CN210849615U - Flexible abrasive belt grinding and polishing system suitable for tail end of robot - Google Patents
Flexible abrasive belt grinding and polishing system suitable for tail end of robot Download PDFInfo
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- CN210849615U CN210849615U CN201920921990.0U CN201920921990U CN210849615U CN 210849615 U CN210849615 U CN 210849615U CN 201920921990 U CN201920921990 U CN 201920921990U CN 210849615 U CN210849615 U CN 210849615U
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Abstract
The utility model provides a be applicable to terminal flexible abrasive band of robot system of polishing, polish device (2), polish the abrasive band including robot (1), flexible abrasive band and change device (3), flexible abrasive band is polished device (2) and is installed at robot (1) end, and flexible abrasive band is polished device (2) and is polished the work piece through the robot motion, and flexible abrasive band is polished device (2) and is moved to polishing abrasive band change device (3) place through robot (1) and carry out the abrasive band and change. The utility model discloses can improve the precision of polishing to workpiece surface under guaranteeing to polish abrasive band grinding efficiency to improve workpiece surface quality, simultaneously the utility model discloses can realize the quick replacement in abrasive band, shorten the abrasive band and change the cycle, promote station or assembly line automation rate.
Description
Technical Field
The utility model relates to a grind the field of throwing, specifically relate to a flexible abrasive band system of throwing that grinds suitable for terminal of robot.
Background
Abrasive belts are widely used for polishing and polishing the surface of a workpiece as a typical coated abrasive, but the abrasive belts have short service life and need to be replaced frequently as a typical coated abrasive. In the field of industrial automation, an abrasive belt mainly has two application modes, one mode is that a robot grabs a workpiece and carries out grinding and polishing on an external abrasive belt machine, and the abrasive belt is manually installed on the abrasive belt machine; the second mode is that the robot grabs the abrasive belt machine and grinds and polishes the workpiece which is fixedly installed, and the abrasive belt is manually replaced. Two industrial automation application modes of the current abrasive belt mainly have the following defects: 1. the abrasive belt needs to be replaced manually, the replacement period is long, the problem of error in abrasive belt replacement is easy to occur when abrasive belts with various meshes are replaced, and the robot grinding and polishing station or the production line needs to be stopped during manual replacement, so that the automation and intelligence level of the robot grinding and polishing station or the production line are influenced; 2. the abrasive belt is driven by the driving wheel to polish a workpiece at a certain linear speed, the polishing efficiency of the abrasive belt fluctuates greatly on the whole, and the polishing surface quality is uneven due to abrasive belt abrasion in the service life range of the abrasive belt. Based on the above reasons, when the stamping grinding tool is used for grinding and polishing, the stamping grinding tool has high requirements on the grinding and polishing surface roughness and form and position accuracy, and the traditional automatic abrasive belt application mode cannot meet the surface quality requirement of the stamping grinding tool with high accuracy.
The patent document with publication number CN107932278A discloses a blade full-feature robot grinding and polishing device, which comprises an adaptive abrasive belt grinding and polishing mechanism, a contact wheel type abrasive belt grinding and polishing mechanism and an adaptive grinding wheel grinding and polishing mechanism, wherein the three mechanisms are used for respectively grinding and polishing the blade back and the blade edge of a blade, a blade basin, a damping table and the corner position of the blade root, so that the grinding and polishing of all the features of the blade are realized; each mechanism comprises a connecting flange, a voice coil motor, a force sensor, a motor and a polishing module, wherein the voice coil motor is arranged on the connecting flange and connected with the force sensor through a sliding block, the force sensor is connected with the polishing module and used for measuring the actual grinding force of the polishing module, the motor is connected with the polishing module and used for driving the polishing module, and the connecting flange is used for connecting the polishing device with an external robot. The scheme can realize the grinding and polishing of the complex curved surface, but cannot realize the automatic replacement of the abrasive belt and cannot ensure the constant grinding efficiency of the grinding and polishing abrasive belt.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a be applicable to terminal flexible abrasive band system of throwing that grinds of robot.
According to the utility model provides a pair of be applicable to terminal flexible abrasive band system of polishing of robot, grind the device of polishing, grind and polish the abrasive band and change the device including robot, flexible abrasive band is ground and is polished the device and install at the robot end, and flexible abrasive band is ground and is polished the device and grind through the robot motion to the work piece and polish, and flexible abrasive band is ground and is polished the device and move to grinding and polish the abrasive band through the robot and change the device position and carry out the abrasive band and change.
Preferably, the flexible abrasive belt grinding and polishing device comprises an abrasive belt motion mechanism, a reciprocating motion module, an up-down moving device and a supporting device, wherein the abrasive belt motion mechanism, the reciprocating motion module and the up-down moving device are all arranged on the supporting device, and the abrasive belt motion mechanism is connected with the reciprocating motion module and the up-down moving device; the abrasive belt motion mechanism realizes the uniform motion of an abrasive belt, the reciprocating motion module provides abrasive belt grinding and polishing power, and the up-down moving device realizes the replacement of the abrasive belt;
the supporting device comprises a tensioning wheel mounting plate, a telescopic cylinder mounting plate, a driving wheel mounting plate and a motor mounting plate, wherein the driving wheel mounting plate and the tensioning wheel mounting plate are respectively connected with the telescopic cylinder mounting plate, and the telescopic cylinder mounting plate is connected with the motor mounting plate.
Preferably, the abrasive belt movement mechanism comprises a driving wheel, a driving contact flange, an abrasive belt driving motor and an abrasive belt, wherein the driving wheel is installed on the front side of a front plate of a driving wheel installation plate, the driving contact flange is installed on a motor installation plate, the abrasive belt driving motor is installed on the rear side of the front plate of the driving wheel installation plate, a transmission shaft of the abrasive belt driving motor penetrates through the front plate of the driving wheel installation plate to be connected with the driving wheel, the abrasive belt is connected with the driving wheel, the abrasive belt moves under the driving of the abrasive belt driving motor, and the driving contact flange is connected with the;
the abrasive belt driving motor is further provided with a motor transmission cover, the abrasive belt driving motor is installed at one end of the motor transmission cover, and the other end of the motor transmission cover is installed on the rear side of the front plate of the driving wheel installation plate.
