CN202037521U - Automatic sanding and polishing device with industrial robot - Google Patents

Abstract

The utility model discloses an automatic sanding and polishing device equipped with an industrial robot, which is formed by an industrial robot, an automatic displacement jig, a floating grinding and polishing machine tool and a software automatic force control programming. The industrial robot is served as the core of the device. Parts of complex external forms can be sanded and polished by the device. The device is especially suitable for the processing of taps, hardware, blades and the like. According to the method of the device, the automatic clamping of a part is performed by the automatic displacement jig arranged on the end of the industrial robot. The position and the posture of the industrial robot are adjusted according to different sanding or polishing regions of the part, so that the sanding or polishing region of the part is in contact with the abrasive belt of the floating grinding and polishing machine tool. Meanwhile, a certain contact force between the sanding or polishing region of the part and the abrasive belt of the floating grinding and polishing machine tool is maintained and the magnitude of the control force is controlled by a force control wheel. When the programming for the entire surface of the part is completed, the programmed action is reproduced by the industrial robot so as to sand and polish batch of parts with the same external form.

Description

The automatic sanding burnishing device of industrial robot

Technical field

The utility model relates to a kind of automation process unit, be mainly used in part sanding and polishing in the manufacturing industry, this equipment utilizes the flexibility of industrial robot, cooperate floating gear train, automatic position-changing clamp, power control-register journey unit etc., the complicated appearance part is carried out automation, sequencing control processing, and it is specially adapted to part processing such as tap, hot-water heating decoration, five metals, engine blades.

Background technology

In manufacturing industry, the sanding of mo(u)lded piece and the polishing of processing parts are the important procedures in the forming parts, for the complicated appearance part, can't utilize special purpose machine tool to process, the general artificial method that adopts, there are problems such as homogeneity of product is poor, efficient is low in artificial, and even more serious is to produce dust in sanding and the polishing process, has a strong impact on workman's physical and mental health.

Summary of the invention

The purpose of this utility model is: provide a kind of industrial robot automatic sanding burnishing device; set up automatic processing system with the artificial core of industrial machine; guarantee the quality of converted products on the one hand; enhance productivity; avoid the injury of dust on the other hand, protection workman's physical and mental health to the workman.

Technical solution of the present utility model is: this automatic sanding burnishing device is by industrial robot, automatic position-changing clamp, the rubbing down lathe floats, software ultromotivity control-register journey system, the deburring emery wheel, the part detent mechanism is formed, automatically position-changing clamp is installed in the end of industrial robot, the rubbing down lathe that floats matches with the industrial robot that automatic position-changing clamp is installed, utilize the abrasive band on the rubbing down lathe that the part of clamping on the anchor clamps is carried out sanding and polishing, design has abrasive band deviation mechanism on the rubbing down lathe, relocation mechanism, the abrasive band automatic tensioning mechanism, Wear Mechanism of Abrasive Belt compensation mechanism and auxiliary wheel tripper; Power when software ultromotivity control-register journey system relates to part sanding and polishing is accurately controlled, power control wheel is made up of wheel gabarit, resistance strain gage beam, resistance strain gage, amplifying circuit, resistance strain gage is bonded on the beam, have four groups, power control wheel converts the force signal parameter to the signal of telecommunication, be input in the industrial robot controller by industrial machine human simulation mouth, the deburring emery wheel is removed the burr of piece surface, it adopts floating structure, utilizes position quantity control emery wheel to remove the burr that piece surface protrudes; The part detent mechanism is the pallet that the surface is equipped with positioning cylinder, and the positioning cylinder on the pallet is inserted in the hole on the part, thereby part is accurately located, and points the installing hole that inserts on the part for two of position-changing clamp automatically, and part is grasped accurately.

Wherein, position-changing clamp cooperates with the rubbing down lathe automatically, and all outer surfaces to part in the industrial robot joint space is processed, it adopts outside locating piece to match with industrial robot, determine the displacement angle of anchor clamps, after displacement is finished, utilize cylinder and alignment pin that anchor clamps are locked; Automatically another feature of position-changing clamp is the design of anchor clamps finger, and it adopts the special construction design, and part is accurately located and grasped.

Wherein, the rubbing down lathe that floats is made up of abrasive band deviation mechanism, train relocation mechanism, abrasive band automatic tensioning mechanism, Wear Mechanism of Abrasive Belt compensation mechanism and auxiliary wheel tripper, the rubbing down lathe that floats has abrasive band deviation mechanism, is used for the tuningout in abrasive band, prevents abrasive band slippage from the belt wheel; The rubbing down lathe that floats has the train relocation mechanism, making wheel tie up to both direction floats, this relocation mechanism makes sanding and polishing have flexibility on the one hand, compensates the error of part casting, part clamping generation on the other hand, and relocation mechanism adopts guide rail, spring structure and turntable, spring structure; The rubbing down lathe that floats has the abrasive band automatic tensioning mechanism, utilizes cylinder control abrasive band tensioning, has constant tensile force, for ease of the automatic replacing in abrasive band, adopts the pre-tension structure of spring; The rubbing down lathe that floats has the Wear Mechanism of Abrasive Belt compensation mechanism, after Wear Mechanism of Abrasive Belt, utilizes motor, screw structure that the contact force between abrasive band and part is controlled, by increasing the wearing and tearing of part to the normal pressure compensation abrasive band in abrasive band; The rubbing down lathe that floats has the auxiliary wheel tripper, piece surface for rule adopts big rubber wheel sanding and polishing, irregular surface for complexity utilizes the auxiliary train of one group of convertible special construction to carry out sanding and polishing, adopts air motor, sheave structure that auxiliary train is carried out automatic conversion and control.

Wherein, the core of ultromotivity control-register journey method is a power control wheel, power control wheel is by the wheel gabarit, resistance strain gage beam and resistance strain gage constitute, resistance strain gage is bonded on the resistance strain gage beam, have four groups, when part contacts with power control wheel, by the voltage change on differently strained, obtain the contact force size of part and power control wheel, the situation that contacts of part and power control wheel excircle configuration, after the voltage change signal of resistance strain gage amplifies, analog input mouth by industrial robot is input in the industrial robot controller, utilize the industrial robot program, pressure to part and power control wheel, part is adjusted automatically with the situation that contacts of power control wheel, reaches fixed force value of design and correct contact condition.

Wherein, the deburring emery wheel is made up of floating guide rail, emery wheel and motor, before part sanding polishing, utilizes the burr on the emery wheel removal piece surface, and the deburring amount is determined by the displacement of floating guide rail.

Wherein, the part detent mechanism is made up of pallet and positioning cylinder, and positioning cylinder uniformly-spaced is fixed on the upper surface of pallet, and positioning cylinder is used for the hole on the accurate locating element, and the finger of being convenient on the automatic position-changing clamp accurately grasps part.

The utlity model has following advantage: 1, industrial robot utilizes automatic position-changing clamp that part is carried out clamping according to the program of establishment, on the rubbing down lathe that floats the external form of part is carried out sanding and polishing; 2, automatically position-changing clamp has the function of automatic displacement, is convenient to that the arbitrary region to part carries out sanding and polishing in the industrial robot joint space; 3, unsteady polishing and burnishing machine bed accessory has front and back and left and right sides float function, make process have flexible engagement capacity on the one hand, the error that exists in the time of can compensating part clamping, casting, programming on the other hand, have pneumatic tensioning cylinder, Wear Mechanism of Abrasive Belt compensation mechanism and auxiliary wheel tripper on the unsteady rubbing down lathe, they carry out automatic constant force tensioning, the abrasive band after the wearing and tearing are carried out position compensation automatically, utilized different steamboats that sanding and polishing are carried out in the special external form zone of part the abrasive band respectively; 4, software ultromotivity control programming, utilize power control wheel and industrial robot to constitute closed loop feedback system, it can be according to the given force size, automatically the part position and the attitude of industrial robot clamping are adjusted, make part and unsteady rubbing down lathe abrasive band have correct position and attitude, simultaneously, guarantee that the contact area in part and abrasive band satisfies the requirement of certain force, accurately controls sanding and polishing force; 5, the deburring emery wheel is before part sanding and polishing, utilizes the burr on the emery wheel removal part, improves the sanding and the polishing efficiency in later stage; 6, the part detent mechanism guarantees the positioning accuracy that part grasps, removal amount unanimity when making part processing.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is automatic position-changing clamp planar structure schematic diagram.

