Force-control flexible belt sander matched with manipulator for grinding and polishing

Abstract

The utility model discloses a force control flexible belt sander matched with a manipulator for grinding and polishing, which belongs to the technical field of belt sanders and comprises a base, a frame is arranged at the upper end of the base, a motor box is arranged on the side edge of the frame, a control box is arranged at the upper end of the motor box, and a driving motor is arranged in the motor box. The floating force control function is achieved in a relatively simple mode, an expensive mechanical arm force control assembly is replaced, the economical efficiency is good, the mechanical arm is matched with a control function designed in a targeted mode and a reserved connector, and the mechanical arm is convenient to use and maintain. By means of the design of the dustproof assembly, the service life of accessories is prolonged, the operation and maintenance cost is reduced, good expansibility is achieved, and different contact assemblies can be simply and conveniently replaced according to the grinding requirements of different workpieces.

Description

Technical Field

[0001] The utility model belongs to the technical field of abrasive belt machines, and in particular relates to a force-controlled flexible abrasive belt machine used for grinding and polishing with a matching manipulator. Background Art

[0002] In modern industrial manufacturing, many castings, forgings or machined parts have material openings, flashes, burrs, etc. on their surfaces that need to be polished away. The traditional solution is to manually polish and remove them using angle grinders, grinding wheels, manual belt sanders and other equipment. With the upgrading of the industry, the use of robots to replace traditional manual polishing has been increasingly used in various industries. The belt sander is the most commonly used supporting equipment in the robot automated polishing solution.

[0003] The existing technology has the following problems when used: 1. The sanding wheel of the manual belt sander is rigidly supported in a fixed position and does not have the function of floating and floating force adjustment;

[0004] 2. The circumference of the belt of the manual belt machine is short, usually within 2 meters, which makes the belt wear faster and the replacement frequency is higher, which affects the continuity, efficiency and safety of production;

[0005] 3. The traditional manual belt sander only has a power on / off switch installed on the equipment itself to start and stop the operation of the belt, and has no other control functions or belt break monitoring functions;

[0006] 4. Belt grinding itself is a dust-generating process. The dust prevention effect of traditional belt grinding machines is poor. Dust easily accumulates and adheres to the inside of the transmission wheel, causing the dynamic balance performance of the transmission wheel to decrease, the noise and vibration to increase, and the service life of the bearings and shafts to be shortened. Utility Model Content

[0007] In order to solve the problems raised in the above background technology, the utility model provides a force-controlled flexible sanding belt machine for polishing with a matching manipulator, which has the characteristics of convenient online control and debugging, dustproof, low cost and good expansibility.

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a force-controlled flexible sanding belt machine for supporting manipulator grinding and polishing, comprising a base, a frame is arranged at the upper end of the base, a motor box is arranged on the side of the frame, a control box is arranged on the upper end of the motor box, a driving motor is arranged inside the motor box, the rotating shaft of the driving motor is connected to the driving wheel, a tensioning mechanism is arranged inside the frame above the driving wheel, a tensioning wheel is arranged on the side of the tensioning mechanism, a floating mechanism is arranged in the middle of the side of the frame, a grinding wheel is arranged on the side of the floating mechanism, a lower follower wheel is arranged at the lower end of the frame close to the grinding wheel, an upper follower wheel is arranged at the upper end of the frame close to the grinding wheel, and abrasive belts are embedded on the surfaces of the tensioning wheel, the upper follower wheel, the grinding wheel, the lower follower wheel and the driving wheel.

[0009] Preferably, a dust collecting tray is provided on the side of the base below the grinding wheel.

[0010] Preferably, the floating mechanism is composed of a position sensor and a floating cylinder, one end of the floating cylinder is connected to the grinding wheel, and the other end of the floating cylinder is connected to the frame.

[0011] Preferably, the tensioning mechanism adopts a guide rod type cylinder, and a dustproof accordion cover is provided on the outer surface of the cylinder.

[0012] Preferably, a frequency converter is installed in the control box, and the frequency converter is electrically connected to the drive motor.

[0013] Preferably, a door is provided on the side of the frame, and the door is hinged to the frame.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model realizes the floating force control function in a relatively simple way, replacing the expensive force control components of the manipulator, and has good economy. The control functions and reserved interfaces designed specifically for use with the manipulator make the online control and debugging of the manipulator simpler and more convenient. The targeted dustproof component design increases the service life of the accessories, reduces the operation and maintenance costs, and has good scalability. Different contact components can be simply and conveniently replaced according to the grinding needs of different workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 It is a right side view of the utility model;

[0018] In the figure: 1. frame; 2. control box; 3. motor box; 4. drive motor; 5. base; 6. dust collecting tray; 7. sanding belt; 8. grinding wheel; 9. upper follower wheel; 10. tensioning wheel; 11. floating mechanism; 12. lower follower wheel; 13. drive wheel; 14. box door; 15. tensioning mechanism. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figure 1-2 The utility model provides the following technical solutions: a force-controlled flexible abrasive belt machine for supporting manipulator grinding and polishing, comprising a base 5, a frame 1 is arranged at the upper end of the base 5, a motor box 3 is arranged on the side of the frame 1, a control box 2 is arranged on the upper end of the motor box 3, a driving motor 4 is arranged inside the motor box 3, and the rotating shaft of the driving motor 4 is connected to the driving wheel 13, a tensioning mechanism 15 is arranged above the driving wheel 13 inside the frame 1, a tensioning wheel 10 is arranged on the side of the tensioning mechanism 15, a floating mechanism 11 is arranged in the middle of the side of the frame 1, a grinding wheel 8 is arranged on the side of the floating mechanism 11, a lower follower wheel 12 is arranged at the lower end of the frame 1 close to the grinding wheel 8, an upper follower wheel 9 is arranged at the upper end of the frame 1 close to the grinding wheel 8, and abrasive belts 7 are nested on the surfaces of the tensioning wheel 10, the upper follower wheel 9, the grinding wheel 8, the lower follower wheel 12 and the driving wheel 13.

[0021] Specifically, a dust collecting tray 6 is provided on the side of the base 5 below the grinding wheel 8 .

[0022] By adopting the above technical solution, it is convenient to collect the waste and dust generated by grinding, thereby reducing pollution to the working environment.

[0023] Specifically, the floating mechanism 11 is composed of a position sensor and a floating cylinder, one end of the floating cylinder is connected to the grinding wheel 8 , and the other end of the floating cylinder is connected to the frame 1 .

[0024] By adopting the above technical solution, when the contact force on the grinding wheel 8 exceeds the set floating force of the floating cylinder, the grinding wheel 8 floats backward to achieve flexible constant force grinding, and the deformation of the sanding belt 7 caused by the floating of the grinding wheel 8 is compensated by the pushing out of the tensioning wheel 10.

[0025] Specifically, the tensioning mechanism 15 adopts a guide rod type cylinder, and a dustproof accordion cover is provided on the outer surface of the cylinder.

[0026] By adopting the above technical solution, the tensioning wheel 10 is driven to move by the extension and retraction of the guide rod type cylinder, and the tensioning wheel 10 tensions the abrasive belt 7 .

[0027] Specifically, a frequency converter is installed in the control box 2 , and the frequency converter is electrically connected to the drive motor 4 .

[0028] By adopting the above technical solution, a frequency converter is installed in the control box 2 to drive the motor 4 to operate. Through the preset frequency converter parameters and terminal functions, it is convenient to connect with the upper control system to realize the operation, stop and online real-time speed adjustment functions of the sanding belt 7.

[0029] Specifically, a door 14 is provided on the side of the frame 1 , and the door 14 is hinged to the frame 1 .

[0030] By adopting the above technical solution, it is convenient to open and inspect the driving wheel 13, the tensioning wheel 10, the upper follower wheel 9, the lower follower wheel 12 and the tensioning mechanism 15.

[0031] The floating cylinder in the utility model is an existing disclosed technology, and the selected model is MA32-75S.

[0032] The guide rod type cylinder in the utility model is an existing public technology, and the selected model is MGPL32-75Z.

[0033] The frequency converter in the utility model is an existing public technology, and the selected model is Zhongchen Z2400-3R7G.

[0034] Working principle and use process of the utility model: When the utility model is used, the sanding belt 7 is installed on the driving wheel 13, the tensioning wheel 10, the upper follower wheel 9, the grinding wheel 8 and the lower follower wheel 12. The sanding belt 7 is tensioned by the tensioning mechanism 15. When the driving motor 4 drives, the driving wheel 13 rotates, and the grinding wheel 8 is used to contact the workpiece for grinding. When the contact force exerted on the grinding wheel 8 exceeds the set floating force of the floating cylinder, the grinding wheel floats backward to achieve flexible constant force grinding. The deformation of the sanding belt 7 caused by the floating of the grinding wheel 8 is compensated by the push-out of the tensioning wheel 10 to ensure that the sanding belt 7 will not fall off due to retraction deformation. A frequency converter is installed in the control box 2 for driving the motor 4 to operate. Through the preset frequency converter parameters and terminal functions, it is convenient to connect to the upper control system to realize the operation, stop and online real-time speed adjustment functions of the sanding belt 7.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A force-controlled flexible abrasive belt machine for polishing with a supporting manipulator, comprising a base, characterized in that: A frame is provided at the upper end of the base, a motor box is provided on the side of the frame, a control box is provided on the upper end of the motor box, a driving motor is provided inside the motor box, a rotating shaft of the driving motor is connected to a driving wheel, a tensioning mechanism is provided inside the frame above the driving wheel, a tensioning wheel is provided on the side of the tensioning mechanism, a floating mechanism is provided in the middle of the side of the frame, a grinding wheel is provided on the side of the floating mechanism, a lower follower wheel is provided at the lower end of the frame close to the grinding wheel, an upper follower wheel is provided at the upper end of the frame close to the grinding wheel, and sanding belts are embedded on the surfaces of the tensioning wheel, the upper follower wheel, the grinding wheel, the lower follower wheel and the driving wheel.

2. The force-controlled flexible abrasive belt machine for grinding and polishing with a matching robot according to claim 1, characterized in that: A dust collecting tray is arranged on the side of the base below the grinding wheel.

3. The force-controlled flexible abrasive belt machine for grinding and polishing with a matching robot according to claim 1, characterized in that: The floating mechanism is composed of a position sensor and a floating cylinder, one end of the floating cylinder is connected to the grinding wheel, and the other end of the floating cylinder is connected to the frame.

4. The force-controlled flexible abrasive belt machine for grinding and polishing with a matching robot according to claim 1, characterized in that: The tensioning mechanism adopts a guide rod type cylinder, and a dustproof accordion cover is provided on the outer surface of the cylinder.

5. The force-controlled flexible abrasive belt machine for grinding and polishing with a matching robot according to claim 1, characterized in that: A frequency converter is installed in the control box, and the frequency converter is electrically connected to the drive motor.

6. The force-controlled flexible abrasive belt machine for grinding and polishing with a matching robot according to claim 1, characterized in that: A box door is arranged on the side of the frame, and the box door is hinged to the frame.

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