CN113977415A - Hand-held type power control abrasive band machine of robot - Google Patents
Hand-held type power control abrasive band machine of robot Download PDFInfo
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- CN113977415A CN113977415A CN202111495681.XA CN202111495681A CN113977415A CN 113977415 A CN113977415 A CN 113977415A CN 202111495681 A CN202111495681 A CN 202111495681A CN 113977415 A CN113977415 A CN 113977415A
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- 238000005498 polishing Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000001360 synchronised effect Effects 0.000 claims abstract description 6
- 238000007667 floating Methods 0.000 claims description 19
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 3
- 238000012545 processing Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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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 belongs to the field of polishing equipment, and discloses a robot hand-held force control abrasive belt machine which comprises an abrasive belt machine body, wherein the abrasive belt machine body comprises an abrasive belt, a polishing wheel, a tension wheel, an abrasive belt driving wheel and a mounting base, the abrasive belt is wound on the outer sides of the polishing wheel, the tension wheel and the abrasive belt driving wheel, the mounting base comprises a front base plate, a rear base plate and a connecting plate, the connecting plate is connected with the front base plate and the rear base plate, the polishing wheel is rotatably connected with the connecting plate at one end of the mounting base, two shaft ends of the abrasive belt driving wheel are respectively rotatably connected with one end of the front base plate and one end of the rear base plate, the rear base plate is connected with a servo motor, the shaft end of the servo motor is connected with a main synchronizing wheel, the shaft end of the abrasive belt driving wheel is connected with a slave synchronizing wheel, the main synchronizing wheel is connected with the slave synchronizing wheel through a synchronous belt, the tension wheel is rotatably connected with the other end of the mounting base, and a rotation shaft of the tension wheel is connected with a tension deviation adjusting mechanism. The invention is suitable for polishing large and heavy workpieces, and has flexible operation and compact structure; the linear speed of the abrasive belt is accurately controlled, and the output of the driving torque is constant; the grinding precision is highly controllable.
Description
Technical Field
The invention relates to the related field of polishing equipment, in particular to a robot handheld force-controlled abrasive belt machine.
Background
The prior abrasive belt machine is mostly a fixed abrasive belt machine, adopt the robot to snatch work piece to fixed abrasive belt machine and carry out the operation of polishing, receive the restriction of robot load and operation scope, fixed abrasive belt machine is applicable to the operation of polishing of smallclothes more, when meetting big heavy work piece and carrying out the operation of polishing, just can't snatch the work piece with the robot and carry out the operation of polishing to traditional fixed abrasive belt machine, it is very important to provide an abrasive belt machine can change operating position and operating condition in real time just to accomplish the operation of polishing of big heavy work piece this moment, the hand-held abrasive belt machine of robot just consequently receives the favor in the trade deeply, however, the prior abrasive belt machine structure is bulkier, can't adapt to the nimble operation of robot, simultaneously, after hand-held abrasive belt machine and robot combine, the precision control of grinding and polishing is very difficult, can't realize the grinding operation of high accuracy.
Disclosure of Invention
The invention aims to solve the technical problems in the polishing operation of large and heavy workpieces, and provides a robot hand-held force control abrasive belt machine which is suitable for the polishing operation of the large and heavy workpieces, flexible in operation and compact in structure; the pressing force and the grinding linear speed of grinding can be adjusted in real time; the output of the driving torque is constant, and the linear speed and the torque of the abrasive belt are accurately controlled; the grinding precision and consistency are highly controllable.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
on one hand, the invention provides a robot hand-held force control abrasive belt machine, which comprises an abrasive belt machine body, wherein the abrasive belt machine body comprises an abrasive belt, a polishing wheel, a tension wheel, an abrasive belt driving wheel and a mounting base, the abrasive belt is wound outside the polishing wheel, the tension wheel and the abrasive belt driving wheel, the mounting base comprises a front base plate, a rear base plate and a connecting plate, the connecting plate is connected with the front base plate and the rear base plate, the polishing wheel is rotatably connected with the connecting plate at one end of the mounting base, two shaft ends of the abrasive belt driving wheel are respectively rotatably connected with one end of the front base plate and one end of the rear base plate, the rear base plate is connected with a servo motor, the shaft end of the servo motor is connected with a main synchronizing wheel, the shaft end of the abrasive belt driving wheel is connected with a slave synchronizing wheel, the main synchronizing wheel is connected with the slave synchronizing wheel through a synchronous belt, the tension wheel is rotatably connected with the other end of the mounting base, the rotating shaft of the tension wheel is connected with a tension deviation adjusting mechanism.