Preferably, the reciprocating module comprises a second tensioning wheel, a pressing and grinding plate fixing column, a pressing and grinding plate, a third tensioning wheel, a pressing and grinding plate driving motor and a crank block transmission mechanism, wherein the second tensioning wheel and the third tensioning wheel are installed on the tensioning wheel installation plate and connected with an abrasive belt of the abrasive belt movement mechanism, the pressing and grinding plate driving motor is installed on the motor installation plate, a transmission shaft of the pressing and grinding plate driving motor is connected with the crank block transmission mechanism, the crank block transmission mechanism is connected with the pressing and grinding plate fixing column, the pressing and grinding plate fixing column is connected with the pressing and grinding plate, and the pressing and grinding plate is connected with an abrasive belt of the abrasive belt transmission;
the crank sliding block transmission mechanism is provided with a crank sliding block housing, the crank sliding block housing is arranged on the motor mounting plate, the crank sliding block transmission mechanism is arranged inside the crank sliding block housing, and the crank sliding block transmission mechanism is connected with the pressure grinding plate fixing column through the crank sliding block housing;
the second tensioning wheel and the third tensioning wheel are respectively arranged on two sides of the pressing and grinding plate fixing column and can tension the abrasive belts of the abrasive belt movement mechanisms on the two sides of the pressing and grinding plate fixing column; the second tensioning wheel and the third tensioning wheel are arranged on the tensioning wheel mounting plate or the crank block housing;
the pressure grinding plate driving motor is provided with a motor housing, the motor housing is fastened and connected or integrally formed on the telescopic cylinder mounting plate and located in the middle of the telescopic cylinder mounting plate, the motor housing is connected with the motor mounting plate, and the pressure grinding plate driving motor is located in a containing space limited by the motor housing and the motor mounting plate.
Preferably, the up-down moving device comprises a driving wheel, a first tensioning wheel, a first telescopic cylinder, a sliding rod and a second telescopic cylinder, the first tensioning wheel is mounted on the tensioning wheel mounting plate, the first telescopic cylinder and the second telescopic cylinder are respectively mounted at two ends of the telescopic cylinder mounting plate, one end of the sliding rod is connected with the lower plate of the driving wheel mounting plate or the tensioning wheel mounting plate, the other end of the sliding rod is connected with the first telescopic cylinder or the second telescopic cylinder, the sliding rod can slide in a slideway of the first telescopic cylinder or the second telescopic cylinder, and the distance between the driving wheel and the second telescopic cylinder, the distance between the first tensioning wheel and the first telescopic cylinder are changed, so that an abrasive belt of the abrasive belt moving mechanism is in a tensioned or relaxed state;
the up-and-down moving device also comprises one or more tension wheels, each tension wheel is correspondingly provided with a telescopic cylinder, the tension wheels are connected with the telescopic cylinders through slide rods, and the one or more tension wheels are arranged between the driving wheel and the first tension wheel;
or one or more tensioning wheels correspond to one telescopic cylinder, the telescopic cylinder is connected with one or more sliding rods through a sliding rod connecting plate, and the sliding rods are connected with the tensioning wheels in a one-to-one correspondence mode.
Preferably, the sanding belt replacing device comprises a supporting device, a lifting device, a sleeving device, an adjusting device and a sanding belt, wherein the supporting device comprises an upper plate, a bottom plate and a support, the upper plate is arranged above the support, the bottom plate is arranged below the support, the lifting device is arranged on the bottom plate, the sleeving device is connected with the lifting device, the adjusting device is arranged on the upper plate, the sanding belt is tensioned and supported through the adjusting device and the sleeving device, the lifting device and the sleeving device can move relative to the supporting device in a direction perpendicular to the length extension direction of the sanding belt or can move relative to the supporting device in a direction perpendicular to the upper plate, and the adjusting device can slide relative to the upper plate to adjust the tensioning degree of the sanding belt; the shape of the abrasive belt after being tensioned and supported by the sleeve joint device and the adjusting device is matched with the shape of the abrasive belt on the abrasive belt polishing device of which the abrasive belt is to be replaced.
Preferably, the lifting device comprises a bearing plate, a lifting plate, a movable guide rod and a spring base, wherein the spring base is respectively arranged on the bottom plate and the upper plate, two ends of the movable guide rod are respectively connected with the bottom plate and the upper plate through the spring base, the lifting plate is positioned between the bottom plate and the upper plate, the lifting plate is connected with the movable guide rod and can slide up and down relative to the movable guide rod, the lifting plate is connected with the bearing plate, and the bearing plate is positioned above the lifting plate;
spring washers are arranged between the joints of the movable guide rod and the spring base, between the joints of the spring base and the upper plate and between the joints of the spring base and the bottom plate.
Preferably, the sleeving device comprises one or more sleeving adjustment posts, one end of each sleeving adjustment post is mounted on a lifting plate of the lifting device and can move along with the lifting plate, and the other end of each sleeving adjustment post is connected with the abrasive belt and used for tensioning or loosening the abrasive belt together with the cooperative adjustment device;
the sleeving device comprises a first sleeving adjustment pole, a second sleeving adjustment pole, a third sleeving adjustment pole and a fourth sleeving adjustment pole, wherein the first sleeving adjustment pole, the second sleeving adjustment pole and the fourth sleeving adjustment pole are located in the circumferential direction of the pressure bearing plate, and the shape formed by the first sleeving adjustment pole, the second sleeving adjustment pole and the fourth sleeving adjustment pole is matched with the shape of one end of the abrasive belt polishing device.
