CN113696042A - Modular compliance force control and position compensation abrasive belt sander in automatic scene - Google Patents
Modular compliance force control and position compensation abrasive belt sander in automatic scene Download PDFInfo
- Publication number
- CN113696042A CN113696042A CN202111145350.3A CN202111145350A CN113696042A CN 113696042 A CN113696042 A CN 113696042A CN 202111145350 A CN202111145350 A CN 202111145350A CN 113696042 A CN113696042 A CN 113696042A
- Authority
- CN
- China
- Prior art keywords
- abrasive belt
- wheel
- frame
- force control
- position compensation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
-
- 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
-
- 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
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a modular compliance force control and position compensation abrasive belt grinding machine in an automatic scene, which relates to the technical field of grinding machines and comprises a frame, wherein the upper end surface and the lower end surface of the frame are respectively provided with a lug hole and a ground pin hole, and a fixing pin is arranged in the ground pin hole; a variable frequency motor is arranged on the inner wall of the frame, and a rotor of the variable frequency motor is fixedly connected with a driving wheel; a force control actuator is connected to the inner wall of the frame through a fixing bolt, and a cross arm is fixedly connected to the force control actuator; a contact wheel and a first driven wheel are respectively arranged at the two ends of the cross arm; the invention can effectively prevent the problems of abrasive belt falling caused by excessive looseness of the abrasive belt and abrasive belt fracture caused by excessive tightness of the abrasive belt, can polish different workpiece types, improves the whole applicability, and is matched with a dust collector to collect and process dust in the dust collecting groove in a centralized manner so as to avoid the later manual cleaning of the dust again.
Description
Technical Field
The invention relates to the technical field of grinders, in particular to a modular compliance force control and position compensation abrasive belt grinder in an automatic scene.
Background
The abrasive belt machine is used for being matched with an industrial robot to polish a workpiece with a curved outer surface, and can effectively remove the defects of burrs, welding slag, joint lines and other protrusions;
however, the existing belt sander can only polish workpieces with smooth surfaces, and the existing belt sander can not be used when polishing workpieces with grooves or internal angles on the surfaces;
when the existing belt sander works, the tensioning degree of an abrasive belt cannot be adjusted, the abrasive belt falls off due to loose abrasive belt, and the abrasive belt is broken due to over-tight abrasive belt, so that the overall sanding efficiency is influenced;
the existing abrasive belt machine is lack of a dust collecting function, the polished dust can directly fall to the ground, and the later period of cleaning is needed manually, so that time and labor are consumed;
therefore, a modular compliance force control and position compensation abrasive belt sander in an automated scene is provided.
Disclosure of Invention
The invention aims to provide a modular compliance force control and position compensation abrasive belt sander in an automatic scene, so as to solve the problems that the existing abrasive belt sander proposed in the background technology can only sand a workpiece with a smooth surface, and the existing abrasive belt sander can not be used satisfactorily when the workpiece with a groove or an inner angle on the surface is sanded;
when the existing belt sander works, the tensioning degree of an abrasive belt cannot be adjusted, the abrasive belt falls off due to loose abrasive belt, and the abrasive belt is broken due to over-tight abrasive belt, so that the overall sanding efficiency is influenced;
the current abrasive band machine lacks the collection dirt function, and the dust after polishing can directly drop to ground, and the later stage still needs the manual work to clean, problem consuming time and power.
In order to achieve the purpose, the invention provides the following technical scheme:
modularization compliance dynamics control and position compensation abrasive band polisher in the automatic scene includes:
the frame is provided with lug holes and foundation holes on the upper end surface and the lower end surface of the frame respectively, and fixing feet are arranged in the foundation holes;
a variable frequency motor is arranged on the inner wall of the frame, and a rotor of the variable frequency motor is fixedly connected with a driving wheel;
a force control actuator is connected to the inner wall of the frame through a fixing bolt, and a cross arm is fixedly connected to the force control actuator;
a contact wheel and a first driven wheel are respectively arranged at two ends of the cross arm, and abrasive belts are sleeved on the outer walls of the driving wheel, the contact wheel and the first driven wheel;
and a tensioning adjusting mechanism, an ejection mechanism and a dust collecting mechanism are also arranged on the inner wall of the frame.
As a further scheme of the invention, the inner side and the outer side of the frame are completely coated by metal plates.
As a further scheme of the invention, the tension adjusting mechanism comprises a connecting strip connected to the inner wall of the frame through a fixing bolt, and a second driven wheel in contact with the abrasive belt is mounted at one end of the connecting strip;
the second driven wheels are provided with two groups, and the two groups of second driven wheels are symmetrically distributed on two sides of the contact wheel.