As a preferable scheme, a belt deviation sensor is arranged on the belt sander body.
As a preferable scheme, the tension deviation adjusting mechanism comprises a tension cylinder and a linear push rod, a telescopic end cylinder body of the tension cylinder is connected with a front deflection connecting sheet, a hollow shaft sleeve through which the tension cylinder push rod can pass is arranged on the front deflection connecting sheet, the outer wall of the hollow shaft sleeve on the front deflection connecting sheet is rotatably connected with a front bearing seat through a bearing, the other end of the tension cylinder body is connected with a rear deflection connecting sheet, a connecting shaft is arranged on the rear deflection connecting sheet and is rotatably connected with a rear bearing seat through a bearing, the front bearing seat and the rear bearing seat are connected with a connecting plate on a mounting base, a tension wheel is rotatably connected on the mounting frame, the push rod of the tension cylinder is connected with the mounting frame, the shaft end of the linear push rod is rotatably connected with a rotary seat through a pin shaft, the rotary seat is connected with the front deflection connecting sheet, the other end of the linear push rod is connected with the front base plate through a connecting seat.
As a further preferred scheme, the mounting bracket is connected with a guide rod, the tensioning cylinder is provided with a guide seat, the guide seat is provided with a guide hole for the guide rod to pass through, and two ends of the guide seat are respectively connected with the front deflection connecting sheet and the rear deflection connecting sheet.
As a preferable scheme, a flat plate mill ejection mechanism is connected to a connecting plate between the abrasive belt driving wheel and the tension wheel, the flat plate mill ejection mechanism comprises a flat supporting plate and a push rod cylinder, at least two guide posts are arranged on the inner side of the flat supporting plate, a guide sleeve matched with the guide posts is arranged on the connecting plate, and a push rod of the push rod cylinder can push the flat supporting plate to slide along the guide posts to tightly press the abrasive belt.
As a further preferable scheme, the push rod of the push rod cylinder pushes the plane support plate to slide along the guide column by a stroke L of 5-10 mm.
As a preferred scheme, the belt-breaking detection alarm device of the abrasive belt machine body is arranged.
As a preferred scheme, the belt sander body is connected with a floating force control device, and the floating force control device is connected with an industrial robot arm.
As a further preferred scheme, the floating force control device comprises a signal acquisition card, an acceleration sensor, a displacement sensor, a high-precision force sensor, a pneumatic solenoid valve, a precise proportional valve, a low-friction cylinder and a sliding assembly, wherein the acceleration sensor, the displacement sensor and the high-precision force sensor are respectively electrically connected with the signal acquisition card, the signal acquisition card is connected with the control unit through an ethernet, the output end of the precise proportional valve is pneumatically connected with the input end of the pneumatic solenoid valve, the output end of the pneumatic solenoid valve is pneumatically connected with the low-friction cylinder, a piston rod of the low-friction cylinder is connected with the sliding assembly, the pneumatic solenoid valve and the precise proportional valve are respectively electrically connected with the signal acquisition card, and the sliding assembly is connected with the belt sander body.
As a further preferable scheme, the signal acquisition card is a compact IO control board.
Compared with the prior art, due to the adoption of the technical scheme, the invention has the following remarkable beneficial technical effects:
1) the automatic grinding machine is suitable for automatic grinding operation of large and heavy workpieces;
2) the operation is flexible, the structure is simple and compact, each part is suitable for batch processing, the processing cost is low, and the popularization and application value is high;
3) the pressing force and the grinding linear speed of grinding can be adjusted in real time;
4) the abrasive belt linear speed and the torque are controlled accurately, the driving torque output is constant, and the grinding precision and the consistency are highly controllable.
Drawings
FIG. 1 is a schematic structural view of a robotic hand-held force-controlled belt sander of the present invention;
FIG. 2 is a front side schematic view of the belt sander body of the present invention;
FIG. 3 is a rear side schematic view of the belt sander body of the present invention;
FIG. 4 is a schematic structural view of the tension deviation adjusting mechanism and the plane grinder ejection mechanism of the present invention;
FIG. 5 is a functional block diagram of a floating force control device;
FIG. 6 is a data acquisition diagram of an acceleration sensor in the floating force control device;
FIG. 7 is a PID closed-loop control diagram for displacement sensor data acquisition in a floating force control device.
