CN107088813A - A kind of robot sbrasive belt grinding unit - Google Patents

Abstract

The invention discloses an abrasive belt grinding unit for a robot. The abrasive belt swing mechanism is arranged in the area wrapped by the closed-loop motion path of the abrasive belt, the swing motor base is fixed on the motor base plate, and the support rotating shaft is inserted into the rotating shaft bearing seat Among them, the two ends of the third passive roller are equipped with bearings, which rotate freely in the U-shaped structure formed by the passive roller bracket; the abrasive belt tensioning device is installed in the area wrapped by the closed-loop path of the abrasive belt, and the two ends of the gas spring are respectively hinged with the base plate and the swing rod; the pneumatic self-adaptive grinding palm mechanism is fixed on the base plate, the grinding palm platform is hinged with the motor base plate through the pin shaft, and the cylinder is fixed on the grinding palm platform, and its cylinder part is connected with the grinding The palm platform is fixedly connected, the piston rod is fixedly connected with the grinding palm, and the grinding palm is fixed with a guide shaft and inserted into the bearing sleeve fixedly connected with the grinding palm platform. The invention reduces the mutual correction time when the robot and the grinding unit cooperate to work together, and can improve the efficiency during large batch grinding operations.

Description

An abrasive belt grinding unit for a robot

technical field

The invention relates to the technical field of abrasive belt grinding and polishing, in particular to an abrasive belt grinding unit for a robot.

Background technique

In today's grinding and polishing technology, the blanks processed by many parts require skilled workers to carry out hand-held grinding or polishing to remove burrs and process defects on the surface of the parts. Today's labor costs in China are rising rapidly. The country has put forward the development program of Made in China 2025, so the grinding and polishing industry also urgently needs to deploy automation equipment to cope with the rising cost of the industry. At present, most of the grinding work is done manually, and robot grinding and polishing technology has not yet been popularized. Especially in some subdivided industries, such as the grinding of wood-based lacquer boxes, there is no ready-made robotized workpiece grinding solution.

In patent CN 106514461 A, an abrasive belt sander for a robot is described, which includes a tensioning wheel design and a dust suction design, but does not involve how to periodically control the mechanism of how the abrasive belt swings from side to side during the operation of the abrasive belt and How to cooperate with the robot to realize the grinding mechanism. In the patent CN203390697 U, a kind of abrasive belt swing mechanism is given. The rotation of the passive roller is controlled by the swing cylinder, and the lifting movement of the swing device is controlled by the telescopic cylinder. system, does not provide instructions on how to control and adjust the swing amplitude and swing cycle of the belt swing mechanism.

Contents of the invention

The object of the present invention is to solve the shortcomings in the prior art, and propose an abrasive belt grinding unit for a robot.

In order to achieve the above object, the present invention adopts the following technical solutions:

An abrasive belt grinding unit for a robot, comprising an abrasive belt swing mechanism, an abrasive belt tensioning device, and a pneumatic self-adaptive grinding palm mechanism, the abrasive belt swing mechanism is arranged in the area wrapped by the abrasive belt closed-loop motion path, and includes a swing motor , motor base, motor shaft sleeve, driven roller bracket, third driven roller, bracket rotating shaft, rotating shaft bearing seat, the swing motor seat is fixed on the motor base plate, the bracket rotating shaft is inserted into the rotating shaft bearing seat, and the two sides of the third passive roller The end is equipped with bearings, which can rotate freely in the U-shaped structure formed by the passive roller bracket; the belt tensioning device is installed in the area wrapped by the closed-loop path of the abrasive belt, including the fourth driven roller, gas spring, swing rod and swing rod The two ends of the handle and the gas spring are respectively hinged to the base plate and the swing rod; the pneumatic self-adaptive grinding palm mechanism is fixed on the base plate, including the hinge point bearing, the adjustment rod, the first gas spring, the second gas spring, the second The support part composed of three gas springs and the fourth gas spring is hinged with the grinding palm platform; the grinding palm platform is hinged with the motor base plate through a pin shaft, and a cylinder is fixed on the grinding palm platform, and its cylinder part is fixedly connected with the grinding palm platform. The piston rod is fixedly connected with the grinding palm, and the grinding palm is fixed with a guide shaft and inserted into the bearing sleeve fixedly connected with the grinding palm platform.

