Force-controlled belt sander and polishing device

Abstract

This application relates to a force-controlled belt sander and grinding equipment, applicable to the field of belt sanders. It includes a force-controlled actuator, a connecting structure, and a grinding mechanism. The grinding mechanism is detachably mounted to the force-controlled actuator along a first direction via the connecting structure. The connecting structure includes a connecting end plate for connecting the force-controlled actuator, multiple connecting parts, and multiple sets of locking parts. The connecting parts are spaced apart along the periphery of the connecting end plate, extend along the first direction, and connect to the grinding mechanism. The locking parts are correspondingly arranged with the connecting parts and can be inserted into the connecting parts and the connecting end plate along a second direction to fix the connecting end plate to the connecting parts. By setting the locking parts to be fixed from the side of the force-controlled actuator and the grinding mechanism, this application expands the operating space during locking part assembly, allowing maintenance personnel to perform disassembly and assembly operations more conveniently, thereby effectively improving the disassembly and assembly efficiency of the force-controlled belt sander and reducing assembly difficulty.

Description

Technical Field

[0001] This application relates to the technical field of belt sanders, and in particular to a force-controlled belt sander and grinding equipment. Background Technology

[0002] With technological advancements, robotic polishing technology has gradually become an emerging trend and is increasingly widely used in industrial production. Force-controlled belt sanders, as auxiliary equipment for industrial robots, are specifically designed for polishing workpieces with curved outer surfaces. They can efficiently remove burrs, weld slag, parting lines, and other protruding defects from the workpiece surface. Force-controlled belt sanders ensure that the workpiece surface is not damaged during polishing by precisely controlling the contact force and implementing position compensation strategies, while also avoiding rigid collisions with the robot.

[0003] In related technologies, a force-controlled belt sander includes a force-controlled actuator and a grinding mechanism detachably mounted on the force-controlled actuator. The grinding mechanism and the force-controlled actuator are connected by a connecting seat. The connecting seat includes an I-type flange and fastening bolts. The I-type flange has threaded holes at both ends, and the fastening bolts can connect the I-type flange to the grinding mechanism and the force-controlled actuator respectively along the axial direction of the I-type flange.

[0004] However, the limited distance between the force control actuator and the grinding mechanism results in a small operating space during the assembly of the fastening bolts, making assembly difficult and affecting the efficiency of disassembly and assembly. Utility Model Content

[0005] Therefore, it is necessary to provide a force-controlled belt sander and grinding equipment to address the problems of limited operating space and difficult assembly during the assembly process of force-controlled belt sanders.

[0006] In the first aspect, this application provides a force-controlled belt sander, which adopts the following technical solution:

[0007] A force-controlled belt sander includes at least a force-controlled actuator and a grinding mechanism. The force-controlled belt sander also includes a connecting structure. The grinding mechanism is detachably mounted to the force-controlled actuator along a first direction via the connecting structure. The connecting structure includes a connecting end plate, multiple connecting members, and multiple sets of locking members. The connecting end plate is used to connect to the force-controlled actuator. The multiple connecting members are circumferentially spaced along the outer edge of the connecting end plate, extending along the first direction and connecting to the grinding mechanism. The multiple sets of locking members are arranged one-to-one with the connecting members, and the locking members can sequentially pass through the connecting members and the connecting end plate along a second direction, thereby fixing the connecting end plate to the connecting members. The first direction is defined as the connection direction between the grinding mechanism and the force-controlled actuator, and the second direction is perpendicular to the first direction.

[0008] In one embodiment, the grinding mechanism has a mounting surface on one side for connecting the force control actuator, the connecting members are arranged in an array relative to the mounting surface, and can contact the outer edge of the connecting end plate.

[0009] In one embodiment, a clearance area is formed between all the connectors, the mounting surface, and the connecting end plate.

