Abrasive belt sander with intelligent compliance control function and control method thereof

Abstract

The application provides a sand belt machine with intelligent compliance force control function and a control method thereof, which comprises a base and a mounting rack, a broken belt and deviation correction sensor, a constant force compliance mechanism assembly, a ring-shaped arranged sand belt, and a sand belt driving wheel and its mechanism assembly, a sand belt tensioning wheel, a deviation correction mechanism assembly, a sand belt idler, and a sand belt contact wheel which are sequentially matched with the sand belt; the sand belt contact wheel is connected with the sand belt idler through the constant force compliance mechanism assembly; the application realizes dynamic real-time deviation correction and broken belt monitoring function in the sand belt rotation process through controlling the deviation correction mechanism assembly and the sand belt broken belt and deviation correction sensor, solves the problem that the sand belt cannot be timely corrected and broken belt alarm when the sand belt is broken and / or deviated in rotation, simultaneously realizes the constant force compliance contact function of the contact wheel through the constant force compliance mechanism assembly, solves the problem that the sand belt contact wheel cannot always maintain constant force contact in the polishing process, and achieves the effect of constant force compliance processing required by automatic polishing process.

Description

Technical Field

[0001] This invention relates to the field of belt sander technology, specifically to a belt sander with intelligent compliant force control function and its control method. Background Technology

[0002] Belt sanders used as robotic end-effectors (EOAT) must meet the technical specifications required for robotic automated polishing projects by possessing intelligent compliance, force control, safety interlocking, and independent visual control functions. Otherwise, they cannot be used in robotic automation projects.

[0003] To achieve the aforementioned functions and meet the needs of robotic automation projects, various solutions have been designed in the prior art. For example, patent document CN207171724U discloses a multi-station belt sander, patent document CN215617189U discloses a multi-station rotary desktop force-controlled belt sander, and patent document CN217143453U discloses a dual-station intelligent force-controlled belt sander. These belt sanders meet the requirements of robot end-effectors (EOAT) in terms of structure and basic functions. However, the above designs still have many shortcomings. On the one hand, none of the above designs can achieve real-time online automatic correction, thus failing to achieve a truly intelligent and compliant effect. On the other hand, regardless of whether a 2-wheel, 4-wheel, or 10-wheel structure is adopted, the contradictory balance between the tension of the sanding belt itself and the grinding force of the contact wheel cannot be resolved. At best, they achieve a floating grinding effect, but cannot achieve a true constant force control effect.

[0004] Given the above-mentioned shortcomings of existing technology, there is an urgent need to design a new belt sander to meet production needs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a belt sander with intelligent compliant force control function and its control method.

[0006] According to the present invention, a belt sander with intelligent compliant force control function includes a base and mounting frame, a belt breakage and correction sensor, a constant force compliant mechanism assembly, a sanding belt, and a belt drive wheel and its mechanism assembly, a belt tensioning wheel, a correction mechanism assembly, a belt idler wheel, and a belt contact wheel that are rotatably coupled with the sanding belt in sequence.

[0007] The constant force compliant mechanism assembly, the sanding belt drive wheel and its mechanism assembly, the sanding belt tensioning wheel, the belt breakage and correction sensor, the correction mechanism assembly, and the sanding belt idler wheel are all mounted on the base and the mounting frame. The sanding belt contact wheel is connected to the sanding belt idler wheel through the constant force compliant mechanism assembly.

[0008] The sanding belt contact wheel can be driven to move forward and backward. The forward and backward movements can respectively put the sanding belt in a raised state and a suspended state. The sander can drive the sanding belt tensioning wheel to synchronously compensate for the raised or suspended state, thereby enabling the sanding belt to adjust its tension in real time and always maintain a tensioned state under the preset tension value.

[0009] Preferably, the abrasive belt contact wheel can move forward and backward by a contact wheel moving cylinder configured on the base and the mounting frame, thereby matching different grinding working conditions.

[0010] Preferably, the belt tensioning wheel can synchronously compensate for the position of the raised or suspended state through a tensioning wheel cylinder.