Preferably, the adjusting device comprises a sliding adjusting component, an elbow, a chute guide rod, a chute part and a bent plate, wherein one end of the sliding adjusting component is connected with one end of the elbow, the other end of the elbow is connected with one end of the chute guide rod, the other end of the chute guide rod is connected with the chute part, the chute part is connected with one side of the bent plate, the other side of the bent plate is connected with the upper plate, a spring is arranged in the chute part, the chute part is connected with the chute guide rod through the spring, the chute guide rod can drive the sliding adjusting component to reciprocate in the extending direction of the chute guide rod through the adjusting spring, and the other end of the sliding adjusting component is connected with an abrasive belt and is used for tensioning or loosening the; the sliding adjustment assembly comprises one or more sliding adjustment posts; the chute piece is connected with one side of the bent plate through an adjusting ring.
Preferably, the system further comprises a control system, wherein the control system comprises a robot control cabinet and a flexible abrasive belt polishing device control cabinet, the robot control cabinet is in signal connection with the robot, and the flexible abrasive belt polishing device control cabinet is in signal connection with the flexible abrasive belt polishing device.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. degree of automation of the lifting station or the production line: realize abrasive band quick replacement, whole abrasive band is changed and is accomplished by the robot, and artifical supplementary new abrasive band of carrying on is supplied when team's handing-over or maintenance, need not artifical the participation in during operation time.
2. The abrasive belt replacement period is shortened: the time for replacing the abrasive belt once by a person is about 180 seconds, and the time for replacing the abrasive belt by a robot is about 10 to 15 seconds.
3. The replacement error rate is low: the robot is used for replacing the abrasive belt, the abrasive belt replacing condition is recorded at the background by the robot, and the replacement error can be well avoided under the condition that a plurality of abrasive belts are staggered.
4. The utility model discloses can guarantee to grind under the unchangeable condition of throwing efficiency, guarantee that the abrasive band wearing and tearing remain unanimous to obtain the surface quality that the high accuracy required.
Based on the utility model discloses a further improvement still has following beneficial effect:
5. the utility model discloses conveniently monitor abrasive band wearing and tearing, realize abrasive band life real time monitoring to carry out the abrasive band and in time change, through accurate process control, can show promotion abrasive band life, reduce cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the present invention.
Fig. 2 is an isometric view of the flexible abrasive belt polishing device of the present invention.
Fig. 3 is a front view of the flexible abrasive belt polishing device of the present invention.
Fig. 4 is a cross-sectional view of fig. 3 at section a-a.
Fig. 5 is an isometric view of the sanding belt changing device of the present invention.
Fig. 6 is a front view of the sanding belt replacing device of the present invention.
Fig. 7 is a plan view of the sanding belt replacing device of the present invention.
Fig. 8 is a cross-sectional view taken along a-a of fig. 7.
The figures show that:
crank block transmission mechanism 23 of robot 1
Flexible abrasive belt grinding and polishing device 2 motor transmission cover 24
First sliding adjustment post 26 of control system 4
Second slide adjusting pole 27 of driving wheel 5
Upper plate 28 of first tensioning wheel 6
First sleeve joint adjusting post 29 of tensioning wheel mounting plate 7
Second sleeve-connected adjusting pole 30 of motor housing 8
Third sleeved adjusting post rod 31 of telescopic cylinder mounting plate 9
Fourth sleeve adjusting post rod 32 of first telescopic cylinder 10
Press grinding plate fixing column 13 bottom plate 35
Drive wheel mounting plate 15 hoof foot 37
Second telescopic cylinder 18 elbow 40
Motor mounting plate 22 bent plate 44
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The utility model discloses can solve the automatic problem of changing of abrasive band, solve the artifical change that exists change cycle length, change the problem of makeing mistakes easily and the station and the assembly line problem of shutting down of bringing is changed to the manual work, realize that the automatic of abrasive band mill throw in-process is changed. And the grinding efficiency of the grinding and polishing abrasive belt can be ensured to be constant on the premise of ensuring the grinding and polishing efficiency of the abrasive belt, so that the surface quality requirement of the high-precision requirement of the punching grinding tool can be well met. The automation and intellectualization level of the whole robot grinding and polishing station or assembly line is improved.
According to the utility model provides a be applicable to terminal flexible abrasive band system of polishing of robot, grind and throw device 2, grind and throw the abrasive band and change device 3 including robot 1, flexible abrasive band is ground and is thrown device 2 and install at 1 end of robot, and flexible abrasive band is ground and is thrown device 2 and grind through the robot motion and throw the work piece, and flexible abrasive band is ground and is thrown device 2 and move to grinding and throwing the abrasive band through robot 1 and change device 3 positions and carry out the abrasive band and change.
The flexible abrasive belt grinding and polishing device 2 comprises an abrasive belt motion mechanism, a reciprocating motion module, an up-down moving device and a supporting device, wherein the abrasive belt motion mechanism, the reciprocating motion module and the up-down moving device are all arranged on the supporting device, and the abrasive belt motion mechanism is connected with the reciprocating motion module and the up-down moving device; the abrasive belt motion mechanism realizes the uniform motion of an abrasive belt, the reciprocating motion module provides abrasive belt grinding and polishing power, and the up-down moving device realizes the replacement of the abrasive belt;
the supporting device comprises a tensioning wheel mounting plate 7, a telescopic cylinder mounting plate 9, a driving wheel mounting plate 15 and a motor mounting plate 22, the driving wheel mounting plate 15 and the tensioning wheel mounting plate 7 are respectively connected with the telescopic cylinder mounting plate 9, and the telescopic cylinder mounting plate 9 is connected with the motor mounting plate 22.
