CN107097129B - Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit - Google Patents
Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit Download PDFInfo
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- CN107097129B CN107097129B CN201710572096.2A CN201710572096A CN107097129B CN 107097129 B CN107097129 B CN 107097129B CN 201710572096 A CN201710572096 A CN 201710572096A CN 107097129 B CN107097129 B CN 107097129B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a posture compensation device of a two-degree-of-freedom abrasive belt grinding unit, which comprises an elastic support rod consisting of a gas spring shell and a piston rod, wherein the elastic support rod is respectively hinged with a first posture compensation plate/a second posture compensation plate and a base plate through a second spherical joint bearing and a first spherical joint bearing; a first length adjusting rod and a second length adjusting rod are connected between the spring shell and the first ball joint bearing so as to change the length of an elastic supporting rod between the first joint bearing and the second joint bearing; the ejection cylinder is fixed on the first pose compensation plate/the second pose compensation plate, and a piston rod of the ejection cylinder is fixedly connected with the polishing plate and is positioned in a four-point connecting line area of the hinge points of the four second ball joint bearings; guide shafts are fixed at four corners of the polishing plate. The invention can save correction time when matched with the robot for polishing, reduce the positioning grade of the robot and the grinding unit, increase the adaptability of a polishing system and ensure the polishing quality.
Description
Technical Field
The invention relates to the technical field of abrasive belt grinding and polishing, in particular to a two-degree-of-freedom abrasive belt grinding unit posture compensation device.
Background
When the abrasive belt sander is used for sanding, a skilled worker is required to hold the part and to grind burrs on the surface of the part. The chinese labor costs rise rapidly, and the sanding and polishing industry deploys automation equipment to offset the rising costs. At present, a roboticized polishing system uses a robot to grip a part to be matched with a belt sander, and the robot needs to be precisely matched with the sander to ensure the processing quality. When a workpiece clamped by the robot is ground on the abrasive belt grinding unit, the workpiece is required to be in hard contact with the abrasive belt to keep enough grinding force, and the position and the posture between the robot and the abrasive belt are required to be calibrated when the grinding system is matched with the grinding unit by the industrial robot, but the consistency of the calibration precision cannot be ensured for a long time due to the fact that the abrasive belt belongs to a consumable product.
In patent CN 106514461A a belt sander for robots is described, including tensioner design and dust suction design. Patent CN 203390697U discloses an abrasive belt rocking mechanism, in which the rotation of a driven roller is controlled by a rocking cylinder, and the lifting movement of a rocking device is controlled by a telescopic cylinder. But these patents do not give a sanding device how to cooperate with a sanding robot.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a two-degree-of-freedom abrasive belt grinding unit posture compensation device.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the two-degree-of-freedom abrasive belt grinding unit posture compensation device is characterized in that an abrasive belt is driven by a driving roller to move, the abrasive belt bypasses a first driven roller, a second driven roller and a third driven roller which are made of aluminum alloy to form a closed loop path, a pneumatic two-degree-of-freedom posture compensation device is arranged in the inner contour of the closed loop operation of the abrasive belt, and the pneumatic two-degree-of-freedom posture compensation device comprises a first length adjusting rod, a first ball joint bearing, a gas spring shell, a gas spring piston rod, a first posture compensating plate, a pin shaft, a polishing plate, a second ball joint bearing, a guide shaft sleeve, a second length adjusting rod, an ejection cylinder, a second posture compensating plate, a cross shaft sliding block and a sliding rail; the elastic support rod consists of a gas spring shell and a gas spring piston rod and is respectively hinged with the first pose compensation plate/the second pose compensation plate and the base plate through a second spherical joint bearing and a first spherical joint bearing; a first length adjusting rod and a second length adjusting rod are connected between the air spring shell and the first ball joint bearing so as to change the length of an elastic supporting rod between the first ball joint bearing and the second ball joint bearing; the ejection cylinder is fixed on the first pose compensation plate/the second pose compensation plate, and a gas spring piston rod of the ejection cylinder is fixedly connected with the polishing plate and is positioned in a four-point connecting line area of the hinge points of the four second ball joint bearings; guide shafts are fixed at four corners of the polishing plate and are respectively inserted and fixed in guide shaft sleeves of the first posture compensation plate/the second posture compensation plate.
