Multi-contact wheel active cooperative regulation sand belt grinding device

Abstract

The present application belongs to the technical field of surface finishing, and particularly relates to a multi-contact-wheel active cooperative regulation and control abrasive belt grinding device for complex curved surface parts, which comprises a support structure and a grinding execution mechanism; the grinding execution mechanism comprises a driving motor, a driving wheel, an abrasive belt, an electric push rod, a force sensor mounting flange, a force sensor a, an intermediate contact wheel frame fixing piece, an intermediate contact wheel frame, a force sensor b, an intermediate contact wheel seat, a contact wheel, a transition wheel, a transition wheel support frame, left and right contact wheel frames, a guide wheel assembly, left and right guide rails, an auxiliary wheel, an auxiliary wheel support, a tensioning wheel and a tensioning wheel support frame. The present application is mainly used for surface finishing of complex curved surface parts, can autonomously change the relative positions of the contact wheel groups according to the changes of the part surface curvature, and the two coaxially arranged force sensors can measure the grinding forces of different contact wheels in real time, so as to ensure the effective fitting of the multi-contact-wheel system and the curved surface, and improve the surface quality and grinding efficiency.

Description

Technical Field

[0001] This invention belongs to the field of surface finishing technology, specifically relating to a multi-contact wheel active collaborative control belt grinding device for complex curved surface parts. Background Technology

[0002] With the rapid development of aviation manufacturing, the increasing demands for aerodynamic and stealth performance have led to higher requirements for the forming accuracy and efficiency of aircraft body panels. Currently, the forming of aircraft body panels requires the use of numerous tooling molds with complex curved contours. During use, these molds generate numerous defects such as adhesion, scratches, and corrosion, reducing surface contour accuracy and affecting the forming quality of the body panels. Therefore, it is necessary to regularly grind and polish the body panel molds. Currently, domestic aviation manufacturing companies use two methods for mold polishing and repair: 1) Repair work is carried out by workers using handheld pneumatic belt sanders. The disadvantages are low processing efficiency, lack of effective protective measures for operators, and high skill requirements for operators; 2) The mold is hoisted onto a large five-axis CNC machine tool for polishing and repair. This ensures processing accuracy, but the hoisting process is time-consuming and labor-intensive, reducing the productivity of large CNC machine tools and resulting in high processing costs.

[0003] Chinese invention patent application CN111958425B discloses a multi-contact surface abrasive belt grinding device, which can achieve adaptive floating motion of multiple grinding heads according to the changes in the curved surface shape of different parts, enabling precision polishing of complex curved surfaces. However, its application is limited because it cannot actively change the relative positions of multiple grinding heads; the adjustment stroke of each grinding head contact point is short, and the effective grinding depth of different contacts is difficult to control precisely. Chinese invention patent application CN115365956A discloses a robot force-position controlled abrasive belt grinding head device, which can achieve force-position controlled abrasive belt grinding according to different complex curved surfaces. However, because this device only has a single grinding head, its processing efficiency is low. Based on the above analysis, this patent designs a multi-contact wheel active collaborative controlled abrasive belt grinding device for complex curved surface parts. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] The purpose of this invention is to provide a multi-contact wheel active collaborative control belt grinding device for complex curved surface parts, aiming to solve the problem of low efficiency in the repair of aircraft body panel molds.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A multi-contact wheel active coordinated control belt grinding device includes a support structure and a grinding actuator;

[0009] The aforementioned support structure is fixed to the industrial robot;