[0011] Preferably, the constant force compliant mechanism assembly includes a constant force compliant cylinder and a sanding belt contact wheel connecting rod connecting the sanding belt idler wheel and the sanding belt contact wheel. The telescopic end of the constant force compliant cylinder is connected to the middle of the sanding belt contact wheel connecting rod and can maintain the constant force compliant contact function by means of the sanding belt contact wheel connecting rod in the form of the sanding belt contact wheel rotating around the axis of the sanding belt idler wheel.

[0012] Preferably, the constant force compliant mechanism assembly includes a mechanism link disposed on the base and the mounting frame, the constant force compliant cylinder is mounted on the mechanism link, and the telescopic end of the constant force compliant cylinder is connected to the sanding belt contact wheel link through a constant force compliant cylinder connector.

[0013] Preferably, the contact wheel moving cylinder drives the mechanism connecting rod to realize the forward and backward movement of the sanding belt contact wheel.

[0014] Preferably, the belt correction mechanism assembly can drive its belt correction wheel to precisely swing according to the belt breakage and belt correction sensor data collected on the belt running status to perform belt correction and adjustment operations.

[0015] Preferably, the base and the mounting frame are further provided with an electrical control module and a pneumatic control module. The electrical control module and the pneumatic control module are both connected to the main air source, power supply and signal interface. The main air source, power supply and signal interface are connected to the controller through cables.

[0016] The controller can automatically control the belt sander according to the control program preset in itself. The controller is equipped with a human-machine interface and multiple function buttons, which can be used to set and monitor various key parameters of the belt sander.

[0017] Preferably, the sanding belt drive wheel and its assembly include a motor, a synchronous belt, a drive wheel axle, drive wheels and small pulleys respectively arranged at both ends of the drive wheel axle, and a large pulley connected to the motor drive. The two ends of the synchronous belt are respectively tensioned and fitted onto the small pulley and the large pulley.

[0018] The motor can drive the large pulley to rotate, which in turn drives the sanding belt to rotate through the synchronous belt, the small pulley, the drive wheel axle, and the drive wheel axle.

[0019] According to the present invention, a control method for a belt sander with intelligent compliant force control function is provided. The controller controls the belt sander to move autonomously according to a preset program. Based on the belt breakage and correction sensor, the method controls the correction mechanism assembly to achieve dynamic real-time correction and belt breakage monitoring during the belt rotation process. The constant force compliant mechanism assembly of the belt sander enables the belt contact wheel to have a constant force compliant contact function.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This invention employs a controller to control the belt sander to move autonomously according to a preset program. By controlling the belt sander's own correction mechanism assembly and belt breakage and correction sensors, it achieves dynamic real-time correction and belt breakage monitoring during belt rotation. This solves the problem of not being able to correct and alarm for belt breakage in a timely manner when belt breakage and / or deviation occur during belt rotation. At the same time, the constant force compliant mechanism assembly enables the contact wheel to maintain constant force compliant contact, solving the problem that the belt contact wheel cannot maintain constant force contact during grinding. This achieves the constant force processing effect required by the belt sander as a robot-specific end effector (EOAT) for automated robotic polishing processes.

[0022] 2. This invention solves the problem of the sanding belt not being able to automatically tension during rotation by using an automatic tensioning mechanism composed of a sanding belt tensioning wheel and a tensioning wheel cylinder. It achieves the effect of automatic tensioning and adjustable tension force of the sanding belt as required by the robot's automated polishing process as a robot-specific end effector (EOAT).

[0023] 3. The present invention adopts a 5-wheel structure, in which 4 wheels constitute an intelligent flexible tensioning, correction and rotation mechanism for the sanding belt, and the 5th wheel provides constant force control function within a 10mm stroke range through a constant force flexible mechanism assembly, thereby achieving a true constant force control effect for the sanding belt. Attached Figure Description

[0024] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a front view of the present invention.

