Sanding machine capable of adaptively polishing wood workpieces with different diameters and curved surfaces

Abstract

The invention is suitable for the technical field of sanding machines, and provides a sanding machine capable of polishing wooden workpieces with different diameters and curved surfaces in a self-adaptive mode, the sanding machine comprises a rack, a clamping module, a sanding module and a paper folding mechanical arm, the clamping mechanism can clamp columnar wooden workpieces with different diameters, and the sanding module is used for sanding the wooden workpieces with different diameters; clamping and limiting are carried out through an incomplete gear mechanism; the planetary gear sanding mechanism can remarkably reduce sanding deviation caused by vibration, and the surface smoothness and the gravity center consistency of a finished product are improved. The paper folding mechanical arm can conduct torsion stretching in different directions, the position of the sanding mechanism is changed, and then wood workpieces with different curvatures and angles are ground. The number of layers and the size of a Jiyun paper folding structure in the paper folding mechanical arm can be changed, so that the Jiyun paper folding structure has good replaceability and can be suitable for grinding places of different wood workpieces.

Description

Technical Field

[0001] The present invention belongs to the technical field of sanding machines, and in particular relates to a sanding machine that can adaptively sand wooden workpieces with different diameters and curved surfaces. Background Art

[0002] In the technical field of wood processing machinery and equipment, the sanding process of wooden workpieces with a columnar shape and a curved head (such as gyroscopes, handicrafts, furniture components, musical instrument parts, etc.) has important technical significance. Common sanding techniques include hand-held electric sanding tools, fixed belt sanders, and simple conveyor belt sanding equipment. Among them, hand-held tools are used to sand the surface of the gyroscope by manually controlling the sandpaper or grinding wheel, which is suitable for small-batch production; semi-automatic equipment uses a sanding head with a preset path in combination with a rotating fixture to achieve partial automation and improve the efficiency to a certain extent.

[0003] Although certain progress has been made in current sanding techniques, the current sanding machines for wooden products mainly focus on the processing of wooden boards and cannot well adapt to columnar workpieces with curved surfaces. Firstly, traditional hand-held or semi-automatic equipment highly relies on the operator's experience and is difficult to adapt to workpieces with different diameters. Secondly, for the complex curved surface structures of such workpieces, the adaptive ability of existing sanding heads is insufficient, and it is difficult to fit irregular contours, often resulting in over-sanding or missed-sanding areas. These problems lead to low efficiency and unstable yield in the sanding process of such workpieces, and there is an urgent need for a specialized solution. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a sanding machine that can adaptively sand wooden workpieces with different diameters and curved surfaces, aiming to solve the technical problems existing in the prior art mentioned in the background art.

[0005] The embodiments of the present invention are implemented as follows. A sanding machine that can adaptively sand wooden workpieces with different diameters and curved surfaces, the sanding machine includes:

[0006] A frame;

[0007] A clamping module for clamping the wooden workpiece;

[0008] A sanding module, which is opposite to the sanding module in position and is used for sanding the wooden workpiece;

[0009] An origami robotic arm connected to the frame. The origami robotic arm includes a bionic flexible skeleton, magnetic sheets, and an electromagnetic controller. A number of the bionic flexible skeletons are all Yoshimura tubular origami structures made of flexible materials. Magnetic sheets are installed on the outer mountain folds of each bionic flexible skeleton. The magnetic sheets on each bionic flexible skeleton form a group of magnetic sheets, and each group of magnetic sheets is controlled by a corresponding electromagnetic controller;

[0010] The sanding module is connected to the free end position of the origami robotic arm.

[0011] Furthermore, the top end of each of the bionic flexible skeletons is connected to the robotic arm, and the robotic arm is cooperated with the frame through a slider and a moving mechanism.

[0012] Even further, the moving mechanism includes a chute opened on the base, and a coaxial lead screw and a guide rod are installed in the chute. Wherein, the lead screw is driven to rotate by a third driving motor, the slider forms a screw pair with the lead screw, and the slider is slidably matched with the guide rod.

