CN112355824A

CN112355824A - Multifunctional flexible force-controlled abrasive belt machine

Info

Publication number: CN112355824A
Application number: CN202011135285.1A
Authority: CN
Inventors: 杨轶群; 黄万永; 吴钰屾; 王明斗; 伊春明
Original assignee: Shanghai Fanuc Robotics Co Ltd
Current assignee: Shanghai Fanuc Robotics Co Ltd
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-02-12

Abstract

The invention discloses a multifunctional flexible force-controlled abrasive belt machine, and belongs to the technical field of grinding equipment. The method comprises the following steps: the abrasive belt transmission mechanisms are arranged on one side of the rack in an array mode, each abrasive belt transmission mechanism comprises a driving motor, a driving wheel, a driven wheel, a contact wheel and an abrasive belt, the driving motor is in driving connection with the driving wheel, the driving wheel is in driving connection with the driven wheel and the contact wheel through the abrasive belts, the number of meshes of each abrasive belt is different, one end of the floating mechanism is fixedly connected with the rack, and the other end of the floating mechanism is movably connected with the contact wheel. The multifunctional flexible force-control abrasive belt machine provided by the invention has the advantages that the whole structure of the machine is more compact, the occupied space is reduced, and the working efficiency of abrasive belt operation can be improved.

Description

Multifunctional flexible force-controlled abrasive belt machine

Technical Field

The invention relates to the technical field of automation equipment, in particular to a multifunctional flexible force-controlled belt sander.

Background

The abrasive belt machine has high grinding efficiency, and is widely applied to surface treatment of workpieces. The belt sander mainly comprises a frame, a driving motor, a contact wheel, a driving wheel, a driven wheel, a tension wheel, a tensioning mechanism, a floating mechanism, a dust collector, an abrasive belt and other structures and accessories. The abrasive belt machine is provided with contact wheels of different forms and materials or abrasive belts of different specifications, and can achieve different grinding effects on workpieces.

Different procedures in order to achieve different grinding effects, the belt sander needs to be provided with different contact wheels or abrasive belts with different specifications. In order to automate the processing process, a plurality of belt sander are often required to meet the processing requirements of each process in turn. Under the working condition that the robot is used for gripping the workpiece to be processed at the abrasive belt machine, the region where the abrasive belt machine can be arranged is limited. In order to complete a plurality of machining processes, a plurality of robots are required to sequentially grab workpieces to grind the workpieces on different belt sander positions, the cost of production is high, and high requirements are provided for the size of a machining area.

Disclosure of Invention

Aiming at the problems in the prior art, the multifunctional flexible force control belt sander integrates a plurality of belt sanding operations on one belt sander, so that the overall structure of the belt sander is more compact, the occupied space is reduced, and the working efficiency of the belt sanding operations can be improved.

The specific technical scheme is as follows:

a multi-functional flexible force control abrasive band machine, includes: several abrasive belt driving mechanisms and several floating mechanisms.

The abrasive belt transmission mechanisms are arranged on one side of the rack in an array mode, each abrasive belt transmission mechanism comprises a driving motor, a driving wheel, a driven wheel, a contact wheel and an abrasive belt, the driving motor is in driving connection with the driving wheel, the driving wheel is in driving connection with the driven wheel and the contact wheel through the abrasive belts, and the abrasive belts are different in mesh number.

One end of the floating mechanism is fixedly connected with the frame, and the other end of the floating mechanism is movably connected with the contact wheel.

The multifunctional flexible force-control abrasive belt machine is characterized by further comprising a filtering liquid circulating system, wherein the filtering liquid circulating system comprises a plurality of spray pipes and liquid grooves, the spray pipes are arranged on the machine frame, the nozzle of each spray pipe faces towards the corresponding abrasive belt, the liquid grooves are arranged below the abrasive belt transmission mechanism, and liquid sprayed out of the spray pipes falls into the liquid grooves after passing through the abrasive belts.