Preferably, the motor shaft sleeve has an eccentric shaft structure, and can be inserted into the I-shaped groove of the driven roller support and move in the I-shaped groove.

Preferably, the driven roller bracket and the third driven roller can swing in the bearing seat of the rotating shaft along with the rotating shaft of the bracket.

Preferably, the axis of the motor shaft sleeve is parallel to the axis of the rotating shaft of the bracket.

Preferably, the polishing palm platform has at least two gas springs, such as the second gas spring, the fourth gas spring or the first gas spring and the third gas spring, distributed on both sides of the pin shaft.

Preferably, the polishing palm has at least two guide shafts inserted into the bearing sleeve of the polishing palm platform.

Preferably, the grinding palm is fixedly connected with the piston of the cylinder, and the running abrasive belt is pressed against the surface of the workpiece to be ground during grinding.

Preferably, the tension of the abrasive belt is adjusted by adjusting the hinged position of the gas spring on the base plate.

Preferably, a spirit level is fixed on the polishing palm.

The invention proposes an abrasive belt grinding unit for a robot used in cooperation with an industrial robot, which is equipped with an abrasive belt swing mechanism, an abrasive belt tension mechanism and a pneumatic self-adaptive grinding palm mechanism. The abrasive belt swing mechanism can make the abrasive belt complete the periodic reciprocating swing from left to right in continuous operation to keep the grinding effect uniform; the abrasive belt tensioning mechanism can maintain a constant tension state to ensure that the abrasive belt does not fall off; the pneumatic grinding palm mechanism can be adjusted adaptively The posture is matched with the grinding surface of the workpiece, so as to improve the grinding quality, reduce the mutual correction time when the robot and the grinding unit work together, and improve the efficiency of large-scale grinding operations; this kind of abrasive belt grinding used in conjunction with industrial robots The unit can reduce the labor intensity of workers, reduce costs in mass production, and improve grinding and polishing effects. The abrasive belt swing mechanism performs periodic swings to make the high-speed rotating abrasive belt periodically swing from side to side within the width of the rollers. The abrasive belt tensioning mechanism can provide a relatively stable tension force to ensure the tensioned state of the abrasive belt so that it will not fall off from the roller during movement, thereby improving the working stability of the abrasive belt grinding unit. When the grinding surface is not parallel to the plane of the pneumatic grinding palm, the swing platform will release angular displacement to fill the gap between the grinding surface and the grinding palm plane, so as to achieve overlapping contact, thereby increasing the grinding area and improving the grinding efficiency and quality.

An abrasive belt grinding unit for a robot of the present invention can be used in the polishing and grinding of metal parts and wood-based lacquered parts. Automatic equipment or robots are combined into an automatic grinding system to improve processing efficiency and processing effect.

Description of drawings

Fig. 1 is a diagram of the composition and layout of an abrasive belt grinding unit for a robot of the present invention.

Fig. 2 is a structural diagram of a rocking mechanism of an abrasive belt grinding unit for a robot according to the present invention.

Fig. 3 is a diagram of an eccentric rocking mechanism of an abrasive belt grinding unit for a robot according to the present invention.

Fig. 4 is a structure diagram of a supporting mechanism and a pneumatic grinding palm of a belt grinding unit for a robot of the present invention.

Fig. 5 is a diagram of a pneumatic self-adaptive grinding palm mechanism of an abrasive belt grinding unit for a robot according to the present invention.

Fig. 6 is a configuration diagram of a grinding system composed of an abrasive belt grinding unit for a robot and an industrial robot according to the present invention.

Fig. 7 is an appearance diagram of an abrasive belt grinding unit for a robot according to the present invention.