[0013] Even further, the clamping module includes a clamping reversing mechanism, an intermediate rod, a tray and arc-shaped clamping plates. The top end and the bottom end of the intermediate rod are respectively installed with a tray and a third driven gear. A plurality of arc-shaped clamping plates are arranged on the tray. Each arc-shaped clamping plate is connected with a swing rod. The bottom of the swing rod is rotatably connected with a sliding rod. The sliding rod is slidably matched with a connecting frame. The swing rod is also hinged with a connecting rod hinged on the intermediate rod. The clamping reversing mechanism is used to drive the forward and reverse rotation of the third driven gear, and the third driven gear drives the sliding rod to move relative to the connecting frame through a pushing mechanism.

[0014] Even further, the pushing mechanism includes a plurality of arc-shaped grooves opened on the end face of the third driven gear, and a limiting plate is slidably matched in the arc-shaped grooves. The limiting plate is fixedly connected with the sliding rod.

[0015] Even further, the clamping reversing mechanism includes a fixed frame, a first driving motor, an incomplete gear ring and a first driven gear. The incomplete gear ring is fixed on the fixed frame. An incomplete gear is also connected at the axial center position of the incomplete gear ring, and the incomplete gear does not correspond to the toothed part of the incomplete gear ring. The incomplete gear is meshed and transmitted with the first driven gear. The first driven gear is connected with a second driven gear through a first gear shaft. The second driven gear is meshed and transmitted with the third driven gear. The incomplete gear ring is driven to rotate by the first driving motor.

[0016] Even further, the sanding module includes planet gears, a sun gear, a grinding disc and a grinding main shaft. The sun gear is fixed at the shaft end of the grinding main shaft. The sun gear is meshed and transmitted with a plurality of planet gears. The planet gears are meshed with an external gear ring. The shaft end of each planet gear is installed with a grinding disc. The grinding main shaft is driven to rotate by a second driving motor. The grinding disc is used for installing sandpaper.

[0017] Even further, clamping buffer pads are installed on the contact surfaces between each arc-shaped clamping plate and the wooden workpiece.

[0018] Even further, a fixed end is provided at the bottom end of each of the bionic flexible skeletons, and the fixed end is used for connecting with the sanding module.

[0019] The beneficial effects of the embodiments of the present invention are as follows:

[0020] (1) The clamping mechanism provided by the present invention can be radially folded and unfolded, enabling the clamping surface to present different diameters to adapt to the clamping of wooden workpieces with different diameters. Moreover, the buffer structure provided on the clamping plate can avoid damaging the wooden workpiece. Through the incomplete gear mechanism, the tightening and loosening of the fixture can be achieved without reversing the rotation direction of the motor, making the operation of the equipment more stable.

[0021] (2) The grinding mechanism provided by the present invention adopts a planetary gear mechanism. Compared with the traditional sand belt grinding mechanism, it can realize the compound movement of multiple sand heads revolving and rotating around the curved surface of the workpiece, covering complex geometric areas such as the spherical top and conical tip, ensuring uniform distribution of the sanding trajectory, and avoiding problems such as missed grinding or local overload caused by single movement in traditional single-axis grinding.

[0022] (3) By providing a bionic flexible skeleton as the stretching device of the sanding module, the present invention has a compliant structure and continuous and flexible deformation characteristics. It can accurately fit the curved surface head of the cylindrical workpiece through flexible folding deformation, realize adaptive grinding of workpieces with different curvatures, improve the processing quality of workpieces, and reduce costs. Description of the Drawings

[0023] Figure 1 is the overall schematic diagram of the present invention;

[0024] Figure 2 is the overall schematic diagram of the clamping module of the present invention;

[0025] Figure 3 is the schematic diagram of the clamping commutation mechanism of the present invention;

[0026] Figure 4 is the schematic diagram of the sanding module of the present invention;

[0027] Figure 5 is the schematic diagram of another perspective of the clamping module of the present invention;

[0028] Figure 6 is the overall schematic diagram of the origami robotic arm of the present invention;

[0029] Figure 7 is the schematic diagram of partial details of the origami robotic arm of the present invention.