[0026] Figure 2 This is a schematic diagram of the rear structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the corrective mechanism assembly;

[0028] Figure 4 This is a schematic diagram of the sand belt drive wheel and its mechanism assembly;

[0029] Figure 5 This is a schematic diagram of the connection between the constant force compliant mechanism assembly and the sanding belt contact wheel;

[0030] Figure 6 This is a schematic diagram showing the connection between the belt sander and the controller. The diagram shows:

[0031] 1 belt sander

[0032] 2 controllers

[0033] 3 cables

[0034] 11. Base and mounting frame

[0035] 12 Equipment Protective Sheet Metal

[0036] 13 Sanding belt tensioner

[0037] 14. Belt breakage and correction sensor

[0038] 15 Correction Mechanism Assembly

[0039] 151 Straightening Wheel Fixing Base

[0040] 152 Straightening Wheel Positioning Shaft

[0041] 153 Correcting Wheel Base

[0042] 154 Straightening Wheel Axle

[0043] 155 abrasive belt straightening wheel

[0044] 156 Straightening Wheel Floating Head

[0045] 157 Straightening Wheel Positioning Pin

[0046] 158 Electric Cylinder Mounting Plate

[0047] 159 electric cylinder

[0048] 1510 speed reducer

[0049] 1511 servo motor

[0050] 1512 Electric Cylinder End Floating Head

[0051] 16 safety locks

[0052] 17 Sand Belt Support Columns

[0053] 18 sand belt idler wheel

[0054] 19 Hengli Compliant Mechanism Assembly

[0055] 191 Constant Force Compliant Cylinder

[0056] 192 Mechanism Linkage

[0057] 193 Sanding belt contact wheel connecting rod

[0058] 194 Constant Force Compliant Cylinder Connector

[0059] 110 sander belt contact wheel

[0060] 111 Sand belt drive wheel and its mechanism assembly

[0061] 1111 drive wheels

[0062] 1112 small pulley

[0063] 1113 large pulley

[0064] 1114 Synchronous Belt

[0065] 1115 Motor Mounting Base

[0066] 1116 drive wheel axle

[0067] 1117 bearing housing

[0068] 1118 Drive Wheel Mount

[0069] 112 Dust Collection Tank

[0070] 113 tensioner cylinder

[0071] 1131 tensioner drive plate

[0072] 114 Main air source, power supply, and signal interface

[0073] 115 Electrical Control Module

[0074] 116 Contact Wheel Moving Cylinder

[0075] 117 sand belt

[0076] 118 Pneumatic Control Module

[0077] 119 motor

[0078] 120 feet

[0079] 121 Lifting Ring Detailed Implementation

[0080] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0081] This invention also provides a belt sander with intelligent compliant force control function, such as... Figure 1 , Figure 2 As shown, the equipment includes a base and mounting frame 11, a belt breakage and correction sensor 14, a constant force compliant mechanism assembly 19, an abrasive belt 117 arranged in a ring structure, and abrasive belt drive wheel and its mechanism assembly 111, abrasive belt tension wheel 13, correction mechanism assembly 15, abrasive belt idler wheel 18, and abrasive belt contact wheel 110 that rotate and cooperate with the abrasive belt 117 in sequence. The base and mounting frame 11 serves as the load-bearing structure of the entire equipment. The base and mounting frame 11 are provided with equipment protective sheet metal 12 on the external part or all of them to play a safety protection role. The constant force compliant mechanism assembly 19, abrasive belt drive wheel and its mechanism assembly 111, abrasive belt tension wheel 13, belt breakage and correction sensor 14, correction mechanism assembly 15, and abrasive belt idler wheel 18 are integrated and installed on the base and mounting frame 11. The abrasive belt contact wheel 110 is connected to the abrasive belt idler wheel 18 through the constant force compliant mechanism assembly 19.

[0082] To adapt to different grinding conditions, the position of the abrasive belt contact wheel 110 can be adjusted, such as... Figure 1 , Figure 2 As shown, the sanding belt contact wheel 110 can move forward and backward via the contact wheel moving cylinder 116 configured on the base and mounting frame 11. The forward and backward movements allow the sanding belt 117 to be in a raised or suspended state, respectively, to meet the process requirements of heavy-duty grinding and light-duty polishing and wire drawing. The sanding belt tensioning wheel 13 can synchronously compensate for the raised or suspended state via the tensioning wheel cylinder 113, so that the tension of the sanding belt 117 can be adjusted in real time regardless of its position and always be in a tensioned state under the preset tension value. Specifically, one end of the tensioning wheel cylinder 113 is detachably fixed to the base and mounting frame 11, and the other end of the tensioning wheel cylinder 113 is equipped with a push rod. The extension and retraction of the push rod can drive the tensioning wheel transmission plate 1131 to rotate around the axis, thereby driving the sanding belt tensioning wheel 13 to change position, thus realizing the adjustment of the tension of the sanding belt 117.