[0010] In one embodiment, the grinding mechanism includes a sanding belt, a mounting frame, and a drive component, a drive contact wheel, and a limit contact wheel mounted on the mounting frame. The drive component is electrically connected to the force control actuator, the drive contact wheel is tractively connected to the output end of the drive component, and the limit contact wheel is tractively connected to the drive contact wheel via the sanding belt. The diameter of the drive contact wheel is larger than the diameter of the limit contact wheel. The grinding mechanism also includes two connecting bearings, which are disposed at opposite ends of the limit contact wheel along its axial direction. The limit contact wheel is rotatably mounted on the mounting frame via the connecting bearings.

[0011] In one embodiment, the limiting contact wheel includes an axle and a rubber-coated sleeve sleeved around the axle. The rubber-coated sleeve is configured to be made of a flexible material. The axle is rotatably mounted on the mounting bracket by means of the connecting bearing. The outer wall of the rubber-coated sleeve is used to abut against the workpiece.

[0012] In one embodiment, the grinding mechanism further includes at least one limiting wheel, which is sleeved around the axle. A positioning bearing is provided between the inner ring of the limiting wheel and the outer wall of the axle, and the outer ring of the limiting wheel is used to abut against the workpiece.

[0013] In one embodiment, the grinding mechanism further includes a tension adjustment assembly, which includes an adjustment drive and a tension adjustment wheel. The adjustment drive is mounted on the mounting frame, and the tension adjustment wheel is connected to the drive contact wheel and the limit contact wheel via the sanding belt drive. The adjustment drive is used to drive the tension adjustment wheel to rotate, so that the sanding belt twists.

[0014] In one embodiment, the tensioning and adjusting assembly further includes a deflection bracket and a deflection bearing. The tensioning and adjusting wheel is mounted on the deflection bracket, and the deflection bracket is rotatably mounted on the mounting frame by means of the deflection bearing. The adjusting drive is connected to the deflection bracket to drive the tensioning and adjusting wheel to rotate.

[0015] Secondly, this application provides a grinding device, which adopts the following technical solution:

[0016] A grinding device includes a robot and the aforementioned force-controlled belt sander, wherein the force-controlled belt sander is mounted on the tool end of the robot.

[0017] In one embodiment, the grinding equipment further includes a connecting flange and connecting bolts. The connecting flange is disposed between the force-controlled actuator and the tool end of the robot, and the connecting bolts pass through the connecting flange to detachably install the force-controlled belt sander to the tool end of the robot.

[0018] The aforementioned force-controlled belt sander, by setting the locking component to be fixed from the side of the force-controlled actuator and the grinding mechanism (through the second direction), expands the operating space for assembling the locking component from the 30mm end face installation to an unrestricted external space, allowing maintenance personnel to perform disassembly and assembly operations more conveniently, thereby effectively improving the disassembly and assembly efficiency of the force-controlled belt sander and reducing the assembly difficulty. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a grinding device in one embodiment of this application.

[0020] Figure 2 This is a front view of a force-controlled belt sander according to an embodiment of this application.

[0021] Figure 3 This is a three-dimensional structural diagram of a force-controlled belt sander according to one embodiment of this application.

[0022] Figure 4 for Figure 3 A structural schematic diagram of the Zhongli control belt sander from another perspective.

[0023] Figure 5 for Figure 3 A structural schematic diagram of the Zhongli Control Belt Sander from another perspective.

[0024] Figure 6 for Figure 5 A schematic diagram of the structure for removing the force control actuator of a medium-force belt sander.

[0025] Figure 7 for Figure 6 A schematic diagram of the structure for removing the connecting end plate of the Zhonglikong belt sander.

[0026] Figure 8 This is a partial schematic diagram of the limiting contact wheel and mounting bracket in one embodiment of this application.

[0027] Figure 9 This is a cross-sectional schematic diagram of the limiting contact wheel and mounting bracket in one embodiment of this application.

