A force-controlled belt sander that can be combined with an industrial robot

Abstract

The application discloses a force control abrasive belt machine combined with an industrial robot and relates to the technical field of abrasive belt machines.The force control abrasive belt machine comprises a six-axis robot and a polishing part, the polishing part is detachably installed at the output end of the six-axis robot, the polishing part comprises a force control actuator, a connecting piece and a polishing piece, the output end of the six-axis robot is detachably installed with the force control actuator, the output end of the force control actuator is detachably installed with the connecting piece, and the polishing piece comprises a driving contact wheel, a limiting contact wheel, a limiting wheel, a tension adjusting wheel, a tripod, a driving motor, a tension motor and a shell.The force control abrasive belt machine can work in both directions, the two driving contact wheels and the two limiting contact wheels can meet different polishing requirements, the device structure is stable, the device is light in weight, the device can be installed on the six-axis robot to greatly reduce the arrangement space, large workpieces can be polished, the robot motion track can be simplified, and the effects that are difficult to achieve by some workpieces along the track can be conveniently achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of belt sander, and particularly relates to a force-controllable belt sander combined with an industrial robot. BACKGROUND

[0002] In the process of machining parts in different industries such as aerospace, automobile parts, and bathroom hardware, polishing is involved. However, the polishing of many parts still mainly relies on manual polishing. However, manual polishing has many problems such as low efficiency and difficult to guarantee polishing quality. Robotic polishing is gradually becoming a development trend and is increasingly applied in the industrial field.

[0003] According to the search, the Chinese patent with the publication number CN206839799U discloses a belt sander, which comprises a rack, a bottom plate, a sand belt, and an elastic device. The bottom plate is movably installed on the rack. The bottom plate is fixedly installed with a driving wheel and a driven wheel. The driving wheel is driven by a motor. The sand belt is sleeved on the driving wheel and the driven wheel. The elastic device is installed on the rack and is used to drive the bottom plate to move on the surface of the rack according to the machining curve. In the case that the workpiece running curve is inconsistent with the machining curve, when the sand belt at the high polishing point bears large pressure, the elastic device drives the bottom plate and the sand belt and other components on the bottom plate to retreat. When the sand belt at the low polishing point cannot reach the workpiece, the bottom plate drives the sand belt and other components on the bottom plate to migrate to polish the workpiece, so that each point of the workpiece surface bears the same pressure, and the workpiece surface is uniformly ground. However, the sand belt machine uses a cylinder to control floating, can make the hand wheel directly contact the workpiece, but can only indirectly control the force by controlling the air pressure, and cannot be accurately controlled. The sliding rail of the sand belt machine is completely exposed, the polishing environment is relatively poor, the dust accumulated in the sliding rail will cause sliding lag, which will reduce the contact force and sensitivity of the equipment.

[0004] A constant force real-time control mechanism for a belt sander is disclosed in Chinese Patent Publication No. CN109968161A. The belt sander is arranged on the constant force real-time control mechanism, which includes a transplanting movable plate, a transplanting fixed seat, and a servo motor. The transplanting movable plate is slidably arranged on the transplanting fixed seat, and the belt sander is arranged on the transplanting movable plate and slides on the transplanting fixed seat with the transplanting movable plate. The servo motor is connected to the transplanting movable plate through a transmission assembly and drives the transplanting movable plate to reciprocally slide on the transplanting fixed seat, thereby driving the belt sander to move. When the polishing force is less than the set constant force, the servo motor drives the belt sander to advance. When the polishing force is greater than the set constant force, the servo motor drives the belt sander to retreat. The invention has the characteristics of simple and reasonable structure, fast response speed, constant output force, reliable performance, no influence of unstable site air pressure, and effective improvement of workpiece polishing quality. However, the belt sander uses rigid transmission methods such as gears or chains, which will be impacted when the contact force is large, affecting the transmission accuracy and increasing the gear wear. The entire sanding belt machine is fixed on the control mechanism, and the mass of the belt sander is large, which has large motion inertia, affecting the response time and control accuracy of the equipment.

[0005] Therefore, there is a need for a force-controlled belt sander that can be combined with an industrial robot to solve the technical defects of the prior art. SUMMARY

[0006] The utility model provides a force-controlled belt sander that can be combined with an industrial robot to solve the technical problems raised in the background art.

[0007] To solve the above technical problems, the force-controlled belt sander that can be combined with an industrial robot provided by the present application includes a six-axis robot and a polishing part. The output end of the six-axis robot is detachably installed with the polishing part. The polishing part includes a force control actuator, a connecting piece, and a polishing piece. The output end of the force control actuator is detachably installed with the connecting piece. The other end of the connecting piece is detachably installed with the polishing piece.