Fig. 3 is automatic position-changing clamp perspective view.

Fig. 4 is the another kind of design plane schematic diagram of the finger of Fig. 2.

Fig. 5 is the finger schematic perspective view of Fig. 4.

Fig. 6 is the eccentric wheel schematic diagram of Fig. 5.

Fig. 7 is the planar development schematic diagram of the rubbing down lathe that floats.

Fig. 8 launches schematic diagram for the solid of the rubbing down lathe that floats.

Fig. 9 is two horizontally disposed schematic diagrames of unsteady rubbing down lathe.

Figure 10 is a plurality of horizontally disposed unsteady rubbing down lathe vertical views.

Figure 11 is arranged vertically schematic diagram for the rubbing down lathe that floats.

Figure 12 is the left view of Figure 11.

Figure 13 is the expansion schematic diagram of software ultromotivity control programing system.

Figure 14 is the schematic perspective view power control wheel perspective view of Figure 13.

Figure 15 is a deburring grinding wheel structure schematic diagram.

Figure 16 is a part detent mechanism structural representation.

The specific embodiment

The utility model is described in further detail below in conjunction with accompanying drawing.

As shown in Figure 1, this automatic sanding burnishing device is by industrial robot 3, automatic position-changing clamp 4, rubbing down lathe 6 floats, software ultromotivity control-register journey system, deburring emery wheel 5, the part detent mechanism is formed, automatically position-changing clamp 4 is installed in the end of industrial robot 3, the rubbing down lathe 6 that floats matches with the industrial robot 3 that automatic position-changing clamp 4 is installed, utilize the abrasive band on the rubbing down lathe that the part of clamping on the anchor clamps is carried out sanding and polishing, design has abrasive band deviation mechanism on the rubbing down lathe, relocation mechanism, the abrasive band automatic tensioning mechanism, Wear Mechanism of Abrasive Belt compensation mechanism and auxiliary wheel tripper; Power when software ultromotivity control-register journey system relates to part sanding and polishing is accurately controlled, power control wheel is made up of wheel gabarit, resistance strain gage beam, resistance strain gage, amplifying circuit, resistance strain gage is bonded on the beam, have four groups, the force signal parameter that power control wheel is subjected to converts the signal of telecommunication to, be input in the industrial robot controller by industrial machine human simulation mouth, deburring emery wheel 5 is removed the burr of piece surface, it adopts floating structure, utilizes position quantity control emery wheel to remove the burr that piece surface protrudes; The part detent mechanism is the pallet that the surface is equipped with positioning cylinder, and the positioning cylinder on the pallet is inserted in the hole on the part, thereby part is accurately located, and points the installing hole that inserts on the part for two of position-changing clamp automatically, and part is grasped accurately.

Shown in Fig. 2,3, be automatic position-changing clamp structural representation; Automatic position-changing clamp, it is by T type body 4.1, sleeve 4.2, tracheae connector 4.3, lock-screw 4.4, the 4.5 gas circuit switching mechanisms of forming of shelves ring, the cylinder clamp mechanism that cylinder 4.9, screw 4.10, outer sleeve 4.11, inner sleeve 4.12, alignment pin 4.13 are formed, the finger mechanism that screw 4.15, finger connecting plate 4.16, column type finger fingertip 4.17 are formed constitutes; T type body 4.1 tops are ring flanges, and this ring flange is connected by the ring flange of the 6th of screw and industrial robot; Have groove 4.1-1 on the vertical axis of T type body 4.1, y-type seal ring 4.1-2 is housed among the groove 4.1-1, have through hole 4.1-3 on the vertical axis of T type body 4.1; Tracheae connector 4.3 is installed above the sleeve 4.2, sleeve 4.2 is connected (not drawing among the figure) by five of connector and industrial robots, when the 6th of industrial robot rotates, since five relative six static, the tracheae that is connected with tracheae connector 4.3 can not be wrapped on the anchor clamps, gas is by tracheae connector 4.3, through hole 4.1-3, tracheae 4.8 enters the gas circuit switching mechanism of only drawing the gas paw among the gas paw 4.14(figure, the gas circuit switching mechanism of not drawing cylinder 4.9, two gas circuit switching mechanisms are the same), lock-screw 4.4 is locked at shelves ring 4.5 on the vertical axis of T type body 4.1 sleeve 4.2 is played the role of positioning; Connecting plate 4.6 is connected on the plane that the vertical axis of T type body 4.1 processes by screw 4.7; Tracheae 4.8, cylinder 4.9 are connected on the connecting plate 4.6 by screw 4.10; Be processed with two circumferential slots above the outer sleeve 4.11, alignment pin 4.13 is installed in the groove on the left side, this alignment pin 4.13 is installed in and plays circumferential guide effect on the inner sleeve 4.12, have transverse groove on the circumferential slot on the right, an alignment pin 4.13 is also arranged in the groove, this alignment pin 4.13 is installed on the cylinder axis 4.9-1, when cylinder axis during to left movement, this alignment pin 4.13 inserts in the transverse groove, because outer sleeve 4.11 can rotate relatively around inner sleeve 4.12, and inner sleeve 4.12 links to each other with connecting plate 4.6 by screw 4.10 and can not move, and after the pin on the cylinder axis 4.9-1 4.13 inserted the transverse groove of outer sleeve 4.11, inside and outside sleeve formed one and can not move, and when cylinder moves right, pin on the cylinder axis 4.9-1 is in the right circumferential slot of outer sleeve 4.11, and inside and outside sleeve can relative motion, like this under cylinder action, anchor clamps are carried out automatic displacement and locking, inside and outside sleeve can relative motion, under cylinder action, can carry out automatic displacement and locking to anchor clamps like this; The assembly relation of inside and outside sleeve, cylinder axis is seen the expansion schematic diagram of Fig. 3; To point connecting plate 4.16 by screw 4.15 is connected on the gas paw 4.14; The top of column type finger fingertip 4.17 is processed with screw thread, and this screw thread can be connected column type finger fingertip 4.17 on the finger connecting plate 4.16; Be processed with column type step 4.17-1 on the finger fingertip 4.17, this step 4.17-1 can position the part that grasps, the diameter of finger fingertip step 4.17-1 is less than the diameter of finger fingertip 4.17, this part will be inserted in the hole of part, and finger fingertip conelet face 4.17-3 forces part to move upward when grasping part, thereby part locating surface and cylinder step 4.17-1 lower surface are compressed, part is positioned on the anchor clamps.

Automatically detailed connection of the part of position-changing clamp and assembly relation are: industrial robot the 6th the tip of the axis is a ring flange, six screwed holes are arranged on the ring flange, T type body 4.1 tops also are ring flanges, six unthreaded holes are arranged on this ring flange, by the screw thread on the attachment screw, T type body 4.1 is connected on the ring flange of six of industrial robots; For 4.2, one baffle rings 4.5 of fixed muffle are enclosed within the bottom of T type body 4.1, and lock it in the bottom of T type body 4.1 with screw 4.4; Tracheae connector 4.3 1 ends are processed with screw thread, and this screw thread is connected with sleeve 4.2; Be processed with two planes in the bottom of T type body 4.1, connecting plate 4.6 is connected on this plane by screw 4.7; Inner sleeve 4.12 is connected between two connecting plates by screw 4.10, and screw 4.10 also is connected the bearing of cylinder 4.9 outside of the right connecting plate simultaneously; Inner sleeve 4.12 inner processing are porose, and cylinder axis 4.9-1 moves in this hole; Outer sleeve 4.11 is enclosed within the outside of inner sleeve 4.12, and its length equals the distance of left and right connecting plates 4.6 inner surfaces, and outer sleeve 4.11 can only be around inner sleeve 4.12 rotation and can not move left and right; Pin 4.13 has two, being threaded on the inner sleeve 4.12 in the left side by the end, this pin guiding outer sleeve 4.11 can only rotate, the pin in the right is connected on the cylinder axis 4.9-1 by end thread by the long slot bore of inner sleeve 4.12, cylinder axis is when left movement, this inserts in the transverse groove of outer sleeve 4.11, and inside and outside sleeve, cylinder axis become one like this, thereby make paw can not produce rotatablely moving of displacement; Be processed with two groups of shoulder holes in the bottom of outer sleeve 4.11, see the little cutaway view on the stereogram left side of Fig. 3, attachment screw connects by the screwed hole on this Kong Yuqi paw 4.14, like this, just gas paw 4.14 is connected on the outer sleeve 4.11; Finger connecting plate 4.16 is L shaped shape, and bolt 4.15 links together both by the hole on hole on the gas paw 4.14 and the finger connecting plate 4.16; The upper end of column type finger fingertip 4.17 is processed with screw thread, and this screw thread is connected with the screwed hole of finger on the connecting plate 4.16, thereby with part finger fingertip 4.17 with point connecting plate 4.16 and link together.

