CN206848724U - A kind of sanding and polishing instrument of industrial robot - Google Patents
A kind of sanding and polishing instrument of industrial robot Download PDFInfo
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- CN206848724U CN206848724U CN201720719320.1U CN201720719320U CN206848724U CN 206848724 U CN206848724 U CN 206848724U CN 201720719320 U CN201720719320 U CN 201720719320U CN 206848724 U CN206848724 U CN 206848724U
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- polishing
- servomotor
- polishing pad
- casing
- sanding
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Abstract
The utility model discloses a kind of sanding and polishing instrument of industrial robot, including casing and polishing pad, polishing servomotor and flexible servomotor are provided with casing；Servo of polishing electricity and polishing pad power connector；The axis of flexible servomotor is perpendicular to polishing servomotor；Flexible servomotor power connector has synchronous pulley；Axis direction of the direction of transfer of timing belt parallel to polishing servomotor；Belt clamping apparatus is connected with timing belt；Also include guide rail, sliding block is slidably connected on guide rail；Belt clamping apparatus and polishing servomotor are each attached on sliding block.
Description
Technical field
Industrial Robot Technology field is the utility model is related to, more particularly to a kind of polishing installed in robot end is thrown
Optical tool.The utility model further relates to a kind of control method of sanding and polishing.
Background technology
When industrial robot carries out sanding and polishing operation, polishing pad, which needs to be brought into close contact with workpiece surface, could obtain ideal
Effect.Because some different in nature piece surfaces are uneven, when carrying out automatically grinding polishing by industrial robot, it is desirable to polish
Disk follows the height change of piece surface and real-time change；It is required that the rotating speed of polishing pad follows the change of frictional force and become in real time
Change.But because industrial robot generally uses position control mode, do not possess power and feel perception, end only can be according to both
Determine program path motion, will be excessive due to pressure or frictional force when workpiece putting position changes, defective work piece, beat
Grinding and polishing optical tool even industrial machine human body.
In the prior art, it is necessary to be passed using expensive accurate pressure when industrial robot is in order to realize power console keyboard grinding and polishing light
Sensor measures to polishing pressure, and controls the position for changing industrial robot end according to force feedback information by control system
To ensure the constant of frictional force.The sanding and polishing control moment of friction that only detection is polished of the prior art, then pass through and change end
The displacement at end realizes the control of frictional force, because the change of tip displacement amount can cause sanding and polishing instrumental purpose to workpiece
On pressure change, so simply keep the constant of frictional force by regulating and controlling displacement, easily cause pressure excessive, make
Workpiece is obtained by conquassation.In addition, in sanding and polishing, workpiece is often horizontal positioned, and the weight component of milling tools will polish
Had an impact on pressure direction, do not account for influence of the weight component to frictional force and Stress control in the prior art, make
It is not high enough to obtain control accuracy.Furthermore the motor of the sanding and polishing instrument of prior art needs to use mechanical deceleration device to polishing
Disk exports power, increases the volume and weight of sanding and polishing instrument, and frictional force pair caused by mechanical deceleration device motion
Polishing moment of friction detection will also result in certain interference so that the control accuracy of frictional force declines.
Servomotor is due to the advantages of control accuracy is high, and high speed performance is good, and low speed operates steadily, in Industrial Robot Technology
In be widely used.The driver of servomotor typically has three close-loop control system, is electric current loop (moment of torsion successively from inside to outside
Ring), speed ring and position change, electric current loop is used for the output current for controlling servomotor, so as to control servo motor output shaft
Moment of torsion；Speed ring is used for the rotating speed for controlling servo motor output shaft；Position ring is used for the angular displacement for controlling servomotor.
Utility model content
For above-mentioned the deficiencies in the prior art, the utility model provides a kind of sanding and polishing instrument of industrial robot, solution
The technical problem that certainly control accuracy of sanding and polishing instrument is not high, volume size is larger in the prior art, it is possible to increase industrial machine
The polishing control accuracy of device people, the constant control to polishing moment of friction and pressure of polishing is implemented for, simplifies internal junction
Structure, the volume and weight of milling tools is reduced, reduces cost.