[0010] The grinding actuator includes a drive motor, a drive wheel, an abrasive belt, an electric actuator, a force sensor mounting flange, a force sensor a, a middle contact wheel bracket fixing component, a middle contact wheel bracket, a force sensor b, a middle contact wheel seat, a contact wheel, a transition wheel bracket, a transition wheel, left and right contact wheel brackets, left and right guide rails, a guide wheel assembly, an auxiliary wheel, an auxiliary wheel bracket, a tension wheel, and a tension wheel bracket. All components of the grinding actuator are arranged on the same plane of the supporting structure. The drive motor is mounted at one end of the supporting structure, and the drive wheel is fixed to the output end of the drive motor, serving as the power source for the multi-contact wheel active coordinated control abrasive belt grinding device. A push rod is installed in the middle of the support structure, and a force sensor mounting flange is installed at the front end of the electric push rod; the force sensor is installed on the force sensor mounting flange; the intermediate contact wheel frame is fixed to the force sensor a by an intermediate contact wheel frame fixing component; one end of the force sensor b is fixed to the intermediate contact wheel frame, and the other end is fixedly connected to the intermediate contact wheel seat; the intermediate contact wheel seat is located in the middle of the other end of the support structure; the contact wheels are respectively installed on the intermediate contact wheel seat, the left and right contact wheel frame heads, forming a rotating pair; the components are: intermediate contact wheel seat, electric push rod, force sensor mounting flange, force sensor a, intermediate contact wheel frame fixing component, intermediate contact wheel frame, and force sensor. The centerline of b is collinear with the axis of the drive wheel; the left and right contact wheel frames are symmetrical with respect to the middle contact wheel seat, and their heads are fixed to both sides of the other end of the support structure, while their tails are connected to the middle contact wheel frame to form a revolute joint; the left and right contact wheel frames include two rotatable rods, and the transition wheel is connected to the nodes of the two rods of the left and right contact wheel frames respectively through a transition wheel bracket, and the transition wheel bracket cannot rotate relative to the left and right contact wheel frames; the guide wheel assembly is connected to the nodes of the two rods of the left and right contact wheel frames, forming a revolute joint with the left and right contact wheel frames, and forming a sliding joint with the left and right guide rails respectively; the left and right guide rails are fixed to the support structure, and are connected by... The guide wheel assembly controls the relative position changes of the left and right contact wheel frames; the tension wheel is mounted on the tension wheel bracket, forming a rotating pair with it; the tension wheel bracket is mounted on the electric actuator support structure, located on one side of the electric actuator; there are two auxiliary wheels, both symmetrically mounted on the support structure via auxiliary wheel brackets, located on both sides between the drive wheel and the electric actuator; the sanding belt sequentially wraps around the outer side of the drive wheel, the inner side of the two sets of auxiliary wheels, the inner side of the tension wheel, the outer side of the left and right contact wheels, the inner side of the two sets of transition wheels, and the outer side of the middle contact wheel; during operation, the output end of the drive motor drives the drive wheel, causing the sanding belt to rotate.

[0011] The support structure includes a base plate, a robot connection flange, ribs, and an electric actuator support base.

[0012] The upper end of the base plate is mounted on the robot connecting flange; the rib plate is mounted on the bottom surface of the base plate and connected to the robot connecting flange, and the three are fixedly connected to form a rigid body.

[0013] The lower end of the electric actuator support is mounted on the base plate; the drive motor is mounted on the base plate; the end of the electric actuator is mounted on the electric actuator support; the left and right guide rails are mounted on the base plate; the tension wheel bracket is mounted on the side of the support; and the auxiliary wheel is symmetrically mounted on the base plate via the auxiliary wheel bracket.

[0014] The axes of the drive wheel, contact wheel, transition wheel, auxiliary wheel, and tensioning wheel are perpendicular to the plane of the support structure.

[0015] (III) Beneficial Effects

[0016] The present invention has the following beneficial effects:

[0017] This invention is mainly used for material removal from curved surface parts of aircraft cover molds. The grinding actuator can actively change the relative position of the contact wheel group according to the curvature of different parts, and increases the adjustment stroke of a single contact wheel, making it suitable for processing large curvature surfaces. Two coaxial force sensors can measure the grinding force of different contact wheels in real time, accurately control the effective grinding depth at each contact wheel contact point, ensure effective contact between the multi-contact wheel system and the curved surface, and improve the surface quality and material removal efficiency of cover mold grinding. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a multi-contact wheel active collaborative control belt grinding device according to the present invention;

[0019] Figure 2 This is a schematic diagram of the support structure of a multi-contact wheel active collaborative control belt grinding device according to the present invention;

[0020] Figure 3 This is a schematic diagram of the grinding actuator of a multi-contact wheel active collaborative control belt grinding device according to the present invention.

[0021] Figure 4 This is a schematic diagram of the grinding operation of a multi-contact wheel active collaborative control belt grinding device according to the present invention.

[0022] [Explanation of Labels in the Attached Image]

[0023] 1: Support structure; 2: Grinding actuator; 3: Robot connecting flange; 4: Base plate; 5: Rib plate; 6: Electric actuator support seat; 7: Drive motor; 8: Drive wheel; 9: Sanding belt; 10: Electric actuator; 11: Force sensor mounting flange; 12: Force sensor a; 13: Intermediate contact wheel frame fixing component; 14: Intermediate contact wheel frame; 15: Force sensor b; 16: Intermediate contact wheel seat; 17: Contact wheel; 18: Transition wheel bracket; 19: Transition wheel; 20: Left and right contact wheel frames; 21: Left and right guide rails; 22: Guide wheel assembly; 23: Tensioning wheel; 24: Tensioning wheel bracket; 25: Auxiliary wheel bracket; 26: Auxiliary wheel. Detailed Implementation

[0024] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixation," etc., should be interpreted broadly. For example, "fixation" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] like Figures 1 to 3 As shown, this invention is a multi-contact wheel active collaborative control belt grinding device, which includes a support structure 1 and a grinding execution mechanism 2. The support structure 1 provides a stable support platform for the grinding end and is fixed to an industrial robot through a robot connecting flange 3. The robot connecting flange 3, the base plate 4, and the rib plate 5 are placed vertically in pairs and fixedly connected to improve structural strength. The electric actuator support seat 6 is fixedly connected to the base plate 4 to support the electric actuator 10.