The abrasive belt movement mechanism comprises a driving wheel 5, a driving contact flange 16, an abrasive belt driving motor 20 and an abrasive belt, wherein the driving wheel 5 is installed on the front side of a front plate of a driving wheel installation plate 15, the driving contact flange 16 is installed on a motor installation plate 22, the abrasive belt driving motor 20 is installed on the rear side of the front plate of the driving wheel installation plate 15, a transmission shaft of the abrasive belt driving motor 20 penetrates through the front plate of the driving wheel installation plate 15 to be connected with the driving wheel 5, the abrasive belt is connected with the driving wheel 5, the abrasive belt moves under the driving of the abrasive belt driving motor 20, and the driving contact flange 16 is connected with; the abrasive belt driving motor 20 is further provided with a motor transmission cover 24, the abrasive belt driving motor 20 is installed at one end of the motor transmission cover 24, and the other end of the motor transmission cover 24 is installed at the rear side of the front plate of the driving wheel installation plate 15.
The reciprocating motion module comprises a second tensioning wheel 12, a pressing and grinding plate fixing column 13, a pressing and grinding plate 14, a third tensioning wheel 19, a pressing and grinding plate driving motor 21 and a crank block transmission mechanism 23, wherein the second tensioning wheel 12 and the third tensioning wheel 19 are installed on a tensioning wheel installation plate 7 and connected with an abrasive belt of an abrasive belt motion mechanism, the pressing and grinding plate driving motor 21 is installed on a motor installation plate 22, a transmission shaft of the pressing and grinding plate driving motor 21 is connected with the crank block transmission mechanism 23, the crank block transmission mechanism 23 is connected with the pressing and grinding plate fixing column 13, the pressing and grinding plate fixing column 13 is connected with the pressing and grinding plate 14, and the pressing and grinding plate 14 is connected with the abrasive belt of the abrasive; the crank slide block transmission mechanism 23 is provided with a crank slide block housing 11, the crank slide block housing 11 is installed on the motor installation plate 22, the crank slide block transmission mechanism 23 is installed inside the crank slide block housing 11, and the crank slide block transmission mechanism 23 is connected with the press grinding plate fixing column 13 through the crank slide block housing 11; the second tensioning wheel 12 and the third tensioning wheel 19 are respectively arranged at two sides of the pressing and grinding plate fixing column 13 and can tension the abrasive belts of the abrasive belt movement mechanisms at two sides of the pressing and grinding plate fixing column 13; the second tension pulley 12 and the third tension pulley 19 are mounted on the tension pulley mounting plate 7 or the crank block housing 11; the pressure grinding plate driving motor 21 is provided with a motor housing 8, the motor housing 8 is fixedly connected with or integrally formed on the telescopic cylinder mounting plate 9 and is positioned in the middle of the telescopic cylinder mounting plate 9, the motor housing 8 is connected with a motor mounting plate 22, and the pressure grinding plate driving motor 21 is positioned in a containing space limited by the motor housing 8 and the motor mounting plate 22.
The up-down moving device comprises a driving wheel 5, a first tensioning wheel 6, a first telescopic cylinder 10, a slide bar 17 and a second telescopic cylinder 18, wherein the first tensioning wheel 6 is arranged on a tensioning wheel mounting plate 7, the first telescopic cylinder 10 and the second telescopic cylinder 18 are respectively arranged at two ends of a telescopic cylinder mounting plate 9, one end of the slide bar 17 is connected with a lower plate of the driving wheel mounting plate 15 or the tensioning wheel mounting plate 7, the other end of the slide bar 17 is connected with the first telescopic cylinder 10 or the second telescopic cylinder 18, the slide bar can slide in a slide way of the first telescopic cylinder 10 or the second telescopic cylinder 18, the distance between the driving wheel 5 and the second telescopic cylinder 18 and the distance between the first tensioning wheel 6 and the first telescopic cylinder 10 are changed, and an abrasive belt of the abrasive belt moving mechanism is in a tensioned or relaxed state; the up-and-down moving device also comprises one or more tension pulleys, each tension pulley is correspondingly provided with a telescopic cylinder, the tension pulleys are connected with the telescopic cylinders through slide rods 17, and the one or more tension pulleys are arranged between the driving wheel 5 and the first tension pulley 6; or one or more tension pulleys correspond to one telescopic cylinder, the telescopic cylinder is connected with one or more slide bars 17 through a slide bar connecting plate, and the slide bars 17 are correspondingly connected with the tension pulleys one by one.
The grinding and polishing abrasive belt replacing device comprises a supporting device, a lifting device, a sleeving device, an adjusting device and an abrasive belt 25, wherein the supporting device comprises an upper plate 28, a bottom plate 35 and a support 36, the upper plate 28 is arranged above the support 36, the bottom plate 35 is arranged below the support 36, the lifting device is arranged on the bottom plate 35, the sleeving device is connected with the lifting device, the adjusting device is arranged on the upper plate 28, the abrasive belt 25 is supported in a tensioning mode through the adjusting device and the sleeving device, the lifting device and the sleeving device can move relative to the supporting device in a direction perpendicular to the length extension direction of the abrasive belt 25 or can move relative to the supporting device in a direction perpendicular to the upper plate 28, and the adjusting device can slide relative to the upper plate 28 to adjust the tensioning degree of the abrasive belt 25; the shape of the tensioning and supporting abrasive belt 25 is matched with the shape of the abrasive belt on the abrasive belt polishing device of which the abrasive belt is to be replaced by the sleeve joint device and the adjusting device.
The lifting device comprises a bearing plate 33, a lifting plate 34, a moving guide rod 38 and a spring base 39, wherein the spring base 39 is respectively arranged on the bottom plate 35 and the upper plate 28, two ends of the moving guide rod 38 are respectively connected with the bottom plate 35 and the upper plate 28 through the spring base 39, the lifting plate 34 is positioned between the bottom plate 35 and the upper plate 28, the lifting plate 34 is connected with the moving guide rod 38 and can slide up and down relative to the moving guide rod 38, the lifting plate 34 is connected with the bearing plate 33, and the bearing plate 33 is positioned above the lifting plate 34; spring washers are arranged between the joints of the movable guide rod 38 and the spring base 39, between the joints of the spring base 39 and the upper plate 28 and between the joints of the spring base 39 and the bottom plate 35.