Automatically the movement relation of position-changing clamp is: 1) gas circuit switching mechanism is made up of T type body 4.1, sleeve 4.2, tracheae connector 4.3, lock-screw 4.4, shelves ring 4.5, the 5th of sleeve 4.2 and industrial robot is connected (not drawing among the figure), and T type body 4.1 is connected with the 6th of industrial robot, when 4.1 rotations of T type body, sleeve 4.2 does not rotate, and the tracheae that is connected with tracheae connector 4.3 just can not be wrapped on the whole paw like this; Compressed air enters through hole 4.1-3 from tracheae connector 4.3, enters in the gas paw 4.14 the finger folding of control gas paw 4.14 through tracheae 4.8; 2) automatic modified gear is by cylinder 4.9, screw 4.10, outer sleeve 4.11, inner sleeve 4.12, locating slot 4.13 is formed, when cylinder is in right end position, pin on the cylinder is in the right-hand member of inner sleeve 4.12 long slot bores, be in the right-hand member of outer sleeve 4.11 circumferential slots, outer sleeve 4.11 can have relative rotary motion with inner sleeve 4.12, the pin on the left side always is in the circumferential slot on the left side, this pin play the guiding role to outer sleeve 4.11 and rotatablely moving of inner sleeve 4.12, and when cylinder is in left position, pin on the cylinder is in the left end of inner sleeve 4.12 long slot bores, be in the left end of outer sleeve 4.11 transverse grooves, outer sleeve 4.11 does not relatively rotate with inner sleeve 4.12; In the cutaway view on Fig. 3 left side, two shoulder holes are arranged on outer sleeve 4.11, attachment screw connects by the screwed hole on this Kong Yuqi paw 4.14; In the cutaway view on Fig. 3 the right, can see long slot bore and the relation of the mutual alignment between the pin on the cylinder axis 4.9-1 on the outer sleeve 4.12; 3) finger opening movement when gas enters gas paw 4.14 by tracheae 4.8, is pointed about on the gas paw 4.14 and is opened.

Shown in Fig. 4,5,6, be the another kind of structural design of finger; Attachment screw 4.18 is connected gas paw connecting plate 4.19 on the gas paw 4.14; Spring 4.20 makes finger inner sleeve 4.28 returns; Finger outer sleeve 4.21 is threaded with finger inner sleeve 4.28 usefulness, is threaded by this, can regulate the displacement of finger inner sleeve in vertical direction; After the finger inside and outside sleeve has been regulated, with finger outer sleeve locking nut 4.22 locking finger outer sleeves 4.21, when driving lever 4.25 rotates, drive camshaft 4.26 and eccentric wheel 4.24 rotations, thereby press down eccentric wheel pressing plate 4.23, it is moved downward, moving down of eccentric wheel pressing plate 4.23 brings moving down of finger inside and outside sleeve 4.28 and 4.21 equally, make the gap smaller of finger lower end, clamp the hole wall of part; The upper end of finger axle 4.27 is connected with finger connecting plate 4.16 by screw thread, and the outside is with finger inner sleeve 4.28.

The part of this finger connects in detail: gas paw connecting plate 4.19 gentle paws 4.14 are connected by screw 4.18; Eccentric wheel 4.24 is connected with camshaft 4.26 by key, and driving lever 4.25 is pressed on the camshaft 4.26 by nut, and nut is by being threaded on the camshaft 4.26; Finger axle 4.27 is connected with finger connecting plate 4.16 by the screw thread of upper end; Two ends, pressing plate 4.23 left and right sides have long through hole, and this pressing plate sky is enclosed within on the finger axle 4.27; Finger inner sleeve 4.28 is enclosed within on the finger axle 4.27 by the endoporus sky, moves up and down with pressing plate 4.23, and finger inner sleeve 4.28 external process have screw thread, and the endoporus of outer sleeve 4.21 is processed with screw thread, and both are by being threaded togather; Being threaded of nut 4.22 and inner sleeve outside is by this nut 4.22, with outer sleeve 4.21 lockings; Spring 4.20 is fixed by two screws, and a screw is by being threaded on the finger connecting plate 4.16, and another screw is connected on the inner sleeve 4.28, and the effect of spring 4.20 is that pressing plate 4.23 is pressed on the eccentric wheel 4.24 by inside and outside sleeve.

The movement relation of finger is: have long through hole about 1) on the pressing plate 4.23, when the folding of gas paw, finger axle 4.27 moves in this slotted hole; 2) motion of eccentric wheel 4.24, the big axle journal in the two ends of camshaft 4.26 is installed in the hole of gas paw connection pressing plate 4.19, between big axle journal and pilot pin ladder is arranged, driving lever 4.25 is positioned on this ladder, the end of pilot pin is processed with screw thread, when nut and this were threaded, nut was pressed on driving lever 4.25 on this ladder; When driving lever 4.25 rotations, drive eccentric wheel 4.24 rotations, because eccentric wheel 4.24 is processed into eccentric structure, its outer surface will be depressed pressing plate 4.23.

Shown in Fig. 7,8, be the polishing and burnishing machine bed structure schematic diagram that floats, it is made of frame 6.1, adjusting nut 6.2, rotation floating spring governor motion 6.3, rotating mechanism 6.4, guide rail 6.6, spring 6.7, stepper motor 6.8, Wear Mechanism of Abrasive Belt compensation mechanism 6.17, abrasive band deviation mechanism 6.12, abrasive band support wheel 6.13, the pneumatic strainer 6.14 in abrasive band, auxiliary wheel tripper 7.1; 6.1 pairs of unsteady rubbing down lathes of frame support; The levelness of 6.2 pairs of rubber rubbing down wheels 6.15 of adjusting nut is adjusted; Rotation floating spring governor motion 6.3 is used for the playback after the train deflection, and it is made up of gripper shoe 6.18, lower supporting plate 6.5, block 6.3-1 and 6.18-1, spring 6.19, specifically see among Fig. 7 B to shown in; Rotating mechanism 6.4 is by bearings, and this rotating mechanism 6.4 allows lower supporting plate 6.5 relative gripper shoes 6.18 rotate, and cooperates abrasive band support wheel 6.3 to produce rotation and floats; The relocation mechanism of 6.5 pairs of horizontal directions of lower supporting plate supports; Guide rail 6.6 is formed horizontal floating mechanism with lower supporting plate 6.5, spring 6.7, and when the pressure on the rubber rubbing down wheel 6.15 surpassed the elastic force of spring 6.7, rubber rubbing down wheel 6.15 was moved to the left; On the axle of stepper motor 6.8 screw mandrel is installed, have screwed hole to be connected with screw mandrel on the pressing plate 6.17, rotatablely moving of motor will become moving right of pressing plate, thereby spring 6.7 is compressed, increase the pressure of part, the wearing and tearing in compensation abrasive band to rubber rubbing down wheel 6.15; Upper backup pad 6.9 is connected with support 6.10, constitutes the vertical direction space with train gripper shoe 6.11, and the belt pulley of being convenient to motor 6.16 and rubber rubbing down wheel 6.15 is installed; Wheel shaft 6.12-5 is installed in the slotted hole of belt wheel support 6.12-2 by pin 6.12-4, screw 6.12-1, and belt shaft rotates around pin 6.12-4, and the angle of rotation is regulated by screw 6.12-1; The axle of belt wheel support 6.12-2 right-hand member is installed among the sleeve 6.12-6, and this axle rotates in sleeve, adjusts another attitude of belt wheel 6.12-6, has adjusted the back by the screw lock on the sleeve; Bearing sleeve 6.12-7 is connected with sleeve 6.12-6 by gusset, and this bearing sleeve 6.12-7 is installed among the bearing 6.12-8, and bearing 6.12-8 is connected on the train gripper shoe 6.11 by screw; On the bearing sleeve 6.12-7 lock-screw is arranged, can not produce relative motion by locking between this screw bearing sleeve 6.12-7 and bearing 6.12-8, specifically see among Fig. 7 C to shown in; It is installed in cylinder 6.14-1 on the riser 6.14-4, this riser 6.14-4 is welded on the bearing sleeve 6.14-2, bearing 6.14-3 is connected on the train gripper shoe 6.11 by screw, and cylinder axle sleeve 6.14-5 also is welded on the riser 6.14-4, and cylinder axis is contained in the cylinder axle sleeve 6.14-5; Belt wheel transition axis 6.14-6 is sleeved among the cylinder axle sleeve 6.14-5, the right-hand member of transition axis 6.14-6 is a belt wheel bearing connecting plate, belt wheel bearing 6.14-8 is fixed on this connecting plate, belt shaft 6.14-9 is installed among the belt wheel bearing 6.14-8 by bearing, when cylinder moves right, cylinder axis promotes transition axis and moves right, and moves right the tensioning abrasive band thereby drive belt wheel 6.14-10; Not during the tensioning abrasive band, the pre-tensioning of spring 6.14-7 abrasive band prevents that the abrasive band from coming off from belt wheel 6.14-10 at cylinder, pneumatic regulating wheel see among Fig. 7 D to shown in; Auxiliary wheel tripper 7.1 is made up of Geneva mechanism and auxiliary train, Geneva mechanism 7.1-1 is made up of left and right sides two parts, when driving sheave left-hand component, gas motor 7.1-5 revolves when turning 90 degrees, bearing pin 7.1-3 drives right-hand component and rotates 90 degree, the circular arc 7.1-2 on the left side contacts with the circular arc 7.1-4 on the right simultaneously, makes Geneva mechanism produce self-locking; When right-hand component rotates 90 when spending, drive auxiliary train gripper shoe 7.1-6 and rotate 90 degree, thereby another auxiliary wheel 7.1-8 is contacted with being with; The external form of auxiliary wheel designs as required, can be evagination, also can be indent, and they are mainly used in carries out sanding or polishing to the special external form of part, and the auxiliary wheel tripper is seen bottom or Fig. 8 stereogram of Fig. 7 plane.

