CN206869612U - A kind of two-freedom sbrasive belt grinding unit pose compensation device - Google Patents
A kind of two-freedom sbrasive belt grinding unit pose compensation device Download PDFInfo
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- CN206869612U CN206869612U CN201720850085.1U CN201720850085U CN206869612U CN 206869612 U CN206869612 U CN 206869612U CN 201720850085 U CN201720850085 U CN 201720850085U CN 206869612 U CN206869612 U CN 206869612U
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Abstract
The utility model discloses a kind of two-freedom sbrasive belt grinding unit pose compensation device, the elastic supporting bar being made up of shell of gas spring and piston rod, and be respectively articulated with respectively with the pose compensating plate of the first pose compensating plate/second and base plate by the second ball joint bearing and the first ball joint bearing；The first length adjustment bar and the second length adjustment bar are connected between spring shell and the first ball joint bearing, to change the length of the elastic supporting bar between the first oscillating bearing and second joint bearing；Ejection cylinder is fixed on the pose compensating plate of the first pose compensating plate/second, and the piston rod for ejecting cylinder is fixedly connected with polishing plate, and is located in 4 tie regions of four the second ball joint bearing pin joints；Polishing plate is fixed with the axis of guide at corner.The utility model can save correction time when coordinating polishing with robot, reduce the positioning grade to robot and grinding unit, while add the adaptability of polishing system, can ensure the quality of polishing.
Description
Technical field
It the utility model is related to sbrasive belt grinding and grinding technology field, more particularly to a kind of two-freedom sbrasive belt grinding unit
Pose compensation device.
Background technology
When being polished using belt grinder, it is necessary to which skilled worker holds part, abrade the burr on the surface of part.
Chinese human cost increase is quick, and grinding and buffing industry disposes automation equipment to offset the cost gradually risen.Machine at present
Device peopleization polishing system is used cooperatively using robot gribing part with belt sander, and robot is needed with sander precision-fit
Crudy can be ensured.Robotic gripper workpiece when being ground on sbrasive belt grinding unit, it is necessary to abrasive band carry out it is hard contact with
Enough grinding forces are kept, due to polishing system, it is necessary to robot and sand by industrial robot and during grinding unit cooperating
Position and posture between band are calibrated, but because abrasive band belongs to easily-consumed products, it is impossible to it is long-term to ensure the consistent of calibration accuracy
Property.
A kind of robot belt grinder is being elaborated in the A of patent CN 106514461, is being set including tensioning wheel
Meter and dust suction design.A kind of abrasive band wabbler mechanism is given in patent CN203390697 U, it is passive by waving cylinder control
The rotation of roller, the elevating movement of rocking equipment is controlled using telescopic cylinder.But these patents do not provide how with polishing
The sanding apparatus that robot coordinates.
Utility model content
The purpose of this utility model is and a kind of two-freedom sand proposed in order to solve shortcoming present in prior art
Band grinding unit pose compensation device.
To achieve these goals, the utility model employs following technical scheme：
A kind of two-freedom sbrasive belt grinding unit pose compensation device, by drive roll driving abrasive band motion, abrasive band bypass by
The first driven roll, the second driven roll and the 3rd driven roll form closed loop path made of aluminium alloy, in the operation with closed ring of abrasive band
Pneumatic two-freedom pose compensation device is disposed with profile, pneumatic two-freedom pose compensation device includes the first length adjustment
Bar, the first ball joint bearing, shell of gas spring, air spring piston bar, the first pose compensating plate, bearing pin, polishing plate, the second ball close
Bearings, the axis of guide, guideway, the second length adjustment bar, ejection cylinder, the second pose compensating plate, right-angled intersection axle, intersection
Axle sliding block and slide rail；The elastic supporting bar being made up of shell of gas spring and piston rod, and pass through the second ball joint bearing and first
Ball joint bearing is respectively articulated with the pose compensating plate of the first pose compensating plate/second and base plate respectively；In spring shell and
The first length adjustment bar and the second length adjustment bar are connected between one ball joint bearing, to change the first oscillating bearing and second
The length of elastic supporting bar between oscillating bearing；Ejection cylinder is fixed on the pose compensating plate of the first pose compensating plate/second,
The piston rod for ejecting cylinder is fixedly connected with polishing plate, and positioned at 4 tie regions of four the second ball joint bearing pin joints
It is interior；Polishing is fixed with the axis of guide at plate corner, and insertion respectively is fixed on the guiding of the pose compensating plate of the first pose compensating plate/second
In axle sleeve.