[0083] Furthermore, the sanding belt contact wheel 110 can move forward and retract by the contact wheel movement cylinder 116. When the sanding belt contact wheel 110 moves forward or retracts, it will cause the sanding belt 117 to move forward and bulge or retract and be suspended. The base and the mounting frame 11 are provided with sanding belt support columns 17, and the sanding belt support columns 17 are provided with auxiliary wheels of ceramic structure. During this process, the auxiliary wheels on the sanding belt support columns 17 can provide auxiliary support for the sanding belt 117 that is still rotating.

[0084] like Figure 1 , Figure 5 As shown, the constant force compliance mechanism assembly 19 has a constant force compliance cylinder 191 and a sanding belt contact wheel link 193 that connects the sanding belt idler wheel 18 and the sanding belt contact wheel 110. The telescopic end of the constant force compliance cylinder 191 is connected to the middle of the sanding belt contact wheel link 193 and can maintain the constant force compliance contact function by means of the sanding belt contact wheel link 193 in the form of the sanding belt contact wheel 110 rotating around the axis of the sanding belt idler wheel 18. Specifically, the constant force compliant mechanism assembly 19 includes a mechanism link 192 disposed on the base and the mounting frame 11, a constant force compliant cylinder 191 mounted on the mechanism link 192, and the telescopic end of the constant force compliant cylinder 191 connected to the sanding belt contact wheel link 193 through a constant force compliant cylinder connector 194. The telescopic end of the constant force compliant cylinder 191 can be understood as the constant force compliant cylinder push rod that extends or retracts. The constant force compliant cylinder connector 194 and the end of the constant force compliant cylinder push rod preferably have a universal rotation fit structure of ball head and ball socket to realize constant force compliant transmission. It should be noted that the contact wheel moving cylinder 116 realizes the forward and backward movement of the sanding belt contact wheel 110 through the transmission of the drive mechanism connecting rod 192. In practical applications, the constant force compliant cylinder 191 can be equipped with a force sensor to monitor the force on the constant force compliant cylinder push rod in real time, thereby controlling the action of the constant force compliant cylinder 191 so that the applied force value of the constant force compliant cylinder push rod is a set value or a set range value, ensuring the effect of compliant constant force.

[0085] like Figure 1 , Figure 3As shown, the belt alignment mechanism assembly 15 can precisely swing its belt alignment wheel 155 to perform alignment adjustment operations based on the belt breakage and belt alignment sensor 14's collected information on the operating status of the belt 117. The alignment mechanism assembly 15 includes an alignment wheel fixing seat 151, an alignment wheel positioning shaft 152, an alignment wheel base 153, an alignment wheel shaft 154, an alignment wheel 155, an alignment wheel floating head 156, an alignment wheel positioning shaft pin 157, an electric cylinder fixing plate 158, an electric cylinder 159, a reducer 1510, a servo motor 1511, and an electric cylinder end floating head 1512. The alignment wheel 155 is fixed to the alignment wheel base 153 via the alignment wheel shaft 154, and the alignment wheel base 153 is fixed to the alignment wheel fixing seat 151 via the alignment wheel positioning shaft 152. The floating head 156 of the straightening wheel is fixed to the base 153 of the straightening wheel through the positioning pin 157 of the straightening wheel. The floating head 156 of the straightening wheel and the floating head 1512 at the end of the electric cylinder are connected to the electric cylinder 159. The electric cylinder 159 is fixedly installed on the electric cylinder fixing plate 158 and integrates a reducer 1510 and a servo motor 1511. When the servo motor 1511 is running, the reducer 1510 and the electric cylinder 159 can realize the precise swing of the straightening wheel 155 in the axial direction, thereby realizing the straightening adjustment function of the sanding belt 117.