[0030] In the figure: 100 - frame, 101 - base, 102 - guide rod, 103 - lead screw, 104 - third driving motor, 200 - clamping module, 201 - clamping reversing mechanism, 2011 - first driving motor, 2012 - fixing bracket, 2013 - incomplete gear ring, 2014 - incomplete gear, 2015 - first driven gear, 2016 - first gear shaft, 2017 - second driven gear, 202 - third driven gear, 203 - intermediate rod, 204 - tray, 205 - clamping buffer pad, 206 - arc-shaped clamping plate, 207 - swing rod, 208 - connecting rod, 209 - limiting plate, 210 - slide rod, 211 - arc-shaped groove, 212 - connecting frame, 300 - sanding module, 301 - planet gear, 302 - sun gear, 303 - housing, 304 - external gear ring, 305 - sanding disc, 306 - sanding main shaft, 307 - second driving motor, 400 - origami robotic arm, 401 - bionic flexible skeleton, 402 - magnetic sheet, 403 - electromagnetic controller, 404 - fixed end, 405 - robotic arm, 406 - slider, 500 - wooden workpiece. Detailed implementation manners

[0031] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] It can be understood that the terms "first", "second", etc. used in the present application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0033] As Figure 1 、 Figure 6 and Figure 7 shown, in one embodiment, a sander capable of adaptively sanding wooden workpieces with different diameters and curved surfaces is proposed. The sander includes:

[0034] A frame 100;

[0035] A clamping module 200 for clamping the wooden workpiece 500;

[0036] A sanding module 300, which is opposite to the sanding module 300 in position and is used for sanding the wooden workpiece 500;

[0037] The origami robotic arm 400 is connected to the frame 100. The origami robotic arm 400 includes a bionic flexible skeleton 401, magnetic sheets 402, and an electromagnetic controller 403. A plurality of the bionic flexible skeletons 401 are all Yoshimura tubular origami structures made of flexible materials. Magnetic sheets 402 are installed on the outer mountain-fold surfaces of each bionic flexible skeleton 401. The magnetic sheets 402 on each bionic flexible skeleton 401 form a group of magnetic sheets, and each group of magnetic sheets is controlled by a corresponding electromagnetic controller 403;

[0038] The sanding module 300 is connected to the free end position of the origami robotic arm 400.

[0039] In the embodiment of the present invention, the bionic flexible skeleton 401 can be integrally formed of silica gel or rubber material. Its tube wall is composed of periodically arranged isosceles trapezoid origami units, and adjacent units are connected by preset creases (mountain-fold surfaces, valley-fold surfaces) to form a bionic flexible skeleton 401 that can axially expand and radially bend. When the electromagnetic controller 403 controls a certain group of magnetic sheets to be energized, the alternating magnetic field generated by it interacts with the corresponding magnetic sheet 402, and the magnetic repulsive force is used to drive the outer expansion of the mountain-fold surface on that side, forcing the adjacent valley-fold surface to produce folding deformation, so as to realize the directional bending or axial expansion of the bionic flexible skeleton 401; by time-sharing controlling the on-off timing and current intensity of multiple electromagnetic controllers 403, the bending angle and expansion amplitude of the bionic flexible skeleton 401 can be precisely adjusted, and then the end sanding module 300 can be driven to fit the curved surface of the wooden workpiece 500 to adjust the sanding posture.

[0040] As Figure 1 and Figure 7 As shown, as a preferred embodiment of the present invention, the top end of each bionic flexible skeleton 401 is connected to the robotic arm 405, and the robotic arm 405 is matched with the frame 100 through a slider 406 and a moving mechanism.

[0041] Specifically, the moving mechanism includes a chute opened on the base 101. A coaxial lead screw 103 and a guide rod 102 are installed in the chute. The lead screw 103 is driven to rotate by a third driving motor 104. The slider 406 forms a helical pair with the lead screw 103, and the slider 406 is slidably matched with the guide rod 102.