The part of unsteady rubbing down lathe connects in detail and assembly relation is: gripper shoe 6.18 is connected on the screw rod by adjusting nut 6.2, and this screw rod is by being threaded on the frame 6.1; Rotating mechanism 6.4 is made up of bearing spider 2, bearing 2, bearing outside, and bearing spider 2 is connected on the gripper shoe 6.18 by screw, and bearing outside inserts the external trepanning on the lower supporting plate 6.5, is connected on the lower supporting plate 6.5 by the screw bearing outside; Guide rail 6.6 is made up of two parts, and two cylinder axis and two slide units that are enclosed within on the every cylinder axis are formed, and two cylinder axis are installed in the hole of two ends boss of lower supporting plate 6.5, and use screw lock; The left end of guide rail 6.6 is equipped with the Wear Mechanism of Abrasive Belt compensation mechanism, it is by motor 6.8, be installed in the screw mandrel on the motor shaft, baffle plate 6.17 is formed, be processed with two holes on the baffle plate, by this hole, baffle plate 6.17 skies are enclosed within on the axle of guide rail 6.6, between baffle plate 6.17 and guide rail slide unit, spring 6.7 is installed, this spring also sky is enclosed within on the lead rail axis, be processed with screwed hole in the middle of the baffle plate 6.17, this screwed hole is connected with screw mandrel on the motor, when motor rotates, drives the screw mandrel rotation, by the effect of screw thread on screw thread on the screw mandrel and the baffle plate, baffle plate becomes rotatablely moving of screw mandrel the side-to-side movement of level; The processing of screw mandrel left end is porose, and the axle of motor is inserted in this hole, by the circumferential screw of screw mandrel screw mandrel and motor shaft is linked together then; Right-hand member at lower supporting plate 6.5 is equipped with block 6.3-1, and block 6.3-1 links to each other with lower supporting plate 6.5 with screw, and block 6.18-1 links to each other with gripper shoe 6.18 with screw, between per two blocks spring is installed; Four screwed holes are arranged on each guide rail slide unit,, utilize screw that upper backup pad 6.9 is connected on the slide unit by this screwed hole; At upper backup pad 6.9 and 6.11 of train gripper shoes support 6.10 is installed, form a space at upper backup pad 6.9 and 6.11 of train gripper shoes, this space will hold the belt pulley of motor 6.16, the belt pulley of rubbing down wheel 6.15 and the belt on two belt pulleys; The lower end of support 6.10 is connected with upper backup pad 6.9 by screw, and the upper end links to each other with train gripper shoe 6.11; Abrasive band deviation mechanism 6.12, abrasive band support wheel 6.13, the pneumatic strainer 6.14 in abrasive band, rubbing down wheel 6.15 and motor 6.16 are installed on train gripper shoe 6.11; Motor 6.16 adopts the upside-down mounting form, connecting bolt is connected with long slot bore on the train gripper shoe 6.11 by the hole on the motor, motor is fixed on the train gripper shoe 6.11, and the long slot bore on the train gripper shoe is adjusted the installation site about motor, and belt is carried out tensioning; Abrasive band deviation mechanism 6.12 is used to adjust the upper-lower position that fasten at wheel in the abrasive band, prevents that the abrasive band trailing wheel from fastening landing; Bearing 6.12-8 is connected on the train gripper shoe 6.11 by screw; Bearing sleeve 6.12-7 sky is enclosed within on the bearing axle, at the outer surface of sleeve lock-screw is installed, when lock-screw is locked, bearing sleeve and bearing become one, and can not rotate mutually, when lock-screw unclamps, the bearing sleeve rotates around bearing, and belt wheel 6.12-3 is carried out an attitude adjustment; Utilize gusset that bearing sleeve 6.12-7 and sleeve 6.12-6 are welded together; Among the sleeve 6.12-6 processing porose, belt wheel support right-hand member the axle be inserted in this hole, sleeve 6.12-6 outer surface is processed with screwed hole, when screw and this threaded engagement, the locking belt wheel support becomes one belt wheel support and bearing 6.12-8; When lock-screw unclamped, the belt wheel support had relative rotation with sleeve 6.12-6, and belt wheel 6.12-3 is carried out another attitude adjustment; On the belt wheel support 6.12-2 belt wheel 6.12-3 is installed, wheel shaft 6.12-5 utilizes bearing to be connected with belt wheel 6.12-3, the inner ring of bearing cooperates the location by interference with wheel shaft, the outer ring cooperates the location by interference with the belt wheel hole, like this wheel shaft and belt wheel fixed-site but can relatively rotate; It is porose that wheel shaft 6.12-5 goes up processing, and pin 6.12-4 is installed in this hole, and this pin also is connected with hole on the belt wheel support 6.12-2, like this, is connected between wheel shaft and the belt wheel by pin; The top of belt wheel support is processed with long slot bore, the top of wheel shaft is installed in this long slot bore, like this, wheel shaft 6.12-5 is fulcrum left-right rotation in this long slot bore with pin 6.12-4, belt wheel 6.12-3 is carried out the 3rd attitude adjustment, and the deflection angle of wheel shaft is adjusted by screw 6.12-1, after belt wheel left and right sides deflection angle is determined, two lock-screw 6.12-1 make it compress wheel shaft about adjustment; The pneumatic strainer 6.14 in abrasive band is the same with abrasive band deviation mechanism, and bearing sleeve 6.14-2 outer surface is equipped with screw, is used to lock bearing 6.14-3 and bearing sleeve 6.14-2; Riser 6.14-4 is welded on the bearing sleeve 6.14-2, and cylinder 6.14-1 and cylinder axle sleeve 6.14-5 are connected on the riser with bolt; The axle sleeve of belt wheel transition axis 6.14-6 left end is with spring 6.14-7 on this axle in the cylinder axle sleeve; The right-hand member of belt wheel transition axis 6.14-6 is a connecting plate, and belt wheel bearing 6.14-8 is fixed on this connecting plate by screw; Belt shaft 6.14-9 links together by bearing and belt wheel bearing 6.14-8; Belt shaft 6.14-9 upper end is processed with ladder, belt wheel 6.14-10 is installed in belt shaft 6.14-9 upper end by centre bore, belt wheel lower end wheel hub contacts with the ladder of belt shaft 6.14-9 upper end, the belt shaft top is processed with screw thread, this screw thread is connected with nut, by this nut, belt wheel is pressed on the ladder of belt shaft; Geneva mechanism 7.1 is divided into left and right sides two parts, and gas motor 7.1-5 is connected on the gripper shoe 6.11 by screw, and 6.14-9 is the same with belt shaft, also be processed with ladder on the gas motor drive shaft, sheave 7.1-1 is installed on this ladder, and the threaded engagement on nut and gas motor top is pressed on sheave on the gas motor drive shaft; The lower end of bearing pin 7.1-3 is processed with screw thread, and this screw thread cooperates with screwed hole on the sheave, and bearing pin is fixed on the sheave 7.1-1; The Geneva mechanism right-hand member has a shift fork, and this shift fork is supported by a multidiameter, and the ladder of multidiameter lower end is positioned at train gripper shoe 6.11 upper surfaces, and the lower end is connected with nut, makes multidiameter not go here and there up and down; Auxiliary wheel gripper shoe 7.1-6 is connected with the multidiameter top by nut, it between auxiliary wheel gripper shoe 7.1-6 and shift fork a sleeve, this sleeve sky is enclosed within on the multidiameter, its effect is the location shift fork, it can not be moved upward along multidiameter, and the sheave upper surface of left end stops shift fork to move downward, and shift fork can only rotate with multidiameter like this; Auxiliary wheel bearing 7.1-7 is connected with auxiliary wheel gripper shoe 7.1-6 by screw; Auxiliary wheel 7.1-8 utilizes the ladder on the auxiliary wheel shaft to be positioned on the auxiliary wheel shaft, and the upper end is by nut check; Auxiliary wheel shaft is connected with the auxiliary wheel bearing by bearing.

