CN108972256B - Smooth abrasive belt grinding device facing free-form surface - Google Patents
Smooth abrasive belt grinding device facing free-form surface Download PDFInfo
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- CN108972256B CN108972256B CN201810696852.7A CN201810696852A CN108972256B CN 108972256 B CN108972256 B CN 108972256B CN 201810696852 A CN201810696852 A CN 201810696852A CN 108972256 B CN108972256 B CN 108972256B
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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
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
- B24B21/165—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape for vanes or blades of turbines, propellers, impellers, compressors and the like
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a free-form surface-oriented compliant abrasive belt grinding device; comprises a substrate and a bottom turntable thereof; the left end plate surface and the right end plate surface of the base plate are respectively and symmetrically provided with a force control mechanism with the same structure; one force control mechanism is provided with a contact wheel, and the other force control mechanism is provided with a tension wheel. The influence of the contact force of free-form surface grinding on the machining precision is large, the traditional abrasive belt grinding mode is that the contact of a robot clamping workpiece and a contact wheel of an abrasive belt machine is used for grinding, and the size of the contact force in the grinding process cannot be estimated and controlled by the grinding mode. The device utilizes the abrasive belt machine with force feedback, can detect and adjust the polishing contact force in real time, and realizes single multi-station processing through the rotating chassis of the abrasive belt machine. The traditional force control abrasive belt machine can change the size of a contact force wrap angle while realizing force control, and the maintenance of the constant contact force wrap angle is an important premise of ensuring the invariance of the contact force rotating speed.
Description
Technical Field
The invention relates to a grinding device, in particular to a free-form surface-oriented smooth abrasive belt grinding device.
Background
Free-form surfaces widely exist in the machining of parts such as aviation blades and propeller blades, and because the surface precision requirements of the thin-wall components are extremely high and easy to deform, the grinding of the free-form surfaces is more difficult than the grinding of regular parts. And the efficiency and the precision of the traditional manual polishing can not be effectively ensured, and the realization of the automatic polishing and grinding of the free-form surface has important significance.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide a free-form surface-oriented flexible abrasive belt grinding device which is simple in structure and excellent in performance. The problem of low machining efficiency of the abrasive belt machine in the prior art is solved, and the abrasive belt machine is suitable for free-form surface part high-precision grinding occasions.
And single multi-station processing is realized through the rotating chassis of the abrasive belt machine.
The invention is realized by the following technical scheme:
a smoothing abrasive belt polishing device facing to a free-form surface comprises a substrate and a bottom turntable; the base plate is vertically arranged on the bottom turntable;
the left end plate surface and the right end plate surface of the base plate are respectively and symmetrically provided with a force control mechanism with the same structure; the end part of the force control mechanism positioned on the left end plate surface of the substrate is provided with a contact wheel extending out of the left end plate surface; a tension wheel extending out of the right end plate surface is arranged at the end part of the force control mechanism positioned on the right end plate surface of the substrate;
the upper end plate surface and the lower end plate surface of the middle position of the substrate are respectively and symmetrically provided with a transition wheel and a driving wheel;
the upper part and the lower part of the left side plate surface area of the substrate are respectively provided with a guide wheel with the same structure;
the contact wheel, the tension wheel, the transition wheel, the driving wheel and the guide wheel are connected together in a surrounding way through abrasive belts; the contact wheel, the tension wheel, the transition wheel and the driving wheel are respectively contacted with the inner ring of the abrasive belt, and the upper guide wheel and the lower guide wheel are respectively contacted with the outer ring of the abrasive belt;
the contact wheel, the tension wheel, the transition wheel, the driving wheel and the guide wheel are connected together through the abrasive belt, so that the abrasive belt is in a diamond structure; the operation of the sanding belt is driven by the driving wheel.