Fig. 8 is a structural diagram of Embodiment 3 of an abrasive belt grinding unit for a robot of the present invention.

Fig. 9 is a structural view of Embodiments 4 and 5 of an abrasive belt grinding unit for a robot of the present invention.

In the figure: 1-AC motor; 2-base plate; 3-driving roller; 4-first passive roller; 5-second passive roller; 6-abrasive belt tensioning device; 7-abrasive belt; 8-abrasive belt Swing mechanism; 9-pneumatic adaptive grinding palm mechanism; 10-swing motor; 11-motor seat; 12-motor shaft sleeve; 13-passive roller bracket; 14-third passive roller; Seat; 17-eccentric shaft; 18-gas spring; 19-swing lever handle; 20-swing lever; 21-hinge point bearing; 22-adjusting rod; 23-first gas spring; 24-second gas spring; 25- The third gas spring; 26-polishing palm platform; 27 cylinder; 28-pin shaft; 29-polishing palm; 30-bearing sleeve; 31-guiding shaft; Roller; 35-side door of grinding unit; 36-top cover of grinding unit; 37-drive motor cover; 38-workpiece to be ground; 39-industrial robot.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

Implementation mode 1:

Referring to Fig. 1, a belt grinding unit for a robot according to the present invention is mainly used in a robotized grinding system, and can also be used to replace a traditional belt machine to improve the grinding quality. The abrasive belt grinding unit for the robot is mainly driven by the AC motor 1 fixed on the base plate 2 of the grinding motor through a belt drive to drive the active roller 3 to move. The base plate 2 is mainly made of aluminum alloy plate and national standard aluminum alloy profile, which constitutes the base of the motor and the entire grinding unit. The grinding unit can be quickly installed by other production line equipment through the national standard profile connector. The driving roller 3 is an aluminum-core rubber-covered cylindrical roller, and its outer surface is provided with a spiral chute, and the spiral chute is evenly distributed along the circumference of the cylindrical surface to increase the friction between the driving roller 3 and the abrasive belt. The abrasive belt 7 bypasses the first driven roller 4 , the second driven roller 5 , the fourth driven roller 34 and the third driven roller 14 to form a single closed-loop path, and is driven by the driving roller 3 to perform closed-loop reciprocating motion. The first driven roller 4, the second driven roller 5, the fourth driven roller 34 and the third driven roller 14 are made of aluminum alloy, the outer surface is embossed and the inside is a hollow mechanism, bearings are installed at both ends, and they are hinged on the base plate 2 superior. An abrasive belt swing mechanism 8, an abrasive belt tensioning device 6 and a pneumatic self-adaptive grinding palm mechanism 9 are arranged in the closed loop area formed by the abrasive belt.

Further, the third driven roller 14 in the abrasive belt swing mechanism 8 is in contact with the abrasive belt 7, and the third driven roller 14 is driven by the swing motor 10 to periodically reciprocate and then drive the abrasive belt 7 on the third driven roller 14. reciprocating movement on the outer surface.

Please refer to accompanying drawings 2 and 3 of the specification for the specific abrasive belt swing mechanism: the abrasive belt swing mechanism 6 consists of a swing motor 10, a motor base 11, a motor shaft sleeve 12, a driven roller bracket 13, a third driven roller 14, a bracket rotating shaft 15, Rotating shaft bearing block 16 forms.