The sleeving device comprises one or more sleeving adjusting poles, one end of each sleeving adjusting pole is arranged on a lifting plate 34 of the lifting device and can move along with the lifting plate 34, and the other end of each sleeving adjusting pole is connected with the abrasive belt 25 and used for tensioning or loosening the abrasive belt 25 together with the cooperative adjusting device; the sleeving device comprises a first sleeving and adjusting post rod 29, a second sleeving and adjusting post rod 30, a third sleeving and adjusting post rod 31 and a fourth sleeving and adjusting post rod 32, wherein the first sleeving and adjusting post rod 29, the second sleeving and adjusting post rod 30 and the fourth sleeving and adjusting post rod 32 are positioned in the circumferential direction of a pressure bearing plate 33, and the shape formed by the first sleeving and adjusting post rod, the second sleeving and adjusting post rod 30 and the fourth sleeving and adjusting post rod 32 is matched with the shape of one end of the abrasive belt grinding and polishing device.
The adjusting device comprises a sliding adjusting component, an elbow 40, a chute guide rod 41, a chute part 42 and a bent plate 44, wherein one end of the sliding adjusting component is connected with one end of the elbow 40, the other end of the elbow 40 is connected with one end of the chute guide rod 41, the other end of the chute guide rod 41 is connected with the chute part 42, the chute part 42 is connected with one side of the bent plate 44, the other side of the bent plate 44 is connected with the upper plate 28, a spring is arranged in the chute part 42, the chute part 42 is connected with the chute guide rod 41 through the spring, the chute guide rod 41 can drive the sliding adjusting component to reciprocate in the extending direction of the chute guide rod 41 through the adjusting spring, and the other end of the sliding adjusting component is connected with the abrasive belt 25 and is used for tensioning or loosening the; the sliding adjustment assembly comprises one or more sliding adjustment posts; the chute member 42 is connected to one side of a bent plate 44 by an adjustment ring 43.
The system is characterized by further comprising a control system 4, wherein the control system 4 comprises a robot control cabinet and a flexible abrasive belt polishing device control cabinet, the robot control cabinet is in signal connection with the robot 1, and the flexible abrasive belt polishing device control cabinet is in signal connection with the flexible abrasive belt polishing device 2.
An object of the utility model is to provide a hardware structure, based on the utility model discloses a further improvement can realize following function: the robot control cabinet controls the advancing speed of the robot 1 so as to control the grinding and polishing beat of a flexible abrasive belt grinding and polishing device 2 connected with the tail end of the robot 1; the flexible abrasive belt grinding and polishing device control cabinet controls the flexible abrasive belt grinding and polishing device 2.
The preferred embodiment:
as shown in figures 1-8, a flexible abrasive belt grinding and polishing system suitable for the tail end of a robot mainly comprises a robot 1, a flexible abrasive belt grinding and polishing device 2, a grinding and polishing abrasive belt replacing device 3 and a control system 4. According to the system, the flexible abrasive belt grinding and polishing device 2 and the grinding and polishing abrasive belt replacing device 3 are linked to realize automatic replacement of the abrasive belt, communication between the flexible abrasive belt grinding and polishing device 2 and the robot 1 is realized through the control system 4, the robot 1 monitors parameters such as the rotating speed of the flexible abrasive belt in real time, automatic replacement of the abrasive belt is realized, and automation and intellectualization of the whole flexible abrasive belt grinding and polishing system are improved.
The flexible abrasive belt grinding and polishing device 2 mainly comprises a driving wheel 5, a first tensioning wheel 6, a tensioning wheel mounting plate 7, a motor housing 8, a telescopic cylinder mounting plate 9, a first telescopic cylinder 10, a crank block housing 11, a second tensioning wheel 12, a pressing and grinding plate fixing column 13, a pressing and grinding plate 14, a driving wheel mounting plate 15, a driving connection touch control flange 16, a sliding rod 17, a second telescopic cylinder 18, a third tensioning wheel 19, an abrasive belt driving motor 20, a pressing and grinding plate driving motor 21, a motor mounting plate 22, a crank block transmission mechanism 23 and a motor transmission cover 24. The active CONTACT flange 16, namely an acf (active CONTACT flange), also called a flexible force control flange or a self-adaptive CONTACT flange, is a device capable of keeping constant CONTACT force between a tool hand flange at the end of a robot and a workpiece machining CONTACT surface, and the device is in the prior art, can ensure that the CONTACT force between the tool hand flange and the machining surface is controlled within +/-1N based on pneumatic and analog quantity control and high-precision and high-sensitivity control, and is particularly suitable for application occasions of grinding, polishing and the like. According to different types, the pressure range can be selected to be 0-100N or 0-500N, the telescopic stroke can be 35.5mm, 48mm, 98mm and the like, and a gravity sensing sensor can be selected to overcome the gravity of the gravity sensing sensor, so that the device is suitable for application at any processing angle.
The sanding belt replacing device 3 mainly comprises a sanding belt 25, a first sliding adjusting post rod 26, a second sliding adjusting post rod 27, an upper plate 28, a first sleeved adjusting post rod 29, a second sleeved adjusting post rod 30, a third sleeved adjusting post rod 31, a fourth sleeved adjusting post rod 32, a pressure bearing plate 33, a lifting plate 34, a bottom plate 35, a bracket 36, a shoe 37, a moving guide rod 38, a spring base 39, an elbow 40, a chute guide rod 41, a chute 42, an adjusting ring 43 and a bent plate 44.