The force control mechanism includes: the device comprises a telescopic rod, a pressing block, a sliding block, a heavy-load guide rail, an adapter plate, a force sensor, a double-acting cylinder, an electromagnetic directional valve and an electric proportional valve;
the double-acting air cylinder, the electromagnetic reversing valve and the electric proportional valve are all arranged in a shell, wherein the double-acting air cylinder is fixed in the shell through a cushion block; the shell is fixed on the substrate;
the double-acting air cylinder is provided with two piston rods, and the end parts of the two piston rods are provided with a pressure plate spring assembly; the pressure plate spring assembly comprises a front pressure plate and a rear pressure plate, wherein four guide posts are arranged between the front pressure plate and the rear pressure plate, the rear pressure plate is fixedly connected with the end part of a piston rod, the four guide posts are fixedly connected with the rear pressure plate, the front pressure plate can slide along the axial direction of the four guide posts, and the four guide posts are respectively sleeved with four spiral compression springs with the same structure;
the force sensor is fixed on the front pressure plate; the contact wheel is arranged at the end part of the telescopic rod, the telescopic rod is clamped on the sliding block through the pressing block, the sliding block is connected on the heavy-load guide rail in a sliding manner, and the sliding block can slide back and forth along the heavy-load guide rail; one end of the adapter plate is fixed on the pressing block, and the other end of the adapter plate is provided with a bending surface which is abutted against the force sensor;
the inlet of the electric proportional valve is connected with an external air pump through a pipeline, the air outlet of the electric proportional valve is connected with one air port of the electromagnetic directional valve through a pipeline, and the other two air ports of the electromagnetic directional valve are respectively connected with the air inlet or the air outlet of the double-acting air cylinder through pipelines; the control ends of the electric proportional valve and the electromagnetic directional valve are respectively in signal connection with the controller; the electromagnetic directional valve adopts a two-position four-way electromagnetic directional valve.
The double-acting cylinder is a double-shaft cylinder and is provided with two piston rods; the air pump supplies air source to the electric proportional valve, and the air source is connected to the electromagnetic directional valve through a pipeline, the direction of the electromagnetic directional valve is controlled by the controller, and then the electromagnetic directional valve reaches the double-acting air cylinder to push the piston rod to move leftwards or rightwards; the air pressure in the pipeline is fed back to the controller by the electric proportional valve, and the controller outputs the required voltage to reach the required air pressure value; when the piston rod moves leftwards, the compression amount of the spiral compression spring is reduced, and the contact force between the force sensor and the adapter plate is reduced; when the piston rod moves rightwards, the compression amount of the spiral compression spring is increased, and the contact force between the force sensor and the adapter plate is increased.
The driving wheel is connected with a three-phase motor arranged on the base on the other surface of the substrate through a coupler to provide power for the rotation of the abrasive belt.
The guide wheel is an offset wheel of the deviation correcting abrasive belt and is of a U-shaped section.
And a powder recovery box is arranged below the contact wheel.
A protective cover is arranged outside the substrate.
The outer portion of the pressure plate spring assembly is coated with a dust cover.
Compared with the prior art, the invention has the following advantages and effects:
the influence of the contact force of free-form surface grinding on the machining precision is large, the traditional abrasive belt grinding mode is that the contact of a robot clamping workpiece and a contact wheel of an abrasive belt machine is used for grinding, and the size of the contact force in the grinding process cannot be estimated and controlled by the grinding mode. The device utilizes the abrasive belt machine with force feedback, can detect and adjust the polishing contact force in real time, and realizes single multi-station processing through the rotating chassis of the abrasive belt machine.
The traditional force control abrasive belt machine can change the size of a contact force wrap angle while realizing force control, and the maintenance of the constant contact force wrap angle is an important premise of ensuring the invariance of the contact force rotating speed.
Traditional power accuse abrasive band machine base all is fixed, causes the motion interference when processing for avoiding robot centre gripping work piece, adopts the operation of multistation abrasive band machine usually, and a processing unit needs many abrasive band machines to cause the cost extravagant.