[0027] like Figure 1 and Figure 3As shown, the grinding actuator 2 includes a drive motor 7 mounted on the base plate 4. The drive wheel 8 is connected to the output end of the drive motor 7, providing power to the grinding actuator 2 and driving the abrasive belt 9 to rotate for grinding. The electric push rod 10 is mounted on the electric push rod support 6, and a force sensor mounting flange 11 is mounted at the front end for mounting the force sensor a12. The intermediate contact wheel frame 14 is fixed to the force sensor a12 by the intermediate contact wheel frame fixing member 13. One end of the force sensor b15 is fixed to the intermediate contact wheel frame 14, and the other end is fixedly connected to the intermediate contact wheel seat 16. The intermediate contact wheel seat 16 is located in the middle of the other end of the support structure 1. The contact wheels 17 are respectively mounted on the intermediate contact wheel seat 16, the heads of the left and right contact wheel frames 20, forming a rotating pair. The tails of the left and right contact wheel frames 20 are connected to the intermediate contact wheel frame 14, forming a rotating pair. During the processing, the real-time measurement value of force sensor b15 is the grinding force of the intermediate contact wheel 17. The difference between the real-time measurement values ​​of force sensor a12 and force sensor b15 is used to calculate the grinding force of the left and right contact wheels 17 through a functional relationship to ensure grinding quality. At the same time, the two force sensors play an overtravel protection role for the grinding device.

[0028] The transition wheel 19 is mounted on the left and right contact wheel frames 20 respectively via the transition wheel bracket 18; the guide wheel assembly 22 is mounted on the left and right contact wheel frames 20 respectively, forming a rotating pair with them, and forming a sliding pair with the left and right guide rails 21 respectively; the left and right guide rails 21 are mounted on the base plate 4, and the electric push rod 10 drives the middle contact wheel frame 12 to move, which in turn drives the left and right contact wheel frames 20 to move, since the guide wheel assembly 22 on the left and right contact wheel frames 20 forms a sliding pair with the left and right guide rails 21.

[0029] The tension wheel 23 is mounted on the tension wheel bracket 24, forming a rotating pair with it; the tension wheel bracket 24 is mounted on the electric actuator support 6, which ensures that the sanding belt 9 remains taut when the electric actuator 10 moves; the auxiliary wheel 26 is symmetrically mounted on the base plate 4 through the auxiliary wheel bracket 25; the sanding belt 9 sequentially winds and connects the drive wheel 8, the two sets of auxiliary wheels 26, the tension wheel 23, the left and right contact wheels 17, the two sets of transition wheels 19, and the middle contact wheel 17.

[0030] The following description of the working process of a multi-contact wheel active coordinated control belt grinding device of the present invention will further illustrate the technical solution of the present invention.

[0031] Before processing, the operator calculates the relative position changes of the contact wheel assembly based on the curvature changes of the surface of the workpiece. Using a functional relationship, the feed amount of the electric push rod at different processing positions is calculated. During grinding, the electric push rod 10 adjusts its extension and retraction based on real-time information about the processing position, thereby driving the intermediate contact wheel frame 14. Since the left and right contact wheel frames 20 are connected to the intermediate contact wheel frame 14 in the form of a revolute joint and are constrained by the left and right guide rails 21, the left and right contact wheels 20 can adjust their positions according to the extension and retraction of the electric push rod 10 along a predetermined trajectory. This allows them to cooperate with the intermediate contact wheel 17 to form different relative position postures, adapting to the curvature changes at different positions of the processed surface. During processing, the real-time measurement value of the force sensor b15 is the magnitude of the grinding force of the intermediate contact wheel 17. The difference between the real-time measurement values ​​of the force sensor a12 and the force sensor b15 is used to calculate the grinding force of the left and right contact wheels 17 using a function, ensuring grinding quality. Simultaneously, the two force sensors provide overtravel protection for the grinding device.