The reference numerals include:
100. an abrasive belt machine body; 200. a floating force control device;
101. an abrasive belt; 102. grinding the wheel; 103. a tension wheel; 104. a driving wheel of the abrasive belt; 105. mounting a base; 106. a servo motor; 107. a main synchronizing wheel; 108. a slave synchronizing wheel; 109. a synchronous belt; 110. a tensioning deviation adjusting mechanism; 111. closing the plate; 112. a flat plate grinding ejection mechanism;
1051. a front substrate; 1052. a rear substrate; 1053. a connecting plate;
1101. a tensioning cylinder; 1102. a linear push rod; 1103. a front deflection connecting sheet; 1104. a rear deflection connecting piece; 1105. a mounting frame; 1106. a pin shaft; 1107. a rotating base; 1108. a connecting seat; 1109. a guide bar; 1110. a guide seat;
1121. a planar support plate; 1122. a push rod cylinder; 1123. a guide post; 1124. a guide sleeve;
201. a signal acquisition card; 202. an acceleration sensor; 203. a displacement sensor; 204. a high precision force sensor; 205. a pneumatic solenoid valve; 206. a precision proportional valve; 207. a low friction cylinder; 208. a sliding assembly;
l, sliding stroke;
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the specific embodiments.
As shown in fig. 1, 2, 3, and 4: a robot hand-held force control abrasive belt machine comprises an abrasive belt machine body 100, wherein the abrasive belt machine body 100 comprises an abrasive belt 101, a grinding wheel 102, a tension wheel 103, an abrasive belt driving wheel 104 and a mounting base 105, the abrasive belt 101 is wound outside the grinding wheel 102, the tension wheel 103 and the abrasive belt driving wheel 104, the mounting base 105 comprises a front base plate 1051, a rear base plate 1052 and a connecting plate 1053, the connecting plate 1053 is connected with the front base plate 1051 and the rear base plate 1052, the grinding wheel 102 is rotatably connected with the connecting plate 1053 at one end of the mounting base 105, two shaft ends of the abrasive belt driving wheel 104 are respectively rotatably connected with one end of the front base plate 1051 and one end of the rear base plate 1052, a servo motor 106 is connected on the rear base plate 1052, a master synchronizing wheel 107 is connected with a shaft end of the servo motor 106, a slave synchronizing wheel 108 is connected with a shaft end of the abrasive belt driving wheel 104, the master synchronizing wheel 107 is connected with the slave synchronizing wheel 108 through a synchronous belt 109, the tension wheel 103 is rotatably connected to the other end of the mounting base 105, and a rotating shaft of the tension wheel 103 is connected with a tension deviation adjusting mechanism 110.
The invention provides a hand-held force control abrasive belt machine of a robot, which adopts a plate to design a mounting base 105, skillfully and fixedly installs key parts on a front base plate 1051, a rear base plate 1052 and a connecting plate 1053 of the mounting base 105, the key parts are reasonable and compact in layout, and convenient for the operation and control of an industrial robot, a servo motor 106 is adopted as driving output, a synchronous belt 109 is utilized to transmit driving force, space is saved, the real-time adjustment and control of the linear velocity of an abrasive belt 101 can be convenient, a tension deflection adjusting mechanism 110 is used for adjusting the tension state of a tension wheel 103 in real time and correcting the offset displacement of the tension wheel 103 in time, so that an abrasive belt machine body 100 is constantly in the optimal working state, and the polishing precision is effectively ensured. Meanwhile, the internal cavity of the mounting base 105 facilitates wiring of electric elements and pipeline arrangement of pneumatic elements, the internal cavity of the mounting base 105 is sealed by the sealing plate 111, electric wires and air pipes are stored in the mounting base 105, interference of the periphery on all components is eliminated, the service life of each part is prolonged, and the overall structure is visually high-end and exquisite.
As a preferable scheme, a belt deviation sensor is arranged on the belt sander body 100. The working state and the offset displacement of the abrasive belt 101 are collected in real time through an abrasive belt offset sensor, and accurate data support is provided for the control end to send an instruction to the tensioning offset adjusting mechanism 110 in real time.