[0042] In the actual application of the embodiment of the present invention, the third driving motor 104 outputs power to drive the lead screw 103 to rotate. Under the action of the helical pair, the sliding of the slider 406 can be realized, and then the position adjustment of the bionic flexible skeleton 401 can be driven.

[0043] In one case of the embodiment of the present invention, a fixed end 404 is provided at the bottom end of each bionic flexible skeleton 401, and the fixed end 404 is used to connect to the sanding module 300.

[0044] As Figure 2 shown, as another preferred embodiment of the present invention, the clamping module 200 includes a clamping reversing mechanism 201, an intermediate rod 203, a tray 204 and an arc-shaped clamping plate 206. A tray 204 and a third driven gear 202 are respectively installed at the top and bottom of the intermediate rod 203. A plurality of arc-shaped clamping plates 206 are provided on the tray 204. Each arc-shaped clamping plate 206 is connected to a swing rod 207. The bottom of the swing rod 207 is rotatably connected to a slide rod 210. The slide rod 210 is slidably matched with a connecting frame 212. The swing rod 207 is also hinged with a connecting rod 208 hinged on the intermediate rod 203. The clamping reversing mechanism 201 is used to drive the forward and reverse rotation of the third driven gear 202. The third driven gear 202 drives the slide rod 210 to move relative to the connecting frame 212 through a pushing mechanism.

[0045] In the actual application of the embodiment of the present invention, when the third driven gear 202 rotates, due to the action of the pushing mechanism, the driving slide rod 210 moves relative to the connecting frame 212, that is, the driving slide rod 210 can slide relative to the connecting frame 212. Furthermore, the arc-shaped clamping plate 206 is driven by the swing rod 207 to adjust its position to adapt to wooden workpieces 500 with different diameters. When the third driven gear 202 rotates forward and backward, the actions of the arc-shaped clamping plate 206 are opposite, thereby realizing the clamping or loosening of the wooden workpiece 500.

[0046] In one case of the embodiment of the present invention, a clamping buffer pad 205 is installed on the contact surface of each arc-shaped clamping plate 206 and the wooden workpiece 500 to avoid damaging the wooden workpiece 500.

[0047] As Figure 2 shown, as another preferred embodiment of the present invention, the pushing mechanism includes a plurality of arc-shaped grooves 211 opened on the end surface of the third driven gear 202. A limiting plate 209 is slidably matched in the arc-shaped groove 211. The limiting plate 209 is fixedly connected to the slide rod 210.

[0048] In the embodiment of the present invention, the arc-shaped groove 211 is arranged such that it is not coaxial with the center of the third driven gear 202. When the third driven gear 202 rotates, under the action of the arc-shaped groove 211, the limiting plate 209 can be driven to perform a linear motion.

[0049] As Figure 3As shown, as another preferred embodiment of the present invention, the clamping and reversing mechanism 201 includes a fixed frame 2012, a first driving motor 2011, an incomplete gear ring 2013, and a first driven gear 2015. The incomplete gear ring 2013 is fixed on the fixed frame 2012. An incomplete gear 2014 is also connected at the axial center position of the incomplete gear ring 2013, and the incomplete gear 2014 does not correspond to the toothed part of the incomplete gear ring 2013. The incomplete gear 2014 is in meshing transmission with the first driven gear 2015. The first driven gear 2015 is connected to a second driven gear 2017 through a first gear shaft 2016, and the second driven gear 2017 is in meshing transmission with a third driven gear 202. The incomplete gear ring 2013 is driven to rotate by the first driving motor 2011.

[0050] In the actual application of the embodiment of the present invention, when the first driven gear 2015 and the incomplete gear 2014 are in meshing transmission, the first driven gear 2015 is not in meshing with the incomplete gear ring 2013. When the first driven gear 2015 just disengages from the incomplete gear 2014, the incomplete gear ring 2013 intervenes in the transmission, thereby changing the rotation direction of the first driven gear 2015, and further controlling the clamping and relaxation of the wooden workpiece 500.

