by the precision servo electric cylinder 11.
The second embodiment is as follows: as shown in fig. 1, the transition wheel 10 of the present embodiment is provided with annular ribs on both sides. Due to the design, the flanges on the two sides of the transition wheel 10 can correct the deviation of the abrasive belt 12, and the abrasive belt 12 is ensured to be coated on the contact wheel 15. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: as shown in fig. 1 and 2, the contact roller 15 of the present embodiment is a cylindrical helical-tooth rubber roller. So design, the contact force of contact wheel and waiting to process the work piece can be cushioned to the profile of tooth rubber wheel, and the skewed tooth structure is changeed for the straight-tooth structure and is formed even contact force, and the design increase contact wheel of this kind of rubber wheel and abrasive band frictional force simultaneously prevents that the abrasive band from skidding on the contact wheel. Other components and connection relationships are the same as those in the first or second embodiment.
The fourth concrete implementation mode: as shown in fig. 3, the abrasive belt grinding tool according to this embodiment further includes a first radial telescopic sleeve 16 and a second radial telescopic sleeve 17, the first radial telescopic sleeve 16 and the second radial telescopic sleeve 17 are fixedly sleeved on the contact wheel mounting shaft, and the first radial telescopic sleeve 16 and the second radial telescopic sleeve 17 are matched with the contact wheel support 13. So design, be convenient for contact wheel installation axle is installed on contact wheel support 13. Other components and connection relationships are the same as those in the third embodiment.
The fifth concrete implementation mode: as shown in fig. 2, the abrasive belt polishing tool of this embodiment further includes a tension adjusting device 3, the tension adjusting device 3 includes a connecting rod, a connecting rod shaft, a pressing wheel and an adjusting bolt, one end of the connecting rod is rotatably connected to the frame 8, the pressing wheel is mounted at the other end of the connecting rod through the connecting rod shaft, the adjusting bolt is mounted on the frame 8, and the synchronous belt 2 adjusts the tension degree through the pressing wheel. So design, servo motor 4 passes through hold-in range 2 drive action wheel 1 and rotates, and tight adjusting device 3 that rises compresses tightly hold-in range 2, guarantees action wheel 1 even running. The other components and the connection relations are the same as those of the first, second or fourth embodiment.
The sixth specific implementation mode: as shown in fig. 2, the sanding tool of the embodiment further includes two guide posts and two guide sleeves, the upper ends of the two guide posts are fixedly mounted on the lower portion of the tension pulley support 6, the two guide sleeves are mounted on the upper portion of the frame 8, and one guide post is inserted into each guide sleeve. By the design, the tension wheel bracket 6 can be adjusted up and down along the direction of the guide column under the action of the low-friction cylinder 5. Other components and connection relations are the same as those of the fourth or fifth embodiment.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
The working principle is as follows:
when the abrasive belt 12 is used for polishing a workpiece to be polished, the polishing quality depends on the movement speed of the abrasive belt 12 to a great extent, so that the abrasive belt polishing device is driven by the servo motor 4, power is transmitted to the driving wheel 1 through the synchronous belt 2, the driving wheel 1 drives the abrasive belt 12 to rotate, the driving wheel 1 is tightly attached to the abrasive belt 12, and the abrasive belt 12 is prevented from deviating;
in the grinding process, because the grinding object is unknown, the grinding tool consumption changes at any time, which causes the friction force between the abrasive belt 12 and the processed workpiece to change continuously, thereby causing the tension force of the abrasive belt to change and influencing the control of the system on the grinding quality to a certain extent; the tension wheel 7 in the abrasive belt polishing device is used for controlling the tension degree of an abrasive belt, and the position of the tension wheel is driven by the low-friction cylinder 5, so that the tension degree in the working process of the abrasive belt polishing device is basically kept unchanged, and the polishing force is controlled in an auxiliary manner;
the low-friction cylinder 5 can adapt to the occasion of adjusting the expansion degree of the abrasive belt 12 at high frequency in the actual processing process;
the transition wheel 10 is used for adjusting the trend of the abrasive belt and increasing the wrap angle of the contact wheel, and the abrasive belt polishing device can polish a workpiece to be processed within a large angle range.