As shown in fig. 1, 2, 3, and 4: as a preferable scheme, the tension deviation adjusting mechanism 110 includes a tension cylinder 1101 and a linear push rod 1102, a cylinder body at a telescopic end of the tension cylinder 1101 is connected with a front deviation connecting sheet 1103, a hollow shaft sleeve through which a push rod of the tension cylinder 1101 can pass is arranged on the front deviation connecting sheet 1103, an outer wall of the hollow shaft sleeve on the front deviation connecting sheet 1103 is rotatably connected with a front bearing seat through a bearing, the other end of the cylinder body of the tension cylinder 1101 is connected with a rear deviation connecting sheet 1104, the rear deviation connecting sheet 1104 is provided with a connecting shaft, the connecting shaft is rotatably connected with a rear bearing seat through a bearing, the front and rear bearing seats are connected with a connecting plate 1053 on the mounting base 105, the tension wheel 103 is rotatably connected on the mounting frame 1105, the push rod of the tension cylinder 1101 is connected with the mounting frame 1105, and a shaft end of the linear push rod 1102 is rotatably connected with a rotary seat 1106 through a pin shaft, the rotary seat 1107 is connected to the front deflection connecting piece 1103, and the other end of the linear push rod 1102 is connected to the front base plate 1051 through a connecting seat 1108. The tension cylinder 1101 pushes the tension wheel 103 to tension the abrasive belt 101 under the action of compressed air, the linear push rod 1102 receives an offset instruction, the shaft of the linear push rod 1102 extends to drive the rotating base 1107 to rotate, the rotating base 1107 drives the tension cylinder 1101 to rotate, and the tension wheel 103 is linked with the tension cylinder 1101 until the abrasive belt 101 returns to a normal position.
As shown in fig. 4: as a further preferable scheme, a guide rod 1109 is connected to the mounting frame 1105, a guide seat 1110 is arranged on the tensioning cylinder 1101, a guide hole through which the guide rod 1109 can pass is arranged on the guide seat 1110, and two ends of the guide seat 1110 are respectively connected with the front 1103 and the rear deflection connecting pieces 1104, so that the axis of the tensioning wheel 103 and the axis of the push rod of the tensioning cylinder 1101 are always in a vertical state, and the precision of tensioning and deflection adjusting operation is ensured.
As shown in fig. 2, 3, and 4: as a preferable scheme, a flat plate grinding and ejecting mechanism 112 is connected to a connecting plate 1053 between the belt driving wheel 104 and the tension wheel 103, the flat plate grinding and ejecting mechanism 112 includes a planar supporting plate 1121 and a push rod cylinder 1122, at least two guide posts 1123 are disposed inside the planar supporting plate 1121, a guide sleeve 1124 adapted to the guide posts 1123 is disposed on the connecting plate 1053, and a push rod of the push rod cylinder 1122 can push the planar supporting plate 1121 to slide along the guide posts 1123 to compress the belt 101. The flat grinder ejection mechanism 112 is more suitable for grinding operations of large-area planes than the grinding wheel 102.
As shown in fig. 4: as a further preferable scheme, the push rod of the push rod cylinder 1122 pushes the planar support plate 1121 to have a sliding stroke L of 5-10mm along the guide post 1123, and the sliding stroke L is controlled to be 5-10mm by controlling the push rod stroke of the push rod cylinder 1122 to control the sliding stroke L of the planar support plate 1121, so that the space can be effectively saved, and the structure is more compact.
As a preferable scheme, the belt-breaking detection alarm device for the abrasive belt is arranged on the belt-breaking machine body 100, so that the workpiece is prevented from being accidentally injured by hard friction between the belt-breaking machine body 100 and the workpiece.
As shown in fig. 1: as a preferred scheme, the belt sander body 100 is connected with a floating force control device 200, the floating force control device 200 is connected with an industrial robot arm, and the floating force control device 200 provides constant grinding pressing force for the belt sander body 100, so that the consistency of grinding precision is fully guaranteed.
As shown in fig. 1 and 5: as a further preferable scheme, the floating force control device 200 includes a signal acquisition card 201, an acceleration sensor 202, a displacement sensor 203, a high-precision force sensor 204, a pneumatic solenoid valve 205, a precision proportional valve 206, a low-friction cylinder 207, and a sliding assembly 208, the acceleration sensor 202, the displacement sensor 203, and the high-precision force sensor 204 are electrically connected to the signal acquisition card 201, the signal acquisition card 201 converts acquired digital and analog signals and then completes instruction interaction with a control unit through an industrial ethernet, an output end of the precision proportional valve 206 is connected to an input end of the pneumatic solenoid valve 205, an output end of the pneumatic solenoid valve 205 is connected to the low-friction cylinder 207, the low-friction cylinder 207 is connected to the sliding assembly 208, the pneumatic solenoid valve 205 and the precision proportional valve 206 are electrically connected to the signal acquisition card 201, the slide assembly 208 is coupled to the belt sander body 100.