Preferably, one end of the pin shaft is fixed on the base plate, the other end of the pin shaft is inserted into the I-shaped groove of the first pose compensation plate, the I-shaped groove of the first pose compensation plate rotates around the pin shaft, and the pin shaft slides in the I-shaped groove.
Preferably, the second ball joint bearing and the first ball joint bearing hinged with the first posture compensation plate/the second posture compensation plate and the base plate are ball joint bearings with three degrees of freedom.
Preferably, one end of the cross shaft is hinged with the second pose compensation plate, the other end of the cross shaft is hinged with the cross shaft sliding block, central axes of hinged positions of two ends of the cross shaft are mutually perpendicular and intersect at one point, the sliding rail is fixed on the base plate, the cross shaft sliding block and the sliding rail form a sliding pair, and the cross shaft sliding block can slide on the sliding rail.
Preferably, the sliding pair axis of the cross shaft sliding block and the sliding rail is eccentric to the hinging axis of the cross shaft sliding block and the cross shaft sliding block.
The invention provides a two-degree-of-freedom abrasive belt grinding unit posture compensation device, which can adaptively adjust the posture of a grinding plate to match with the grinding surface of a workpiece, improve the grinding quality, reduce the mutual correction time when a robot and a grinding machine unit work together, and improve the efficiency during mass grinding operation; the abrasive belt grinding unit matched with the industrial robot can lighten the labor intensity of workers, reduce the cost in mass production and improve the grinding and polishing effects. The invention can save correction time when matched with the robot for polishing, reduce the positioning grade of the robot and the grinding unit, increase the adaptability of a polishing system and ensure the polishing quality.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a two-degree-of-freedom belt grinding unit attitude compensation device according to the present invention.
Fig. 2 is a schematic diagram of a partial structure of an attitude compensation device of a two-degree-of-freedom belt grinding unit according to the present invention.
Fig. 3 is a diagram showing another structural form of the attitude compensation device of the two-degree-of-freedom abrasive belt grinding unit.
Fig. 4 is a schematic diagram of a two-degree-of-freedom belt grinding unit attitude compensation device according to the present invention.
Fig. 5 is a diagram of another embodiment of a spring support bar of a two degree-of-freedom belt sander unit attitude compensation device of the present invention.
Fig. 6 is a diagram of another embodiment of a crisscross axle of a two degree-of-freedom belt sander unit attitude compensation apparatus of the present invention.
In the figure: 1-an active stick; 2-a base plate; 3-a first passive roller; 4-a second passive roller; 5-a third passive roller; 6-abrasive belt; 7-a first length adjusting rod; 8-a first ball joint bearing; 9-a gas spring housing; 10-a gas spring piston rod; 11-a first pose compensation plate; 12-pin shafts; 13-polishing the plate; 14-a second ball joint bearing; 15-a guide shaft; 16-a guide sleeve; 17-a second length adjustment lever; 18-ejecting an air cylinder; 19-a pose compensation plate I-shaped groove; 20-a second pose compensation plate; 21-crisscross axes; 22-cross-axis slide blocks; 23-sliding rails; 24-a housing; 25-a gas spring piston rod; 26-elastic member.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1, the attitude compensation device of the two-degree-of-freedom abrasive belt grinding unit can be used for an automatic grinding system formed by the abrasive belt grinding unit and an industrial robot, the traditional abrasive belt grinding unit mainly comprises a motor fixed on a base plate 2 for driving a driving roller 1 to move, the base plate 2 is made of aluminum alloy plates, the driving roller 3 is an aluminum core rubber-coated cylindrical roller, spiral inclined grooves are formed in the outer surface of the aluminum core rubber-coated cylindrical roller, the spiral inclined grooves are uniformly distributed along the circumferential direction of the cylindrical surface, and the friction force between the driving roller and an abrasive belt is increased. The abrasive belt 6 bypasses the first driven roller 3, the second driven roller 4, the third driven roller 5 and the driving roller 1 to form a closed loop path, and the driving roller 1 drives the abrasive belt to perform closed loop reciprocating motion. The first driven roller 3, the second driven roller 4 and the third driven roller 5 are hinged on the base plate 2. The pneumatic two-degree-of-freedom attitude compensation device is arranged in a closed loop area formed by the abrasive belt. The pneumatic two-degree-of-freedom gesture compensation device consists of a first length adjusting rod 7, a first ball joint bearing 8, a gas spring shell 9, a gas spring piston rod 10, a first gesture compensation plate 11, a pin shaft 12, a polishing plate 13, a second ball joint bearing 14, a guide shaft 15, a guide shaft sleeve 16, a second length adjusting rod 17 and an ejection cylinder 18.