In order to solve the above-mentioned technical problem, the utility model employs following technical scheme：A kind of industrial robot
Sanding and polishing instrument, including casing and the polishing pad outside casing, the interior polishing servomotor that is provided with of the casing is with stretching
Servomotor；The output shaft of the polishing servomotor passes through power connecting mechanism and the polishing pad power connector；It is described to stretch
Axis of the axis of contracting servomotor perpendicular to polishing servomotor；The flexible servomotor power connector has synchronous pulley；
The synchronous pulley includes driving wheel, driven pulley and timing belt, the output axis connection of the driving wheel and flexible servomotor；
Axis direction of the direction of transfer of the timing belt parallel to polishing servomotor；It is connected with the timing belt with timing belt
The belt clamping apparatus of motion；Also include the guide rail set along polishing servomotor axis direction, be slidably connected on the guide rail
There is sliding block；The belt clamping apparatus and polishing servomotor are fixedly connected with the sliding block.
Preferably, the organ telescopic for being used for accommodating power connecting mechanism is provided between the polishing pad and casing；It is described
Organ telescopic rear and front end is connected to front shoe, rear fixed plate；Organ telescopic rear end is fixed by rear fixed plate
Outside the enclosure surface, organ telescopic front end can stretch with the flexible of polishing pad；It is provided with and uses in the organ telescopic
In the dynamic sealing assembly of sealed motive force bindiny mechanism.
Preferably, the power connecting mechanism includes overhanging the connecting shaft outside casing；The connecting shaft both ends are set respectively
There are the polishing pad connecting hole along own axes direction, polishing servomotor connecting hole；The polishing pad connecting hole is screwed hole, institute
Polishing pad is stated to be threadedly coupled with the polishing pad connecting hole of connecting shaft by polishing pad connecting pole；The polishing pad connecting hole and servo
Next door is provided between motor connection hole, next door is provided with screw connecting hole；The output shaft insertion polishing servo of polishing servomotor
In motor connection hole, and with its tight fit, then be fixed by screws on next door.
Preferably, the bottom surface of the casing and side are integrally formed to form casing main body, and casing body top face is connected with lid
Plate；The cover plate is sealed between cover plate and the casing main body by sealing ring by latch and casing main body grafting.
Compared with sanding and polishing instrument of the prior art, the utility model has the advantages that：
1st, polish between servomotor and polishing pad and do not set reducing gear, by the way of motor direct-drive, can keep away
Exempt from frictional force caused by reducing gear running, this provides advantage to improve the control accuracy of polishing moment of friction.
2nd, the servomotor that stretches carries out power output by synchronous pulley, without gear mechanism, can so mitigate significantly
The size and weight of sanding and polishing instrument, and gearing friction power is almost nil, and this is carried to improve the control accuracy of polishing pressure
Advantage is supplied.
3rd, the moment of torsion that flexible servomotor exports is converted into contractility by synchronous pulley, and by telescoping mechanism (sliding-rail sliding
Mechanism) feedback force that is subject to is delivered on the motor shaft of flexible servomotor, it is only necessary to according to the moment of torsion of flexible servomotor with
And the radius of synchronous pulley the pressure sensor expensive without extra configuration again, saves with regard to contractility can be calculated
Cost, simplify structure.
4th, sealing property is improved using organ telescopic, dynamic sealing assembly, and casing main body is formed in one, casing master
Also sealed between body and cover plate, so as to substantially increase the overall sealing performance of sanding and polishing instrument, suitable for water,
The adverse circumstances operation such as oil, dust.
5th, it is to be detachably threadedly coupled between polishing pad and power connecting mechanism, easy maintenance and replacement polishing pad.
Brief description of the drawings
Fig. 1 is the explosive view of sanding and polishing instrument in embodiment；
Fig. 2 is the installation diagram of sanding and polishing instrument in embodiment；
Fig. 3 is Fig. 2 k-k sectional views；
Fig. 4 is Fig. 2 M-M sectional views；
Fig. 5 is Fig. 2 partial enlarged drawing；
Fig. 6 is the stressing conditions schematic diagram of workpiece and sanding and polishing instrument.
Embodiment
The utility model is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figures 1 to 5, the sanding and polishing instrument of a kind of industrial robot, including casing and outside casing
Polishing pad 1, the casing is interior to be provided with polishing servomotor 2 and flexible servomotor 3；The output shaft of the polishing servomotor 2
Pass through power connecting mechanism and the power connector of polishing pad 1；The axis of the flexible servomotor 3 is perpendicular to polishing servo electricity
The axis of machine 2；The power connector of flexible servomotor 3 has synchronous pulley 6；The synchronous pulley 6 includes driving wheel, driven pulley
And timing belt, the output axis connection of the driving wheel and flexible servomotor 3；The direction of transfer of the timing belt is parallel to beating
Grind the axis direction of servomotor 2；The belt clamping apparatus 7 moved with timing belt is connected with the timing belt；Also include
Along the guide rail 9 of polishing servomotor 2 axis direction setting, sliding block 8 is slidably connected on the guide rail 9；The belt clamps dress
Put 7 and polishing servomotor 2 be fixedly connected with the sliding block 8.
