CN215036275U - Telescopic constant-force compensation abrasive belt device for robot - Google Patents

Abstract

The utility model discloses a robot is with telescopic constant force compensation abrasive band device of polishing, include: the device comprises a telescopic arm, a contact wheel arranged at the front end of the telescopic arm and in contact with a workpiece, a movable guide wheel arranged at the tail end of the telescopic arm, a tensioning mechanism arranged at the middle section of the telescopic arm, a tensioning wheel arranged at the tail end of the tensioning mechanism, a constant force compensation mechanism arranged on the telescopic arm and positioned between the contact wheel and the movable guide wheel, an abrasive belt driving wheel with a fixed central shaft, and an abrasive belt wound on the abrasive belt driving wheel, the contact wheel, the tensioning wheel and the movable guide wheel. The utility model discloses a flexible compensation part weight is very light, and movement inertia is very little, and the reaction is sensitive, the action is nimble, does benefit to control gesture and the precision of polishing, and straining device can not influence the effort of floating to the tensioning effort on abrasive band, has effectively avoided the external force interference among the constant force control process, can design as required for fixed abrasive band machine or the activity abrasive band machine that can snatch by the robot.

Description

Telescopic constant-force compensation abrasive belt device for robot

Technical Field

The utility model belongs to work piece processing field specifically is a grinding abrasive band machine for robot.

Background

With the continuous development of production technology and the requirement of product functions, the shapes of workpieces are more and more complex, such as aviation blades, engine crankshafts, engine housings, vehicle hubs, precision casting parts and the like, the traditional machining equipment is difficult to finish grinding, polishing and other works, and the current machining process is basically at the level of manual operation. Because the technical level difference of operators is large, and the operators are easily influenced by various factors, the processing quality of products is very unstable, and the defects of low production efficiency and high processing cost exist. In recent years, the labor shortage, the environment for manual polishing and burnishing work is very severe, the worker loss is serious, the scale expansion of products and the quality improvement are severely restricted, and therefore, the equipment capable of realizing automatic processing on the products is urgently needed.

The advent of robotic polishing technology has provided a solution to such polishing of workpieces, however, robots are merely motion actuators that can only move according to a predetermined path, which requires that the robot and the workpiece be maintained in a desired spatial position. The robot is poor in absolute accuracy, workpieces are machined and manufactured horizontally, machining size deviation is difficult to avoid, particularly for workpieces with complex surfaces, the robot needs the same complex robot track to ensure that a polishing head is in contact with the workpieces, the rigidity of the robot is poor, small space attitude deviation can cause rapid change of polishing contact force, over-polishing or under-polishing is caused finally, and good workpiece surfaces are difficult to obtain. Therefore, a certain method is needed to overcome the defects in the process of grinding by using the robot.

As shown in fig. 1, in order to maintain contact between the tool T and the workpiece surface S in a grinding tool having no compensation function or an insensitive grinding tool, the walking path R of the robot needs to be very close to the shape of the workpiece surface, which requires a large number of path points to form the running track of the robot.

Therefore, the constant force compensation technology is specially used for solving the polishing processing problem caused by insufficient precision and rigidity of the robot. The technology can realize that the polishing head is pressed on the surface of the workpiece with constant pressure after contacting the workpiece, and can freely stretch or swing within a certain size range.

Therefore, the telescopic constant-force compensation grinding abrasive belt device for the robot, which is sensitive in response and high in machining precision, is a problem which needs to be solved urgently in the industry.

Disclosure of Invention

The utility model aims at providing a robot is with telescopic constant force compensation abrasive band device of polishing, it not only reacts sensitively, moves in a flexible way, and the precision of polishing is high moreover, the controllability is strong.

In order to achieve the above object, the utility model provides a robot is with telescopic constant force compensation abrasive band device of polishing, include: the device comprises a telescopic arm, a contact wheel arranged at the front end of the telescopic arm and in contact with a workpiece, a movable guide wheel arranged at the tail end of the telescopic arm, a tensioning mechanism arranged at the middle section of the telescopic arm, a tensioning wheel arranged at the tail end of the tensioning mechanism, a constant force compensation mechanism arranged on the telescopic arm and positioned between the contact wheel and the movable guide wheel, an abrasive belt driving wheel with a fixed central shaft, and an abrasive belt wound on the abrasive belt driving wheel, the contact wheel, the tensioning wheel and the movable guide wheel.

Preferably, the tensioning direction of the tensioning mechanism is perpendicular to the axis of the telescopic arm, and the tensioning mechanism moves along with the telescopic arm when the telescopic arm performs telescopic compensation motion.

Optionally, the telescopic arm is mounted on a sliding block of the linear sliding rail and can perform linear motion along the linear sliding rail, and the rail of the linear sliding rail is fixedly arranged.