[0051] As Figure 4 and Figure 5 As shown, as another preferred embodiment of the present invention, the sanding module 300 includes a planetary gear 301, a sun gear 302, a sanding disc 305, and a sanding main shaft 306. The sun gear 302 is fixed at the shaft end of the sanding main shaft 306. The sun gear 302 is in meshing transmission with a plurality of planetary gears 301. The planetary gears 301 are in meshing with an external gear ring 304. A sanding disc 305 is installed at the shaft end of each planetary gear 301. The sanding main shaft 306 is driven to rotate by a second driving motor 307. The sanding disc 305 is used for installing sandpaper. The sandpaper can be detachably installed through Velcro, and the mesh number of the sandpaper 308 is configured according to the surface roughness requirements of the workpiece.

[0052] In the embodiment of the present invention, the sanding module 300 further includes a housing 303. The housing 303 is a cylindrical cavity structure. Its top is provided with a motor mounting flange and is fixed to the second driving motor 307 through bolts. The bottom is an open end to accommodate the planetary gear assembly; the external gear ring 304 is fastened to the inner wall of the housing 303 through circumferentially evenly distributed bolts to form a fixed internal gear structure.

[0053] Combined with the above embodiments, the working principle of the embodiments of the present invention is as follows: Place the wooden workpiece 500 on the tray, start the first driving motor, drive the incomplete gear ring 2013 and the incomplete gear 2014 to rotate in the same direction, and the incomplete gear 2014 drives the first driven gear 2015 to rotate in the opposite direction. The first driven gear 2015 drives the second driven gear 2017 to rotate in the same direction through the first gear shaft 2016, and the second driven gear 2017 drives the third driven gear 202 to rotate in the opposite direction, thereby driving the slide bar 210 to move outward along the linear track of the connecting frame 212, and at the same time driving the rotation of the swing rod 207, so that the arc-shaped clamping plate 206 contracts inward to clamp the wooden workpiece 500. When clamping the wooden workpiece 500, the elastic deformation of the clamping buffer pad 205 can absorb part of the energy to avoid scratching the wooden workpiece 500. When the wooden workpiece 500 is clamped, turn off the first driving motor 2011.

[0054] Start the electromagnetic controller 403, control the bending degree and telescopic length of the origami robotic arm 400, so that after the grinding disc contacts the workpiece, start the second driving motor 306 to start the sanding module 300, and continue to control the grinding direction of the origami robotic arm 400 through the electromagnetic controller 403. The second driving motor 306 drives the grinding disc 305 to rotate and revolve through the planetary gear set, and the wooden workpiece 500 can be ground and polished. When the sanding work is finished and the first driving motor 2011 is restarted, when the incomplete gear 2014 continues to rotate along the current rotation direction, the first driven gear 2015 disengages from the incomplete gear 2014 and meshes with the incomplete gear ring 2013, so that the third driven gear 202 rotates in the opposite rotation direction, and then the action of loosening the wooden workpiece 500 is realized. Start the third driving motor 104 to move the sanding device away from the clamping module through the screw structure, and the wooden workpiece 500 can be taken out.

[0055] After that, repeat the above steps until the grinding of all wooden workpieces 500 is completed and the equipment operation is stopped.

[0056] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0057] The above embodiments only represent several implementation manners of the present invention, and the description is relatively specific and detailed, but it should not be understood as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A sanding machine capable of adaptively sanding wooden workpieces with different diameters and curved surfaces, characterized in that: The sanding machine comprises: Rack(100); A clamping module (200) for clamping a wooden workpiece (500); A sanding module (300), which is located opposite to the sanding module (300) and is used to sand the wooden workpiece (500); An origami robot arm (400) is connected to the frame (100), the origami robot arm (400) comprising a bionic flexible skeleton (401), a magnetic sheet (402) and an electromagnetic controller (403), wherein a plurality of the bionic flexible skeletons (401) are Yoshimura tubular origami structures made of flexible material, a magnetic sheet (402) is installed on the outer folding surface of each bionic flexible skeleton (401), the magnetic sheets (402) on each bionic flexible skeleton (401) form a group of magnetic sheets, and each group of magnetic sheets is controlled by a corresponding electromagnetic controller (403); The sanding module (300) is connected at the free end of the paper folding robot arm (400).