[0028] Attached image annotations:

[0029] 1. Force control actuator; 2. Grinding mechanism; 21. Tensioning and adjusting assembly; 211. Adjusting drive component; 212. Tensioning and adjusting wheel; 213. Deflection bracket; 214. Deflection bearing; 22. Sanding belt; 23. Mounting bracket; 24. Drive component; 25. Drive contact wheel; 26. Limiting contact wheel; 261. Wheel axle; 262. Rubber-coated sleeve; 2621. Guide groove; 27. Positioning bearing; 28. Connecting bearing; 29. ​​Limiting wheel; 3. Connecting structure; 31. Connecting end plate; 32. Connecting component; 33. Locking component; 4. Robot; 5. Connecting flange; 51. Threaded hole; 6. Belt; 7. Mounting surface; 8. Yield range; F1. First direction. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0031] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0032] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that if a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. If a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. Wherein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation. The "first direction" can be the connection direction between the grinding mechanism and the force-controlled actuator, and the "second direction" is perpendicular to the "first direction," representing the lateral direction of the grinding mechanism and the force-controlled actuator.

[0036] In the industrial manufacturing sector, the surface polishing process for complex curved parts has long faced technical challenges. While manual polishing offers operational flexibility, it suffers from inherent drawbacks such as low processing efficiency, poor quality consistency, and significant dust hazards, making it difficult to meet the high standards of precision manufacturing required by modern industry.

[0037] With the development of robotics technology, automated belt sanding equipment based on force control systems is gradually replacing traditional manual operation, but significant technical bottlenecks still exist in practical applications:

[0038] Firstly, the single-contact wheel structure used in conventional belt sanders is limited by geometric features and cannot effectively contact the concave rounded corner area of ​​the workpiece. This results in complex curved workpieces requiring multiple clamping or replacement of special tools to complete the processing, significantly increasing the complexity of the process and time costs.

[0039] Secondly, most existing contact wheels adopt a symmetrical equal-diameter design, which lacks structural adaptability when processing both the convex contours and concave surfaces of workpieces at the same time, and frequent changes in processing units lead to interruptions in production line continuity.

[0040] Third, dynamic force control systems are prone to response lag in areas of abrupt changes in surface curvature, causing contact pressure fluctuations to exceed the process threshold range, resulting in defects such as over- or under-grinding of the workpiece surface.

[0041] The prior art discloses a force-controlled belt sander that can be combined with an industrial robot. It improves the processing uniformity of flat workpieces through the radial floating design of the contact wheel. However, its fixed-size contact wheel still cannot meet the spatial accessibility requirements for grinding concave curved surfaces.

[0042] Based on the current state of the technology, there is an urgent need in this field to develop a force-controlled belt sander and grinding equipment that integrates multi-feature compatible contact wheel sets, intelligent dynamic force control compensation, and automatic belt replacement functions, in order to break through the bottleneck of integrated and efficient processing of workpieces with complex geometric features.

[0043] The following is in conjunction with the appendix Figure 1-9 The embodiments of this application will be described in further detail.

[0044] See Figure 1 , Figure 1 A three-dimensional structural schematic diagram of a grinding device according to an embodiment of this application is shown. One embodiment of this application provides a grinding device including a robot 4 and a force-controlled belt sander. The force-controlled belt sander is mounted to the tool end of the robot 4 via a connecting flange 5 and connecting bolts (not shown), thereby achieving a detachable connection between the force-controlled belt sander and the robot 4, thus ensuring compatibility with various grinding scenarios. In this embodiment, the robot 4 can be a six-axis robot, and the force-controlled belt sander can be adapted to the tool end of the robot 4 with a load capacity exceeding 50 kg to meet the functional requirements of diverse grinding and polishing operations.

[0045] Specifically, the connecting flange 5 is located between the force-controlled belt sander and the tool end of the robot 4. Threaded holes 51 are provided at both ends of the connecting flange 5. Connecting bolts pass through and engage with the threaded holes 51, allowing the force-controlled belt sander to be detachably installed onto the tool end of the robot 4. In some embodiments, multiple threaded holes 51 are provided, and all threaded holes 51 are arranged in an equidistant array.

[0046] See Figures 2 to 4 As shown, Figure 2 A front view of a force-controlled belt sander according to an embodiment of this application is shown. Figure 3 This invention provides a three-dimensional structural schematic diagram of a force-controlled belt sander according to an embodiment of the present application. Figure 4 It shows Figure 3A structural schematic diagram of the Zhongli control belt sander from another perspective.