Preferably, bearing pin one end is fixed on base plate, and the other end is inserted in the I connected in stars of the first pose compensating plate, and first
The I connected in stars of pose compensating plate rotate around bearing pin, and bearing pin slides in I connected in stars.
Preferably, the second be hinged ball-joint axle is carried out with the pose compensating plate of the first pose compensating plate/second and base plate
Hold the ball joint bearing for three degree of freedom with the first ball joint bearing.
Preferably, one end of right-angled intersection axle is hinged with the second pose compensating plate, and the other end is hinged with intersecting axle sliding block, and ten
The central axis of word intersecting axle both ends hinged place is orthogonal and more intersecting, and slide rail is fixed on the base mounting plate, intersecting axle sliding block
Sliding pair is formed with slide rail, sliding block can slide in slide rail.
Preferably, the slip secondary axis of intersecting axle sliding block and slide rail has with right-angled intersection axle and intersecting axle sliding block hinge axes
There is bias.
The utility model provides a kind of two-freedom sbrasive belt grinding unit pose compensation device, can adaptive adjustment beat
Nog plate posture coordinates the grinding surface of workpiece, improves polishing quality, reduces mutual when robot works with sander unit matching
Correction time, high-volume can improve efficiency when being ground operation；This sbrasive belt grinding unit being used cooperatively with industrial robot
Labor strength can be mitigated, production in enormous quantities reduces cost, improves grinding and polishing effect.The utility model can be saved
Coordinate correction time when polishing with robot, reduce the positioning grade to robot and grinding unit, while add polishing
The adaptability of system, the quality of polishing can be ensured.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of two-freedom sbrasive belt grinding unit pose compensation device of the utility model.
Fig. 2 is a kind of partial structural diagram of two-freedom sbrasive belt grinding unit pose compensation device of the utility model.
Fig. 3 is a kind of two-freedom sbrasive belt grinding unit pose compensation device other structures form figure of the utility model.
Fig. 4 is a kind of compensation mechanism figure of two-freedom sbrasive belt grinding unit pose compensation device of the utility model.
Fig. 5 is other of a kind of spring supporting bar of two-freedom sbrasive belt grinding unit pose compensation device of the utility model
Embodiment figure.
Fig. 6 is other of a kind of right-angled intersection axle of two-freedom sbrasive belt grinding unit pose compensation device of the utility model
Embodiment figure.
In figure：1- active rods；2- base plates；The driven rolls of 3- first；The driven rolls of 4- second；The driven rolls of 5- the 3rd；6- abrasive bands；
7- the first length adjustment bars；The ball joint bearings of 8- first；9- shell of gas spring；10- air spring piston bars；The poses of 11- first are mended
Repay plate；12- bearing pins；13- polishing plates；The ball joint bearings of 14- second；The 15- axis of guides；16- guideways；The length of 17- second is adjusted
Pole；18- ejects cylinder；19- pose compensating plate I shape grooves；20- the second pose compensating plates；21- right-angled intersection axles；22- intersecting axles
Sliding block；23- slide rails；24- shells；25- piston rods；26- elastomeric elements.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Reference picture 1, a kind of two-freedom sbrasive belt grinding unit pose compensation device described in the utility model can be used for
Automation polishing system is formed in sbrasive belt grinding unit with industrial robot, traditional sbrasive belt grinding unit is mainly by being fixed on pedestal
Motor driving drive roll 1 on plate 2 moves, and base plate 2 is made up of aluminum alloy plate materials, and drive roll 3 is the encapsulated cylinder of aluminium core
Shape roller, its outer surface are provided with spiral shape skewed slot, and spiral chute is circumferentially uniform along periphery, increase between drive roll and abrasive band
Frictional force.Abrasive band 6 forms a closed loop path around the first driven roll 3, the second driven roll 4, the 3rd driven roll 5 and drive roll 1,
Closed loop reciprocating motion is carried out under the drive of drive roll 1.First driven roll 3, the second driven roll 4, the 3rd driven roll 5 are hinged on base
On seat board 2.Pneumatic two-freedom pose compensation device is arranged in the closed loop region that abrasive band is formed.Pneumatic two-freedom posture is mended
Device is repaid to be mended by the first length adjustment bar 7, the first ball joint bearing 8, shell of gas spring 9, air spring piston bar 10, the first pose
Repay plate 11, bearing pin 12, polishing plate 13, the second ball joint bearing 14, the axis of guide 15, guideway 16, the second length adjustment bar 17,
Ejection cylinder 18 forms.