The traditional force control belt sander directly uses a cylinder to control air pressure so as to control output force, and the crawling caused by nonlinear friction in the mode is very unfavorable for control. The air pump supplies air source to the electric proportional valve, and the air source is connected to the electromagnetic directional valve through a pipeline, the direction of the electromagnetic directional valve is controlled by the controller, and then the electromagnetic directional valve reaches the double-acting air cylinder to push the piston rod to move leftwards or rightwards; the air pressure in the pipeline is fed back to the controller by the electric proportional valve, and the controller outputs the required voltage to reach the required air pressure value; when the piston rod moves leftwards, the compression amount of the spiral compression spring is reduced, and the contact force between the force sensor and the adapter plate is reduced; when the piston rod moves rightwards, the compression amount of the spiral compression spring is increased, and the contact force between the force sensor and the adapter plate is increased. The invention realizes force control by using two independent force control mechanisms, and is different from cylinder control in that a force sensor and a pressure plate spring assembly are added, and the spring has the function of enabling the piston rod of the double-acting cylinder to be continuously in a dynamic micro-motion balance process, so that the piston rod is prevented from crawling due to static state. In the actual polishing process, the abrasive belt is continuously abraded along with polishing, the polishing effect is gradually reduced, the real-time compensation of the polishing force is realized, and the current pure cylinder compensation is only suitable for low-precision polishing occasions.
The technical means of the invention is simple and easy to implement, and the cost of manpower and material resources is greatly saved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a partial structure diagram of the present invention.
Fig. 3 is a schematic top view of fig. 2.
Fig. 4 is a schematic view of a partial appearance structure of the force control mechanism of the present invention.
Fig. 5 is a schematic view of the internal structure of fig. 4.
FIG. 6 is a schematic view showing the connection of the contact wheel, the telescopic rod, the pressing block and other related components of the present invention.
FIG. 7 is a schematic view of the structure of the guide wheel of the present invention.
FIG. 8 is a block diagram of the electrical connections of the force control mechanism of the present invention.
FIG. 9 is a schematic view of the force analysis of the belt sander of the present invention.
Fig. 10 is a schematic diagram of the control principle of the force control mechanism of the invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
The invention discloses a free-form surface-oriented compliant abrasive belt polishing device, which comprises a substrate 1 and a bottom turntable 2; the base plate 1 is vertically arranged on a bottom turntable 2;
the bottom turntable 2 is driven by a motor (not shown in the figure) to rotate, the rotation angle is about plus or minus 30 degrees, and the purpose is to realize single multi-station processing.
The left end plate surface and the right end plate surface of the base plate 1 are respectively and symmetrically provided with a force control mechanism with the same structure; a contact wheel 3 extending out of the left end plate surface is arranged at the end part of the force control mechanism positioned on the left end plate surface of the substrate 1; a tension wheel 4 extending out of the right end plate surface is arranged at the end part of the force control mechanism positioned on the right end plate surface of the substrate 1;
the upper end plate surface and the lower end plate surface of the central position of the substrate 1 are respectively and symmetrically provided with a transition wheel 5 and a driving wheel 6; the spare part of the base plate 1 can be processed into a long groove to reduce the weight of the whole machine. The outer layer of the contact wheel 3 is made of rubber, and the hub is made of hard materials such as metal.
Guide wheels 7 with the same structure are symmetrically arranged on the upper side and the lower side of the left side plate surface area of the substrate 1;
the contact wheel 3, the tension wheel 4, the transition wheel 5, the driving wheel 6 and the guide wheel 7 are connected together in a surrounding way through an abrasive belt 8; the contact wheel 3, the tension wheel 4, the transition wheel 5 and the driving wheel 6 are respectively contacted with the inner ring of the abrasive belt 8, and the upper guide wheel 7 and the lower guide wheel 7 are respectively contacted with the outer ring of the abrasive belt 8;
the contact wheel 3, the tension wheel 4, the transition wheel 5, the driving wheel 6 and the guide wheel 7 are connected together through the abrasive belt 8, so that the abrasive belt 8 is in a diamond structure; the operation of the sanding belt 8 is driven by the drive wheel 6.