For the ease of installing and protecting polishing servomotor, mounting box 19 is added, polishing servomotor is fixed on installation
In box 19, the bottom of mounting box 19 is fixed with sliding block 8, and the front end of mounting box 19 overhangs casing, and polishing servo motor output shaft is overhanging
Go out the front end of mounting box 19.Several fixed plate pillars 18 along annular spread are additionally provided with the front end face of mounting box 19, form annular
Chamber.
The organ for being used for accommodating power connecting mechanism is provided with present embodiment, between the polishing pad 1 and casing
Telescopic 10；The rear and front end of organ telescopic 10 is connected to front shoe 11, rear fixed plate；After organ telescopic 10
End is fixed on box outer surface by rear fixed plate, and the front end of organ telescopic 10 can stretch with the flexible of polishing pad 1；Institute
State the dynamic sealing assembly being provided with organ telescopic 10 for sealed motive force bindiny mechanism.
In present embodiment, the power connecting mechanism includes overhanging connecting shaft 4 outside casing, in connecting shaft 4
Provided with bearing, bearing is arranged at connecting shaft 4 in the annular chamber of the fixed formation of pillar 18, and annular chamber is carried out to bearing outer ring
Circumferential spacing, bearing outer ring front end face is spacing by the upper flange of connecting shaft 4, and end face is limited by the front end face of mounting box 19 thereafter
Position；The both ends of connecting shaft 4 are respectively equipped with the polishing pad connecting hole along own axes direction, polishing servomotor connecting hole；Institute
It is screwed hole to state polishing pad connecting hole, and the polishing pad passes through polishing pad connecting pole 5 and the polishing pad connecting hole screw thread of connecting shaft 4
Connection；Next door is provided between the polishing pad connecting hole and servomotor connecting hole, next door is provided with screw connecting hole；Polishing is watched
Take in the output shaft insertion polishing servomotor connecting hole of motor 2, and with its tight fit, then be fixed by screws on next door.
In present embodiment, the polishing pad connecting pole 5 includes cylinder and is set on the nut of cylinder central part；
The cylinder is integrally formed with nut, and cylinder both ends are equipped with screw thread.Screwed hole is opened in polishing pad center, with polishing pad connecting pole 5
It is threadedly coupled, polishing pad can be fixed by the nut on polishing pad connecting pole 5, and and can is limited organ telescopic 10
Position, avoids the front end of organ telescopic 10 from being contacted with polishing pad, prevents polishing pad 1 rotates at a high speed from producing motion with organ telescopic 10
Interference.
In present embodiment, the dynamic sealing assembly includes dynamic sealing overcoat 12；Set in the dynamic sealing overcoat 12
There are dynamic sealing clamping sleeve 13 and dynamic seal 14；The dynamic sealing overcoat 12 is fixed on the front shoe 11 of organ telescopic 10
On；The dynamic sealing clamping sleeve 13 and dynamic seal 14 are set in connecting shaft 4, the side of the dynamic sealing clamping sleeve 13
It is pushed against on front shoe 11, dynamic seal 14 is pressed in the side wall of dynamic sealing overcoat 12 by its opposite side.
In present embodiment, the bottom surface and side of the casing are integrally formed to form casing main body 15, casing main body
15 top surfaces are connected with cover plate 17；The cover plate 17 is by latch and the grafting of casing main body 15, the cover plate 17 and casing main body 15
Between sealed by sealing ring 16.
By synchronous pulley 6 by flexible torque TpIt is converted into contractility FsPrinciple as shown in fig. 6, calculating weight component Fa：
The oeverall quality for making sanding and polishing instrument is m, and gravity suffered by sanding and polishing instrument is Fg=mg, g are acceleration of gravity；Fa=Fg
Cos θ, θ are polishing inclination angle, can be read from the controller of industrial robot；Calculate the contractility that flexible servomotor needs to provide
Fs：Fs=Fp-Fa；Calculate the flexible torque T that flexible servomotor needs to exportp：Tp=Fs× R, wherein R are in synchronous pulley
The radius of driving wheel.