2. The sanding machine according to claim 1, characterized in that: The top end of each bionic flexible skeleton (401) is connected to a mechanical arm (405), and the mechanical arm (405) cooperates with the frame (100) through a slider (406) and a moving mechanism.

3. The sanding machine according to claim 2, characterized in that: The moving mechanism comprises a slide groove provided on a base (101), wherein a coaxial lead screw (103) and a guide rod (102) are installed in the slide groove, wherein the lead screw (103) is driven to rotate by a third drive motor (104), the slider (406) and the lead screw (103) form a spiral pair, and the slider (406) and the guide rod (102) are slidably matched.

4. The sanding machine according to claim 1, characterized in that: The clamping module (200) comprises a clamping reversing mechanism (201), an intermediate rod (203), a tray (204) and an arc-shaped clamping plate (206); the top end and the bottom end of the intermediate rod (203) are respectively mounted with the tray (204) and the third driven gear (202); a plurality of arc-shaped clamping plates (206) are arranged on the tray (204); each of the arc-shaped clamping plates (206) is connected to a swing rod (207); The bottom is rotatably connected to the slide bar (210), the slide bar (210) is slidably matched with the connecting frame (212), the rocker arm (207) is also hingedly matched with the connecting rod (208) hinged on the intermediate rod (203), the clamping reversing mechanism (201) is used to drive the third driven gear (202) to rotate forward and reverse, and the third driven gear (202) drives the slide bar (210) to move relative to the connecting frame (212) through the pushing mechanism.

5. The sanding machine according to claim 4, characterized in that: The pushing mechanism comprises a plurality of arc grooves (211) formed on the end surface of the third driven gear (202), a limit plate (209) slidingly fitted in the arc groove (211), and the limit plate (209) is fixedly connected to the slide rod (210).

6. The sanding machine according to claim 4 or 5, characterized in that: The clamping reversing mechanism (201) comprises a fixed frame (2012), a first drive motor (2011), an incomplete gear ring (2013) and a first driven gear (2015); the fixed frame (2012) is fixed with an incomplete gear ring (2013); an incomplete gear (2014) is connected to the axis of the incomplete gear ring (2013); the incomplete gear (2014) and the toothed portion of the incomplete gear ring (2013) do not correspond to each other; the incomplete gear (2014) and the first driven gear (2015) are meshed and transmitted; the first driven gear (2015) is connected to the second driven gear (2017) via a first gear shaft (2016); the second driven gear (2017) and the third driven gear (202) are meshed and transmitted; the incomplete gear ring (2013) is driven to rotate by the first drive motor (2011).

7. The sanding machine according to claim 1, characterized in that: The sanding module (300) comprises a planetary gear (301), a sun gear (302), a grinding disc (305) and a grinding spindle (306); the sun gear (302) is fixed to the shaft end of the grinding spindle (306); the sun gear (302) is meshed with a plurality of planetary gears (301) for transmission; the planetary gears (301) are meshed with an outer gear ring (304); a grinding disc (305) is installed on the shaft end of each planetary gear (301); the grinding spindle (306) is driven to rotate by a second drive motor (307); and the grinding disc (305) is used to install sandpaper.

8. The sanding machine according to claim 4, characterized in that: A clamping buffer pad (205) is installed on the contact surface between each arc-shaped clamping plate (206) and the wooden workpiece (500).

9. The sanding machine according to claim 1, characterized in that: The bottom end of each bionic flexible skeleton (401) is provided with a fixed end (404), and the fixed end (404) is used to be connected to the sanding module (300).

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