Among the foretell multi-functional flexible force-control abrasive band machine, still have such characteristic, one side of liquid groove is provided with the leakage fluid dram, leakage fluid dram and filter equipment intercommunication, filter equipment can communicate with circulation line's one end, circulation line's the other end and spray tube intercommunication, in addition the spray tube still communicates with outside pipeline.

In foretell multi-functional flexible force accuse abrasive band machine, still have such characteristic, still including the revolving stage that shifts, the revolving stage that shifts is located the below of liquid groove, and the revolving stage that shifts is provided with a spliced pole, and the spliced pole passes liquid groove and frame fixed connection, and the revolving stage that shifts can wind the axial rotation of spliced pole, and the revolving stage that shifts is connected with revolving stage driving motor drive.

In the multifunctional flexible force-control abrasive belt machine, the characteristic is also provided that the number of the abrasive belt transmission mechanisms is not less than four, and the abrasive belt transmission mechanisms are arranged in a rectangular array.

In the multifunctional flexible force control belt sander, the liquid in the spray pipe is sprayed to the side, which faces upwards, of the abrasive belt.

The multifunctional flexible force control belt sander is further characterized in that the belt transmission mechanism further comprises a tensioning mechanism, and the tensioning mechanism is movably attached to the abrasive belt in a clinging mode.

The multifunctional flexible force-control abrasive belt machine is characterized by further comprising a system control cabinet, wherein each spray pipe is internally provided with an independent control valve, and the system control cabinet is in communication connection with each control valve and each driving motor respectively.

In the above-mentioned multi-functional flexible force accuse abrasive band machine, still have such characteristic, floating mechanism includes activity adjusting part and pressure sensor, and pressure sensor and activity adjusting part are connected with the communication of floating controller respectively.

The positive effects of the technical scheme are as follows:

according to the multifunctional flexible force-control abrasive belt machine, the abrasive belts with different meshes are integrally distributed on the same abrasive belt machine, so that the whole equipment mechanism is more compact, the occupied area is smaller, a single robot can be used for clamping workpieces to finish grinding of multiple stations, and the grinding production efficiency is improved; in addition, the spray pipe and the liquid are used for wet processing, so that applicable objects of the abrasive belt machine for abrasive processing are increased, and the working environment in the abrasive processing process is improved; in addition, a degree of freedom is added to the whole abrasive belt machine through the shifting rotary table, and the flexibility of grinding is further improved.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a multifunctional flexible force-controlled belt sander according to the present invention.

In the drawings: 1. a frame; 2. a sand belt transmission mechanism; 3. a floating mechanism; 4. a nozzle; 5. a liquid tank; 6. a position-changing rotary table.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiment specifically explains the multifunctional flexible force control abrasive belt machine provided by the invention with reference to fig. 1.

The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the multifunctional flexible force control belt sander, a plurality of abrasive belt transmission mechanisms 2 are arranged on one side of a rack 1 in an array manner and are generally arranged on the same side of the rack 1, so that a manipulator can conveniently grab a workpiece and grind the workpiece within a short moving distance to improve grinding efficiency, each abrasive belt transmission mechanism 2 comprises a driving motor, a driving wheel, a driven wheel, a contact wheel and an abrasive belt, the driving motor is in driving connection with the driving wheel, the driving motor drives the driving wheel to rotate through the driving motor, the abrasive belt is driven to move through the rotation of the driving wheel, the driving wheel is in driving connection with the driven wheel and the contact wheel through the abrasive belt, a connecting shaft is arranged in the axial middle of the driving wheel, the driven wheel and the contact wheel in a penetrating manner, two ends of the connecting shaft are arranged on the rack 1, the outer sides of the circumferences of the driving wheel, the driven wheel and the contact wheel are all, and the mesh number of each abrasive belt is different, and the abrasive belts are sequentially improved, so that the rough grinding to the fine grinding of the workpiece are realized.

One end of the floating mechanism 3 is fixedly connected with the rack 1, the other end of the floating mechanism 3 is movably connected with the contact wheel, and the force control feedback system of the floating mechanism 3 is adopted to keep the workpiece at constant pressure in the grinding process in a floating mode so as to obtain a better consistency effect of the surface of the workpiece.