Specifically, the swing motor 10 is fixed on the motor base 11 by bolts, and the motor base 11 is fixed on the base plate 2; The motor shaft sleeve 12 has an eccentric shaft structure, the axis of the eccentric shaft 17 is parallel to the axis of the swing motor 10 and has a distance d (d is greater than 0) in the structure, and the eccentric shaft 17 is inserted into the I-shaped concave of the driven roller bracket 13 In the groove (the nominal width of the groove is also d, and the tolerance is a positive tolerance). The support rotating shaft 15 is fixed on the driven roller support 13 to form an integral member, the support rotating shaft 15 cooperates with the rotating shaft bearing seat 16 fixed on the motor base 11, and the support rotating shaft 15 can rotate in the rotating shaft bearing seat 16. Both ends of the third driven roller 14 are equipped with bearings, which can freely rotate in the U-shaped structure formed by the driven roller bracket 13 . When the swing motor 10 rotates, the motor shaft sleeve 12 rotates with the output shaft of the swing motor 10, and the eccentric shaft 17 on the motor sleeve 12 revolves around the output shaft of the swing motor 10, and the groove of the driven roller bracket 13 is moved to swing , and then the third passive roller 14 swings.

Referring to Fig. 4, further on the basis of the abrasive belt swing mechanism 8, the arrangement of the abrasive belt tensioning device 6 can effectively compensate for the swing of the abrasive belt in the width direction caused by the movement of the third passive roller 14 after the introduction of the swing mechanism, resulting in closed-loop motion change in length. In order to solve this problem, the abrasive belt tensioning device 6 is made up of a fourth driven roller 34 , an air spring 18 , a swing bar 20 and a swing bar handle 19 .

The principle is that the swing rod 20 slightly wider than the fourth passive roller 34 is hinged with the base plate 2 through a bearing, and the swing rod handle 19 is fixed on the swing rod 20 . The fourth passive roller 34 can freely rotate on the swing rod 20 . One end of the gas spring 18 is fixed on the base of the belt sander, and the other end is hinged with the fork 20 . The position of the hinge point is between the fourth driven roller 34 and the hinge point of the swing rod 20 and the base plate 2. The elastic force of the gas spring 18 makes the fourth driven roller 34 tighten the abrasive belt 7, and the tension is nearly constant. , which can ensure the smooth operation of the abrasive belt. The operator can compress the gas spring 18 through the swing lever handle 19 to loosen the gap between the fourth passive roller 34 and the abrasive belt 7, so that the abrasive belt 7 is no longer in a tight state, and the abrasive belt can be easily removed to facilitate the grinding of the abrasive belt 7. replacement.

After the abrasive belt grinding unit has the abrasive belt swing mechanism 8 and the abrasive belt tensioning device 6, the abrasive belt is driven by the AC motor 1 along the first driven roller 4, the second driven roller 5, the fourth driven roller 34, the The closed-loop path formed by the three driven rollers 14 and the driving roller 3 rotates. Under the action of the motor of the abrasive belt swing mechanism 8, the third driven roller 14 can drive the driven roller bracket 13 and the third driven roller 14 to perform periodic reciprocating swings through the eccentric shaft 17, and then drive the abrasive belt rotating at a high speed in the third The driven roller 14 periodically reciprocates in the width direction. The abrasive belt tensioning device 6 can keep the abrasive belt tight from the inside to the outside with a constant force and can keep the stability in the running process and is not easy to fall off. In addition, the tensioned abrasive belt is not easy to jump during the grinding process and affects the grinding quality.

The pneumatic self-adaptive grinding palm mechanism 9 is mainly composed of the hinge point bearing 21, the adjusting rod 22, the first gas spring 23, the second gas spring 24, the third gas spring 25 and the fourth gas spring 32. hinged. The polishing palm platform 26 is hinged with the base plate 2 through a pin shaft 28 . Cylinder 27 is fixed on the polishing palm platform 26, and its cylinder part is connected with the polishing palm platform 26, and the piston rod is connected with the polishing palm platform 29. Four guide shafts 31 are fixed on the polishing palm 29 and inserted into the polishing palm platform. In the connected bearing sleeve 30, the gas source of the cylinder 27 is provided by the gas supply system. The pneumatic self-adaptive grinding palm mechanism adjusts the relative length positions of the four gas springs by pre-adjusting the position of the adjusting rod 22 to determine the initial position of the grinding palm platform 26 . When preparing to polish, the cylinder 27 air intake pushes out the piston and the grinding palm 29, and the grinding palm 29 after the ejection can press the abrasive belt of motion on the polished surface to carry out the grinding operation. The guide shaft 31 on the polishing palm 29 and the axle sleeve of the polishing palm platform 26 can ensure that the polishing palm 29 and the polishing palm platform 26 ensure parallelism. Grinding level instrument 33 is housed on the palm and can show the degree of inclination of polishing palm platform.