The force control mechanism includes: the device comprises an expansion link 9, a pressing block 12, a sliding block 13, a heavy-duty guide rail 14, an adapter plate 10, a force sensor 15, a double-acting cylinder 16, an electromagnetic directional valve 17 and an electric proportional valve 18;
the double-acting cylinder 16, the electromagnetic reversing valve 17 and the electric proportional valve 18 are all arranged in a shell 19, wherein the double-acting cylinder 16 is fixed in the shell 19 through a cushion block 20; the housing 19 is fixed on the substrate 1;
the double-acting air cylinder 16 is provided with two piston rods 21, and a pressure plate spring assembly is arranged at the end parts of the two piston rods 21; the pressure plate spring assembly comprises a front pressure plate and a rear pressure plate, wherein four guide posts 22 are arranged between the front pressure plate and the rear pressure plate, the rear pressure plate 24 is fixedly connected with the end part of a piston rod 21, the four guide posts 22 are fixedly connected with the rear pressure plate 24, the front pressure plate 23 can slide along the axial directions of the four guide posts 22, and four spiral compression springs 25 with the same structure are respectively sleeved on the four guide posts 22;
the force sensor 15 is fixed on the front pressure plate 23; the contact wheel 3 is arranged at the end part of the telescopic rod 9, the telescopic rod 9 is clamped on a sliding block 13 through a pressing block 12, the sliding block 13 is connected on a heavy-load guide rail 14 in a sliding manner, and the sliding block 13 can slide back and forth along the heavy-load guide rail 14; one end of the adapter plate 10 is fixed on the pressing block 12, and the other end of the adapter plate 10 is provided with a bending surface which is abutted against the force sensor 15; in the initial state, the four helical compression springs 25 are in a pre-pressing state due to the tension of the abrasive belt 8;
the force sensor 15 detects the contact pressure with the adapter plate 10 in real time and sends the contact pressure to the controller. The voltage signal of the force sensor 15 is filtered to remove the vibration interference. Because the force sensor 15 only bears the force in the horizontal direction, a tension-compression sensor can be selected, and the cost is lower than that of a three-dimensional force sensor. The detection range is plus or minus 200N. When the device is used, the normal direction of the track point is required to be the horizontal direction to realize normal force control, and the tangential force is not considered because the influence on the material removal depth is small.
The inlet of the electric proportional valve 18 is connected with an external air pump through a pipeline, the air outlet is connected with one air port of the electromagnetic directional valve 17 through a pipeline, and the other two air ports of the electromagnetic directional valve 17 are respectively connected with the air inlet or the air outlet of the double-acting air cylinder 16 through pipelines; the control ends of the electric proportional valve 18 and the electromagnetic directional valve 17 are respectively in signal connection with a controller; the electromagnetic directional valve 17 adopts a two-position four-way electromagnetic directional valve 17.
The double acting cylinder 16 may constrain one degree of rotational freedom compared to a single axis cylinder. The electric proportional valve 18 converts the electric signal to pneumatic pressure for controlling the pressure of the double acting cylinder 16. The solenoid directional valve 17 can quickly adjust the intake direction of the double-acting cylinder 16.
The air pump supplies air source to the electric proportional valve 18, the air source is connected to the electromagnetic reversing valve (the direction is controlled by the controller) through the pipeline and then reaches the double-acting air cylinder 16, the piston rod can be pushed to move leftwards (or rightwards) at the moment shown in figure 8, at the moment, the air pressure in the air path is fed back to the controller through the electric proportional valve 18, and then the controller outputs the required voltage to achieve the expected air pressure value. When the piston rod moves leftwards, the compression amount of the spring is reduced, and the contact force is reduced; when the piston rod moves to the right, the compression amount of the helical compression spring 25 increases and the contact force increases.