Optionally, a first guide wheel is disposed between the belt driving wheel and the contact wheel, a second guide wheel is disposed between the belt driving wheel and the tension wheel, and central axes of the first guide wheel and the second guide wheel are fixedly disposed.

Optionally, the constant force compensation mechanism is set as a constant force compensation cylinder, a cylinder body of the constant force compensation cylinder is fixed, and a cylinder rod of the constant force compensation cylinder is connected to the telescopic arm.

Alternatively, the constant force compensation mechanism is configured to compensate for a constant force spring or a compensating electromagnetic device.

Alternatively, the tensioning mechanism is configured as a tensioning cylinder, the tensioning wheel being mounted on a cylinder rod of the tensioning cylinder.

Alternatively, the tensioning mechanism is configured to tension the constant force spring.

Alternatively, the linear guide is provided as a fixed member.

Alternatively, the belt drive wheel is connected to a motor, which drives the belt drive wheel to rotate, thereby driving the belt to move at a high speed for polishing.

Compared with the prior art, the utility model discloses an advantage and beneficial effect include: (1) the telescopic compensation part of the telescopic constant force compensation polishing abrasive belt device for the robot has light weight, small motion inertia, sensitive reaction and flexible action; (2) the compensation mode of the polishing head of the belt sander is linearly telescopic, so that the polishing attitude and the polishing precision can be controlled more conveniently; (3) the tensioning mechanism of the telescopic constant-force compensation sanding belt device for the robot can not influence the floating action force on the tensioning action force of the sanding belt, so that the external force interference in the constant-force control process is effectively avoided, and the control precision is higher; (4) the telescopic constant-force compensation grinding abrasive belt device for the robot can be designed into a fixed abrasive belt machine or a movable abrasive belt machine which can be grabbed by the robot according to needs; (5) and a section of suspended abrasive belt is formed between the contact wheel and the tension wheel, the abrasive belt is weak in polishing capacity, and the thin-wall edges of some parts can be polished without worrying about excessive polishing of workpieces.

Drawings

Fig. 1 is a schematic view of a processing path of a prior art belt sander without compensation function.

Fig. 2 is the structural schematic diagram of the telescopic constant force compensation sanding belt device for the robot of the present invention.

Fig. 3 is a schematic view of the processing path of the present invention.

Fig. 4 is a schematic structural diagram of the grinder in an unreasonable configuration state of a tensioning mechanism.

Fig. 5 is a schematic structural view of an integral floating belt sander.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

Referring to fig. 2, as a non-limiting embodiment, the present invention provides a telescopic constant force compensation sanding belt device for a robot, comprising: abrasive belt driving wheel 1, abrasive belt 2, first leading wheel 3A, second leading wheel 3B, contact wheel 4, telescopic boom 5, constant force compensation cylinder 6, linear slide 7, tensioning cylinder 8, take-up pulley 9 and activity leading wheel 10.

Wherein, the belt driving wheel 1 is connected to a motor and can rotate under the driving of the motor to drive the belt 2 to move, and in this non-limiting embodiment, the central axis of the belt driving wheel 1 is fixed.

The abrasive belt 2 is a main tool for polishing a workpiece G, is sequentially wound on a wheel train consisting of the abrasive belt driving wheel 1, the first guide wheel 3A, the contact wheel 4, the tension wheel 9 and the second guide wheel 3B, and moves under the driving of the abrasive belt driving wheel 1.

First guide wheel 3A and second guide wheel 3B are used to guide sanding belt 2, and in this non-limiting embodiment, the central axes of first guide wheel 3A and second guide wheel 3B are both in a fixed state.

The contact wheel 4 is a wheel which is in contact with the workpiece G during the grinding process, and in this non-limiting embodiment, the contact wheel 4 is mounted on the telescopic arm 5 and moves together with the telescopic arm 5, and the telescopic distance is the compensation range.

The telescopic arm 5 is arranged on the linear slide rail 7 and can perform linear motion along the linear slide rail 7, and the motion distance is the telescopic distance L of the constant force compensation cylinder 6.

The constant force compensation cylinder 6 is used for driving the telescopic arm 5 to move forwards, the telescopic distance is L, the ejection acting force is the grinding pressure during grinding, the grinding pressure can be adjusted by controlling the air pressure of the constant force compensation cylinder 6, in the non-limiting embodiment, the cylinder rod 61 of the constant force compensation cylinder 6 is connected to the telescopic arm 5, and the cylinder body 62 is a fixed part. As another non-limiting embodiment, the force for driving the telescopic arm 5 to move forward may be also implemented by a constant force spring, an electromagnetic force, or the like.

The linear guide 7 is intended to guide the telescopic arm 5, and in this non-limiting embodiment, the linear guide 7 is a fixed part, the slide 71 of the linear guide 7 is mounted on the telescopic arm 5 as a movable part, and the rail 72 of the linear guide 7 is a fixed part.