Pneumatic self-adaptive grinding palm mechanism 9 cooperates with industrial robot 9. Referring to Fig. 5, the grinding palm platform 26 whose position is adjusted in advance, the grinding palm 29 is pushed out by the cylinder 27 to press the abrasive belt 7 on the workpiece 38 to be ground. When the industrial robot 39 clamps the workpiece 38 to be ground and does not approach the abrasive belt and the grinding palm 29 with a vertical attitude, since the initial contact is a pointed contact, the reaction force of the pointed contact will make the grinding palm 29 and the grinding palm 29 The palm platform 26 rotates until the part of the polishing palm 29 on the other side of the pin shaft 28 can also be in contact with the surface to be polished. At this time, the position and posture of the polishing palm platform 26 and the polishing palm 29 have been adjusted and are in full contact with the polished surface. , to complete the adaptive adjustment process of the grinding contact. The grinding process guarantees that the industrial robot 39 will press the grinding workpiece 38 on the grinding palm 29 and the abrasive belt 7 for a period of time to complete the prescribed grinding task.

Referring to Fig. 6, on the basis of the mechanism in Fig. 5, a grinding unit side door 35 and a grinding unit top cover 36 are added to seal the grinding unit and the abrasive belt. And drive motor cover 37 is installed on the lower end of base plate 2, and its open end is trumpet-shaped opening, and the dust that produces in the grinding process will be collected by dust removal pipeline, keeps the air in grinding area clean. The grinding unit side door 35, the grinding unit top cover 36 and the drive motor cover 37 can seal the running path of the abrasive belt well, preventing other dust from spilling into the air.

In practical applications, the grinding unit can be placed around the robot and cooperate with the industrial robot 39 to perform automatic grinding of parts according to the actual size of the industrial robot, forming a robotized grinding system.

With reference to Fig. 7, a kind of abrasive belt grinding unit for robot, its front part is the grinding area of abrasive belt 7, abrasive belt swing mechanism 8, abrasive belt tensioning device 6 and pneumatic self-adaptive grinding palm mechanism 9 are all controlled by the grinding unit The side door 35, the grinding unit top cover 36 and the drive motor cover 37 are closed. The motor 1 is in the motor cover 37 to prevent dust from entering the motor rotor. The grinding unit can be fixed around the robot 39 by the national standard aluminum alloy profile of the base 2.

Implementation mode 2:

For the embodiment of the self-adaptive pneumatic grinding palm mechanism 9, in the above embodiment, four gas springs are used to adjust the inclination angle of the grinding palm platform 26 . In practice, only the first gas spring 23 and the third gas spring 25 can also be used. Or a plurality of gas springs and making the gas springs distributed on both sides of the pin shaft 28 can achieve the purpose of adjusting the inclination angle of the grinding palm platform 26 .

Implementation mode 3:

Composing an automatic grinding system with an industrial robot, the attitude of the abrasive belt grinding unit is always placed vertically in Figure 6. Other embodiments will also include, taking the installation base of the industrial robot as the center of the circle, establishing polar coordinates, and the abrasive belt grinding unit can be placed in the directions of up, down, front, back, left and right of the industrial robot 39 . The grinding system is formed with the robot, and the grinding unit is within the reach of the robot arm. The relationship between the abrasive belt and the surface to be polished is not limited to the state in FIG. 6 . The grinding unit can also be placed horizontally or inclined at a certain angle, see Figure 8.