The driving wheel 6 is connected with a three-phase motor 28 arranged on a base 29 on the other surface of the base plate 1 through a coupler 27 to provide power for the rotation of the abrasive belt 8.
The guide wheel 7 is an offset wheel of the deviation-correcting abrasive belt 8 and is of a U-shaped section. The deviation adjusting wheel can correct the abrasive belt 8 in real time on one hand, and can maintain the wrap angle of the abrasive belt 8 on the contact wheel 3 unchanged on the other hand.
The invention uses two independent force control mechanisms to respectively complete different tasks. The tension wheel 4 maintains the tension of the abrasive belt 8 unchanged through a force control mechanism connected with the tension wheel. The contact wheel 3 maintains the grinding force of the workpiece to be constant through a force control mechanism connected with the contact wheel.
The force control mechanism only needs to control horizontal pressure, and does not need to pay attention to the influence of gravity. The signal line of the force control mechanism can be externally connected with a controller through an aviation plug, so that plug and play are realized.
Because the acceleration of the contact wheel is very small, the influence of the acceleration on the force control precision is not needed to be considered. The force control output range is 0-200N, and the common range of the polishing operation is 20-50N.
The double acting cylinder 16 is a double axis cylinder with two piston rods 21. The air pump supplies air source to the electric proportional valve 18, and the air source is connected to the electromagnetic directional valve 17 through a pipeline, the direction of the electromagnetic directional valve 17 is controlled by the controller, and then the air source reaches the double-acting air cylinder 16 to push the piston rod to move leftwards or rightwards; the air pressure in the pipeline is fed back to the controller by the electric proportional valve 18, and the controller outputs the required voltage to achieve the required air pressure value; when the piston rod 21 moves leftward, the compression amount of the helical compression spring 25 decreases, and the contact force of the force sensor 15 with the adapter plate 10 decreases; when the piston rod moves to the right, the compression of the helical compression spring 25 increases and the contact force of the force sensor 15 with the adapter plate 10 increases.
A powder recovery box (not shown) is arranged below the contact wheel 3.
A shield 30 is mounted to the outside of the substrate 1.
The outer portion of the leaf spring assembly is covered with a dust cover 26.
Let the actual tension of the abrasive belt 8 be Ft and the grinding force controlled by the system be F1System controlled tension F2Actual contact force is Fc, left load mass is m1Right load is m2The friction coefficient of the guide rail is mu, and the left and right friction forces are f1And f2The following relationship holds:
m1a＝F1-2Ftcosα-f1-Fc
m2a＝F2-2Ftcosβ-f2
f1＝μm1g
f2＝μm2g
because the force control device expands and contracts less, α and β are set to constant values during displacement1And F2So that Fc and Ft meet the processing requirements.
The parameters controlled by the controller are as follows: grinding force, tension, abrasive belt linear speed, abrasive belt machine corner and the like. The main control process comprises the following steps: the grinding force controller is arranged to send an electric signal to the electric proportional valve, the electric proportional valve controls the pressure of the double-acting air cylinder to enable the piston rod to move, the actual grinding contact force is changed, and the adjustment is successful until the difference value between the force value detected by the force sensor and the set force value is within a small range. Similar algorithms such as fuzzy PID control and the like can detect the cylinder stroke through a linear displacement sensor, and the motion direction of the speed detection device is obtained through differentiation, so that the direction of the friction force is judged.
As described above, the present invention can be preferably realized.