In a preferred embodiment, as shown in fig. 1, a filtering liquid circulation system is further included, which has the functions of spraying liquid and filtering metal chips, because grinding removes a part of the material of the workpiece by rubbing the workpiece and the abrasive belt against each other. In order to increase the grinding efficiency, the belt of the belt machine is required to run at a high speed, in which process a large amount of heat and metal chips are generated. This puts high demands on the material of the grinding process, the material of the workpiece cannot contain flammable alloy metal components, otherwise there is a hidden danger of explosion in the process of processing. Through increasing filtration liquid circulation system in the grinding process, can moisten the abrasive band, reduce the heat that produces in the grinding process simultaneously, can also reduce the grinding metal fillings in addition, avoid its dispersion to form the metal dirt of high concentration in the space.

Wherein filter liquid circulation system and include a plurality of spray tubes 4 and liquid groove 5, spray tube 4 sets up in frame 1, and the corresponding abrasive band of spout orientation of each spray tube 4, there is the liquid that is used for moistening and reduces clastic in spray tube 4, general liquid from the top down spouts to the abrasive band, thereby fully moisten before abrasive band and work piece contact, and liquid can produce certain atomization effect after being spouted by the spray tube, the atomizing scope can cover the abrasive machining region, with the grinding metal fillings in the reduction air, liquid groove 5 sets up in abrasive band drive mechanism 2's below, from spray tube 4 spun liquid fall into liquid groove 5 behind the abrasive band, do benefit to collecting liquid and carry out subsequent recovery processing.

In a preferred embodiment, as shown in fig. 1, the liquid tank 5 is fixedly arranged, and one side (side surface or bottom surface) of the liquid tank 5 is provided with a liquid discharge port (not shown in the figure), which is generally at a lower horizontal position for facilitating the subsequent liquid discharge, the liquid discharge port is communicated with a filtering device (not shown in the figure), the filtering device can be communicated with one end of the circulating pipeline, the other end of the circulating pipeline is communicated with the spray pipe 4, and the waste liquid generated in the grinding process can be sprayed out from the spray pipe 4 again after being filtered by the filtering system, so that the liquid can be recycled. In addition, the spray pipe 4 is also communicated with an external pipeline, and waste liquid can be filtered and discharged when the device needs maintenance shutdown. In addition, a liquid storage tank (not shown) may be provided, and when the liquid level in the liquid tank 5 is low, a part of the liquid in the liquid storage tank may be added to the inside of the liquid tank 5 again to maintain a certain amount of the liquid.

In a preferred embodiment, as shown in fig. 1, a shifting turret 6 is further included, the shifting turret 6 is located below the liquid tank 5, and the liquid tank 5 and the like in the filtration liquid circulation system do not rotate together with the shifting turret 6, but only the nozzle rotates together with the belt drive 2. The deflection rotary table 6 is provided with a connecting column which passes through the liquid tank 5 and is fixedly connected with the frame 1, wherein the middle part of the liquid tank 5 is provided with a through hole, the edge of the through hole is upwards convexly provided with a sleeve, the bottom of the sleeve is hermetically connected with the liquid tank 5 to prevent the liquid in the liquid tank 5 from leaking, the deflection rotary table 6 can rotate around the axial direction of the connecting column, the deflection rotary table 6 is in driving connection with a rotary table driving motor, the rotation of the deflection rotary table 6 is controlled by the rotary table driving motor, the deflection rotary table 6 can drive the abrasive belt transmission mechanism 2 and the floating mechanism 3 to partially rotate, so that the abrasive belt transmission mechanism 2 can change the grinding angle in the grinding process, in the prior art, although the robot has high flexibility, the abrasive belt grinding angle is too single, the processing area of a workpiece has a complex shape, and the robot still has the problem of unreachability or interference when holding, this curved surface processing gesture to the work piece changes and has caused inconvenience, and then can influence the processing effect of work piece, through having increased this degree of freedom of revolving stage 6 that shifts in this embodiment, increases the degree of freedom of robot and abrasive band machine system, improves the flexibility in the course of working, and then can grind the complicated curved surface of work piece better.