The control system 4 mainly comprises a robot control cabinet and a flexible abrasive belt grinding and polishing device control cabinet. The robot control cabinet controls the robot 1 to move, and meanwhile, the robot control cabinet is communicated with the flexible abrasive belt polishing device control cabinet to control the flexible abrasive belt polishing device control cabinet to operate. The flexible abrasive belt grinding and polishing device control cabinet mainly controls four parts of an abrasive belt driving motor 20, a press grinding plate driving motor 21, a telescopic cylinder and a driving contact flange (ACF) 16: the control cabinet of the flexible abrasive belt grinding and polishing device controls an abrasive belt driving motor 20 to enable a motor transmission shaft to drive a driving wheel 5 to rotate at a constant speed, so that the abrasive belt moves at a constant speed and the abrasive belt is ensured to be uniformly worn; the control cabinet of the flexible abrasive belt grinding and polishing device controls the pressing and polishing plate driving motor 21 to provide grinding and polishing power for the abrasive belt grinding and polishing device and ensure the efficiency of abrasive belt grinding and polishing; when the device is in a grinding and polishing state, the telescopic cylinder is in a limit position to enable the driving wheel 5 and the driven wheel to tension the abrasive belt, so that the friction force between the abrasive belt and the driving wheel is kept constant, the grinding and polishing are uniform, and when the device is in a state of replacing the abrasive belt, the telescopic cylinder controls the sliding rod 17 to move downwards to drive the driving wheel 1 and the driven wheel to move downwards so that the device is separated from the scrapped abrasive belt; the flexible abrasive belt grinding and polishing device control cabinet controls the expansion and contraction and output force of the active contact flange to control the grinding and polishing force.
The robot control cabinet controls the advancing speed of the robot 1 to carry out polishing beat control, thereby realizing the quality guarantee of the polishing surface. The six-axis tail end of the robot 1 is connected with a flexible abrasive belt grinding and polishing device through a flange plate.
The abrasive belt driving motor 20 controls the driving wheel 5 to rotate at a constant speed through the driving shaft, the second telescopic cylinder 18 and the slide rod 17 tension the driving wheel 5 to ensure that the friction force of the driving wheel 5 in contact with the abrasive belt is constant, and the driving wheel 5 drives the abrasive belt to rotate at a constant speed. Under the existing conditions, the belt section moving under the platen 14 is scrapped and cannot be used again. And (3) checking the number of turns of the motor through a motor controller, further checking the grinding and polishing length of the abrasive belt, comparing the length with the length of the whole abrasive belt, and replacing the abrasive belt when the whole abrasive belt is completely scrapped.
When the state of automatically replacing the abrasive belt is achieved, the sliding rod 17 moves towards the inner sides of the two telescopic cylinders respectively to drive the driving wheel 5 and the first tensioning wheel 6 to move downwards, and the scrapped abrasive belt automatically falls off. The robot control cabinet controls the robot 1 to approach the grinding and polishing abrasive belt replacing device 3. The pressure plate 33 of the grinding and polishing abrasive belt replacing device 3 is pressed by the tension wheel of the flexible abrasive belt grinding and polishing device 2 to drive the lifting plate 34 to move downwards, so that the first sleeved adjusting post 29, the second sleeved adjusting post 30, the third sleeved adjusting post 31 and the fourth sleeved adjusting post 32 are compressed downwards, and then the sleeved adjusting posts are separated from the abrasive belt 25 in contact with the sleeved adjusting posts, and a part of the abrasive belt 25 is sleeved on the flexible abrasive belt grinding and polishing device; the second adjusting post 27 tensions the abrasive belt 25 via the first adjusting post 26 and contacts the flexible belt polishing means, and the other part of the abrasive belt 25 is sleeved on the flexible belt polishing means.
When the abrasive belt to be replaced tensioned by the first sleeve-connected adjusting post rod 29, the second sleeve-connected adjusting post rod 30, the third sleeve-connected adjusting post rod 31 and the fourth sleeve-connected adjusting post rod 32 is contacted with the flexible grinding and polishing abrasive belt, the telescopic cylinder on the flexible grinding and polishing device drives the tensioning wheel to tension the abrasive belt 25, and the abrasive belt is separated from the sliding adjusting post rod, so that the abrasive belt is automatically replaced.
The abrasive belt grinding and polishing length is calculated through a motor controller, the critical point of the abrasive belt is judged to be replaced, a control cabinet of the flexible abrasive belt grinding and polishing device controls an up-down moving device of the flexible abrasive belt grinding and polishing device 2 to enable the abrasive belt to be loosened and fall off, meanwhile, information of the flexible abrasive belt to be replaced is transmitted to the robot 1, the robot is close to the grinding and polishing abrasive belt replacing device 3, and the abrasive belt is automatically replaced through the mechanical structure change of the grinding and polishing abrasive belt replacing device 3.
The robot 1, the flexible abrasive belt grinding and polishing device 2, the grinding and polishing abrasive belt replacing device 3 and the control system 4 form a flexible abrasive belt grinding and polishing system suitable for the tail end of the robot, the control system 4 ensures that all control is controlled by the robot, so that the process parameters of the whole flexible abrasive belt grinding and polishing are controllable and adjustable, the abrasive belt driving wheel drives at a constant speed, the abrasive belt presses the reciprocating motion of a grinding plate, and the grinding and polishing efficiency of the grinding and polishing abrasive belt is ensured to be constant on the premise of ensuring the grinding and polishing efficiency of the abrasive belt. The abrasion length of the abrasive belt is monitored in real time through the robot, the flexible abrasive belt grinding and polishing device 2 is linked with the grinding and polishing abrasive belt replacing device 3, and the abrasive belt is automatically replaced. The automation and the intellectualization of the whole flexible abrasive belt grinding and polishing system are improved.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The flexible abrasive belt grinding and polishing system suitable for the tail end of a robot is characterized by comprising a robot (1), a flexible abrasive belt grinding and polishing device (2) and a grinding and polishing abrasive belt replacing device (3), wherein the flexible abrasive belt grinding and polishing device (2) is installed at the tail end of the robot (1), the flexible abrasive belt grinding and polishing device (2) grinds and polishes a workpiece through the movement of the robot, and the flexible abrasive belt grinding and polishing device (2) moves to the position of the grinding and polishing abrasive belt replacing device (3) through the robot (1) to replace an abrasive belt.