As shown in fig. 7: the displacement sensor 203 is used for monitoring the current position of the floating force control device 200 in real time, calculating the deviation (Error) between the current position and the target position by adopting a proportional-integral-derivative (PID) closed-loop control technology and taking the displacement as a control target (setpoint), regulating the output acting force of the precision proportional valve 206 through a PID algorithm, repeating the above execution until the force balance state is reached and the precision proportional valve stops at the position within the target allowable range, and finally calculating the tool load weight G. Considering that in actual field engineering assembly, the cable layout may cause additional force to the floating force control device 200 at different floating positions, the multi-point weighing method is adopted to reduce the related influence as much as possible, that is, automatic weighing is performed at multiple positions, the weight is calculated, and finally the average value is taken as the tool load weight G.
As shown in fig. 6: acceleration sensor 202 feeds back acceleration value in real time, signal acquisition card 201 gathers acceleration value, upload acceleration value to the control unit and be used for calculating the gravity component, the control unit calculates the horizontal contained angle theta of force axle, it is G2 ═ G Sin theta to obtain the component of instrument load in the effort direction according to the vector, compensate this component when the power control is given, the effort of additional G2 carries out gravity compensation on the basis of target force when atmospheric pressure output is given power, so eliminate load gravity because axial slope and to the influence of target force size, realize the invariable output control of target grinding force.
As shown in fig. 6 and 7: the high-precision force sensor 204 is used for feeding back the actual pressure N1 of the tool load in real time, the signal acquisition card 201 acquires the actual pressure N1, and the control unit compares the actual pressure N1 uploaded by the signal acquisition card 201 with the target force and adopts a proportional-integral-derivative PID controller to realize higher-precision closed-loop control on the target force.
As shown in fig. 5: a low-friction cylinder 207 with low friction is selected to provide floating driving force, a linear guide rail is used as a sliding assembly 208, and consistency in a working stroke is guaranteed during assembly; aiming at the inherent friction force, a compensation algorithm is adopted to correct the output force in real time, so that the force finally acting on the surface of the workpiece is more constant. The control unit calculates the float speed change and the direction of motion in real time, and adds different corrections to the setting of the precision proportional valve 206 to drive the output of the target force. The linear correction table is designed to cope with different working conditions, and the program automatically carries out linear interpolation operation to determine the correction quantity.
As shown in fig. 5: as a further preferable scheme, the signal acquisition card 201 is a compact IO control board, and can connect each sensor and execution component in the floating force control device 200 on site, and connect the control unit through the industrial ethernet, upload the acquired digital quantity and analog quantity signals and receive the control command to perform corresponding output driving.
In summary, it can be seen that: the robot hand-held force control abrasive belt machine provided by the invention can be combined with an industrial robot to automatically finish the grinding operation of large and heavy workpieces; the pressing force and the grinding linear speed of grinding can be adjusted in real time; the linear speed and the torque of the abrasive belt 101 are accurately controlled, the output of the driving torque is constant, and the grinding precision and the consistency are highly controllable; simple structure is compact, the operation is nimble, and each spare part is suitable for batch processing, and the processing cost is low, compares current abrasive band machine and has apparent progress when the big and heavy work piece of grinding, has stronger popularization and application and worth.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a hand-held type power accuse abrasive band machine of robot, includes the abrasive band machine body, the abrasive band machine body includes abrasive band, the wheel of polishing, tight pulley, abrasive band action wheel, mounting base, the abrasive band is around establishing in the wheel of polishing, tight pulley, the abrasive band action wheel outside, its characterized in that: the installation base comprises a front base plate, a rear base plate and a connecting plate, the connecting plate is connected with the front base plate and the rear base plate, the polishing wheel is rotatably connected with the connecting plate at one end of the installation base, two shaft ends of the abrasive belt driving wheel are respectively rotatably connected with one end of the front base plate and one end of the rear base plate, the rear base plate is connected with a servo motor, the shaft end of the servo motor is connected with a main synchronizing wheel, the shaft end of the abrasive belt driving wheel is connected with a slave synchronizing wheel, the main synchronizing wheel is connected with the slave synchronizing wheel through a synchronous belt, the tensioning wheel is rotatably connected with the other end of the installation base, and the rotating shaft of the tensioning wheel is connected with a tensioning deviation adjusting mechanism.