Finally illustrate, above embodiment only to illustrate the technical solution of the utility model and unrestricted,
Although the utility model is described in detail with reference to preferred embodiment, it will be understood by those within the art that, can
To be modified to the technical solution of the utility model or equivalent substitution, without departing from the objective of technical solutions of the utility model
And scope, it all should cover among right of the present utility model.
Claims (6)
1. a kind of sanding and polishing instrument of industrial robot, including casing and the polishing pad outside casing, it is characterised in that：
Polishing servomotor and flexible servomotor are provided with the casing；The output shaft of the polishing servomotor passes through power connector
Mechanism and the polishing pad power connector；Axis of the axis of the flexible servomotor perpendicular to polishing servomotor；It is described
Flexible servomotor power connector has synchronous pulley；The synchronous pulley includes driving wheel, driven pulley and timing belt, the master
The output axis connection of driving wheel and flexible servomotor；Axis side of the direction of transfer of the timing belt parallel to polishing servomotor
To；The belt clamping apparatus moved with timing belt is connected with the timing belt；Also include along polishing servomotor axis side
To the guide rail of setting, sliding block is slidably connected on the guide rail；The belt clamping apparatus and polishing servomotor are fixed
It is connected on the sliding block.
2. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The polishing pad and casing
Between be provided with and be used to accommodate the organ telescopic of power connecting mechanism；The organ telescopic rear and front end is solid before being connected to
Fixed board, rear fixed plate；Organ telescopic rear end is fixed on box outer surface by rear fixed plate, and organ telescopic front end can be with
The flexible of polishing pad and stretch；The dynamic sealing assembly for sealed motive force bindiny mechanism is provided with the organ telescopic.
3. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The power connecting mechanism
Including overhanging the connecting shaft outside casing；The connecting shaft both ends be respectively equipped with the polishing pad connecting hole along own axes direction,
Polishing servomotor connecting hole；The polishing pad connecting hole is screwed hole, and the polishing pad is by polishing pad connecting pole with being connected
The polishing pad connecting hole threaded connection of axle；Next door is provided between the polishing pad connecting hole and servomotor connecting hole, on next door
Provided with screw connecting hole；Polish in the output shaft insertion polishing servomotor connecting hole of servomotor, and with its tight fit, then lead to
Screw is crossed to fix on next door.
4. the sanding and polishing instrument of industrial robot according to claim 3, it is characterised in that：The polishing pad connecting pole
Including cylinder and the nut for being set on cylinder central part；The cylinder is integrally formed with nut, and cylinder both ends are equipped with screw thread.
5. the sanding and polishing instrument of industrial robot according to claim 2, it is characterised in that：The dynamic sealing assembly bag
Include dynamic sealing overcoat；Dynamic sealing clamping sleeve and dynamic seal are provided with the dynamic sealing overcoat；The dynamic sealing overcoat is fixed
On the front shoe of organ telescopic；The dynamic sealing clamping sleeve and dynamic seal are set in connecting shaft, described dynamic
The side of sealing clamping sleeve is pushed against on front shoe, and dynamic seal is pressed in the side wall of dynamic sealing overcoat by its opposite side.
6. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The bottom surface of the casing and
Side is integrally formed to form casing main body, and casing body top face is connected with cover plate；The cover plate is inserted by latch and casing main body
Connect, sealed between cover plate and the casing main body by sealing ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720719320.1U CN206848724U (en) | 2017-06-20 | 2017-06-20 | A kind of sanding and polishing instrument of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720719320.1U CN206848724U (en) | 2017-06-20 | 2017-06-20 | A kind of sanding and polishing instrument of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848724U true CN206848724U (en) | 2018-01-05 |
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ID=60801470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720719320.1U Active CN206848724U (en) | 2017-06-20 | 2017-06-20 | A kind of sanding and polishing instrument of industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206848724U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085392A (en) * | 2017-06-20 | 2017-08-22 | 重庆卓来科技有限责任公司 | The sanding and polishing instrument and sanding and polishing control method of a kind of industrial robot |
-
2017
- 2017-06-20 CN CN201720719320.1U patent/CN206848724U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085392A (en) * | 2017-06-20 | 2017-08-22 | 重庆卓来科技有限责任公司 | The sanding and polishing instrument and sanding and polishing control method of a kind of industrial robot |
| CN107085392B (en) * | 2017-06-20 | 2023-04-18 | 重庆卓来科技有限责任公司 | Grinding and polishing tool of industrial robot and grinding and polishing control method |
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