Implementation mode 4:

Referring to Fig. 9, for the first gas spring 23, the second gas spring 24, the third gas spring 25 and the fourth gas spring 32 used in Embodiment 1, a casing 41 with a cavity structure, a piston rod 42 and an outer casing can be used. The elastic expansion rod that the elastic part 43 that places in the hollow chamber of 41 is formed replaces. Other composition modes are the same as Embodiment Mode 1.

Implementation mode 5:

Referring to Fig. 9, for the first gas spring 23, the second gas spring 24, the third gas spring 25 and the fourth gas spring 32 used in Embodiment 1, the housing 41 with a cavity structure, the piston rod 42 and the piston rod 42 can be used. The elastic telescoping rod that the elastic part 43 of sleeve on the rod 42 is formed replaces. Other composition modes are the same as Embodiment Mode 1.

Implementation mode 6:

The first gas spring 23 , the second gas spring 24 , the third gas spring 25 , and the fourth gas spring 32 used in Embodiment 1 can be connected to the joint bearing 21 in Embodiment 1 using tension springs. Other composition modes are the same as Embodiment Mode 1.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (9)

1. a kind of robot sbrasive belt grinding unit, including abrasive band wabbler mechanism（8）, abrasive band tensioning apparatus（6）With it is pneumatic adaptive Should be polished palm mechanism（9）, it is characterised in that the abrasive band wabbler mechanism（8）It is arranged in the area of abrasive band closed loop moving path parcel In domain, including swing motor（10）, motor base (frame)（11）, motor shaft sleeve（12）, passive roller support（13）, the 3rd driven roll （14）, rack shaft（15）, shaft bearing seat（16）, tacking motor seat（11）It is fixed on motor base plate（2）On, support turns Axle（15）It is inserted into shaft bearing seat（16）In, the 3rd driven roll（14）Two ends be equipped with bearing, in passive roller support（13）Shape Into U-shaped structure in rotate freely；The abrasive band tensioning apparatus（6）In the region for being installed on abrasive band closed loop path parcel, including 4th driven roll（34）, gas spring（18）, swing rod（20）With swing rod handle（19）, gas spring（18）Two ends are respectively articulated with and pedestal Plate（2）And swing rod（20）；The pneumatic adaptive polishing palm mechanism（9）It is fixed on base plate（2）On, including pin joint bearing （21）, adjusting rod（22）, the first gas spring（23）, the second gas spring（24）, the 3rd gas spring（25）With the 4th gas spring（32） Constitute support section and polishing palm platform（26）It is hinged；Polishing palm platform（26）Pass through bearing pin（28）With motor base plate（2） It is hinged, polishing palm platform（26）On be fixed with cylinder（27）, platform is slapped in its cylinder part and polishing（26）It is connected, piston rod is with beating Runner bar（29）It is connected, the polishing palm（29）It is fixed with the axis of guide（31）And insert and polishing palm platform（26）Connected bearing holder (housing, cover)（30） In.

2. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that motor shaft sleeve（12）Have Eccentric shaft（17）Structure, and it is inserted into passive roller support（13）I shape grooves in, and in I shape grooves move.

3. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that passive roller support（13）With 3rd driven roll（14）Can be with rack shaft（15）In shaft bearing seat（16）It is middle to swing.

4. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that motor shaft sleeve（12）Axle Line and rack shaft（15）Diameter parallel.

5. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that polishing palm platform（26）Extremely Rare two gas springs, such as the second gas spring（24）, the 4th gas spring（32）Or the first gas spring（23）With the 3rd gas spring （25）, it is distributed in bearing pin（28）Both sides.

6. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）At least Two axis of guides（31）It is inserted into the bearing holder (housing, cover) of polishing palm platform（30）In.

7. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）With cylinder （27）Piston be connected, in polishing by the abrasive band of operating（7）It is pressed on grinding workpiece（39）Surface.

8. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that by adjusting gas spring （18）In base plate（2）On articulated position, to adjust abrasive band tensioning degree.

9. a kind of robot sbrasive belt grinding unit according to claim 1, it is characterised in that the polishing palm（29）Upper fixation There is level meter（33）.