[0047] In some embodiments, the force-controlled belt sander includes a force-controlled actuator 1, a connecting structure 3, and a grinding mechanism 2. The force-controlled actuator 1 is used to precisely control the grinding contact pressure during the grinding process. In this application, by embedding the force-controlled actuator 1 into the belt sander, the contact force control accuracy is improved, and collisions between the equipment and the workpiece are prevented, thereby ensuring the surface processing quality of the workpiece.

[0048] The grinding mechanism 2 is detachably mounted on the force control actuator 1 via the connecting structure 3. The grinding mechanism 2 includes a sanding belt 22, a mounting bracket 23, and a drive component 24, a drive contact wheel 25, and a limit contact wheel 26 mounted on the mounting bracket 23. The drive component 24 is electrically connected to the force control actuator 1. The drive contact wheel 25 is connected to the output end of the drive component 24 via a belt 6. The limit contact wheel 26 is connected to the drive contact wheel 25 via the sanding belt 22.

[0049] Combination Figures 5 to 7 As shown, Figure 5 This illustration shows a structural schematic diagram of a force-controlled belt sander according to one embodiment of the present application from another perspective. Figure 6 This invention provides a schematic diagram illustrating the structure of a force-controlled belt sander for removing a force-controlled actuator according to an embodiment of this application. Figure 7 This diagram illustrates the structure of a force-controlled belt sander for removing the connecting end plate in one embodiment of this application. In some embodiments, the connecting structure 3 includes a connecting end plate 31, multiple connecting members 32, and multiple sets of locking members 33. The connecting end plate 31 is used to connect the aforementioned force-controlled actuator 1. All the connecting members 32 are distributed circumferentially along the outer edge of the connecting end plate 31. The locking members 33 are arranged one-to-one with the connecting members 32 and can be sequentially inserted into the connecting members 32 and the connecting end plate 31 along the second direction to achieve relative fixation between the connecting members 32 and the connecting end plate 31.

[0050] Specifically, the connecting member 32 is a plate-like structure extending along the first direction F1. The grinding mechanism 2 has a mounting surface 7 on one side for connecting the force-controlled actuator 1. One end of the connecting member 32 is detachably connected to the mounting surface 7 to achieve relative fixation with the grinding mechanism 2. The locking member 33 can be a bolt, screw, or pin, as long as it enables a detachable connection between the connecting member 32 and the connecting end plate 31; this application does not impose any limitations on this. Furthermore, each set of locking members 33 includes at least two bolts, screws, or pins to improve the connection stability between the connecting member 32 and the connecting end plate 31.

[0051] Furthermore, in some embodiments, the connectors 32 are arranged in an array relative to the mounting surface 7 and can contact the outer edge of the connecting end plate 31. A clearance interval 8 is defined between all the connectors 32, the mounting surface 7, and the connecting end plate 31. The clearance interval 8 can be used to accommodate some of the components of the grinding mechanism 2, or to arrange cables, thereby achieving effective utilization of the space of the force-controlled belt sander.

[0052] The connection structure 3, designed as described above, has one end of the connecting member 32 connected to the mounting surface 7 of the grinding mechanism 2 in the first direction F1, and the other end connected to the force-controlled actuator 1 via a locking member 33 passing through a threaded hole 51 on the side in the second direction. Setting the locking member 33 to be fixed from the side of the force-controlled actuator 1 and the grinding mechanism 2 offers at least the following technical advantages:

[0053] First, the operating space of the side locking member 33 after connecting the mounting surface 7 is expanded from 30mm at the end face to an unrestricted external space, allowing maintenance personnel to perform disassembly and assembly operations more conveniently. Second, the space saved between the mounting surface 7 and the end face of the force control actuator 1 forms a clearance area 8, which can be used for cable routing. Third, the end face (mounting surface 7) of the grinding mechanism 2 facing the force control actuator 1 simultaneously serves the dual functions of installation and positioning, improving the overall strength of the connecting structure 3. Furthermore, the modular design supports the overall disassembly and assembly of the grinding mechanism 2. The replacement method of the grinding mechanism 2 is changed from removing the shielding parts and then the mounting plate to directly removing the connecting end plate 31 and then removing the entire device. Finally, in terms of mechanical performance, the fixing points are widened from the center of the device to both sides, improving overall rigidity while reducing the overall weight of the device. (See reference...) Figure 1 and Figure 2 As shown, specifically, the force-controlled actuator 1 can be the bidirectional force-controlled grinding device disclosed in patent number CN112757105A, which can work in both directions. The driving component 24 can be a drive motor, and the output end of the driving component 24 is connected to the drive contact wheel 25. The drive contact wheel 25 transmits power to the limiting contact wheel 26 through the sanding belt 22 to realize the grinding operation.