Reference picture 2, in pneumatic two-freedom pose compensation device, four shell of gas spring 9 and air spring piston bar 10 are logical
Cross the second ball joint bearing 14 and the first ball joint bearing 8 is hinged with the first pose compensating plate 11 and base plate 2 respectively, the
One pose compensating plate 11 is rectangle, and gas spring is arranged in the both sides of the first pose compensating plate 11 two-by-two.Two gas of side wherein
In spring, the first length adjustment bar 7 and the second length adjustment bar are installed between the first ball joint bearing 8 and shell of gas spring 9
The be hinged distance in 17 regulation gas spring both ends.The one end of bearing pin 12 is fixed on base plate 2, and the other end is embedded in the first pose compensating plate
In 11 I connected in stars 19, the I connected in stars 19 of the first pose compensating plate 11 can rotate around bearing pin 12, can also allow bearing pin
12 slide in I connected in stars 19.Be fixed with the first pose compensating plate 11 ejection cylinder 18, eject cylinder 18 piston rod with
Polishing plate 13 is fixedly connected.The axis of guide 15 is fixed with 13 4 jiaos of plate of polishing, insertion respectively is fixed on the first pose compensating plate 11
Guideway 16 in.
The source of the gas of ejection cylinder 18 is provided by air supply system, can release polishing plate 13 by abrasive band when ejecting 18 air inlet of cylinder
6 are pressed in and are polished surface and are ground.When the face that is polished contacts polishing with abrasive band 6 and polishing plate 13, if polishing plate 13 4
The discontinuity on side, the gas spring on the big one side of stress will be compressed, while drive the first pose compensating plate 11 to occur partially
Turn, length and changes in deflection occur for four groups of gas springs, untill 11 weeks stress of the first pose compensating plate are equal in magnitude.
The present embodiment can be to the first pose compensating plate 11 using the second length adjustment bar 17 and the first length adjustment bar 7
Initial pose is adjusted to adapt to the check and correction position needs in ground face.