As a further scheme of the invention, a tensioning deviation-adjusting wheel which is abutted with an abrasive belt is arranged on the inner wall of the frame, and an adjusting knob is arranged on the tensioning deviation-adjusting wheel;
the adjusting knob is used for adjusting the angle of the tensioning deviation adjusting wheel.
As a further scheme of the invention, the ejection mechanism comprises a pneumatic telescopic rod arranged on the cross arm, and one end of the pneumatic telescopic rod is provided with an extension wheel which is abutted with the abrasive belt.
As a further development of the invention, the width of the projecting wheel is smaller than the width of the sanding belt.
As a further scheme of the invention, the dust collecting mechanism comprises a dust collecting plate connected to the outer wall of one side of the frame through a fixing bolt, and a dust collecting groove is formed in the upper end surface of the dust collecting plate;
the dust collecting plate is positioned below the contact wheel.
As a further proposal of the invention, a dust collector is arranged on the outer wall of one side of the dust collecting plate and is communicated with the dust collecting groove.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the force control actuator is controlled to be matched with the cross arm to drive the contact wheel to adjust the position, so that the contact position of the contact wheel and a polished workpiece is changed, the functions of controlling grinding force and compensating the position are achieved, and the whole polishing efficiency is improved.
The invention can manually adjust the angle of the tensioning deviation-adjusting wheel through the adjusting knob on the tensioning deviation-adjusting wheel, thereby controlling the axial position of the abrasive belt on the tensioning deviation-adjusting wheel, and adjusting the air pressure in the frame by using external equipment (a pressure adjusting valve) so as to achieve the adjustment of the tensioning of the abrasive belt, effectively preventing the abrasive belt from falling off due to excessive looseness of the abrasive belt and preventing the abrasive belt from being fractured due to excessive tightness of the abrasive belt, improving the overall grinding efficiency, and ensuring that the driving wheel, the contact wheel, the first driven wheel and the second driven wheel share the transmission pressure of the abrasive belt by the tensioning deviation-adjusting wheel, thereby avoiding the fracture caused by excessive pressure of the abrasive belt at a certain position.
According to the invention, the pneumatic telescopic rod is driven, the pneumatic telescopic rod drives the extension wheel to perform stretching motion, and the extension wheel is smaller than the abrasive belt, so that when the extension wheel is abutted against the abrasive belt, the surface bulge of the abrasive belt can form a narrow grinding surface, and the surface bulge of the abrasive belt can be used for grinding workpieces with grooves or internal angles on the surface, so that different workpiece types can be ground, and the overall applicability is improved.
According to the dust collecting plate, when the dust collecting plate is arranged, dust can fall into the dust collecting groove in the surface of the dust collecting plate during polishing, and the dust collecting plate can be matched with a dust collector to collect and treat the dust in the dust collecting groove in a centralized manner, so that the dust is prevented from being cleaned again manually in a later period, and time and labor are saved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic diagram of a stack according to the present invention.
In the figure: 1. a frame; 2. a drive wheel; 3. a force control actuator; 4. a cross arm; 5. a contact wheel; 6. a first driven wheel; 7. an abrasive belt; 8. a connecting strip; 9. a second driven wheel; 10. a pneumatic telescopic rod; 11. a reach out wheel; 12. a fixing leg; 13. a dust collecting plate; 14. tensioning the deviation adjusting wheel; 15. a dust collecting groove; 16. a vacuum cleaner.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-3, the present invention provides a technical solution: a modularized compliance force control and position compensation abrasive belt grinding machine in an automatic scene is characterized in that a frame 1 is provided with lug holes and foundation holes on the upper end surface and the lower end surface of the frame 1 respectively, fixing pins 12 are installed in the foundation holes, and the inner side and the outer side of the frame 1 are completely coated by metal plates;
a variable frequency motor is arranged on the inner wall of the frame 1, and a rotor of the variable frequency motor is fixedly connected with a driving wheel 2; a force control actuator 3 is connected to the inner wall of the frame 1 through a fixing bolt, and a cross arm 4 is fixedly connected to the force control actuator 3;
a contact wheel 5 and a first driven wheel 6 are respectively arranged at two ends of the cross arm 4, and abrasive belts 7 are sleeved on the outer walls of the driving wheel 2, the contact wheel 5 and the first driven wheel 6; a tensioning adjusting mechanism is arranged on the inner wall of the frame 1 and comprises a connecting strip 8 connected to the inner wall of the frame 1 through a fixing bolt, and a second driven wheel 9 in contact with the abrasive belt 7 is mounted at one end of the connecting strip 8;
two groups of second driven wheels 9 are arranged, the two groups of second driven wheels 9 are symmetrically distributed on two sides of the contact wheel 5, a tensioning deviation-adjusting wheel 14 which is abutted to the abrasive belt 7 is arranged on the inner wall of the frame 1, and an adjusting knob is arranged on the tensioning deviation-adjusting wheel 14; the adjusting knob is used for adjusting the angle of the tensioning deviation-adjusting wheel 14.