2. The robotic hand-held force-controlled abrasive belt machine of claim 1, further comprising: and the abrasive belt machine body is provided with an abrasive belt deviation sensor.
3. The robotic hand-held force-controlled abrasive belt machine of claim 1, further comprising: the tensioning deviation-adjusting mechanism comprises a tensioning cylinder and a linear push rod, a telescopic end cylinder body of the tensioning cylinder is connected with a front deflection connecting sheet, the front deflection connecting sheet is provided with a hollow shaft sleeve for a push rod of the tensioning cylinder to pass through, the outer wall of the hollow shaft sleeve on the front deflection connecting sheet is rotationally connected with the front bearing seat through a bearing, the other end of the tensioning cylinder body is connected with a rear deflection connecting sheet, the rear deflection connecting sheet is provided with a connecting shaft, the connecting shaft is rotationally connected with a rear bearing seat through a bearing, the front bearing seat and the rear bearing seat are connected with a connecting plate on the mounting base, the tensioning wheel is rotatably connected on the mounting frame, the push rod of the tensioning cylinder is connected with the mounting frame, the shaft end of the linear push rod is rotatably connected with the rotary seat through a rotating shaft, the rotary seat is connected with the front deflection connecting sheet, and the other end of the linear push rod is connected with the front base plate through a connecting seat.
4. The robotic hand-held force-controlled abrasive belt machine of claim 3, further comprising: the guide rod is connected to the mounting frame, the guide seat is arranged on the tensioning cylinder, a guide hole through which the guide rod can pass is formed in the guide seat, and two ends of the guide seat are connected with the front deflection connecting piece and the rear deflection connecting piece respectively.
5. The robotic hand-held force-controlled abrasive belt machine of claim 1, further comprising: the abrasive belt clamping device is characterized in that a flat plate mill ejection mechanism is connected onto a connecting plate between the abrasive belt driving wheel and the tension wheel, the flat plate mill ejection mechanism comprises a flat supporting plate and a push rod cylinder, at least two guide columns are arranged on the inner side of the flat supporting plate, guide sleeves matched with the guide columns are arranged on the connecting plate, and a push rod of the push rod cylinder can push the flat supporting plate to slide along the guide columns to tightly press the abrasive belt.
6. The robotic hand-held force-controlled abrasive belt machine of claim 5, further comprising: and a push rod of the push rod cylinder pushes the plane supporting plate to slide along the guide column by a stroke L of 5-10 mm.
7. The robotic hand-held force-controlled abrasive belt machine of claim 1, further comprising: the belt-breaking detection alarm device of the abrasive belt machine body is arranged on the belt-breaking detection alarm device of the abrasive belt machine body.
8. The robotic hand-held force-controlled abrasive belt machine of any one of claims 1-7, further comprising: the belt sander body is connected with a floating force control device, and the floating force control device is connected with an industrial robot arm.
9. The robotic hand-held force-controlled abrasive belt machine of claim 8, further comprising: the floating force control device comprises a signal acquisition card, an acceleration sensor, a displacement sensor, a high-precision force sensor, a pneumatic solenoid valve, a precise proportional valve, a low-friction cylinder and a sliding assembly, wherein the acceleration sensor, the displacement sensor and the high-precision force sensor are respectively electrically connected with the signal acquisition card, the signal acquisition card is connected with a control unit through an Ethernet, the output end of the precise proportional valve is pneumatically connected with the input end of the pneumatic solenoid valve, the output end of the pneumatic solenoid valve is pneumatically connected with the low-friction cylinder, the low-friction cylinder is connected with the sliding assembly, the pneumatic solenoid valve and the precise proportional valve are respectively electrically connected with the signal acquisition card, and the sliding assembly is connected with the belt sander body.
10. The robotic hand-held force-controlled abrasive belt machine of claim 9, further comprising: the signal acquisition card is a compact IO control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495681.XA CN113977415B (en) | 2021-12-09 | Robot hand-held force-control abrasive belt machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495681.XA CN113977415B (en) | 2021-12-09 | Robot hand-held force-control abrasive belt machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113977415A true CN113977415A (en) | 2022-01-28 |
| CN113977415B CN113977415B (en) | 2024-10-01 |
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| JP2000130523A (en) * | 1998-10-23 | 2000-05-12 | Hitachi Ltd | Belt driving device |
| US6174226B1 (en) * | 1997-02-04 | 2001-01-16 | Robert Bosch Gmbh | Hand-held belt sander |
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