Referring to fig. 2, in the pneumatic two-degree-of-freedom posture compensation device, four gas spring housings 9 and gas spring piston rods 10 are hinged with a first posture compensation plate 11 and a base plate 2 through a second ball joint bearing 14 and a first ball joint bearing 8, respectively, the first posture compensation plate 11 is rectangular, and the gas springs are arranged on two sides of the first posture compensation plate 11. In the two gas springs at one side, a first length adjusting rod 7 and a second length adjusting rod 17 are arranged between the first ball joint bearing 8 and the gas spring shell 9 to adjust the hinged distance between the two ends of the gas springs. One end of the pin shaft 12 is fixed on the base plate 2, the other end of the pin shaft 12 is embedded into the I-shaped groove 19 of the first pose compensation plate 11, and the I-shaped groove 19 of the first pose compensation plate 11 can rotate around the pin shaft 12 and also can allow the pin shaft 12 to slide in the I-shaped groove 19. An ejection cylinder 18 is fixed on the first pose compensation plate 11, and a gas spring piston rod of the ejection cylinder 18 is fixedly connected with the polishing plate 13. Guide shafts 15 are fixed at four corners of the polishing plate 13, and are respectively inserted and fixed in guide shaft sleeves 16 of the first pose compensation plate 11.
The air source of the ejection cylinder 18 is provided by an air supply system, and when the ejection cylinder 18 is in air supply, the polishing plate 13 can be pushed out to press the abrasive belt 6 on the polished surface for polishing. When the polished surface is contacted with the abrasive belt 6 and the polishing plate 13 for polishing, if the stress on four sides of the polishing plate 13 is uneven, the gas springs on one side with large stress are compressed, and meanwhile, the first pose compensation plate 11 is driven to deflect, and the four groups of gas springs are changed in length and deflection until the stress on the periphery of the first pose compensation plate 11 is equal.
The initial pose of the first pose compensation plate 11 can be adjusted by using the second length adjusting rod 17 and the first length adjusting rod 7 to adapt to the correction position requirement of the ground surface.
Referring to fig. 3, fig. 3 is a diagram of another embodiment of a pneumatic two-degree-of-freedom posture compensation device, which is composed of a first length adjusting rod 7, a first ball joint bearing 8, a gas spring housing 9, a gas spring piston rod 10, a polishing plate 13, a second ball joint bearing 14, a guide shaft 15, a guide shaft sleeve 16, a second length adjusting rod 17, an ejection cylinder 18, a second posture compensating plate 20, a cross shaft 21, a cross shaft sliding block 22 and a sliding rail 23. The four gas spring shells 9 and the gas spring piston rods 10 are hinged with the second pose compensation plate 20 and the base plate 2 through the second ball joint bearings 14 and the first ball joint bearings 8 respectively, the second pose hinge plates 20 are square, and the gas springs are arranged on two sides of the second pose compensation plate 20. In the two gas springs at one side, a first length adjusting rod 7 and a second length adjusting rod 17 are arranged between the first ball joint bearing 8 and the gas spring shell to adjust the hinged distance between the two ends of the gas springs. One end of the cross shaft 21 is hinged with the second pose compensation plate 20, the other end is hinged with the cross shaft sliding block 22, and the axes of the rotating shafts at the hinged positions of the two ends of the cross shaft 21 are mutually perpendicular and intersect at one position. The slide rail 23 is fixed on the base plate 2, the cross-axis slide block 22 and the slide rail 23 form a sliding pair, and the cross-axis slide block 22 can slide on the slide rail 23. An ejection cylinder 18 is fixed on the second pose compensation plate 20, and a gas spring piston rod of the ejection cylinder 18 is fixedly connected with the polishing plate 13. Guide shafts 15 are fixed at four corners of the polishing plate 13, and are respectively inserted and fixed in guide shaft sleeves 16 of the second posture compensation plate 20. The air source of the air cylinder is provided by the air supply system, and when the air cylinder is in air inlet, the polishing plate can be pushed out to press the abrasive belt on the polished surface for polishing. When the polished surface is contacted with the abrasive belt 6 and the polishing plate 13 for polishing, if the four sides of the polishing plate 13 are unevenly stressed, the air springs on the side with high stress are compressed, and meanwhile, the second posture compensation plate 20 is driven to deflect around two vertical axes of the cross shaft 21, and the four air springs are changed in length and deflection until the four sides of the second posture compensation plate 20 are equally stressed. The initial pose of the second pose compensation plate 20 can be adjusted by using the second length adjustment rod 17 and the first length adjustment rod 7 to adapt to the correction position requirement of the ground surface.