Specifically, when the abrasive belt sander is used, firstly, the inner side and the outer side of the frame 1 are completely coated by the metal plate, ground dust can be isolated in the abrasive belt sander, splashes brought out in the grinding process are prevented from hurting people, and people can be prevented from being accidentally touched by people during operation of the abrasive belt sander to cause personnel damage, secondly, a user can manually adjust the angle of the tensioning deviation adjusting wheel 14 by using an adjusting knob on the tensioning deviation adjusting wheel 14, so that the axial position of the abrasive belt 7 on the tensioning deviation adjusting wheel 14 is controlled, and external equipment is used for adjusting air pressure in the frame 1, so that tensioning adjustment of the abrasive belt 7 is achieved, the problems that the abrasive belt 7 falls off due to excessive looseness of the abrasive belt 7 and the abrasive belt 7 is broken due to excessive tightness of the abrasive belt 7 can be effectively prevented, the overall grinding efficiency is improved, and the tensioning deviation adjusting wheel 14 can ensure that the driving wheel 2, the contact wheel 5, the first driven wheel 6, the second driven wheel 6 and the second driven wheel in the abrasive belt sander are completely covered by the metal plate, The second driven wheel 9 is used for sharing the transmission pressure of the abrasive belt 7, the abrasive belt 7 is prevented from being broken due to the fact that the abrasive belt 7 is pressed too high at a certain position, finally the second driven wheel 9 is used for adjusting the included angle of the abrasive belt 7 at the position of the contact wheel 5, the tension direction of the abrasive belt 7 borne by the contact wheel 5 is controlled, and the polishing efficiency of the abrasive belt 7 at the position of the contact wheel 5 is improved.
Example 2:
referring to fig. 1-3, the present invention provides a technical solution: a modular compliance force control and position compensation abrasive belt grinding machine in an automatic scene is characterized in that an ejection mechanism is arranged on the inner wall of a frame 1 and comprises a pneumatic telescopic rod 10 installed on a cross arm 4, one end of the pneumatic telescopic rod 10 is provided with an extension wheel 11 connected with an abrasive belt 7 in an abutting mode, and the width of the extension wheel 11 is smaller than that of the abrasive belt 7.
Specifically, referring to embodiment 1, in the polishing step in embodiment 1, if there is a groove or an inner angle on the surface of the workpiece to be polished, the user may start the pneumatic telescopic rod 10, the pneumatic telescopic rod 10 drives the extension wheel 11 to perform stretching motion, and since the width of the extension wheel 11 is smaller than the width of the abrasive belt 7, when the extension wheel 11 abuts against the abrasive belt 7, the protrusion on the surface of the abrasive belt 7 may form a narrower polishing surface, and the protrusion on the surface of the abrasive belt 7 may polish the workpiece having the groove or the inner angle on the surface, so that the present invention may polish different types of workpieces, and improves the overall applicability.
Example 3:
referring to fig. 1-3, the present invention provides a technical solution: a modular compliance force control and position compensation abrasive belt sander in an automatic scene is characterized in that a dust collection mechanism is arranged on the inner wall of a frame 1, the dust collection mechanism comprises a dust collection plate 13 connected to the outer wall of one side of the frame 1 through a fixing bolt, and a dust collection groove 15 is formed in the upper end face of the dust collection plate 13; the dust collecting plate 13 is positioned below the contact wheel 5, a dust collector 16 is arranged on the outer wall of one side of the dust collecting plate 13, and the dust collector 16 is communicated with the dust collecting groove 15.
Specifically, referring to embodiments 1 and 2, when the polishing steps in embodiments 1 and 2 are performed, the dust generated after polishing the workpiece falls into the dust collecting groove 15 on the surface of the dust collecting plate 13, and the dust in the dust collecting groove 15 can be collected and processed in a centralized manner by matching with the dust collector 16, so that the dust is prevented from being cleaned again by manpower in the later period, and time and labor are saved.
Example 4:
referring to embodiment 1, according to the present invention, the frames 1 can be stacked and connected by the engaging and connecting mechanism of the lug holes and the foot holes at the upper and lower ends of the frame 1, and the plurality of stacked frames 1 can simultaneously polish a plurality of workpieces, which is beneficial to improving polishing efficiency and saving time.