[0086] like Figure 1 , Figure 2 , Figure 4 As shown, the sanding belt drive wheel and its mechanism assembly 111 includes a motor 119, a synchronous belt 1114, a drive wheel axle 1116, drive wheels 1111, small pulleys 1112, and a large pulley 1113 driven and connected to the motor 119. The two ends of the synchronous belt 1114 are tensioned and fitted onto the small pulleys 1112 and the large pulleys 1113, respectively. The motor 119 can drive the large pulley 1113 to rotate, thereby driving the sanding belt 117 to rotate through the synchronous belt 1114, the small pulleys 1112, the drive wheel axle 1116, and the drive wheel axle 1116. Specifically, the sanding belt drive wheel and its mechanism assembly 111 provides the rotational power to drive the sanding belt 117 through the drive wheel 1111. The drive wheel 1111 is fixedly mounted on the drive wheel mounting base 1118 through the drive wheel axle 1116 and bearing seat 1117. The drive wheel 1111 is connected to the small pulley 1112 and connected to the large pulley 1113 through the synchronous belt 1114. The large pulley 1113 is connected to the motor 119 through the motor mounting base 1115.

[0087] like Figure 2 , Figure 6As shown, the base and mounting frame 11 of this invention are also equipped with an electrical control module 115 and a pneumatic control module 118. Both the electrical control module 115 and the pneumatic control module 118 are connected to the main air source, power supply, and signal interface 114. The main air source, power supply, and signal interface 114 are connected to the controller 2 via cables 3, enabling the controller 2 to automatically control the belt sander 1 according to its pre-set control program. The controller 2 is equipped with a human-machine interface (HMI) and various function buttons, which can be used to set and monitor various key parameters of the belt sander 1. Safety lock 16 employs an industrial electromagnetic interlock mechanism to ensure absolute safety during belt sander 1 belt 117 replacement. Specifically, when servicing belt sander 1, the maintenance door needs to be opened. When the maintenance door is opened, safety lock 16 detects the door opening signal and sends it back to controller 2. Controller 2 then stops all rotating equipment until it receives a signal from safety lock 16 indicating the maintenance door is closed. Only then does controller 2 allow all rotating equipment to start, effectively preventing maintenance accidents during the maintenance period. Belt sander 1 is also equipped with a dust collection trough 112, foot anchors 120, and lifting rings 121.

[0088] The present invention also provides a control method for a belt sander with intelligent compliant force control function. This method can be implemented on a belt sander with intelligent compliant force control function. The controller 2 controls the belt sander 1 to move autonomously according to a preset program. Based on the running status information of the sander belt 117 collected by the belt breakage and correction sensor 14, the correction mechanism assembly 15 is controlled to realize the dynamic real-time correction and belt breakage monitoring functions of the sander belt 117 during rotation. The constant force compliant mechanism assembly 19 of the belt sander 1 enables the sander belt contact wheel 110 to have a constant force compliant contact function. This invention achieves dynamic real-time correction and belt breakage monitoring of the belt 117 during its rotation by controlling the belt sander 1's own correction mechanism assembly 15 and belt breakage and correction sensor 14. This solves the problem that the belt sander 117 cannot be corrected or alarmed in time when belt breakage and / or deviation occur during rotation. At the same time, the constant force compliant mechanism assembly 19 enables the contact wheel to maintain constant force compliant contact, solving the problem that the belt sander contact wheel 110 cannot maintain constant force contact during the grinding process. This achieves the constant force processing effect required by the belt sander as a robot-specific end effector (EOAT) for automated polishing processes.