For both embodiments proposed in fig. 2 and 3, the posture of the first/second posture compensation plates 11/20 is set by adjusting the second length adjustment lever 17 and the first length adjustment lever 7 in advance. During operation, the ejection cylinder 18 pushes out the polishing plate 13, and the abrasive belt is extruded on the polishing surface of the workpiece for polishing. When the polished surface is not parallel to the plane of the polishing plate 13, the pose compensation plate generates angular displacement to compensate the error of the polished surface, so that the polishing area is increased, and the polishing quality is improved.
Referring to fig. 4, the second ball joint bearing 14, the cross shaft 21, the cross shaft slider 22, and the slide rail 23 are symmetrically arranged along the second posture compensation plate 20.
Referring to fig. 5, for the gas spring composed of the gas spring housing 9 and the gas spring piston rod 10 used in the embodiment of fig. 2 and the embodiment of fig. 3, an elastic support rod composed of a housing 24 having a hollow structure, a gas spring piston rod 25, and an elastic member 26 placed in the hollow cavity of the housing 24 may be used instead. The other constitution is the same as that of fig. 2 and 3. A tension spring may also be used to hook the hinge point of the first ball joint bearing 8 and the bearing 21. The other constitution is the same as that of fig. 2 and 3.
As for the gas springs (elastic support rods) in the above-described embodiments, a plurality of gas springs (elastic support rods) may be used which are symmetrically arranged along the symmetry plane of the first posture compensation plate 11 or the second posture compensation plate 20. Other composition modes are unchanged.
With respect to the composition of the cross shaft 21, the cross shaft slider 22 and the slide rail 23 in fig. 3, the sliding pair axis of the cross shaft slider 22 and the slide rail 23 may be eccentric with respect to the hinge axis of the cross shaft 21 and the cross shaft slider 22, and other compositions are unchanged with reference to fig. 6.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. The two-degree-of-freedom abrasive belt grinding unit posture compensation device is characterized in that the two-degree-of-freedom abrasive belt grinding unit posture compensation device comprises a first length adjusting rod (7), a first ball joint bearing (8), a gas spring shell (9), a gas spring piston rod (10), a first posture compensating plate (11), a pin shaft (12), a grinding plate (13), a second ball joint bearing (14), a guide shaft (15), a guide shaft sleeve (16), a second length adjusting rod (17), an ejection cylinder (18), a second position posture compensating plate (20), a cross shaft (21), a cross shaft sliding block (22) and a sliding rail (23); the elastic support rod consists of a gas spring shell (9) and a gas spring piston rod (10), and is respectively hinged with the first pose compensation plate (11)/the second pose compensation plate (20) and the base plate (2) through a second spherical joint bearing (14) and a first spherical joint bearing (8); a first length adjusting rod (7) and a second length adjusting rod (17) are connected between the gas spring shell (9) and the first ball joint bearing (8) so as to change the length of an elastic supporting rod between the first ball joint bearing (8) and the second ball joint bearing (14); the ejection cylinder (18) is fixed on the first pose compensation plate (11)/the second pose compensation plate (20), and a gas spring piston rod of the ejection cylinder (18) is fixedly connected with the polishing plate (13) and is positioned in a four-point connecting line area of the hinge points of the four second ball joint bearings (14); guide shafts (15) are fixed at four corners of the polishing plate (13) and are respectively inserted and fixed into guide shaft sleeves (16) of the first posture compensation plate (11)/the second posture compensation plate (20);
one end of a pin shaft (12) is fixed on the base plate (2), the other end of the pin shaft is inserted into an I-shaped groove (19) of the first pose compensation plate (11), the I-shaped groove (19) of the first pose compensation plate (11) rotates around the pin shaft (12), and the pin shaft (12) slides in the I-shaped groove (19);
the second ball joint bearing (14) and the first ball joint bearing (8) which are hinged with the first posture compensation plate (11)/the second posture compensation plate (20) and the base plate (2) are ball joint bearings with three degrees of freedom.