[0008] The polishing piece includes a driving contact wheel, a limiting contact wheel, a limiting wheel, a tension adjusting wheel, a tripod, a driving motor, a tension motor, and a housing.

[0009] Preferably, the tripod has three legs, each of which is rotatably installed with a driving contact wheel, a limiting contact wheel, and a tension adjusting wheel. The outer side of the driving contact wheel, the limiting contact wheel, and the tension adjusting wheel is sleeved with a sand belt. The middle part of the tripod is fixedly installed with a driving motor. The driving motor is electrically connected to the force control actuator. The output end of the driving motor is connected to the driving contact wheel through a belt.

[0010] Preferably, the tripod is fixedly installed with a tensioning motor at one end, and the output end of the tensioning motor is rotationally connected with a tensioning adjusting wheel.

[0011] Preferably, the tripod is fixedly installed with a tensioning motor at one end, and the output end of the tensioning motor is rotationally connected with a tensioning adjusting wheel.

[0012] Preferably, the connecting piece comprises an I-shaped flange and a fastening bolt, threaded holes are formed at two ends of the I-shaped flange, the fastening bolt is arranged in the threaded hole, and the fastening bolt is engaged with the threaded hole.

[0013] Preferably, a plurality of threaded holes are arranged in an equidistant array.

[0014] Compared with the prior art, the present application has the following advantages:

[0015] 1. The force-controlled abrasive belt machine capable of being combined with an industrial robot can work in both forward and reverse directions, and the driving contact wheels and the limiting contact wheels on both sides can meet different polishing needs.

[0016] 2. The force-controlled abrasive belt machine capable of being combined with an industrial robot has a stable structure and light weight, and can be installed on a six-axis robot.

[0017] 3. The force-controlled abrasive belt machine capable of being combined with an industrial robot greatly reduces the arrangement space, can polish large workpieces, can simplify the motion trajectory of the robot, and can conveniently complete the effects that are difficult to achieve by some workpieces following the trajectory. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a structural diagram of the force-controlled abrasive belt machine capable of being combined with an industrial robot;

[0019] Figure 2 FIG. 2 is a structural diagram of the polishing part in the force-controlled abrasive belt machine capable of being combined with an industrial robot;

[0020] Figure 3 FIG. 3 is an assembly structural diagram of the polishing part in the force-controlled abrasive belt machine capable of being combined with an industrial robot;

[0021] Figure 4 FIG. 4 is a structural diagram of the polishing piece in the force-controlled abrasive belt machine capable of being combined with an industrial robot;

[0022] In the drawings, 1 denotes a six-axis robot, 2 denotes a polishing part, 21 denotes a force control actuator, 22 denotes a connecting piece, 23 denotes a polishing piece, 221 denotes an I-shaped flange, 222 denotes a fastening bolt, 223 denotes a threaded hole, 231 denotes a driving contact wheel, 232 denotes a limiting contact wheel, 233 denotes a limiting wheel, 234 denotes a tensioning adjusting wheel, 235 denotes a tripod, 236 denotes a driving motor, 237 denotes a tensioning motor, and 238 denotes an outer shell. DETAILED DESCRIPTION

[0023] Please refer to Figures 1-4 The application provides a technical solution: a force control abrasive belt machine that can be combined with an industrial robot, comprising a six-axis robot 1 and a polishing part 2, the output end of the six-axis robot 1 is detachably installed with the polishing part 2, the polishing part 23 comprises a force control actuator 21, a connecting part 22 and a polishing part 23, the output end of the six-axis robot 1 is detachably installed with the force control actuator 21, the force control actuator 21 is electrically connected with an external power supply, the output end of the force control actuator 21 is detachably installed with the connecting part 22, and the other end of the connecting part 22 is detachably installed with the polishing part 23.

[0024] The polishing part 23 comprises a driving contact wheel 231, a limiting contact wheel 232, a limiting wheel 233, a tension adjusting wheel 234, a tripod 235, a driving motor 236, a tensioning motor 237 and a shell 238.

[0025] In this embodiment, the force control actuator 21 is a bidirectional force control polishing device disclosed in patent No. CN112757105A.

[0026] Further, the three legs of the tripod 235 are respectively rotatably installed with the driving contact wheel 231, the limiting contact wheel 232 and the tension adjusting wheel 234, the outer side of the driving contact wheel 231, the limiting contact wheel 232 and the tension adjusting wheel 234 is sleeved with an abrasive belt, the middle part of the tripod 235 is fixedly installed with the driving motor 236, the driving motor 236 is electrically connected with the force control actuator 21, and the output end of the driving motor 236 is connected with the driving contact wheel 231 through a belt.

[0027] Further, the one end of the tripod 235 is fixedly installed with the tensioning motor 237, and the output end of the tensioning motor 237 is rotatably connected with the tension adjusting wheel 234.