The annexation of on Fig. 8 stereogram, having drawn belt wheel and bearing, the inner processing of bearing block pore-forming, two bearings is installed in this hole, and axle is installed in the hole of two bearings, and separates with sleeve, and this sleeve positions the inner ring of two bearings; The bearing block upper end is an aperture, allows axle reach outside the bearing block by this aperture, and the lower surface of aperture positions the outer ring of bearing, and pad also is that bearing outer ring is positioned; After bearing block is installed, axle is positioned by bearing; Ladder on the axle is used to install belt wheel, after belt wheel is installed on this ladder, uses nut check.

The movement relation of rubbing down lathe of floating is: the 1) leveling of rubbing down wheel 6.15, the leveling of rubbing down wheel 6.15 will realize by the leveling of gripper shoe 6.18, and gripper shoe 6.18 is to come leveling by adjusting nut 6.2 and the screw rod that cooperates with adjusting nut 6.2; When rotary screw, screw rod can move up and down, and when screw rod is adjusted to correct position, utilizes adjusting nut 6.2 tie down screws; 2) rotation is floated, rotation is floated and is realized by rotating mechanism 6.4, rotating mechanism 6.4 is made up of bearing spider 2, bearing 2, bearing outside, bearing spider 2 is connected on the gripper shoe 6.18, the inner ring of bearing is connected with the axle of bearing spider, the outer ring is connected with bearing outside, produces relative rotation between bearing outside and bearing spider like this; External trepanning on the lower supporting plate 6.5 inserts in the bearing outside, and with screw lower supporting plate 6.5 is connected with bearing outside, like this lower supporting plate 6.5 with regard to and gripper shoe 6.18 generation relative motions; And lower supporting plate 6.5 is connected by slide unit with gripper shoe 6.9, like this, rubbing down wheel 6.15 just and gripper shoe 6.18 produce relative motions, it is unsteady that promptly rubbing down wheel 6.15 can produce rotation; Match with rotation is unsteady, the effect of plate washer 6.3-1, link stopper 6.18-1 and spring 6.19 is to make the playback of postrotational rubbing down wheel; 3) float about, about float and to realize by guide rail 6.6, slide unit is connected and side-to-side movement on cylinder axis with cylinder axis, and upper backup pad 6.9 is connected with slide unit by screw, like this, upper backup pad 6.9 is gripper shoe 6.18 generation side-to-side movements relatively just, float about promptly rubbing down wheel 6.15 produces, and spring 6.7 is used for the playback of rubbing down wheel 6.15; 4) Wear Mechanism of Abrasive Belt compensation, on the cylinder axis of guide rail 6.6, be set with Wear Mechanism of Abrasive Belt compensation mechanism 6.17, stepper motor 6.8 drives screw mandrels to be changeed and revolves, and being threaded in the screw thread on the screw mandrel and Wear Mechanism of Abrasive Belt compensation mechanism 6.17 interstitial holes, the rotation of screw mandrel brings Wear Mechanism of Abrasive Belt compensation mechanism 6.17 along the cylinder axis side-to-side movement, when Wear Mechanism of Abrasive Belt compensation mechanism 6.17 moves right, holddown spring 6.7, making the rubbing down wheel be subjected to bigger power could be to left movement, the wearing and tearing in compensation abrasive band; 5) abrasive band deviation, abrasive band deviation realizes that by abrasive band deviation mechanism 6.12 it realizes the adjustment of three attitudes; Bearing sleeve 6.12-7 rotates around bearing 6.12-8, realize first attitude adjustment of belt wheel 6.12-3, the axle of belt wheel support 6.12-2 right-hand member is inserted in the hole of sleeve 6.12-6, and belt wheel support 6.12-2 realizes second attitude adjustment of belt wheel 6.12-3 around sleeve 6.12-6 rotation; Axle 6.12-5 is supported on by pin 6.12-4 in the slotted hole of belt wheel support, and axle 6.12-5 realizes the 3rd the attitude adjustment of belt wheel 6.12-3 around pin 6.12-4 rotation; 6) abrasive band tensioning, the abrasive band tensioning is realized by the pneumatic tension mechanism 6.14 in abrasive band, in cylinder axle sleeve 6.14-5, be with cylinder axis and belt wheel transition axis 6.14-6, when cylinder is worked, cylinder axis heading tape wheel transition axis 6.14-6, make belt wheel 6.14-10 away from cylinder, the tensioning abrasive band; Because the compressed air pressure in the cylinder is certain, makes that the tensile force in abrasive band is constant; 7) rotation of auxiliary wheel tripper 7.1, gas motor 7.1-5 drives Geneva mechanism 7.1-1 rotation, thereby drive the bearing pin 7.1-3 rotation on the Geneva mechanism 7.1-1, bearing pin 7.1-3 drives the shift fork rotation again, and the axle on the shift fork links together with auxiliary train gripper shoe 7.1-6, thereby drives auxiliary train gripper shoe 7.1-6 rotation; Auxiliary wheel 7.1-8 is installed on the auxiliary train gripper shoe 7.1-6, and the rotation of auxiliary train gripper shoe 7.1-6 brings auxiliary wheel 7.1-8 rotation, thereby different auxiliary wheels is contacted with the abrasive band.

Shown in Fig. 9-12, be a plurality of train allocation plans, in actual use,, need four unsteady rubbing down lathes to cooperate with industrial robot according to parts machining process and industrial robot joint spatial constraints; The structure of these four rubbing down lathes is basic identical, Fig. 9 two rubbing down lathe schematic diagrames that drawn, require rubber rubbing down wheel 6.15 to abut against together during these two lathe configurations, Figure 10 is the allocation position of four rubbing down lathes, be divided into to two-layer, levels respectively has two rubbing down lathes, and the rubber rubbing down wheel 6.15 of every layer rubbing down lathe abuts against together.

The part that wheel is fastened connects in detail: four polishing and burnishing machines of Figure 10 are the same with Fig. 8, these four polishing and burnishing machines are rack-mount, support is welded into " well " font by angle steel, screw rod on the adjusting nut 6.2 in Fig. 8 polishing and burnishing machine directly is connected on the transverse slat of " well " sub-shape frame, and promptly the transverse slat among Fig. 9 replaces the frame 6.1 among Fig. 8.

Shown in Figure 11,12, different with the horizontally disposed train of introducing previously, this train adopts and is arranged vertically, the figure central post is 10.1, boss on the column is 10.2, and the cylinder axis on the guide rail 6.6 is fixed on the boss 10.2, and the slide unit of guide rail 6.6 is connected with train gripper shoe train gripper shoe 6.11.