[0032] It should be understood that the above description of specific embodiments of the present invention is only for illustrating the technical approach and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-contact wheel active cooperative regulation abrasive belt grinding device, characterized in that, The grinding execution mechanism (2) is arranged on the support structure (1). The support structure (1) is fixed with an industrial robot. The grinding actuator (2) comprises a driving motor (7), a driving wheel (8), a sand belt (9), an electric push rod (10), a force sensor mounting flange (11), a force sensor a (12), an intermediate contact wheel frame fixing piece (13), an intermediate contact wheel frame (14), a force sensor b (15), an intermediate contact wheel seat (16), a contact wheel (17), a transition wheel support (18), a transition wheel (19), left and right contact wheel frames (20), left and right guide rails (21), a guide wheel assembly (22), an auxiliary wheel (26), an auxiliary wheel support (25), a tensioning wheel (23) and a tensioning wheel support (24). Each component of the grinding actuator (2) is arranged on the same plane of the support structure (1). The driving motor (7) is mounted at one end of the support structure (1), and the driving wheel (8) is fixed on the output end of the driving motor (7) as the power source of the multi-contact wheel driving sand belt grinding device. The electric push rod (10) is mounted in the middle of the support structure (1), and the front end of the electric push rod (10) is provided with the force sensor mounting flange (11). The force sensor a (12) is mounted on the force sensor mounting flange (11). The intermediate contact wheel frame (14) is fixed on the force sensor a (12) through the intermediate contact wheel frame fixing piece (13). One end of the force sensor b (15) is fixed on the intermediate contact wheel frame (14), and the other end is fixedly connected with the intermediate contact wheel seat (16). The intermediate contact wheel seat (16) is located in the middle of the other end of the support structure (1). The contact wheel (17) is respectively mounted on the intermediate contact wheel seat (16), the head of the left and right contact wheel frames (20), forming a rotating pair. The center lines of the intermediate contact wheel seat (16), the electric push rod (10), the force sensor mounting flange (11), the force sensor a (12), the intermediate contact wheel frame fixing piece (13), the intermediate contact wheel frame (14), the force sensor b (15) and the shaft of the driving wheel (8) are collinear. The left and right contact wheel frames (20) are symmetrical relative to the intermediate contact wheel seat (16), and the heads are fixed on the two sides of the other end of the support structure (1), and the tails are connected with the intermediate contact wheel frame (14), forming a rotating pair. The left and right contact wheel frames (20) comprise two rotatable rod members. The transition wheel (19) is connected at the nodes of the two rod members of the left and right contact wheel frames (20) through the transition wheel support (18), and the transition wheel support (18) cannot rotate relative to the left and right contact wheel frames (20). The guide wheel assembly (22) is connected at the nodes of the two rod members of the left and right contact wheel frames (20), forming a rotating pair with the left and right contact wheel frames (20), and respectively forming a moving pair with the left and right guide rails (21). The left and right guide rails (21) are fixed on the support structure (1), and the relative position change of the left and right contact wheel frames (20) is controlled through the guide wheel assembly (22). The tensioning wheel (23) is mounted on the tensioning wheel support (24), forming a rotating pair. The tensioning wheel support (24) is mounted on the electric push rod support structure (1) and located on one side of the electric push rod (10).The auxiliary wheels (26) are two, symmetrically installed on the support structure (1) through auxiliary wheel supports (25), located at both sides between the driving wheel (8) and the electric push rod (10); the abrasive belt (9) is wound in sequence on the outer side of the driving wheel (8), the inner side of the two groups of auxiliary wheels (26), the inner side of the tensioning wheel (23), the outer side of the left and right contact wheels (17), the inner side of the two groups of transition wheels (19), and the outer side of the middle contact wheel (17); during work, the output end of the driving motor (7) drives the driving wheel (8), which drives the abrasive belt (9) to rotate.

2. The multi-contact wheel active synergic regulation abrasive belt grinding device according to claim 1, characterized in that: The support structure (1) comprises a bottom plate (4), a robot connecting flange (3), a rib plate (5) and an electric push rod support seat (6).

3. The multi-contact wheel active synergic regulation abrasive belt grinding device according to claim 2, characterized in that: The upper end of the bottom plate (4) is installed on the robot connecting flange (3); the rib plate (5) is installed on the bottom surface of the bottom plate (4) and connected with the robot connecting flange (3), and the three are fixedly connected into a rigid body.

4. The multi-contact wheel active synergic regulation abrasive belt grinding device according to claim 2, characterized in that: The lower end of the electric push rod support seat (6) is installed on the bottom plate (4); the driving motor (7) is installed on the bottom plate (4), the tail end of the electric push rod (10) is installed on the electric push rod support seat (6), the left and right guide rails (21) are installed on the bottom plate (4), the tensioning wheel support (24) is installed on the side surface of the electric push rod support seat (6), and the auxiliary wheel (26) is symmetrically installed on the bottom plate (4) through the auxiliary wheel support (25).

5. The multi-contact wheel active synergic regulation abrasive belt grinding device according to claim 1, 2, 3 or 4, characterized in that: The axes of the driving wheel (8), the contact wheel (17), the transition wheel (19), the auxiliary wheel (26) and the tensioning wheel (23) are perpendicular to the plane of the support structure (1).

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