The embodiments of the present invention are not limited to the above-described embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Claims (7)
1. The utility model provides a gentle and agreeable abrasive band grinding device towards free-form surface which characterized in that: comprises a substrate (1) and a bottom turntable (2); the base plate (1) is vertically arranged on the bottom turntable (2);
the left and right end plate surfaces of the base plate (1) are respectively and symmetrically provided with a force control mechanism with the same structure; a contact wheel (3) extending out of the left end plate surface is arranged at the end part of the force control mechanism positioned on the left end plate surface of the base plate (1); a tension wheel (4) extending out of the right end plate surface is arranged at the end part of the force control mechanism positioned on the right end plate surface of the substrate (1);
the upper end plate surface and the lower end plate surface of the middle position of the base plate (1) are respectively and symmetrically provided with a transition wheel (5) and a driving wheel (6);
guide wheels (7) with the same structure are symmetrically arranged at the upper part and the lower part of the left side plate surface area of the substrate (1);
the contact wheel (3), the tension wheel (4), the transition wheel (5), the driving wheel (6) and the guide wheel (7) are connected together in a surrounding way through an abrasive belt (8); the contact wheel (3), the tension wheel (4), the transition wheel (5) and the driving wheel (6) are respectively contacted with the inner ring of the abrasive belt (8), and the upper guide wheel and the lower guide wheel (7) are respectively contacted with the outer ring of the abrasive belt (8);
the contact wheel (3), the tension wheel (4), the transition wheel (5), the driving wheel (6) and the guide wheel (7) are connected together through an abrasive belt (8), so that the abrasive belt (8) is in a diamond structure; the operation of the abrasive belt (8) is driven by the driving wheel (6);
the force control mechanism includes: the device comprises a telescopic rod (9), a pressing block (12), a sliding block (13), a heavy-load guide rail (14), an adapter plate (10), a force sensor (15), a double-acting cylinder (16), an electromagnetic directional valve (17) and an electric proportional valve (18);
the double-acting cylinder (16), the electromagnetic reversing valve (17) and the electric proportional valve (18) are all arranged in a shell (19), wherein the double-acting cylinder (16) is fixed in the shell (19) through a cushion block (20); the shell (19) is fixed on the substrate (1);
the double-acting air cylinder (16) is provided with two piston rods (21), and a pressure plate spring assembly is arranged at the end parts of the two piston rods (21); the pressure plate spring assembly comprises a front pressure plate and a rear pressure plate, wherein four guide posts (22) are arranged between the front pressure plate and the rear pressure plate, the rear pressure plate (24) is fixedly connected with the end part of a piston rod (21), the four guide posts (22) are fixedly connected with the rear pressure plate (24), the front pressure plate (23) can slide along the axial directions of the four guide posts (22), and four spiral compression springs (25) with the same structure are respectively sleeved on the four guide posts (22);
the force sensor (15) is fixed on the front pressure plate (23); the contact wheel (3) is installed at the end part of the telescopic rod (9), the telescopic rod (9) is clamped on the sliding block (13) through the pressing block (12), the sliding block (13) is connected to the heavy-load guide rail (14) in a sliding mode, and the sliding block (13) can slide back and forth along the heavy-load guide rail (14); one end of the adapter plate (10) is fixed on the pressing block (12), the other end of the adapter plate (10) is provided with a bending surface, and the bending surface is abutted against the force sensor (15);
an inlet of the electric proportional valve (18) is connected with an external air pump through a pipeline, an air outlet of the electric proportional valve is connected with one air port of the electromagnetic directional valve (17) through a pipeline, and the other two air ports of the electromagnetic directional valve (17) are respectively connected with an air inlet or an air outlet of the double-acting air cylinder (16) through pipelines; the control ends of the electric proportional valve (18) and the electromagnetic directional valve (17) are respectively in signal connection with a controller; the electromagnetic directional valve (17) adopts a two-position four-way electromagnetic directional valve.
2. Compliant sanding belt device facing a free-form surface according to claim 1, characterized in that the double acting cylinder (16) is a biaxial cylinder with two piston rods (21); the air pump supplies air source to the electric proportional valve (18) and is connected to the electromagnetic directional valve (17) through a pipeline, the direction of the electromagnetic directional valve (17) is controlled by the controller and then reaches the double-acting air cylinder (16), and the piston rod is pushed to move leftwards or rightwards; the air pressure in the pipeline is fed back to the controller by the electric proportional valve (18), and the controller outputs the required voltage to achieve the required air pressure value; when the piston rod (21) moves leftwards, the compression amount of the spiral compression spring (25) is reduced, and the contact force between the force sensor (15) and the adapter plate (10) is reduced; when the piston rod moves to the right, the compression amount of the spiral compression spring (25) is increased, and the contact force between the force sensor (15) and the adapter plate (10) is increased.