The part that is arranged vertically train connects in detail with assembly relation: the cylinder axis in Fig. 8 guide rail 6.6 is directly installed in the hole of boss 10.2, and uses screw lock, and the slide unit on the cylinder axis links to each other with 6.11 by screw.

Shown in Figure 13,14, be the power control wheel construction of software ultromotivity control-register journey system, its power control wheel is made up of boss 8.1, wheel gabarit 8.2, adjustment screw 8.3, foil gauge beam 8.4, foil gauge 8.5, attachment screw 8.6, turning cylinder 8.7, wheel hub 8.8, block 8.9; Wherein foil gauge 8.5-2,8.5-4 place beam adopt the floating structure design, and an end utilizes screw 8.6 to be connected with wheel hub 8.8, and the other end utilizes screw to connect block 8.9, and adjustment screw 8.3 is installed on the block; When wheel gabarit 8.2 rotated moving axis 8.7 rotations, boss 8.1 was pressed adjustment screw 8.3, and foil gauge 8.5-2 or foil gauge 8.5-4 are with output voltage, and foil gauge foil gauge 8.5-2 and 8.5-4 detect the rotation amount of wheel gabarit 8.2; When power control wheel was subjected to F to pressure, foil gauge 8.5-1 and foil gauge 8.5-3 output voltage, foil gauge 8.5-1 and foil gauge 8.5-3 detected the suffered pressure of wheel gabarit 8.2, and the signal of power control wheel construction is seen shown in Figure 13 (a); Power control wheel diameter size is the same with rubber rubbing down wheel 6.15, and it and industrial robot are used, and see Figure 13 (b)-13(e); When part is in Figure 13 (b) attitude and moves downward, foil gauge 8.5-2 pressurized then, output voltage signal, when part is in Figure 13 (c) attitude and moves upward, foil gauge 8.5-4 pressurized then, output voltage signal is when part is in Figure 13 (d) attitude, no matter motion up or down, foil gauge 8.5-2 and foil gauge 8.5-4 be output voltage not; When part during, foil gauge 8.5-1 and foil gauge 8.5-3 pressurized along the F directional pressure control of Figure 13 (a) wheel, output voltage signal, voltage swing is directly proportional with pressure; In Figure 13 (e), the strain-ga(u)ge transducer amplifying circuit is 8.10, and this circuit is connected with industrial machine human simulation mouth, thereby exerts all one's strength sensor and industrial robot formation closed-loop system; Part is by automatic position-changing clamp clamping, and it is close to power control wheel, when part contacts with power control wheel, foil gauge 8.5-1 and foil gauge 8.5-3 output voltage signal, industrial robot controller is judged the contact force size after receiving this signal, adjust industrial robot move left and right displacement, the voltage of control sensor output is a setting value, thereby the pressure that guarantees part and power control wheel is setting value; After part and power control wheel contacts, move up and down part, judge the attitude of part according to the voltage signal of foil gauge 8.5-2 and foil gauge 8.5-4 output, and utilize industrial robot constantly to adjust attitude, do not have the voltage output signal constant up to foil gauge 8.5-2 and foil gauge 8.5-4, the contact condition of the wheel of part and power control at this moment is shown in Figure 13 (d).

Power control wheel is gone up detailed part connection: boss 8.1 is welded on the wheel gabarit 8.2, is welded with four connectors on the wheel hub of wheel gabarit, and connector is processed with the square groove away from hub end; One end of four power sensors is installed in this groove, utilizes the hole on the power sensor, with screw 8.6 power sensor and wheel hub is locked together, and the other end of four power sensors is connected with block 8.9; One end of block also is processed into the square groove, and is the same with the wheel hub connection, and the power sensor other end utilizes screw to be connected with block; Four power sensors and block form four beams, are respectively two on horizontal direction beam, two on vertical direction beam; Be connected with adjustment screw 8.3 on two blocks of horizontal beam, be processed with screwed hole on two blocks of vertical beam, be processed with two unthreaded holes on the wheel hub simultaneously, the screwed hole that screw passes on this unthreaded hole and the block is connected to form turning cylinder 8.7; When reality was used, wheel hub was installed on the axle, and the wheel gabarit is supported by vertical beam, and moving axis 8.7 rotations that rotate; When the wheel gabarit rotated the moving axis rotation, adjustment screw 8.3 meeting belling platforms 8.1 were used in masterpiece on the horizontal force sensor beam; When the wheel gabarit is subjected to the horizontal force of left and right directions, because vertical beam can not side-to-side movement, then horizontal force action is on vertical force sensor beam, because horizontal beam block end is unfixing, when the wheel gabarit was subjected to horizontal force, this power can not affact on the horizontal beam, so, horizontal beam can only detect the deflection of wheel gabarit, and vertical beam can only detect the suffered in the horizontal direction power of wheel gabarit; Power sensor external form is the cuboid metalwork, and the centre is processed with long slot bore, and resistance strain gage utilizes epoxy resin to stick in the both sides of long slot bore; The effect of long slot bore is the rigidity that reduces metalwork, makes it easily deformable, the power that the easier measurement of the sensor of exerting all one's strength is suffered.

As shown in figure 14, the movement relation of power control wheel is: wheel hub 8.8 is fixed on the axle, by the 8.7 support wheel gabarits 8.2 of the turning cylinder on the vertical beam, moving axis 8.7 rotation that rotates of wheel gabarit 8.2, rotatablely moving of gabarit 8.2 of wheel passed to adjustment screw 8.3 by boss 8.1, and adjustment screw 8.3 and horizontal beam link together, its stressed meeting produces the power transducing signal on the horizontal beam sensor, when wheel gabarit 8.2 is subjected to horizontal force action, this power acts directly on the vertical beam, makes the sensor power output transducing signal on it.

As shown in figure 15, be the deburring emery wheel, it is made up of support 5.1, lower shoe 5.2, guide rail 5.3, upper plate 5.4, emery wheel 5.5, connecting bolt 5.6, spring 5.7 and motor 5.8; Emery wheel 5.5 is directly installed on the axle of motor 5.8, and motor 5.8 is connected on the upper plate 5.4 by bolt 5.6, and upper plate 5.4 is connected on the lower shoe 5.2 by guide rail 5.3, and lower shoe 5.2 is supported by support 5.1; Emery wheel 5.5 floats at left and right directions, and the power of floating is by spring 5.7 controls; The burr of part generally protrudes piece surface, and the floating displacement of emery wheel equals the height that burr protrudes piece surface.

Detailed part connection with assembly relation is on the deburring emery wheel: support 5.1 welds together with lower shoe 5.2; The connected mode that lower shoe 5.2, guide rail 5.3, upper plate are 5.4 connects with the lower supporting plate among Fig. 8 6.5, guide rail 6.6, upper backup pad 6.9; Cylinder axis on the guide rail links to each other with lower shoe 5.2, and the guide rail slide unit links to each other with upper plate 5.4, and like this, upper plate is along the cylinder axis side-to-side movement; Spring 5.7 compresses the guide rail slide unit, and after the suffered power of upper plate disappeared, this spring force resetted upper plate; The base of motor 5.8 is connected on the upper plate by bolt 5.6, emery wheel 5.5 be installed on the multidiameter of motor and with nut check on this axle.

As shown in figure 16, be the part detent mechanism, it is made up of pallet 9.1, positioning cylinder 9.2, the macropore of the locating element 9.3 on the cylinder cooperates with positioning cylinder 9.2, obtain accurate localization, aperture 9.4 on the locating element 9.3 on the cylinder is patchholes of anchor clamps finger, referring to Fig. 3, under 4.14 effects of gas paw, wherein step 4.17-1 lower surface contacts with the upper surface of aperture 9.4, the contacts side surfaces of cylinder 4.17-2 and aperture 9.4, conical surface 4.17-3 contacts with the lower surface of aperture, makes anchor clamps finger and part that the accurate localization relation be arranged.

Detailed part connection with assembly relation is on the part detent mechanism: positioning cylinder 9.2 is connected on the pallet 9.1 by screw, the macropore sky of locating element 9.3 is enclosed within on the positioning cylinder 9.2 on the cylinder, because positioning cylinder 9.2 has accurate position relation in the space, make that locating element 9.3 has accurate position relation in the space on the cylinder, aperture 9.4 position relation on locating element on the cylinder 9.3 is determined, as long as accurately locate big hole site, just accurately located the position of aperture 9.4, like this, paw grasps part according to the accurate location of aperture.