[0028] Further, the one end of the tripod 235 is fixedly installed with the tensioning motor 237, and the output end of the tensioning motor 237 is rotatably connected with the tension adjusting wheel 234.

[0029] Further, the connecting part 22 comprises an I-shaped flange 221 and a fastening bolt 222, the two ends of the I-shaped flange 221 are provided with threaded holes 223, the threaded holes 223 are provided with the fastening bolts 222, and the fastening bolts 222 are engaged with the threaded holes 223.

[0030] Further, the threaded holes 223 are provided with a plurality of threaded holes 223 arranged in an equidistant array.

[0031] Working principle:

[0032] The workpiece is fixed on the workbench, the force control executor 21 is connected with the tool end of the six-axis robot 1 through a screw, the six-axis robot 1 gripped force control executor 21 runs according to the programmed trajectory, so that the polishing part 2 drives the contact wheel 231 or the limiting contact wheel 232 to contact the workpiece, when the workpiece contacts the abrasive belt, the force control executor 21 controls the driving contact wheel 231 or the limiting contact wheel 232 to float in the up-down direction, to avoid rigid collision with the workpiece, the driving contact wheel 231 is connected with the driving motor 236 through a belt, to transmit power from the driving motor 236 to the abrasive belt, at the same time, the driving contact wheel 231 can be used to support the abrasive belt to complete grinding, the limiting contact wheel 232 is coaxial with the limiting wheel 233 but does not contact, and can rotate independently without affecting each other, the limiting contact wheel 232 rotates with the abrasive belt, the limiting wheel 233 rolls following the relative movement of the equipment and the workpiece when contacting the workpiece, according to the required grinding residual height, the limiting wheel 233 of different diameters is replaced, the radius difference between the limiting contact wheel 232 and the limiting wheel 233 is the controlled grinding residual height, which can control the depth of the abrasive belt grinding, prevent over-grinding and damage the workpiece body, the tension adjusting wheel 234 rotates by the abrasive belt, the tension motor 237 drives the tension adjusting wheel 234 to rotate around the cylinder axis, which can control the abrasive belt to move along the wheel axis, integrates the functions of abrasive belt deviation correction and abrasive belt tensioning, ensures the stable operation of the abrasive belt on the abrasive belt machine, the six-axis robot 1 controls the equipment to move on the workpiece according to the trajectory, the force control executor 21 can ensure that the abrasive belt continuously contacts the workpiece, so that the polishing surface is continuous without section, and ensures that the contact force between the abrasive belt and the workpiece is constant.

Claims

1. A force-controlled belt sander that can be combined with an industrial robot, comprising a six-axis robot (1) and a grinding part (2), characterized in that: The six-axis robot (1) output detachable installation polishing part (2), the polishing part (2) includes force control executor (21), connecting piece (22) and polishing piece (23), the six-axis robot (1) output detachable installation force control executor (21), the force control executor (21) electric connection external power supply, the force control executor (21) output detachable installation connecting piece (22), the connecting piece (22) the other end detachable installation has polishing piece (23); The polishing piece (23) includes driving contact wheel (231), limiting contact wheel (232), limiting wheel (233), tensioning adjusting wheel (234), tripod (235), driving motor (236), tensioning motor (237) and shell (238); The tripod (235) three legs are respectively rotationally installed with the driving contact wheel (231), the limiting contact wheel (232) and the tensioning adjusting wheel (234), the driving contact wheel (231), the limiting contact wheel (232) and the tensioning adjusting wheel (234) are provided with a sand belt outside, the driving motor (236) is fixedly installed at the middle of the tripod (235), the driving motor (236) is electrically connected with the force control executor (21), and the output end of the driving motor (236) is connected with the driving contact wheel (231) through a belt. The limiting contact wheel (232) is provided with a limiting wheel (233) inside, and the limiting wheel (233) rotates coaxially with the limiting contact wheel (232).

2. The force-controlled belt sander that can be combined with an industrial robot according to claim 1, characterized by, One end of the tripod (235) is fixedly installed with a tensioning motor (237), and the output end of the tensioning motor (237) is rotationally connected with the tensioning adjusting wheel (234).

3. The force-controlled belt sander that can be combined with an industrial robot according to claim 1, characterized by, The connecting piece (22) includes an I-shaped flange (221) and a fastening bolt (222), the I-shaped flange (221) is provided with a threaded hole (223) at both ends, the threaded hole (223) is provided with a fastening bolt (222), and the fastening bolt (222) is engaged with the threaded hole (223).

4. The force-controlled belt sander that can be combined with an industrial robot according to claim 3, characterized by, The threaded hole (223) is provided with a plurality of threaded holes (223), and a plurality of threaded holes (223) are arranged at equal intervals.

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