[0054] Combination Figure 8 and Figure 9 As shown, Figure 8 A partial schematic diagram of the limiting contact wheel and mounting bracket in one embodiment of this application is shown. Figure 9A cross-sectional schematic diagram of the limiting contact wheel and mounting bracket in one embodiment of this application is shown. In some embodiments, the grinding mechanism 2 further includes two connecting bearings 28, which are respectively mounted on opposite ends of the limiting contact wheel 26 along its axial direction. The inner ring of the connecting bearing 28 is fixed to the limiting contact wheel 26, and the outer ring of the connecting bearing 28 is fixed to the mounting bracket 23, thereby rotatably mounting the limiting contact wheel 26 on the mounting bracket 23.

[0055] Specifically, the limiting contact wheel 26 includes a wheel axle 261 and a rubber-coated sleeve 262 sleeved around the wheel axle 261. The two ends of the wheel axle 261 are rotatably mounted on the mounting bracket 23 by means of the aforementioned connecting bearing 28. The inner ring of the rubber-coated sleeve 262 is in contact with the outer wall of the wheel axle 261 to achieve relative fixation with the wheel axle 261. The outer ring of the rubber-coated sleeve 262 is used to press the abrasive belt 22 against the surface of the workpiece to achieve the grinding operation on the surface of the workpiece.

[0056] In this embodiment, the diameter of the drive contact wheel 25 is larger than that of the limiting contact wheel 26, and both have the function of contact wheels, so that the drive contact wheel 25 and the limiting contact wheel 26 on both sides can meet different grinding needs. Specifically, the diameter of the drive contact wheel 25 is set between 100mm and 300mm, and the diameter of the limiting contact wheel 26, with the structure designed as shown in this application, can be controlled between 30mm and 100mm. That is, this belt sander can perform efficient grinding and polishing operations while grinding concave surfaces, thereby significantly improving the efficiency and quality of the grinding process. In this application, the small-sized limiting contact wheel 26 can extend into the concave surface, improving the accessibility of the grinding equipment.

[0057] In the above embodiments, the rubber-coated sleeve 262 is configured with through holes at both ends and is made of a flexible material to provide anti-slip and cushioning effects. Specifically, the flexible material includes, but is not limited to, rubber, polyurethane, thermoplastic elastomers, and modified nylon materials.

[0058] Furthermore, in some embodiments, the surface of the rubber-coated sleeve 262 is provided with a plurality of guide grooves 2621, which are spaced apart along the circumference of the rubber-coated sleeve 262. In this embodiment, the guide grooves 2621 may be patterned grooves cut into the surface of the rubber-coated sleeve 262. Along the axial direction of the limiting contact wheel 26, the guide grooves 2621 are arranged in a spiral shape to enhance the air guiding effect on the surface of the limiting contact wheel 26, strengthen heat dissipation, and prevent the surface of the limiting contact wheel 26 from overheating during grinding, which could reduce the structural strength of the limiting contact wheel 26.

[0059] Continue reading Figure 8 and Figure 9As shown, in some embodiments, the grinding mechanism 2 further includes at least one limiting wheel 29, which is sleeved around the axle 261. Along the axial direction of the axle 261, the limiting wheel 29 and the rubber-coated sleeve 262 are spaced apart. The limiting wheel 29 and the rubber-coated sleeve 262 are coaxial but do not contact each other, and can rotate independently without affecting each other.