3. A compliant freely curved facing abrasive belt sanding device according to claim 2, characterized in that the driving wheel (6) is connected via a coupling (27) to a three-phase motor (28) mounted on a base (29) on the other side of the base plate (1) for powering the rotation of the abrasive belt (8).
4. Compliant sanding belt device according to claim 2, facing a free-form surface, characterized in that the guide wheel (7) is an offset wheel of an offset sanding belt (8) with a U-shaped cross-section.
5. A compliant freely curved facing abrasive belt sanding device according to claim 3, characterized in that a powder recovery box is provided below the contact wheel (3).
6. A compliant freely curved facing abrasive belt sanding device according to claim 3, characterized in that a protective cover (30) is mounted on the outside of the base plate (1).
7. A compliant freely curved facing belt sander apparatus as set forth in claim 3, wherein said clamp spring assembly is externally coated with a dust shield (26).
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| CN201810696852.7A CN108972256B (en) | 2018-06-29 | 2018-06-29 | Smooth abrasive belt grinding device facing free-form surface |
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| CN201810696852.7A CN108972256B (en) | 2018-06-29 | 2018-06-29 | Smooth abrasive belt grinding device facing free-form surface |
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| CN108972256B true CN108972256B (en) | 2020-04-28 |
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| CN109702611B (en) * | 2019-01-31 | 2020-09-01 | 中国航发动力股份有限公司 | Abrasive belt grinding device with pressure and tension jointly controlled and using method thereof |
| CN109623616B (en) * | 2019-02-20 | 2023-09-08 | 上海爱仕达机器人有限公司 | Big burnishing machine |
| CN112123123B (en) * | 2020-10-19 | 2024-08-13 | 上海交通大学 | Terminal abrasive band machine of robot |
| CN112405251B (en) * | 2020-12-01 | 2024-06-21 | 宁波丞智科技有限公司 | Passive compliant mechanism, grinding head assembly, contact force calculation method and abrasive belt machine |
| CN112847062A (en) * | 2021-01-07 | 2021-05-28 | 福建居怡竹木业有限公司 | Archaizing soft sand machine connecting mechanism |
| CN114887817B (en) * | 2022-03-07 | 2023-02-03 | 浙大宁波理工学院 | Intelligent maintenance system of ancient building eaves post |
| CN115781507A (en) * | 2022-11-29 | 2023-03-14 | 南开大学 | High-precision flexible polishing system based on series elastic drivers |
| CN115922533A (en) * | 2023-01-04 | 2023-04-07 | 大连理工大学 | Pneumatic polishing force control device and control method |
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| CN102303275B (en) * | 2011-08-11 | 2013-12-04 | 西北工业大学 | Flexible polishing mechanism for blade profile abrasive belt |
| CN203726303U (en) * | 2013-10-31 | 2014-07-23 | 吉林大学 | Controllable pressure abrasive belt tool system for blade polishing |
| CN104440474B (en) * | 2014-11-28 | 2017-01-04 | 西安交通大学 | A kind of self adaptation repaiies type blade abrasive band polishing and grinding lathe |
| CN204584917U (en) * | 2015-01-09 | 2015-08-26 | 佛山市利迅达机器人系统有限公司 | A kind of polishing system simple and easy power control device |
| CN206357023U (en) * | 2016-11-29 | 2017-07-28 | 东莞市小可机器人科技有限公司 | The workpiece polishing mechanism of power control can be achieved |
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2018
- 2018-06-29 CN CN201810696852.7A patent/CN108972256B/en active Active
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