The working principle is as follows: for the invention, firstly, a user can stack and connect a plurality of frames 1 through the lug holes and the foot margin holes at the upper end and the lower end of the frames 1 and the matching and connecting mechanism, the plurality of stacked frames 1 can simultaneously polish a plurality of workpieces, the polishing efficiency is improved, the time is saved, the user starts the variable frequency motor, the variable frequency motor starts the driving wheel 2 to rotate, the driving wheel 2 is matched with the abrasive belt 7 to drive the first driven wheel 6, the second driven wheel 9, the contact wheel 5 and the tensioning and deviation-adjusting wheel 14 to rotate, at the moment, the user can polish the workpieces to be polished by the abrasive belt 7 at the contact wheel 5, the inner side and the outer side of the frame 1 are completely coated by the metal plate, not only can the polished dust be isolated in the abrasive belt machine, the splashed objects brought out in the polishing process are prevented from hurting people, but also the mistaken touch of the personnel in the operation of the abrasive belt machine can be prevented, personnel damage is caused, dust generated after polishing of a workpiece falls into the dust collecting groove 15 on the surface of the dust collecting plate 13, the dust collecting groove 15 can be matched with the dust collector 16 to collect and process the dust in the dust collecting groove 15 in a centralized manner, the dust is prevented from being cleaned again manually in the later period, time and labor are saved, a user can manually adjust the angle of the tensioning deviation adjusting wheel 14 by using an adjusting knob on the tensioning deviation adjusting wheel 14 so as to control the axial position of the abrasive belt 7 on the tensioning deviation adjusting wheel 14, external equipment (a pressure adjusting valve) is used for adjusting air pressure in the frame 1 so as to adjust the tensioning of the abrasive belt 7, the problems that the abrasive belt 7 falls off due to excessive loosening of the abrasive belt 7 and the abrasive belt 7 is broken due to excessive tightening of the abrasive belt 7 can be effectively prevented, the overall polishing efficiency is improved, and the tensioning deviation adjusting wheel 14 can ensure that the driving wheel 2, the contact wheel 5 and the first driven wheel 6 in the invention, The second driven wheels 9 are used for sharing the transmission pressure of the abrasive belts 7 to avoid the abrasive belts 7 from being broken due to overhigh pressure at a certain position, the second driven wheels 9 are used for adjusting the included angle of the abrasive belts 7 at the contact wheel 5, and the tension direction of the abrasive belt 7 on the contact wheel 5 is controlled, the grinding efficiency of the abrasive belt 7 at the contact wheel 5 is improved, and finally, if grooves or internal angles exist on the surface of a workpiece to be ground, the user can start the pneumatic telescopic rod 10, the pneumatic telescopic rod 10 drives the extension wheel 11 to do stretching movement, because the width of the extension wheel 11 is less than that of the abrasive belt 7, the surface of sanding belt 7 is caused to bulge out to a narrower ground surface when extension wheel 11 comes into abutment with sanding belt 7, the surface of the abrasive belt 7 is provided with a bulge, so that the abrasive belt can be used for polishing workpieces with grooves or inner angles on the surface, the invention can be used for polishing different workpiece types, and the overall applicability is improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Modularized soft and smooth dynamics control and position compensation abrasive band polisher in the automatic scene, its characterized in that includes:
the device comprises a frame (1), wherein the upper end surface and the lower end surface of the frame (1) are respectively provided with a lug hole and a ground pin hole, and a fixed pin (12) is arranged in the ground pin hole;
a variable frequency motor is arranged on the inner wall of the frame (1), and a rotor of the variable frequency motor is fixedly connected with a driving wheel (2);
a force control actuator (3) is connected to the inner wall of the frame (1) through a fixing bolt, and a cross arm (4) is fixedly connected to the force control actuator (3);
contact wheels (5) and a first driven wheel (6) are respectively arranged at two ends of the cross arm (4), and abrasive belts (7) are sleeved on the outer walls of the driving wheels (2), the contact wheels (5) and the first driven wheel (6);
and a tensioning adjusting mechanism, an ejection mechanism and a dust collecting mechanism are also arranged on the inner wall of the frame (1).
2. The modular compliance force control and position compensation belt sander in an automated scenario of claim 1, wherein the inside and outside of the frame (1) are completely covered with sheet metal.