[0060] Specifically, a positioning bearing 27 is provided between the inner ring of the limiting wheel 29 and the outer wall of the axle 261, so that the limiting wheel 29 does not rotate when the axle 261 rotates, and the outer ring of the limiting wheel 29 can always abut against the workpiece surface during the grinding process. During the grinding process, the limiting contact wheel 26 rotates with the abrasive belt 22, while the limiting wheel 29 rotates with the relative movement of the equipment and the workpiece when it contacts the workpiece. In actual use, the operator replaces the limiting wheel 29 with one of different diameters according to the required remaining grinding height. The difference in radius between the limiting contact wheel 26 and the limiting wheel 29 is the controlled remaining grinding height.

[0061] In this embodiment, only one limiting wheel 29 is provided for each limiting contact wheel 26 to reduce the overall size of the grinding mechanism 2. It is understood that in other embodiments, each limiting contact wheel 26 may be equipped with multiple limiting wheels 29 to improve limiting accuracy.

[0062] Compared to traditional wheel structures with internal bearings, the limiting contact wheel 26 and the matching limiting wheel 29, which adopt the structure shown in the above embodiment, have been miniaturized. The internal bearings in the traditional internal bearing wheel structure have been transferred to both ends of the wheel axle 261, and the limiting contact wheel 26 has been simplified into a simplified structure of wheel axle 261 and rubber-coated sleeve 262. This greatly reduces the size of the limiting contact wheel 26, reduces the arrangement space, and reduces the overall weight of the force-controlled belt sander.

[0063] Furthermore, in this application, the limiting wheel 29 is constructed as an anti-wear steel sleeve around the positioning bearing 27, which allows the limiting wheel 29 and the limiting contact wheel 26 to rotate asynchronously without affecting the operation of the sanding belt 22. By setting the limiting wheel 29, the grinding depth of the sanding belt 22 can be controlled, ensuring that the sanding belt 22 does not over-grind the workpiece when the sander moves on the workpiece surface. Moreover, the limiting wheel 29 itself rotates along with the grinding mechanism 2, without producing scratches, thereby improving the finished quality of the processed workpiece.

[0064] See Figures 2 to 4As shown, in some embodiments, the grinding mechanism 2 further includes a tensioning and adjusting assembly 21, which includes an adjusting drive 211 and a tensioning and adjusting wheel 212. The adjusting drive 211 is mounted on the mounting frame 23, and the tensioning and adjusting wheel 212 is connected to the drive contact wheel 25 and the limit contact wheel 26 via the sanding belt 22. The adjusting drive 211 drives the tensioning and adjusting wheel 212 to rotate, causing the sanding belt 22 to twist, thereby controlling the sanding belt 22 to move axially along the tensioning and adjusting wheel 212. This integrates the functions of correcting the sanding belt 22's deviation and tensioning the sanding belt 22, ensuring the stable operation of the sanding belt 22 on the belt sander.

[0065] In this embodiment, the tensioning and adjusting assembly 21 further includes a deflection bracket 213 and a deflection bearing 214. The tensioning and adjusting wheel 212 is mounted on the deflection bracket 213. The deflection bracket 213 is rotatably mounted on the mounting frame 23 via the deflection bearing 214. The output shaft of the adjusting drive 211 is connected to the deflection bracket 213 to drive the deflection bracket 213 to rotate around the axis of the adjusting drive 211, thereby driving the tensioning and adjusting wheel 212 to rotate, so as to realize the correction and tensioning operation of the sanding belt 22.

[0066] Specifically, the adjustment drive component 211 can be a drive motor.