Claims (4)
1. A belt sander tool mounted at the end of a robot, comprising: the abrasive belt polishing tool comprises a driving wheel (1), a synchronous belt (2), a servo motor (4), a low-friction cylinder (5), a tension wheel support (6), a tension wheel (7), a frame (8), a motor support plate (9), a transition wheel (10), a servo electric cylinder (11), an abrasive belt (12), a contact wheel support (13), a high-precision sensor (14) and a contact wheel (15); the tension wheel (7) is arranged on the upper end face of the frame (8) through a tension wheel support (6), the low-friction cylinder (5) is fixedly arranged on the frame (8) and is positioned below the tension wheel support (6), the driving wheel (1) is arranged at the bottom of the frame (8), the servo electric cylinder (11) is horizontally arranged at the bottom of the frame (8), the motor support plate (9) is fixedly arranged on the front end face of the frame (8), the servo motor (4) is fixedly arranged on the motor support plate (9), the output shaft of the servo motor (4) is in transmission connection with the driving wheel (1) through a synchronous belt (2), the contact wheel (15) is connected onto the servo electric cylinder (11) through a contact wheel support (13), the contact wheel (15) is provided with a high-precision sensor (14), the high-precision sensor (14) is electrically connected with the servo electric cylinder (11), the transition wheel (10) is arranged in the middle of the frame (8), the abrasive belt (12) is sequentially arranged on the driving wheel (1), the tension wheel (7) and the contact wheel (15), and the transition wheel (10) is pressed on the abrasive belt (12) between the tension wheel (7) and the contact wheel (15);
the abrasive belt grinding tool further comprises a first radial telescopic sleeve (16) and a second radial telescopic sleeve (17), the first radial telescopic sleeve (16) and the second radial telescopic sleeve (17) are fixedly sleeved on the contact wheel mounting shaft, and the first radial telescopic sleeve (16) and the second radial telescopic sleeve (17) are matched with the contact wheel support (13);
the abrasive belt grinding tool further comprises a tension adjusting device (3), the tension adjusting device (3) comprises a connecting rod, a connecting rod shaft, a pressing wheel and an adjusting bolt, one end of the connecting rod is rotatably connected with the frame (8), the pressing wheel is mounted at the other end of the connecting rod through the connecting rod shaft, the adjusting bolt is mounted on the frame (8), and the tension degree of the synchronous belt (2) is adjusted through the pressing wheel.
2. A belt sander tool mounted on a robot tip as set forth in claim 1, wherein: two sides of the transition wheel (10) are provided with annular flanges.
3. A belt sanding tool mounted at a robot end according to claim 1 or 2, characterized in that: the contact wheel (15) is a cylindrical helical tooth rubber wheel.
4. A belt sander tool mounted on a robot tip as set forth in claim 1, wherein: the abrasive belt grinding tool further comprises two guide columns and two guide sleeves, the upper ends of the two guide columns are fixedly arranged on the lower portion of the tension wheel support (6), the two guide sleeves are arranged on the upper portion of the frame (8), and one guide column penetrates through each guide sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542799.5A CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542799.5A CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108436688A CN108436688A (en) | 2018-08-24 |
| CN108436688B true CN108436688B (en) | 2020-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810542799.5A Active CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454526A (en) * | 2018-12-26 | 2019-03-12 | 瓦房店光阳轴承股份有限公司 | Bearing outer ring ball track abrasive belt polishing equipment |
| CN109590865A (en) * | 2019-01-03 | 2019-04-09 | 重庆大学 | A kind of curved surface precision abrasive belt grinding head |
| CN109676487B (en) * | 2019-01-23 | 2024-04-12 | 秦皇岛汇久科技有限公司 | Controllable force abrasive belt machine |
| CN109773632B (en) * | 2019-04-01 | 2024-04-30 | 无锡锡钻地质装备有限公司 | Geological exploration drilling rod processing equipment |
| CN109807724A (en) * | 2019-04-04 | 2019-05-28 | 昂华（上海）自动化工程股份有限公司 | A kind of automatically grinding equipment |
| CN110328584A (en) * | 2019-07-18 | 2019-10-15 | 慧诚自动化技术(宁波)有限公司 | A kind of robot end's belt sander |
| CN110434729B (en) * | 2019-07-30 | 2024-05-03 | 武汉科技大学 | Automatic abrasive belt polishing robot for large-caliber metal container |
| CN113618521A (en) * | 2020-05-07 | 2021-11-09 | 广东博智林机器人有限公司 | Cutting and polishing head, polishing execution end and polishing equipment |
| CN114346840B (en) * | 2021-12-15 | 2023-05-12 | 武汉数字化设计与制造创新中心有限公司 | Full-characteristic multi-procedure force control abrasive belt grinding and polishing device for blade |
| CN114260803A (en) * | 2022-01-27 | 2022-04-01 | 安徽新境界自动化技术有限公司 | Linear cutting system of polishing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201098829Y (en) * | 2007-10-22 | 2008-08-13 | 重庆三磨海达磨床有限公司 | Free-form surface abrasive belt grinding machine |
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2018
- 2018-05-30 CN CN201810542799.5A patent/CN108436688B/en active Active
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| CN108436688A (en) | 2018-08-24 |
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