Reference picture 3, Fig. 3 are another implementation illustration of pneumatic two-freedom pose compensation device, and it is by the first length adjustment bar
7th, the first ball joint bearing 8, shell of gas spring 9, air spring piston bar 10, polishing plate 13, the second ball joint bearing 14, the axis of guide
15th, guideway 16, the second length adjustment bar 17, ejection cylinder 18, the second pose compensating plate 20, right-angled intersection axle 21, intersection
Axle sliding block 22, slide rail 23 form composition.Four shell of gas spring 9 and piston rod 10 pass through the second ball joint bearing 14 and the first ball
Oscillating bearing 8 is hinged with the second pose compensating plate 20 and base plate 2 respectively, and the second pose articulated slab 20 is square, gas bullet
Spring is arranged in the both sides of the second pose compensating plate 20 two-by-two.In two gas springs of wherein side, the first ball joint bearing 8 with
Be provided between shell of gas spring the first length adjustment bar 7 and the second length adjustment bar 17 regulation gas spring both ends it is be hinged away from
From.One end of right-angled intersection axle 21 is be hinged with the second pose compensating plate 20, and the other end is be hinged with intersecting axle sliding block 22, right-angled intersection
The shaft axis of the both ends hinged place of axle 21 it is orthogonal and intersecting one at.Slide rail 23 is fixed on base plate 2, intersecting axle sliding block
22 form sliding pair with slide rail 23, and sliding block 22 can slide on slide rail 23.Ejection is fixed with the second pose compensating plate 20
Cylinder 18, the piston rod and polishing plate 13 for ejecting cylinder 18 are connected.The axis of guide 15 is fixed with 13 4 jiaos of plate of polishing, is inserted respectively
It is fixed in the guideway 16 of the second pose compensating plate 20.The source of the gas of cylinder is provided by air supply system, can will during cylinder intake
Polishing plate, which is released abrasive band being pressed in, to be polished surface and is ground.When the face that is polished contacts polishing with abrasive band 6 and polishing plate 13,
If the discontinuity on the side of plate 13 4 of polishing, the gas spring on the big one side of stress will be compressed, while drive the second pose
Compensating plate 20 deflects around the two vertical axises line of right-angled intersection axle 21, and length and changes in deflection occur for four gas springs, directly
Untill the surrounding stress of the second pose compensating plate 20 is equal in magnitude.The present embodiment utilizes the second length adjustment bar 17 and the first length
The initial pose of the second pose compensating plate 20 can be adjusted for degree adjusting rod 7 is needed with adapting to the check and correction position in ground face
Will.
The two kinds of embodiments proposed for Fig. 2 and Fig. 3, adjusted by being pre-adjusted the second length adjustment bar 17 and the first length
Pole 7 sets the posture of the pose compensating plate 20 of the first pose compensating plate 11/ second.Cylinder 18 is ejected during work will polishing plate 13
Release, abrasive band is squeezed in the grinding surface of workpiece and is ground.When the face that is polished and the not parallel plane of polishing plate 13, position
Appearance compensating plate frees the error that angular displacement quasi-complement is polished face, increase grinding area, improves polishing quality.
Reference picture 4, the second ball joint bearing 14, right-angled intersection axle 21, intersecting axle sliding block 22, slide rail 23 are along second
Appearance compensating plate 20 is symmetrically arranged.
Reference picture 5,10 groups of the shell of gas spring 9 and piston rod used in the embodiment and Fig. 3 embodiments for Fig. 2
Into gas spring, can use with cavity structure shell 24, piston rod 25 and shell 24 hollow intracavitary place elasticity
The elastic supporting bar that part 26 forms replaces.Other building forms are identical with structure in Fig. 2 and Fig. 3.Stretching bullet can also be used
Spring catches on the pin joint of the first oscillating bearing 8 and bearing 21.Other building forms are identical with structure in Fig. 2 and Fig. 3.
For the gas spring in above-described embodiment（Elastic supporting bar）For, multiple gas springs can be used（Resilient support
Bar）It is arranged symmetrically along the plane of symmetry of the first pose compensating plate 11 or the second pose compensating plate 20.Other building forms are constant.