[0067] Combination Figure 1 and Figure 2 As shown, in the actual grinding process, the workpiece is fixed on the worktable, and the force control actuator 1 is connected to the tool end of the robot 4 via connecting screws and connecting flange 5. The robot 4 grips the belt sander and moves it according to the programmed trajectory, causing the drive contact wheel 25 or limit contact wheel 26 of the belt sander to contact the workpiece. When the workpiece contacts the sanding belt 22, the force control actuator 1 controls the drive contact wheel 25 or limit contact wheel 26 to float up and down along the wheel's axis to avoid rigid collision between the wheel and the workpiece. The robot 4 controls the equipment to move the workpiece according to the trajectory, and the force control actuator 1 can ensure continuous contact between the sanding belt 22 and the workpiece, making the grinding surface continuous and without breaks. While achieving automated grinding, it can also ensure that the contact force between the sanding belt 22 and the workpiece is constant.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0069] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A force-controlled belt sander, comprising at least a force-controlled actuator and a grinding mechanism, characterized in that, The force-controlled belt sander further includes a connecting structure, wherein the grinding mechanism is detachably mounted to the force-controlled actuator along a first direction via the connecting structure, and the connecting structure includes: A connecting end plate is used to connect the force control actuator; Multiple connectors are circumferentially spaced along the outer edge of the connecting end plate, and the connectors extend along the first direction and are connected to the grinding mechanism; and... Multiple sets of locking components are provided, each corresponding to one of the connecting components. The locking components can be sequentially inserted into the connecting component and the connecting end plate along the second direction, thereby fixing the connecting end plate to the connecting component. Wherein, the first direction is defined as the connection direction between the grinding mechanism and the force control actuator, and the second direction is perpendicular to the first direction.

2. The force-controlled belt sander according to claim 1, characterized in that, The grinding mechanism has a mounting surface on one side for connecting the force control actuator. The connecting parts are arranged in an array relative to the mounting surface and can contact the outer edge of the connecting end plate.

3. The force-controlled belt sander according to claim 2, characterized in that, A clearance area is formed between all the connecting parts, the mounting surface and the connecting end plate.

4. The force-controlled belt sander according to claim 1, characterized in that, The grinding mechanism includes a sanding belt, a mounting frame, and a driving component, a driving contact wheel, and a limiting contact wheel mounted on the mounting frame. The driving component is electrically connected to the force control actuator. The driving contact wheel is driven to the output end of the driving component. The limiting contact wheel is driven to the driving contact wheel via the sanding belt. The diameter of the driving contact wheel is larger than the diameter of the limiting contact wheel. The grinding mechanism further includes two connecting bearings. Along the axial direction of the limiting contact wheel, the two connecting bearings are respectively disposed at opposite ends of the limiting contact wheel. The limiting contact wheel is rotatably mounted on the mounting frame by means of the connecting bearings.

5. The force-controlled belt sander according to claim 4, characterized in that, The limiting contact wheel includes an axle and a rubber-coated sleeve sleeved around the axle. The rubber-coated sleeve is configured to be made of a flexible material. The axle is rotatably mounted on the mounting frame by means of the connecting bearing. The outer wall of the rubber-coated sleeve is used to abut against the workpiece.

6. The force-controlled belt sander according to claim 5, characterized in that, The grinding mechanism also includes at least one limiting wheel, which is sleeved around the axle. A positioning bearing is provided between the inner ring of the limiting wheel and the outer wall of the axle, and the outer ring of the limiting wheel is used to abut against the workpiece.

7. The force-controlled belt sander according to any one of claims 4-6, characterized in that, The grinding mechanism further includes a tension adjustment assembly, which includes an adjustment drive and a tension adjustment wheel. The adjustment drive is mounted on the mounting frame, and the tension adjustment wheel is connected to the drive contact wheel and the limit contact wheel via the sanding belt. The adjustment drive is used to drive the tension adjustment wheel to rotate, so that the sanding belt twists.

8. The force-controlled belt sander according to claim 7, characterized in that, The tensioning and adjusting assembly further includes a deflection bracket and a deflection bearing. The tensioning and adjusting wheel is mounted on the deflection bracket, and the deflection bracket is rotatably mounted on the mounting frame by means of the deflection bearing. The adjusting drive is connected to the deflection bracket to drive the tensioning and adjusting wheel to rotate.

9. A grinding device, characterized in that, Includes a robot and a force-controlled belt sander as described in any one of claims 1-8, wherein the force-controlled belt sander is mounted on the tool end of the robot.

10. The grinding equipment according to claim 9, characterized in that, The grinding equipment also includes a connecting flange and connecting bolts. The connecting flange is located between the force-controlled actuator and the tool end of the robot, and the connecting bolts pass through the connecting flange to detachably install the force-controlled belt sander to the tool end of the robot.

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