In a preferred embodiment, as shown in fig. 1, the number of the abrasive belt transmission mechanisms 2 is not less than four, the abrasive belt transmission mechanisms 2 are respectively used for grinding workpieces at different degrees, and are arranged in a rectangular array, when the number of the abrasive belt transmission mechanisms 2 is four, the abrasive belt transmission mechanisms are generally divided into coarse grinding, semi-fine grinding and fine grinding, of course, the abrasive belt transmission mechanisms 2 can be properly increased or decreased according to actual grinding requirements, when the number of the abrasive belt transmission mechanisms 2 is even, the abrasive belt transmission mechanisms are arranged in a rectangular array, and when the number of the abrasive belt transmission mechanisms 2 is odd, the abrasive belt transmission mechanisms are arranged in a linear type, the mesh number of specific abrasive belts can be sequentially increased or decreased from top to bottom and from left to right, so as to decrease the moving distance of the manipulator, and.

In a preferred embodiment, as shown in fig. 1, the liquid in the nozzle 4 is sprayed to the side of the abrasive belt facing vertically upwards, the outer side of the abrasive belt at the position has better liquid bearing performance, so that the abrasive belt can be well wetted sufficiently, and in addition, an atomizing area can be formed around the abrasive belt transmission mechanism 2, so that metal chips generated in the grinding process can be reduced, further, a workpiece containing flammable metal components (such as magnesium) can be ground, the applicable range of the grinding process of the abrasive belt machine is increased, and the processing environment in the grinding process is improved.

In a preferred embodiment, as shown in fig. 1, the belt transmission mechanism 2 further comprises a tensioning mechanism movably attached to the belt, the tensioning mechanism can maintain a certain tension of the belt and facilitate replacement of the tensioning mechanism of the belt to adapt to different tensions, and specifically the tensioning mechanism comprises a tensioning wheel or a tensioning shaft, a displacement adjusting mechanism and a tension detecting device, an outer circumferential surface of the tensioning wheel or the tensioning shaft is attached to an inner side of the belt to tension the belt and prevent the belt from slipping, so as to improve the overall grinding effect, the displacement adjusting mechanism is connected to an axial direction of the tensioning wheel or the tensioning shaft to control the movement of the tensioning wheel or the tensioning shaft by the movement of the displacement adjusting mechanism, the tension detecting device is in contact with the belt to monitor the tension of the belt in real time, and the tension detecting device feeds back the detected tension value to the controller, the controller controls the displacement regulating mechanism to move, and the operator can set the tension value to be maintained in the controller.

In a preferred embodiment, as shown in fig. 1, the system further comprises a system control cabinet, wherein an independent control valve is arranged in each spray pipe 4, and the system control cabinet is respectively in communication connection with each control valve and each driving motor. When the driving motor starts to rotate and the corresponding abrasive belt starts to move to prepare for starting grinding operation, the control valve corresponding to the abrasive belt is opened, liquid in the spray pipe 4 starts to be sprayed out to fully wet the abrasive belt so as to start subsequent grinding, when the abrasive belt stops grinding operation, the wetting of the abrasive belt is stopped, and the driving and wetting operation of each abrasive belt are reasonably distributed so as to reduce partial energy consumption of the abrasive belt machine.

In a preferred embodiment, as shown in fig. 1, the floating mechanism 3 includes a movable adjusting part and a pressure sensor, the pressure sensor and the movable adjusting part are respectively in communication connection with the floating controller, the specific movable adjusting part is an adjustable movable universal joint, one end of the movable universal joint is movably connected with the contact wheel, the pressure sensor monitors the pressure applied to the movable universal joint in real time, the pressure sensor feeds the measured pressure value back to the floating controller, and the floating controller further controls the rotation of the movable universal joint to form a closed-loop control. The floating mechanism presets the magnitude of constant force, namely, the numerical value of preset pressure is input into the floating controller by a worker, the floating control is completed by a closed-loop control system of the floating mechanism, and then the constant pressure in the grinding process is maintained, so that the grinding quality is ensured.