[0089] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0090] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A belt sander with intelligent compliant force control function, characterized in that, It includes a base and mounting frame (11), a belt breakage and correction sensor (14), a constant force compliant mechanism assembly (19), a sanding belt (117), and a sanding belt drive wheel and its mechanism assembly (111), a sanding belt tension wheel (13), a correction mechanism assembly (15), a sanding belt idler wheel (18), and a sanding belt contact wheel (110) that rotate in sequence with the sanding belt (117). The constant force compliant mechanism assembly (19), the sanding belt drive wheel and its mechanism assembly (111), the sanding belt tension wheel (13), the belt breakage and correction sensor (14), the correction mechanism assembly (15), and the sanding belt idler wheel (18) are all mounted on the base and the mounting frame (11). The sanding belt contact wheel (110) is connected to the sanding belt idler wheel (18) through the constant force compliant mechanism assembly (19). The sanding belt contact wheel (110) can be driven to move forward and backward. The forward and backward movements can respectively put the sanding belt (117) in a raised state and a suspended state. The sander can drive the sanding belt tension wheel (13) to synchronously compensate for the raised or suspended state, so that the sanding belt (117) can adjust its tension in real time and always be in a tensioned state under the preset tension value. The abrasive belt contact wheel (110) can move forward and backward by a contact wheel moving cylinder (116) configured on the base and mounting frame (11) to match different grinding working conditions. The belt tensioning wheel (13) can synchronously compensate for the position of the raised state or the suspended state through the tensioning wheel cylinder (113); The constant force compliance mechanism assembly (19) has a constant force compliance cylinder (191) and a sanding belt contact wheel link (193) connecting the sanding belt idler wheel (18) and the sanding belt contact wheel (110). The telescopic end of the constant force compliance cylinder (191) is connected to the middle of the sanding belt contact wheel link (193) and can maintain the constant force compliance contact function by means of the sanding belt contact wheel link (193) so that the sanding belt contact wheel (110) rotates around the axis of the sanding belt idler wheel (18).

2. The belt sander with intelligent compliant force control function according to claim 1, characterized in that, The constant force compliant mechanism assembly (19) includes a mechanism link (192) disposed on the base and mounting frame (11), the constant force compliant cylinder (191) is mounted on the mechanism link (192), and the telescopic end of the constant force compliant cylinder (191) is connected to the sanding belt contact wheel link (193) through the constant force compliant cylinder connector (194).

3. The belt sander with intelligent compliant force control function according to claim 2, characterized in that, The contact wheel moving cylinder (116) drives the mechanism connecting rod (192) to realize the forward and backward movement of the sand belt contact wheel (110).

4. The belt sander with intelligent compliant force control function according to claim 1, characterized in that, The correction mechanism assembly (15) can drive its own sanding belt correction wheel (155) to swing precisely to perform correction and adjustment operations based on the sanding belt (117) running status information collected by the broken belt and correction sensor (14).

5. The belt sander with intelligent compliant force control function according to claim 1, characterized in that, The base and mounting frame (11) are also provided with an electrical control module (115) and a pneumatic control module (118). The electrical control module (115) and the pneumatic control module (118) are both connected to the main air source, power supply and signal interface (114). The main air source, power supply and signal interface (114) are connected to the controller (2) through a cable (3). The controller (2) can automatically control the belt sander (1) according to the control program preset in itself. The controller (2) is equipped with a human-machine interface and multiple function buttons. Through the function buttons, the setting and monitoring of various key parameters of the belt sander (1) can be realized.

6. The belt sander with intelligent compliant force control function according to claim 1, characterized in that, The sand belt drive wheel and its mechanism assembly (111) includes a motor (119), a synchronous belt (1114), a drive wheel axle (1116), drive wheels (1111), small pulleys (1112) respectively arranged at both ends of the drive wheel axle (1116), and a large pulley (1113) driven and connected to the motor (119). The two ends of the synchronous belt (1114) are respectively tensioned and fitted on the small pulleys (1112) and the large pulleys (1113). The motor (119) can drive the large pulley (1113) to rotate, and then drive the sand belt (117) to rotate through the synchronous belt (1114), the small pulley (1112), the drive wheel shaft (1116), and the drive wheel shaft (1116).

7. A control method for a belt sander with intelligent compliant force control function as described in any one of claims 1 to 6, characterized in that, The controller (2) controls the belt sander (1) to move autonomously according to the preset program, and controls the belt sander (117) to achieve dynamic real-time correction and belt breakage monitoring during the rotation of the belt sander (117) by controlling the belt breakage and correction sensor (14) to collect the running status information of the belt sander (117). The constant force compliant mechanism assembly (19) of the belt sander (1) enables the belt sander contact wheel (110) to have constant force compliant contact function.

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