The tensioning cylinder 8 is used for tensioning the abrasive belt, is integrally arranged on the telescopic arm 5 and is a movable part, and the part can be replaced by a constant-force spring structure.

Tensioning wheel 9 is then used to tighten sanding belt 2 under the action of tensioning cylinder 8. In this non-limiting embodiment, a suspended belt is formed between the contact wheel 4 and the tension wheel 9, and the belt has a weak sanding capability, so that the thin-wall edge of some parts can be sanded without worrying about over-sanding the workpiece.

As shown in fig. 3, the utility model discloses a telescopic constant force compensation abrasive band device of polishing for robot is under the effect of constant force compensation mechanism J, and abrasive band 2 is along with polishing head T and polishes on workpiece surface S, and it possesses good constant force compensation function, as long as in the compensation stroke, the compensation of instrument self can compensate the distance change between robot and the work piece automatically, and the processing route of robot also can simplify greatly for the route R that the robot needs the walking is the straight line.

Therefore, the utility model discloses in the straining device who comprises tensioning cylinder 8 and take-up pulley 9 be movable part's partly, consequently the tensile force belongs to movable part's internal force, and contact pressure mutually noninterfere when polishing, consequently can the accurate control pressure of polishing.

As shown in fig. 4, when the tensioning wheel 9 and the tensioning cylinder 8 of the belt sander are fixed, once the sanding belt 2 is tensioned, a component force is generated in the tensioning force F, which is superimposed on the compensation force generated by the telescopic compensation cylinder 6, and causes an adverse effect.

In addition, as shown in fig. 2, in the structure of the telescopic constant force compensation sanding belt device for robot of the present invention, only the telescopic arm 5 and the contact wheel 4, the tensioning cylinder 8 and the tensioning wheel 9 installed thereon are movable parts, all the other parts are fixed parts, the contact wheel 4 contacts with the workpiece and pre-compresses for a certain distance during sanding, and the program setting is performed under the state, so that the contact wheel 4 can be ensured to contact with the workpiece all the time during sanding.

As shown in fig. 5, the conventional one-piece floating belt sander has a floating state as a whole, and thus compensates for the slow response of operation. And compare with this whole floating belt sander, because the utility model discloses a driving motor (not shown), abrasive band drive wheel 1, first leading wheel 3A and second leading wheel 3B etc. are fixed part, do not participate in compensating motion, therefore movable part weight is very light, and compensating motion is very sensitive.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (8)

1. The utility model provides a robot is with telescopic constant force compensation abrasive band device of polishing which characterized in that includes: the device comprises a telescopic arm, a contact wheel arranged at the front end of the telescopic arm, a movable guide wheel arranged at the tail end of the telescopic arm, a tensioning mechanism arranged at the middle section of the telescopic arm, a tensioning wheel arranged at the tail end of the tensioning mechanism, a constant force compensation mechanism arranged on the telescopic arm and positioned between the contact wheel and the movable guide wheel, an abrasive belt driving wheel with a fixed central shaft, and an abrasive belt wound on the abrasive belt driving wheel, the contact wheel, the tensioning wheel and the movable guide wheel.

2. The telescopic constant-force compensation sanding belt device for robots as claimed in claim 1, further comprising a linear slide rail, wherein the telescopic arm is mounted on a slide block of the linear slide rail and can perform linear motion along the linear slide rail, and a track of the linear slide rail is fixedly arranged.

3. The telescopic constant force compensation sanding belt device for robots according to claim 2, wherein a first guide wheel is arranged between the belt driving wheel and the contact wheel, a second guide wheel is arranged between the belt driving wheel and the tension wheel, and central axes of the belt driving wheel, the first guide wheel and the second guide wheel are fixedly arranged.

4. The telescopic constant-force compensation sanding belt device for robots according to claim 2, wherein the constant-force compensation mechanism is set as a constant-force compensation cylinder, a cylinder body of the constant-force compensation cylinder is fixed, and a cylinder rod of the constant-force compensation cylinder is connected to the telescopic arm.

5. The telescopic constant-force compensation sanding belt device for robots according to claim 2, wherein the constant-force compensation mechanism is set to compensate a constant-force spring or a compensation electromagnetic device.

6. The telescopic constant force compensation sanding belt device for robots according to claim 2, wherein the tensioning mechanism is configured as a tensioning cylinder, the tensioning wheel being mounted on a cylinder rod of the tensioning cylinder.

7. The robotic telescopic constant force compensation sanding belt device of claim 2, wherein the tensioning mechanism is set to tension a constant force spring.

8. The telescopic constant-force compensation sanding belt device for robots according to claim 2, wherein the linear slide is provided as a fixed part.

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