For the composition form of the right-angled intersection axle 21 in Fig. 3, intersecting axle sliding block 22 and slide rail 23, intersecting axle sliding block 22 with
With right-angled intersection axle 21 and the hinge axes of intersecting axle sliding block 22 eccentric, reference picture 6 can occur for the slip secondary axis of slide rail 23, its
His building form is constant.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (5)
- A kind of 1. two-freedom sbrasive belt grinding unit pose compensation device, by drive roll（1）Drive abrasive band（6）Motion, abrasive band（6） Around the first driven roll made of aluminium alloy（3）, the second driven roll（4）With the 3rd driven roll（5）Closed loop path is formed, in sand Band（6）Pneumatic two-freedom pose compensation device is disposed with the Internal periphery of operation with closed ring, it is characterised in that pneumatic two-freedom Pose compensation device includes the first length adjustment bar（7）, the first ball joint bearing（8）, shell of gas spring（9）, air spring piston Bar（10）, the first pose compensating plate（11）, bearing pin（12）, polishing plate（13）, the second ball joint bearing（14）, the axis of guide（15）、 Guideway（16）, the second length adjustment bar（17）, ejection cylinder（18）, the second pose compensating plate（20）, right-angled intersection axle （21）, intersecting axle sliding block（22）And slide rail（23）；By shell of gas spring（9）And piston rod（10）The elastic supporting bar of composition, and Pass through the second ball joint bearing（14）With the first ball joint bearing（8）Respectively with the first pose compensating plate（11）/ the second pose is mended Repay plate（20）And base plate（2）It is respectively articulated with；In spring shell（9）With the first ball joint bearing（8）Between be connected with the first length Spend adjusting rod（7）With the second length adjustment bar（17）, to change the first oscillating bearing（8）With second joint bearing（14）Between The length of elastic supporting bar；Eject cylinder（18）It is fixed on the first pose compensating plate（11）/ the second pose compensating plate（20）On, top Go out cylinder（18）Piston rod with polishing plate（13）It is fixedly connected, and is located at four the second ball joint bearings（14）The four of pin joint In point tie region；Polishing plate（13）The axis of guide is fixed with corner（15）, insert be fixed on the first pose compensating plate respectively （11）/ the second pose compensating plate（20）Guideway（16）In.
- A kind of 2. two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that bearing pin （12）One end is fixed on base plate（2）, the other end the first pose compensating plate of insertion（11）I connected in stars（19）In, the first pose Compensating plate（11）I connected in stars（19）Around bearing pin（12）Rotate, bearing pin（12）In I connected in stars（19）Middle slip.
- 3. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that with One pose compensating plate（11）/ the second pose compensating plate（20）And base plate（2）Carry out the second be hinged ball joint bearing（14）With First ball joint bearing（8）For the ball joint bearing of three degree of freedom.
- A kind of 4. two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that cross Intersecting axle（21）One end and the second pose compensating plate（20）It is be hinged, the other end and intersecting axle sliding block（22）It is be hinged, right-angled intersection Axle（21）The central axis of both ends hinged place is orthogonal and more intersecting, slide rail（23）It is fixed on base plate（2）On, intersecting axle Sliding block（22）With slide rail（23）Form sliding pair, sliding block（22）Can be in slide rail（23）Slide.
- 5. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 4, it is characterised in that intersect Axle sliding block（22）With slide rail（23）Slip secondary axis and right-angled intersection axle（21）With intersecting axle sliding block（22）Hinge axes have It is eccentric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720850085.1U CN206869612U (en) | 2017-07-13 | 2017-07-13 | A kind of two-freedom sbrasive belt grinding unit pose compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720850085.1U CN206869612U (en) | 2017-07-13 | 2017-07-13 | A kind of two-freedom sbrasive belt grinding unit pose compensation device |
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| Publication Number | Publication Date |
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| CN206869612U true CN206869612U (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720850085.1U Active CN206869612U (en) | 2017-07-13 | 2017-07-13 | A kind of two-freedom sbrasive belt grinding unit pose compensation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097129A (en) * | 2017-07-13 | 2017-08-29 | 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 |
| CN110561237A (en) * | 2019-10-08 | 2019-12-13 | 华中科技大学 | Robot abrasive belt grinding method and system combining active and passive power control |
-
2017
- 2017-07-13 CN CN201720850085.1U patent/CN206869612U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097129A (en) * | 2017-07-13 | 2017-08-29 | 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 |
| CN107097129B (en) * | 2017-07-13 | 2023-07-07 | 哈尔滨工业大学深圳研究生院 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
| CN110561237A (en) * | 2019-10-08 | 2019-12-13 | 华中科技大学 | Robot abrasive belt grinding method and system combining active and passive power control |
| CN110561237B (en) * | 2019-10-08 | 2020-07-24 | 华中科技大学 | Robot abrasive belt grinding method and system combining active and passive power control |
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