3. The modular compliance force control and position compensation abrasive belt sander in an automated scenario of claim 1, wherein the tension adjustment mechanism comprises a connecting bar (8) connected to the inner wall of the frame (1) by a fixing bolt, and a second driven wheel (9) in contact with the abrasive belt (7) is installed at one end of the connecting bar (8);
the two groups of second driven wheels (9) are arranged, and the two groups of second driven wheels (9) are symmetrically distributed on two sides of the contact wheel (5).
4. The modular compliance force control and position compensation abrasive belt sander in an automated scenario of claim 3, wherein a tension and deflection adjusting wheel (14) abutting against an abrasive belt (7) is installed on the inner wall of the frame (1), and an adjusting knob is installed on the tension and deflection adjusting wheel (14);
the adjusting knob is used for adjusting the angle of the tensioning deviation adjusting wheel (14).
5. Modular compliance force control and position compensation belt sander in an automated scenario according to claim 1, characterized by, that the ejection mechanism comprises a pneumatic telescoping rod (10) mounted on a cross arm (4), one end of the pneumatic telescoping rod (10) is mounted with a protruding wheel (11) abutting the sanding belt (7).
6. Modular compliance force control and position compensation belt sander in an automated scenario according to claim 5, characterized by that, the width of the extension wheel (11) is smaller than the width of sanding belt (7).
7. The modular compliance force control and position compensation belt sander in an automated scenario of claim 1, wherein the dust collection mechanism comprises a dust collection plate (13) connected to the outer wall of one side of the frame (1) by a fixing bolt, and a dust collection groove (15) is formed on the upper end surface of the dust collection plate (13);
the dust collecting plate (13) is positioned below the contact wheel (5).
8. The modular compliance force control and position compensation belt sander of claim 7, wherein a dust collector (16) is installed on the outer wall of one side of the dust collecting plate (13), and the dust collector (16) is connected to a dust collecting groove (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111145350.3A CN113696042A (en) | 2021-09-28 | 2021-09-28 | Modular compliance force control and position compensation abrasive belt sander in automatic scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111145350.3A CN113696042A (en) | 2021-09-28 | 2021-09-28 | Modular compliance force control and position compensation abrasive belt sander in automatic scene |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113696042A true CN113696042A (en) | 2021-11-26 |
Family
ID=78662345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111145350.3A Pending CN113696042A (en) | 2021-09-28 | 2021-09-28 | Modular compliance force control and position compensation abrasive belt sander in automatic scene |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113696042A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871912A (en) * | 2022-03-31 | 2022-08-09 | 重庆山朕科技发展有限公司 | Grinding method of abrasive belt type projection welding electrode grinding device |
-
2021
- 2021-09-28 CN CN202111145350.3A patent/CN113696042A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871912A (en) * | 2022-03-31 | 2022-08-09 | 重庆山朕科技发展有限公司 | Grinding method of abrasive belt type projection welding electrode grinding device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215510427U (en) | Modular compliance force control and position compensation abrasive belt sander in automatic scene | |
| CN113696042A (en) | Modular compliance force control and position compensation abrasive belt sander in automatic scene | |
| CN110539169B (en) | Laser cutting machine for deburring square sheet metal | |
| CN212600985U (en) | Autonomous sander | |
| CN210388700U (en) | Elastic scraper and frosted integrated machine for plate surface | |
| CN219520871U (en) | Efficient vibrating mirror continuous laser welding machine structure | |
| CN214817482U (en) | Street lamp pole grinding device | |
| CN215036367U (en) | Steel pipe rust cleaning equipment | |
| CN210550203U (en) | Direct-drive type part grinding abrasive belt machine | |
| CN211332590U (en) | Grinding device for sheet metal working | |
| KR200302558Y1 (en) | A grinder | |
| CN214186638U (en) | Steel sheet rust cleaning polisher | |
| CN212218122U (en) | Burnishing device is used in steel parts machining | |
| CN217833134U (en) | Environment-friendly bridge plate unit U rib welds position equipment of polishing | |
| CN216327351U (en) | High broadband grinder of security | |
| CN213561655U (en) | Grinding machine capable of quickly fixing electronic equipment shell | |
| CN215659409U (en) | But dust absorption formula steel construction welding bead polisher | |
| CN211465806U (en) | Surface blank polishing device for machining household hardware | |
| CN213795705U (en) | High-efficient grinder is used in wood working | |
| CN218017695U (en) | Polishing machine for machining | |
| CN217702681U (en) | Building decoration wall grinding device | |
| CN212706001U (en) | Sander with wood clamping structure | |
| CN210649965U (en) | Compressor valve block grinding device | |
| CN212351665U (en) | Energy-saving brake block sandblast belt cleaning device | |
| CN215659571U (en) | Polisher for ring opening |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |