Precise force control grinding belt sander matched with robot for use

Abstract

The utility model discloses a precision force control grinding belt sander matched with a robot for use, which belongs to the technical field of grinding equipment and comprises a supporting component, a driving component and a driving component. The force control assembly comprises a floating air cylinder, a floating plate, an electric proportional valve and a sensor; the floating cylinder is arranged on the mounting plate; the floating plate is connected with the end of a piston rod of the floating cylinder; the electric proportional valve is connected with the floating cylinder; the sensor is connected with the floating cylinder; the abrasive belt operation assembly comprises a driving wheel, a driven wheel, a polishing wheel, an abrasive belt and a first driving part; the height adjusting assembly is arranged on the base plate; the mounting plate is connected with the height adjusting assembly; and the controller is in communication connection with the electric proportional valve and the sensor. And when the pressure applied by the floating cylinder is larger than a program set value, the piston rod of the floating cylinder retracts to discharge force, and constant-force grinding and polishing are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of polishing equipment, and particularly relates to a precision force control polishing abrasive belt machine matched with a robot. BACKGROUND

[0002] When a product with a complex surface is polished, constant force polishing is usually required to ensure the quality of polishing. For example, polishing is an indispensable process in the process of polishing blades of an aircraft and a gas turbine. Traditional polishing methods mostly use fixed abrasive belt machines with general or specific contact forms, and a polishing worker holds a workpiece to contact a high-speed running abrasive belt to polish the surface of the workpiece by changing gestures. Since the blades are mostly made of high-strength alloy materials and have specific shapes and curvatures, the polishing precision of the surface is extremely high. Manual polishing requires high operating skills and experience of the operator, has high labor intensity, and has a low yield. The polishing worker needs to observe the polishing effect of the surface at a close distance while holding the blade, and when the worker holds a small blade to contact the high-speed running abrasive belt, the distance between the hands and the abrasive belt and the polishing wheel is very close, and the running abrasive belt, the transmission wheel, and the polishing dust and debris cause potential safety hazards.

[0003] With the development and progress of industrial robot technology and the promotion of the strategy of replacing workers with robots, it is an inevitable trend to replace manual polishing of blades with industrial robots. In an industrial robot polishing system, the abrasive belt machine and the robot need to work online, and the program controls the start and stop, the speed, the polishing head contact force, and the like of the abrasive belt machine. The traditional abrasive belt machine for manual polishing does not have online communication components, speed adjustment components, force sensors, force control floating components, and the like, and cannot meet the requirements of being matched with an industrial robot. In addition, when the production line or the matched robot is replaced, the polishing height may change, and in this case, a pad is usually arranged to adjust the height of the abrasive belt machine, and the adjustment is inconvenient. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a precision force control polishing abrasive belt machine matched with a robot to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme.

[0006] A precision force control polishing abrasive belt machine matched with a robot comprises:

[0007] A support assembly comprises a base plate and a mounting plate.

[0008] A control force assembly, which comprises a floating cylinder, a floating plate, an electric proportional valve and a sensor; the floating cylinder is arranged on the mounting plate; the floating plate is connected with the piston rod end of the floating cylinder; the electric proportional valve is connected with the floating cylinder; the sensor is connected with the floating cylinder;

[0009] A belt running assembly, which comprises a driving wheel, a driven wheel, a polishing wheel, a belt and a first driving member; the driving wheel and the driven wheel are both rotationally arranged on the mounting plate; the polishing wheel is rotationally arranged on the end of the floating plate; the belt is arranged around the driving wheel, the driven wheel and the polishing wheel and forms a closed annular structure; the first driving member is in transmission connection with the driving wheel;

[0010] A height adjusting assembly, which is arranged on the base plate; the mounting plate is connected with the height adjusting assembly and has two states of relative movement and relative fixation with the base plate;

[0011] A controller, which is in communication connection with the electric proportional valve and the sensor respectively.

[0012] Further, a tensioning assembly is further included, which comprises a tensioning cylinder, a tensioning wheel and a precision pressure regulating valve; the tensioning cylinder is arranged on the mounting plate and located in the annular structure formed by the belt, and a fixed plate is arranged on the piston rod of the tensioning cylinder; the tensioning wheel is rotationally arranged on the fixed plate and in contact with the belt; the precision pressure regulating valve is connected with the tensioning cylinder.

[0013] Further, the control force assembly further comprises a guide rail, which is arranged on the mounting plate; an L-shaped adapter is arranged on the end of the floating plate, which comprises a vertical plate perpendicular to the mounting plate and a horizontal plate parallel to the mounting plate; the vertical plate is in contact with the piston rod end of the floating cylinder; the two ends of the horizontal plate are provided with sliding blocks, which are slidingly arranged in the guide rail.

[0014] Further, the height adjusting assembly comprises a lead screw, a connecting block and a second driving member; the lead screw is vertically rotationally arranged on the base plate and has a threaded nut connected thereon; the connecting block is fixedly arranged on the mounting plate and fixedly connected with the nut; the second driving member is arranged on the base plate and in transmission connection with the lead screw.

[0015] Further, the height adjusting assembly further comprises a guide rod, and a sleeve ring is fixedly arranged on the mounting plate and sleeved on the guide rod.

[0016] Further, a display disc is arranged on the controller, which is used for displaying the force value measured by the sensor.

[0017] Further, a belt replacing valve is arranged on the controller.

[0018] Further, a dust cover is further included, which covers the floating cylinder and is connected with the mounting plate.

[0019] Further, the support assembly further comprises a base, which is placed on a work platform; and the base plate is fixed on the base.

[0020] The utility model has the advantages of the following:

[0021] 1. The precision force control polishing abrasive belt machine matched with the robot has the advantages that when the pressure applied by the floating cylinder is greater than the program setting value, the piston rod of the floating cylinder retracts to unload force, constant force polishing and polishing are realized, and rigid clamping caused by position over tolerance of the workpiece and the grinding head is avoided.

[0022] 2. The precision force control polishing abrasive belt machine matched with the robot has the advantages that the tensioning assembly is adopted to control the tensioning degree of the abrasive belt, the tensioning degree of the abrasive belt is basically kept unchanged in the working process, and the polishing force is assisted to be controlled.

[0023] 3. The precision force control polishing abrasive belt machine matched with the robot has the advantages that the height adjusting assembly is adopted, the polishing height can be freely adjusted, and the abrasive belt machine can adapt to different robot polishing systems. DRAWINGS

[0024] Figure 1 It is a first angle schematic view of the abrasive belt machine involved in the utility model;

[0025] Figure 2 It is a second angle schematic view of the abrasive belt machine involved in the utility model;

[0026] Figure 3 It is a structure schematic view of the force control assembly involved in the utility model;

[0027] Figure 4 It is a structure schematic view of the height adjusting assembly involved in the utility model.

[0028] In the drawing: 1 - support assembly, 11 - base, 12 - base plate, 13 - mounting plate, 2 - force control assembly, 21 - floating cylinder, 22 - guide rail, 23 - floating plate, 24 - sensor, 25 - electric proportional valve, 3 - abrasive belt running assembly, 31 - driving wheel, 32 - driven wheel, 33 - polishing wheel, 34 - abrasive belt, 35 - first driving member, 4 - tensioning assembly, 41 - tensioning cylinder, 42 - tensioning wheel, 43 - precision pressure regulating valve, 5 - height adjusting assembly, 51 - lead screw, 52 - connecting block, 53 - second driving member, 6 - controller, 61 - display disc, 62 - abrasive belt replacement valve, 7 - dust cover. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0030] Unless otherwise defined or specified, all the professional and scientific terms used in the present application have the same meanings as those familiar to those skilled in the art. In addition, any method and material similar or equivalent to those described in the present application can be applied in the method of the present application.

[0031] Unless otherwise explicitly specified and limited, the "or" in the present application contains the "and". The "and" corresponds to the Boolean logical operator "AND", the "or" corresponds to the Boolean logical operator "OR", and the "AND" is a subset of the "OR".

[0032] It can be understood that, although the terms "first", "second" and the like can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. Therefore, the first element can be called the second element without departing from the teachings of the present disclosure concept.

[0033] In the present application, the terms "mainly composed of" and "composed of" are included in the terms "containing", "including" or "comprising".

[0034] Unless otherwise explicitly specified and limited, the terms "connected", "communicated", "connected" in the present application should be understood in a broad sense, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] For example, if an element (or component) is referred to as being on, coupled to, or connected to another element, the element can be directly formed on, coupled to, or connected to the other element, or there can be one or more intervening elements between them. Conversely, if the expressions "directly on", "directly coupled to" and "directly connected to" are used herein, it means that there is no intervening element. Other words used to describe the relationship between elements should be similarly interpreted, such as "between" and "directly between", "attached" and "directly attached", "adjacent" and "directly adjacent", and the like.

[0036] It is to be understood that the terms "front," "back," "right," "left," "up" and "down" are used in this description with reference to the orientation of the apparatus in the drawings. The terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component. It is to be understood that these terms are used to describe one element's relationship to another element as illustrated in the Figures. These terms are in addition to the orientation of the apparatus described in the drawings.

[0037] A precision force control grinding belt machine for robot, like Figures 1-4 It comprises a support assembly 1, a force control assembly 2, a belt running assembly 3, a tension assembly 4 and a height adjustment assembly 5.

[0038] The support assembly 1 comprises a base 11, a base plate 12 and a mounting plate 13; the base 11 is placed on a work platform; the base plate 12 is fixed on the base 11; the mounting plate 13 is installed on the base plate 12 through the height adjustment assembly 5.

[0039] As shown in Figure 3 The force control assembly 2 comprises a floating cylinder 21, a guide rail 22, a floating plate 23, an electric proportional valve 25 and a sensor 24; the floating cylinder 21 is arranged on the mounting plate 13; the guide rail 22 is arranged on the mounting plate 13; the floating plate 23 is in sliding connection with the guide rail 22 and is connected with the end of the piston rod of the floating cylinder 21, and the end of the floating plate 23 extends from the edge of the mounting plate 13, facilitating the polishing work; the electric proportional valve 25 is connected with the floating cylinder 21, and is optionally installed on the base plate 12; the sensor 24 is connected with the floating cylinder 21, for detecting the force given by the floating cylinder 21, and after feeding back the detection signal to the control system, adjusting the force given by the floating cylinder 21 through the electric proportional valve 25. The floating plate 23 slides along the guide rail 22 under the driving of the floating cylinder 21.

[0040] Optionally, a reinforcing plate is fixed on the mounting plate 13, and the floating cylinder 21 is arranged on the reinforcing plate and located within the annular structure formed by the belt 34. The driven wheels 32 are arranged on both sides of the floating plate 23 and outside the annular structure formed by the belt 34 and in contact with the belt 34. The guide rail 22 is arranged on the reinforcing plate and is in the form of a sliding groove, and the end of the floating plate 23 is provided with an L-shaped adapter, which comprises a vertical plate perpendicular to the mounting plate 13 and a horizontal plate parallel to the mounting plate 13, and the vertical plate is in contact with the end of the piston rod of the floating cylinder 21; the ends of the horizontal plate are provided with sliding blocks which are slidingly arranged in the guide rail 22.

[0041] The sand belt running assembly 3 comprises a driving wheel 31, a driven wheel 32, a polishing wheel 33, a sand belt 34 and a first driving member 35; the driving wheel 31 and the driven wheel 32 are both rotationally arranged on the mounting plate 13, and the polishing wheel 33 is rotationally arranged at the end of the floating plate 23; the sand belt 34 is arranged around the driving wheel 31, the driven wheel 32 and the polishing wheel 33 and forms a closed annular structure, and the running direction of the sand belt 34 is jointly adjusted by the driving wheel 31, the driven wheel 32 and the polishing wheel 33; the first driving member 35 is a servo motor, the servo motor is connected with a servo driver, the rotation speed of the servo motor is controlled by the servo driver, and then the speed of the sand belt 34 is controlled, and the driving wheel 31 is in transmission connection with the first driving member 35.

[0042] The sand belt 34 is used to polish the workpiece to be polished, a servo motor is used for driving, power is transmitted to the driving wheel 31, the driving wheel 31 drives the sand belt 34 to rotate, and the driving wheel 31 is closely attached to the sand belt 34 to prevent the sand belt 34 from deviating. When the device works, the industrial robot clamps the workpiece to be processed to contact the polishing wheel 33 to polish the sand belt 34 in the set motion track.

[0043] The tensioning assembly 4 comprises a tensioning cylinder 41, a tensioning wheel 42 and a precision pressure regulating valve 43, the tensioning cylinder 41 is arranged on the mounting plate 13 and located in the annular structure formed by the sand belt 34, a fixing plate is arranged on the piston rod of the tensioning cylinder 41; the tensioning wheel 42 is rotationally arranged on the fixing plate and in contact with the sand belt 34; the precision pressure regulating valve 43 is connected with the tensioning cylinder 41, and optionally, the precision pressure regulating valve 43 is arranged on the base plate 12. The extension amount of the piston rod of the tensioning cylinder 41 is adjusted, the tensioning wheel 42 is driven to move along the length direction of the piston rod, the tensioning degree of the sand belt 34 is controlled, the precision pressure regulating valve 43 can accurately control the gas supply amount of the tensioning cylinder 41, and the output pressure is kept stable.

[0044] As shown in Figure 4 The height adjusting assembly 5 comprises a lead screw 51, a connecting block 52 and a second driving member 53; the lead screw 51 is vertically rotationally arranged on the base plate 12 and is in threaded connection with a nut; the connecting block 52 is fixedly arranged on the mounting plate 13 and fixedly connected with the nut; and the second driving member 53 is arranged on the base plate 12 and in transmission connection with the lead screw 51. Under the action of the second driving member 53, the lead screw 51 rotates, the nut moves along the lead screw 51, and then the position of the mounting plate 13 is adjusted. Optionally, the second driving member 53 is a servo motor. Preferably, a guide rod is fixedly arranged on the base plate 12, a sleeve ring is fixedly arranged on the mounting plate 13, and the sleeve ring is sleeved on the guide rod to assist the stable movement of the mounting plate 13.

[0045] The precision force control polishing abrasive belt machine matched with the robot further comprises a controller 6 installed on the base plate 12 and in communication connection with the sensor 24 and the electric proportional valve 25 respectively, the sensor 24 converts the pressure applied by the floating cylinder 21 into an electric signal and sends to the controller 6, the controller 6 receives the electric signal of the force sensor 24 and issues an instruction to the electric proportional valve 25 to control the air pressure of the floating cylinder 21. Specifically, the electric proportional valve outputs corresponding air pressure to push out the floating cylinder 21 according to the program set value, when the pressure applied by the floating cylinder 21 is greater than the program set value, the piston rod retracts to unload, realizing constant force polishing and polishing, and avoiding rigid clamping caused by the position difference between the workpiece and the grinding head.

[0046] In some embodiments, the controller 6 is provided with a display disc 61. The contact force value is obtained by the sensor 24 and displayed on the pressure display disc 61, the display disc 61 has a transmission output function, which can be used for the upper computer to read and analyze the contact force value of the grinding head in real time, so as to correct and adjust the action position of the robot, realizing the flexible constant force polishing effect on the surface of the workpiece.

[0047] Optionally, the first driving member 35 is in communication connection with the controller 6.

[0048] The online control of the equipment is realized through switching value, analog value and Modbus general protocol, and is simple and convenient to configure. Through the relevant control signals connected, the equipment can be conveniently started and stopped, the motor speed and the polishing contact force can be adjusted in real time.

[0049] In some embodiments, the controller 6 is provided with a sand belt replacement valve 62, which is convenient for sand belt 34 replacement operation.

[0050] In some embodiments, the precision force control polishing abrasive belt machine matched with the robot further comprises a dust cover 7 covering the floating cylinder 21 and connected with the mounting plate 13, avoiding the influence of polishing dust on the operation of the equipment.

[0051] Finally, it should be noted that: the above only describes the preferred embodiments of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A precision force-controlled polishing belt sander for robot-assisted use, characterized in that, The utility model relates to a kind of sanding machine, including: Supporting assembly (1), the supporting assembly (1) includes base plate (12) and mounting plate (13); Force control assembly (2), the force control assembly (2) includes floating cylinder (21), floating plate (23), electric proportional valve (25) and sensor (24);The floating cylinder (21) is arranged on mounting plate (13);The floating plate (23) is connected with the piston rod end of floating cylinder (21);The electric proportional valve (25) is connected with floating cylinder (21);The sensor (24) is connected with floating cylinder (21); Abrasive belt running assembly (3), the abrasive belt running assembly (3) includes driving wheel (31), driven wheel (32), polishing wheel (33), abrasive belt (34) and first driving piece (35);The driving wheel (31) and driven wheel (32) are rotationally arranged on mounting plate (13);The polishing wheel (33) is rotationally arranged on the end of floating plate (23);The abrasive belt (34) is wound on driving wheel (31), driven wheel (32) and polishing wheel (33), and forms closed annular structure;The first driving piece (35) is drivingly connected with driving wheel (31); Height adjusting assembly (5), the height adjusting assembly (5) is arranged on base plate (12);The mounting plate (13) is connected with height adjusting assembly (5), and has two states of relative movement and relative fixation with base plate (12); Controller (6), the controller (6) is respectively connected with electric proportional valve (25), sensor (24) communication.

2. The precise force control polishing belt sander for robot according to claim 1, wherein, It further includes tensioning assembly (4), the tensioning assembly (4) includes tensioning cylinder (41), tensioning wheel (42) and precision pressure regulating valve (43);The tensioning cylinder (41) is arranged on mounting plate (13), and is located in the annular structure formed by abrasive belt (34), and a fixed plate is arranged on the piston rod thereof;The tensioning wheel (42) is rotationally arranged on the fixed plate and is in contact with abrasive belt (34);The precision pressure regulating valve (43) is connected with tensioning cylinder (41).

3. The precise force control polishing belt sander for robot according to claim 1, wherein, The force control assembly (2) further includes guide rail (22), the guide rail (22) is arranged on mounting plate (13);The end of floating plate (23) is provided with L-shaped adapter, and the adapter includes vertical plate perpendicular to mounting plate (13) and horizontal plate parallel to mounting plate (13);The vertical plate is in contact with the piston rod end of floating cylinder (21);The both ends of horizontal plate are provided with sliding blocks, and the sliding blocks are slidingly arranged in guide rail (22).

4. The precise force control polishing belt sander for robot according to claim 1, wherein, The height adjusting assembly (5) includes lead screw (51), connecting block (52) and second driving piece (53);The lead screw (51) is rotationally arranged vertically on base plate (12), and a nut is threadedly connected on the lead screw (51);The connecting block (52) is fixedly arranged on mounting plate (13) and fixedly connected with the nut;The second driving piece (53) is arranged on base plate (12) and drivingly connected with lead screw (51).

5. The precise force control polishing belt sander for robot according to claim 4, wherein, The height adjusting assembly (5) further includes guide rod, and a sleeve ring is fixedly arranged on mounting plate (13) and sleeved on the guide rod.

6. The precision force controlled abrasive belt sander for robotic applications of claim 1, wherein, The controller (6) is provided with a display disc (61) for displaying the force value measured by the sensor (24).

7. The precision force-controlled abrasive belt sander for robots according to claim 1, wherein, The controller (6) is provided with a sand belt replacement valve (62).

8. The precision force-controlled abrasive belt sander for robot application according to claim 1, wherein, A dust cover (7) is further included, which covers the floating air cylinder (21) and is connected with the mounting plate (13).

9. The precision force controlled abrasive belt sander for robotic applications of claim 1, wherein, The support assembly (1) further includes a base (11) placed on a work platform, and the base plate (12) is fixedly arranged on the base (11).

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