2. The system for flexible sanding and polishing of robot end according to claim 1, characterized in that the flexible sanding device (2) comprises a sanding mechanism, a reciprocating module, an up-down moving device, a supporting device, wherein the sanding mechanism, the reciprocating module, the up-down moving device are all mounted on the supporting device, and the sanding mechanism is connected with the reciprocating module and the up-down moving device; the abrasive belt motion mechanism realizes the uniform motion of an abrasive belt, the reciprocating motion module provides abrasive belt grinding and polishing power, and the up-down moving device realizes the replacement of the abrasive belt;
the supporting device comprises a tensioning wheel mounting plate (7), a telescopic cylinder mounting plate (9), a driving wheel mounting plate (15) and a motor mounting plate (22), the driving wheel mounting plate (15) and the tensioning wheel mounting plate (7) are respectively connected with the telescopic cylinder mounting plate (9), and the telescopic cylinder mounting plate (9) is connected with the motor mounting plate (22).
3. The system of claim 2, wherein the belt motion mechanism comprises a drive wheel (5), a drive contact flange (16), a belt drive motor (20), and a belt, the drive wheel (5) is mounted on the front side of the front plate of the drive wheel mounting plate (15), the drive contact flange (16) is mounted on the motor mounting plate (22), the belt drive motor (20) is mounted on the rear side of the front plate of the drive wheel mounting plate (15), a transmission shaft of the belt drive motor (20) passes through the front plate of the drive wheel mounting plate (15) to connect with the drive wheel (5), the belt is connected with the drive wheel (5), the belt is driven by the belt drive motor (20), and the drive contact flange (16) is connected with the robot;
the abrasive belt driving motor (20) is further provided with a motor transmission cover (24), the abrasive belt driving motor (20) is installed at one end of the motor transmission cover (24), and the other end of the motor transmission cover (24) is installed on the rear side of the front plate of the driving wheel installation plate (15).
4. The system of claim 2, wherein the flexible abrasive belt is adapted for use with a robotic end, the reciprocating motion module comprises a second tension wheel (12), a press grinding plate fixing column (13), a press grinding plate (14), a third tension wheel (19), a press grinding plate driving motor (21) and a crank slide block transmission mechanism (23), the second tension wheel (12) and the third tension wheel (19) are arranged on the tension wheel mounting plate (7) and connected with a sanding belt of a sanding belt movement mechanism, the press grinding plate driving motor (21) is installed on the motor installation plate (22), a transmission shaft of the press grinding plate driving motor (21) is connected with the crank block transmission mechanism (23), the crank block transmission mechanism (23) is connected with the press grinding plate fixing column (13), the press grinding plate fixing column (13) is connected with the press grinding plate (14), and the press grinding plate (14) is connected with an abrasive belt of the abrasive belt transmission mechanism;
the crank slide block transmission mechanism (23) is provided with a crank slide block housing (11), the crank slide block housing (11) is installed on the motor installation plate (22), the crank slide block transmission mechanism (23) is installed inside the crank slide block housing (11), and the crank slide block transmission mechanism (23) is connected with the press grinding plate fixing column (13) through the crank slide block housing (11);
the second tensioning wheel (12) and the third tensioning wheel (19) are respectively arranged on two sides of the pressing and grinding plate fixing column (13) and can tension and press the abrasive belts of the abrasive belt movement mechanisms on the two sides of the pressing and grinding plate fixing column (13); the second tensioning wheel (12) and the third tensioning wheel (19) are arranged on the tensioning wheel mounting plate (7) or the crank block housing (11);
the pressure grinding plate driving motor (21) is provided with a motor housing (8), the motor housing (8) is fixedly connected with or integrally formed on the telescopic cylinder mounting plate (9) and is located in the middle of the telescopic cylinder mounting plate (9), the motor housing (8) is connected with the motor mounting plate (22), and the pressure grinding plate driving motor (21) is located in a containing space limited by the motor housing (8) and the motor mounting plate (22).
5. The flexible abrasive belt grinding and polishing system suitable for the tail end of the robot as claimed in claim 2, wherein the up-down moving device comprises a driving wheel (5), a first tensioning wheel (6), a first telescopic cylinder (10), a sliding rod (17) and a second telescopic cylinder (18), the first tensioning wheel (6) is mounted on the tensioning wheel mounting plate (7), the first telescopic cylinder (10) and the second telescopic cylinder (18) are respectively mounted at two ends of the telescopic cylinder mounting plate (9), one end of the sliding rod (17) is connected with the lower plate of the driving wheel mounting plate (15) or the tensioning wheel mounting plate (7), the other end of the sliding rod (17) is connected with the first telescopic cylinder (10) or the second telescopic cylinder (18), the sliding rod can slide in the slideway of the first telescopic cylinder (10) or the second telescopic cylinder (18), and the change between the driving wheel (5) and the second telescopic cylinder (18), The distance between the first tension wheel (6) and the first telescopic cylinder (10) enables the abrasive belt of the abrasive belt movement mechanism to be in a tensioned or relaxed state;
the up-and-down moving device also comprises one or more tension wheels, each tension wheel is correspondingly provided with a telescopic cylinder, the tension wheels are connected with the telescopic cylinders through slide rods (17), and the one or more tension wheels are arranged between the driving wheel (5) and the first tension wheel (6);
or one or more tension pulleys correspond to one telescopic cylinder, the telescopic cylinder is connected with one or more slide bars (17) through a slide bar connecting plate, and the slide bars (17) are connected with the tension pulleys in a one-to-one correspondence manner.