2. The attitude compensation device of the two-degree-of-freedom abrasive belt grinding unit according to claim 1, wherein one end of a cross shaft (21) is hinged with a second attitude compensation plate (20), the other end of the cross shaft is hinged with a cross shaft sliding block (22), central axes of hinged positions of two ends of the cross shaft (21) are mutually perpendicular and intersect at one point, a sliding rail (23) is fixed on a base plate (2), the cross shaft sliding block (22) and the sliding rail (23) form a sliding pair, and the cross shaft sliding block (22) can slide on the sliding rail (23).
3. A two-degree-of-freedom belt grinding unit attitude compensation device according to claim 2, characterized in that the sliding pair axis of the cross-shaft slider (22) and the slide rail (23) and the hinge axis of the cross-shaft (21) and the cross-shaft slider (22) have eccentricities.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572096.2A CN107097129B (en) | 2017-07-13 | 2017-07-13 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
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| CN201710572096.2A CN107097129B (en) | 2017-07-13 | 2017-07-13 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
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| CN107097129A CN107097129A (en) | 2017-08-29 |
| CN107097129B true CN107097129B (en) | 2023-07-07 |
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| CN107511722A (en) * | 2017-10-19 | 2017-12-26 | 江门市霈霖卫浴科技有限公司 | A kind of circular water outlet plate polishing processing method |
| CN108214221A (en) * | 2018-01-04 | 2018-06-29 | 全椒县同鑫模具配套有限公司 | A kind of polissoir used for non-ferrous metals casting |
| CN110281118B (en) * | 2019-07-22 | 2020-05-01 | 蓬莱鸿鑫平衡器有限公司 | Intelligent sheet metal part polishing machine |
| CN113370039B (en) * | 2021-08-11 | 2021-10-26 | 新沂市鹏立机械有限公司 | Sewing machine head processing and grinding device |
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| JPH0227853U (en) * | 1988-08-05 | 1990-02-22 | ||
| DE4226708A1 (en) * | 1992-02-07 | 1993-08-12 | Sig Schweiz Industrieges | Belt type grinding machine with sliding beam to press belt against work piece - has tensioning pulley actuated by pneumatic cylinder to ensure rapid re-adjustment in belt tension |
| JPH1119859A (en) * | 1997-07-03 | 1999-01-26 | Nippon Micro Coating Kk | Polishing device |
| CN204771965U (en) * | 2015-06-15 | 2015-11-18 | 山东富思特管业有限公司 | Welded tube wig -wag tool |
| CN105856026A (en) * | 2016-06-17 | 2016-08-17 | 福建工程学院 | Multi-belt abrasive belt polishing machine |
| CN205685154U (en) * | 2016-06-23 | 2016-11-16 | 吉林大学 | A kind of grinding mechanism of abrasive belt grinding machine |
| CN206869612U (en) * | 2017-07-13 | 2018-01-12 | 哈尔滨工业大学深圳研究生院 | A kind of two-freedom sbrasive belt grinding unit pose compensation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0227853U (en) * | 1988-08-05 | 1990-02-22 | ||
| DE4226708A1 (en) * | 1992-02-07 | 1993-08-12 | Sig Schweiz Industrieges | Belt type grinding machine with sliding beam to press belt against work piece - has tensioning pulley actuated by pneumatic cylinder to ensure rapid re-adjustment in belt tension |
| JPH1119859A (en) * | 1997-07-03 | 1999-01-26 | Nippon Micro Coating Kk | Polishing device |
| CN204771965U (en) * | 2015-06-15 | 2015-11-18 | 山东富思特管业有限公司 | Welded tube wig -wag tool |
| CN105856026A (en) * | 2016-06-17 | 2016-08-17 | 福建工程学院 | Multi-belt abrasive belt polishing machine |
| CN205685154U (en) * | 2016-06-23 | 2016-11-16 | 吉林大学 | A kind of grinding mechanism of abrasive belt grinding machine |
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