In the following description, a specific embodiment is described, and it should be noted that the structures, processes, and materials described in the following embodiment are only used to illustrate the feasibility of the embodiment, and are not intended to limit the scope of the present invention.

The working principle of the multifunctional flexible force-controlled abrasive belt machine is as follows: a manipulator grabs a workpiece to be ground to be close to the abrasive belt machine for preparation of grinding operation; the system control cabinet controls the driving motors corresponding to the corresponding stations to run at a set speed, and simultaneously, the spraying pipes corresponding to the stations continuously spray liquid to wet the abrasive belt so as to prepare for grinding; the robot arm grabs the workpiece to change the posture so as to enable the abrasive belt machine to grind each part to be ground of the workpiece; when a machining part of the mechanical arm needs to be subjected to great angle transformation, the system control cabinet controls the deflection rotary table of the abrasive belt machine to deflect the abrasive belt, so that the mechanical arm can grind a workpiece to be ground on the abrasive belt through a simpler and more convenient motion track; and after the workpiece is ground at the grinding station, the mechanical arm transfers the workpiece to the next grinding station, and the next round of grinding is carried out according to the sequence until the workpiece is ground at each station, and then the next workpiece is ground.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a multi-functional flexible force control abrasive band machine which characterized in that includes:

the abrasive belt transmission mechanisms are arranged on one side of the rack in an array manner, each abrasive belt transmission mechanism comprises a driving motor, a driving wheel, a driven wheel, a contact wheel and an abrasive belt, the driving motor is in driving connection with the driving wheel, the driving wheel is in driving connection with the driven wheel and the contact wheel through the abrasive belts, and the mesh number of each abrasive belt is different;

one end of the floating mechanism is fixedly connected with the rack, and the other end of the floating mechanism is movably connected with the contact wheel.

2. The multifunctional flexible force-controlled belt sander as recited in claim 1, further comprising a filtered liquid circulation system, wherein the filtered liquid circulation system comprises a plurality of nozzles and a liquid tank, the nozzles are disposed on the frame, and a nozzle of each nozzle faces the corresponding sanding belt, the liquid tank is disposed below the sanding belt transmission mechanism, and the liquid sprayed from the nozzles falls into the liquid tank after passing through the sanding belt.

3. The multifunctional flexible force-controlled belt sander as set forth in claim 2, wherein a liquid drain is provided on one side of the liquid tank, the liquid drain is in communication with a filter device, the filter device can be in communication with one end of a circulation line, the other end of the circulation line is in communication with the spray pipe, and the spray pipe is in communication with an external line.

4. The multifunctional flexible force-controlled belt sander as claimed in claim 1, further comprising a shifting turntable, wherein the shifting turntable is located below the liquid tank, the shifting turntable is provided with a connecting column, the connecting column penetrates through the liquid tank and is fixedly connected with the rack, the shifting turntable can rotate around the axial direction of the connecting column, and the shifting turntable is in driving connection with a turntable driving motor.

5. The belt sander as set forth in claim 1, wherein the belt drives are arranged in a rectangular array of at least four belt drives.

6. The multifunctional flexible force-controlled belt sander as set forth in claim 2, wherein the liquid in the nozzle is sprayed toward the side of the sanding belt which faces vertically upwards.

7. The belt sander of claim 1, wherein the belt drive further comprises a tensioning mechanism, the tensioning mechanism being movably attached to the belt.

8. The multifunctional flexible force-controlled belt sander as set forth in claim 2, further comprising a system control cabinet, wherein an independent control valve is disposed in each spray pipe, and the system control cabinet is in communication connection with each control valve and each driving motor, respectively.

9. The multifunctional flexible force-controlled belt sander as set forth in claim 8, wherein the float mechanism comprises a movable adjustment member and a pressure sensor, the pressure sensor and the movable adjustment member being in communication connection with a float controller, respectively.