6. Flexible sanding belt system for robot end according to claim 1 characterized in that the sanding belt changing device comprises a support device, a lifting device, a coupling device, an adjusting device, a sanding belt (25), the support device comprises an upper plate (28), a base plate (35), a bracket (36), the upper plate (28) is arranged above the bracket (36), the base plate (35) is arranged below the bracket (36), the lifting device is mounted on the base plate (35), the coupling device is connected with the lifting device, the adjusting device is mounted on the upper plate (28), the sanding belt (25) is supported in tension by the adjusting device, the coupling device, the lifting device and the coupling device are relatively movable with respect to the support device in a direction perpendicular to the extension of the length of the sanding belt (25) or in a direction perpendicular to the upper plate (28), the adjusting device can slide relative to the upper plate (28) to adjust the tension degree of the abrasive belt (25); the shape of the tensioning and supporting abrasive belt (25) is matched with the shape of the abrasive belt on the abrasive belt polishing device of which the abrasive belt is to be replaced by the sleeve joint device and the adjusting device.
7. The flexible abrasive belt grinding and polishing system suitable for the tail end of the robot is characterized in that the lifting device comprises a bearing plate (33), a lifting plate (34), a moving guide rod (38) and a spring base (39), the spring bases (39) are respectively arranged on a bottom plate (35) and an upper plate (28), two ends of the moving guide rod (38) are respectively connected with the bottom plate (35) and the upper plate (28) through the spring base (39), the lifting plate (34) is positioned between the bottom plate (35) and the upper plate (28), the lifting plate (34) is connected with the moving guide rod (38) and can slide up and down relative to the moving guide rod (38), the lifting plate (34) is connected with the bearing plate (33), and the bearing plate (33) is positioned above the lifting plate (34);
spring washers are arranged between the joints of the movable guide rod (38) and the spring base (39), between the joints of the spring base (39) and the upper plate (28), and between the joints of the spring base (39) and the bottom plate (35).
8. Flexible sanding system for robot end with flexible belt sanding according to claim 6 characterized in that the hitching means comprise one or more hitching adjustment posts, one end of which is mounted on the lifting plate (34) of the lifting device and can move with the lifting plate (34), and the other end of which connects with the sanding belt (25) and with the co-operating adjustment device tensions or relaxes the sanding belt (25);
the sleeving device comprises a first sleeving and adjusting post rod (29), a second sleeving and adjusting post rod (30), a third sleeving and adjusting post rod (31) and a fourth sleeving and adjusting post rod (32), wherein the first sleeving and adjusting post rod (29), the second sleeving and adjusting post rod (30) and the fourth sleeving and adjusting post rod (32) are located in the circumferential direction of the pressure bearing plate (33), and the shape formed by the circumferential direction of the first sleeving and adjusting post rod, the second sleeving and adjusting post rod and the fourth sleeving and adjusting post rod is matched with the shape of one end of the abrasive belt grinding and polishing device.
9. System for the flexible sanding and polishing of the robot end according to claim 6, characterized in that the adjustment means comprises a sliding adjustment assembly, a bend (40), a chute guide rod (41), a chute member (42), and a curved plate (44), one end of the sliding adjustment assembly is connected to one end of the bend (40), the other end of the bend (40) is connected to one end of the chute guide rod (41), the other end of the chute guide rod (41) is connected to the chute member (42), the chute member (42) is connected to one side of the curved plate (44), the other side of the curved plate (44) is connected to the upper plate (28), the chute member (42) is spring-loaded, the chute member (42) is spring-connected to the chute guide rod (41), the chute guide rod (41) can be moved back and forth in the direction in which the chute guide rod (41) extends by means of adjustment, the other end of the sliding adjustment assembly is connected to the sanding belt (25) and cooperates with the sleeving means to tension or loosen the sanding belt (25) Relaxation; the sliding adjustment assembly comprises one or more sliding adjustment posts; the chute member (42) is connected to one side of the bent plate (44) by an adjusting ring (43).
10. The system for flexible belt sanding and polishing of robot end according to claim 1, characterized in that it further comprises a control system (4), said control system (4) comprising a robot control cabinet, which is signally connected to the robot (1), and a flexible belt sanding and polishing apparatus control cabinet, which is signally connected to the flexible belt sanding and polishing apparatus (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920921990.0U CN210849615U (en) | 2019-06-19 | 2019-06-19 | Flexible abrasive belt grinding and polishing system suitable for tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920921990.0U CN210849615U (en) | 2019-06-19 | 2019-06-19 | Flexible abrasive belt grinding and polishing system suitable for tail end of robot |
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| CN210849615U true CN210849615U (en) | 2020-06-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315411A (en) * | 2019-06-19 | 2019-10-11 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's Flexible polishing system |
| CN112192390A (en) * | 2020-09-29 | 2021-01-08 | 张仙霞 | Polishing device for casting part and polishing method thereof |
| CN110315411B (en) * | 2019-06-19 | 2024-07-16 | 禹奕智能科技(杭州)有限公司 | Flexible abrasive belt polishing system suitable for tail end of robot |
-
2019
- 2019-06-19 CN CN201920921990.0U patent/CN210849615U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315411A (en) * | 2019-06-19 | 2019-10-11 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's Flexible polishing system |
| CN110315411B (en) * | 2019-06-19 | 2024-07-16 | 禹奕智能科技(杭州)有限公司 | Flexible abrasive belt polishing system suitable for tail end of robot |
| CN112192390A (en) * | 2020-09-29 | 2021-01-08 | 张仙霞 | Polishing device for casting part and polishing method thereof |
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