Claims (9)

1. the automatic sanding burnishing device of industrial robot, it is characterized in that: this automatic sanding burnishing device is by industrial robot, automatic position-changing clamp, the rubbing down lathe floats, software ultromotivity control-register journey system, the deburring emery wheel, the part detent mechanism is formed, automatically position-changing clamp is installed in the end of industrial robot, the rubbing down lathe that floats matches with the industrial robot that automatic position-changing clamp is installed, utilize the abrasive band on the rubbing down lathe that the part of clamping on the anchor clamps is carried out sanding and polishing, design has abrasive band deviation mechanism on the rubbing down lathe, relocation mechanism, the abrasive band automatic tensioning mechanism, Wear Mechanism of Abrasive Belt compensation mechanism and auxiliary wheel tripper; Power when software ultromotivity control-register journey system relates to part sanding and polishing is accurately controlled, power control wheel is made up of wheel gabarit, resistance strain gage beam, resistance strain gage, amplifying circuit, resistance strain gage is bonded on the beam, have four groups, power control wheel converts the force signal parameter to the signal of telecommunication, be input in the industrial robot controller by industrial machine human simulation mouth, the deburring emery wheel is removed the burr of piece surface, it adopts floating structure, utilizes position quantity control emery wheel to remove the burr that piece surface protrudes; The part detent mechanism is the pallet that the surface is equipped with positioning cylinder, and the positioning cylinder on the pallet is inserted in the hole on the part, thereby part is accurately located, and points the installing hole that inserts on the part for two of position-changing clamp automatically, and part is grasped accurately.

2. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: position-changing clamp all outer surfaces to part in the industrial robot joint space is processed automatically, it adopts outside locating piece to match with industrial robot, determine the displacement angle of anchor clamps, after displacement is finished, utilize cylinder and alignment pin that anchor clamps are locked; Automatically another feature of position-changing clamp is the design of anchor clamps finger, and part is accurately located and grasped.

3. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: the rubbing down lathe that floats has abrasive band deviation mechanism, relocation mechanism adopts guide rail, spring structure and turntable, the rubbing down lathe that floats has the abrasive band automatic tensioning mechanism, utilize cylinder control abrasive band tensioning, has constant tensile force, automatic replacing for ease of the abrasive band, adopt the pre-tension structure of spring, the rubbing down lathe that floats has the Wear Mechanism of Abrasive Belt compensation mechanism, after Wear Mechanism of Abrasive Belt, utilize motor, screw structure is controlled the contact force between abrasive band and part, by increasing the wearing and tearing of part to the normal pressure compensation abrasive band in abrasive band, the rubbing down lathe that floats has the auxiliary wheel tripper, is used to change different auxiliary wheels, the special face of part is processed, adopt rubber tire sanding and polishing for the piece surface of rule, utilize one group of auxiliary train to carry out sanding and polishing, adopt air motor for the irregular surface of complexity, the sheave structure is carried out automatic conversion and control to auxiliary train.

4. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: the deburring emery wheel is made up of floating guide rail, emery wheel and motor, before part sanding polishing, utilize the burr on the emery wheel removal piece surface, the deburring amount is determined by the displacement of floating guide rail, the part detent mechanism is made up of pallet and positioning cylinder, positioning cylinder uniformly-spaced is fixed on the upper surface of pallet, positioning cylinder is used for the hole on the accurate locating element, and the finger on the position-changing clamp accurately grasps part automatically.

5. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: automatic position-changing clamp, the gas circuit switching mechanism that it is made up of T type body (4.1), sleeve (4.2), tracheae connector (4.3), lock-screw (4.4), shelves rings (4.5), the cylinder clamp mechanism that cylinder (4.9), screw (4.10), outer sleeve (4.11), inner sleeve (4.12), alignment pin (4.13) are formed, the finger mechanism that screw (4.15), finger connecting plate (4.16), column type finger fingertip (4.17) are formed constitutes; T type body (4.1) top is ring flange, and this ring flange is connected by the ring flange of the 6th of screw and industrial robot; Have groove (4.1-1) on the vertical axis of T type body (4.1), y-type seal ring (4.1-2) is housed in the groove (4.1-1), have through hole (4.1-3) on the vertical axis of T type body (4.1); Tracheae connector (4.3) is installed above the sleeve (4.2), sleeve (4.2) is connected by five of connector and industrial robots, when the 6th of industrial robot rotates, since five relative six static, the tracheae that is connected with tracheae connector (4.3) can not be wrapped on the anchor clamps, gas enters gas paw (4.14) by tracheae connector (4.3), through hole (4.1-3), tracheae (4.8), and lock-screw (4.4) is locked at shelves ring (4.5) on the vertical axis of T type body (4.1) sleeve (4.2) is played the role of positioning; Connecting plate (4.6) is connected on the plane that the vertical axis of T type body (4.1) processes by screw (4.7); Tracheae (4.8), cylinder (4.9) are connected on the connecting plate (4.6) by screw (4.10); Be processed with two circumferential slots above the outer sleeve (4.11), alignment pin (4.13) is installed in the groove on the left side, this alignment pin (4.13) is installed in inner sleeve (4.12) and has gone up circumferential guide effect, have transverse groove on the circumferential slot on the right, an alignment pin (4.13) is also arranged in the groove, this alignment pin (4.13) is installed on the cylinder axis (4.9-1), when cylinder axis during to left movement, this alignment pin (4.13) inserts in the transverse groove, because outer sleeve (4.11) can be around inner sleeve (4.12) rotation relatively, and inner sleeve (4.12) links to each other with connecting plate (4.6) by screw (4.10) and can not move, insert the transverse groove of outer sleeve (4.11) when the pin (4.13) on the cylinder axis (4.9-1) after, inside and outside sleeve forms one and can not move, and when cylinder moved right, the pin on the cylinder axis (4.9-1) was in the right circumferential slot of outer sleeve (4.11), and inside and outside sleeve can relative motion, under cylinder action, anchor clamps are carried out automatic displacement and locking like this; To point connecting plate (4.16) by screw (4.15) is connected on the gas paw (4.14); The top of column type finger fingertip (4.17) is processed with screw thread, and this screw thread can be connected column type finger fingertip (4.17) on the finger connecting plate (4.16); Be processed with column type step (4.17-1) on the finger fingertip (4.17), this step (4.17-1) can position the part that grasps, the diameter of finger fingertip step (4.17-1) is less than the diameter of finger fingertip (4.17), this part will be inserted in the hole of part, and the little conical surface of finger fingertip (4.17-3) is to force part to move upward when grasping part, thereby part locating surface and finger fingertip cylinder step (4.17-1) lower surface are compressed, part is positioned on the anchor clamps.

6. the automatic sanding burnishing device of industrial robot as claimed in claim 6 is characterized in that: gas paw connecting plate (4.19) is connected on the gas paw (4.14); Spring (4.20) makes finger inner sleeve (4.28) return; Point outer sleeve (4.21) and point inner sleeve (4.28), be threaded by this and can regulate the displacement of finger inner sleeve (4.28) in vertical direction with being threaded; After the finger inside and outside sleeve has been regulated, with finger outer sleeve locking nut (4.22) locking finger outer sleeve; When driving lever (4.25) rotates, driving camshaft (4.26) and eccentric wheel (4.24) rotates, thereby press down eccentric wheel pressing plate (4.23), it is moved downward, moving down of eccentric wheel pressing plate (4.23) brings moving down of finger inner sleeve (4.28) and finger outer sleeve (4.21) equally, make the gap smaller of finger lower end, clamp the hole wall of part; Finger axle (4.27) upper end is connected with finger connecting plate (4.16) by screw thread, and the outside is with finger inner sleeve (4.28).

7. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: the rubbing down lathe that floats, it is made of frame (6.1), adjusting nut (6.2), rotation floating spring governor motion (6.3), rotating mechanism (6.4), guide rail (6.6), spring (6.7), stepper motor (6.8), Wear Mechanism of Abrasive Belt compensation mechanism (6.17), abrasive band deviation mechanism (6.12), abrasive band support wheel (6.13), the pneumatic strainer in abrasive band (6.14), auxiliary wheel tripper (7.1); Frame (6.1) supports the rubbing down lathe that floats; Adjusting nut (6.2) is adjusted the levelness of rubber rubbing down wheel (6.15); Rotation floating spring governor motion (6.3) is used for the playback after the train deflection, and it is made up of gripper shoe (6.18), lower supporting plate (6.5), block (6.3-1) link stopper (6.18-1) and spring (6.19); Rotating mechanism (6.4) is by bearings, and this rotating mechanism (6.4) allows the relative gripper shoe (6.18) of lower supporting plate (6.5) rotate, and cooperates abrasive band support wheel (6.3) generation rotation unsteady; Lower supporting plate (6.5) supports the relocation mechanism of horizontal direction; Guide rail (6.6) is formed horizontal floating mechanism with lower supporting plate (6.5), spring (6.7), and when the pressure on the rubber rubbing down wheel (6.15) surpassed the elastic force of spring (6.7), rubber rubbing down wheel (6.15) was moved to the left; On the axle of stepper motor (6.8) screw mandrel is installed, have screwed hole to be connected with screw mandrel on the pressing plate (6.17), rotatablely moving of motor will become moving right of pressing plate, thereby spring (6.7) is compressed, increase the pressure of part, the wearing and tearing in compensation abrasive band to rubber rubbing down wheel (6.15); Upper backup pad (6.9) is connected with support (6.10), constitutes the vertical direction space with train gripper shoe (6.11), and the belt pulley of being convenient to motor (6.16) and rubber rubbing down wheel (6.15) is installed; Wheel shaft (6.12-5) is installed in the slotted hole of belt wheel support (6.12-2) by pin (6.12-4), screw (6.12-1), and belt shaft rotates around pin (6.12-4), and the angle of rotation is regulated by screw (6.12-1); The axle of belt wheel support (6.12-2) right-hand member is installed in the sleeve (6.12-6), and this axle rotates in sleeve, adjusts another attitude of belt wheel (6.12-6), has adjusted the back by the screw lock on the sleeve; Bearing sleeve (6.12-7) is connected with sleeve (6.12-6) by gusset, and this bearing sleeve (6.12-7) is installed in the bearing (6.12-8), and bearing (6.12-8) is connected on the train gripper shoe (6.11) by screw; On the bearing sleeve (6.12-7) lock-screw is arranged, can not produce relative motion by locking between this screw bearing sleeve (6.12-7) and bearing (6.12-8); Cylinder (6.14-1) is installed on the riser (6.14-4), this riser (6.14-4) is welded on the bearing sleeve (6.14-2), bearing (6.14-3) is connected on the train gripper shoe (6.11) by screw, cylinder axle sleeve (6.14-5) also is welded on the riser (6.14-4), and cylinder axis is contained in the cylinder axle sleeve (6.14-5); Belt wheel transition axis (6.14-6) is sleeved in the cylinder axle sleeve (6.14-5), the right-hand member of belt wheel transition axis (6.14-6) is a belt wheel bearing connecting plate, belt wheel bearing (6.14-8) is fixed on this connecting plate, belt shaft (6.14-9) is installed in the belt wheel bearing (6.14-8) by bearing, when cylinder moves right, cylinder axis promotes the belt wheel transition axis and moves right, and moves right the tensioning abrasive band thereby drive belt wheel (6.14-10); Not during the tensioning abrasive band, the pre-tensioning abrasive band of spring (6.14-7) prevents that the abrasive band from coming off from belt wheel (6.14-10) at cylinder; Auxiliary wheel tripper (7.1) is made up of Geneva mechanism and auxiliary train, Geneva mechanism (7.1-1) is made up of left and right sides two parts, when driving sheave left-hand component, gas motor (7.1-5) revolves when turning 90 degrees, bearing pin (7.1-3) drives right-hand component and rotates 90 degree, the circular arc (7.1-2) on the left side contacts with the circular arc (7.1-4) on the right simultaneously, makes Geneva mechanism produce self-locking; When right-hand component rotates 90 when spending, drive auxiliary train gripper shoe (7.1-6) and rotate 90 degree, thereby another auxiliary wheel (7.1-8) is contacted with being with; The external form of auxiliary wheel designs as required, can be evagination, also can be indent, and they are mainly used in carries out sanding or polishing to the special external form of part.

8. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: the power control wheel of software ultromotivity control-register journey system, it is made up of boss (8.1), wheel gabarit (8.2), adjustment screw (8.3), foil gauge beam (8.4), foil gauge (8.5), attachment screw (8.6), turning cylinder (8.7), wheel hub (8.8), block (8.9); Wherein foil gauge (8.5-2,8.5-4) place beam adopts the floating structure design, and an end utilizes screw (8.6) to be connected with wheel hub (8.8), and the other end utilizes screw to connect block (8.9), and adjustment screw (8.3) is installed on the block (8.9); When wheel gabarit (8.2) rotates moving axis (8.7) rotation, boss (8.1) is pressed adjustment screw (8.3), foil gauge (8.5-2) or foil gauge (8.5-4) are with output voltage, and foil gauge (8.5-2) and foil gauge (8.5-4) detect the rotation amount of wheel gabarit (8.2); When power control wheel is subjected to F to pressure, foil gauge (8.5-1) and (8.5-3) output voltage, the suffered pressure of gabarit (8.2) is taken turns in foil gauge (8.5-1) and foil gauge (8.5-3) detection; Power control wheel diameter size is the same with rubber rubbing down wheel (6.15), and it and industrial robot are used; When part is in (b) attitude and moves downward, foil gauge (8.5-2) pressurized then, output voltage signal, when part is in (c) attitude and moves upward, foil gauge (8.5-4) pressurized then, output voltage signal is when part is in (d) attitude, no matter motion up or down, foil gauge (8.5-2) and foil gauge (8.5-4) be output voltage not; When part when the control of F directional pressure is taken turns, foil gauge (8.5-1) and foil gauge (8.5-3) pressurized, output voltage signal, voltage swing is directly proportional with pressure; In (e), strain-ga(u)ge transducer amplifying circuit (8.10) is connected with industrial machine human simulation mouth, thereby exerts all one's strength sensor and industrial robot formation closed-loop system; Part is by automatic position-changing clamp clamping, and it is close to power control wheel, when part contacts with power control wheel, foil gauge (8.5-1) and foil gauge (8.5-3) output voltage signal, industrial robot controller is judged the contact force size after receiving this signal, adjust industrial robot move left and right displacement, the voltage of control sensor output is a setting value, thereby the pressure that guarantees part and power control wheel is setting value; After part and power control wheel contacts, move up and down part, judge the attitude of part according to the voltage signal of foil gauge (8.5-2) and foil gauge (8.5-4) output, and utilize industrial robot constantly to adjust attitude, there is not voltage output not change up to foil gauge (8.5-2) and foil gauge (8.5-4).

9. the automatic sanding burnishing device of industrial robot as claimed in claim 1, it is characterized in that: the deburring emery wheel, it is made up of support (5.1), lower shoe (5.2), guide rail (5.3), upper plate (5.4), emery wheel (5.5), connecting bolt (5.6), spring (5.7) and motor (5.8); Emery wheel (5.5) is directly installed on the axle of motor (5.8), motor (5.8) is connected on the upper plate (5.4) by bolt (5.6), upper plate (5.4) is connected on the lower shoe (5.2) by guide rail (5.3), and lower shoe (5.2) is supported by support (5.1); Emery wheel (5.5) floats at left and right directions, and the power of floating is controlled by spring (5.7); The burr of part generally protrudes piece surface, and the floating displacement of emery wheel equals the height that burr protrudes piece surface; The part detent mechanism, it is by pallet (9.1), positioning cylinder (9.2) is formed, the macropore of the locating element on the cylinder (9.3) cooperates with positioning cylinder (9.2), obtain accurate localization, aperture (9.4) on the locating element on the cylinder (9.3) is the patchhole of anchor clamps finger, under gas paw (4.14) effect, wherein column type step (4.17-1) lower surface contacts with the upper surface of aperture (9.4), the contacts side surfaces of finger fingertip cylinder (4.17-2) and aperture (9.4), the little conical surface of finger fingertip (4.17-3) contacts with the lower surface of aperture (9.4), makes anchor clamps finger and part that the accurate localization relation be arranged.

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