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CN-116872036-B - Abrasive belt machine with intelligent flexible force control function and control method thereof

CN116872036BCN 116872036 BCN116872036 BCN 116872036BCN-116872036-B

Abstract

The invention provides an abrasive belt machine with an intelligent flexible force control function and a control method thereof, comprising a base, an installation frame, a belt breakage and deviation correction sensor, a constant force flexible mechanism assembly, an abrasive belt driving wheel which is in annular arrangement, an abrasive belt driving wheel and mechanism assembly thereof, an abrasive belt tensioning wheel, a deviation correction mechanism assembly, an abrasive belt idler wheel and an abrasive belt contact wheel which are sequentially in running fit with the abrasive belt, wherein the abrasive belt contact wheel is connected with the abrasive belt idler wheel through the constant force flexible mechanism assembly.

Inventors

  • ZOU JIANGUO
  • QIN GUOHUAI
  • ZHANG SONGPING
  • Lin Liangcong

Assignees

  • 上海亘万自动化技术有限公司

Dates

Publication Date
20260508
Application Date
20230828

Claims (7)

  1. 1. The abrasive belt machine with the intelligent flexible force control function is characterized by comprising a base, an installation frame (11), a belt breakage and deviation correction sensor (14), a constant force flexible mechanism assembly (19), an abrasive belt (117), an abrasive belt driving wheel and a mechanism assembly (111) thereof, an abrasive belt tensioning wheel (13), a deviation correction mechanism assembly (15), an abrasive belt idler wheel (18) and an abrasive belt contact wheel (110) which are sequentially in rotating fit with the abrasive belt (117); The constant force compliant mechanism assembly (19), the abrasive belt driving wheel and the mechanism assembly (111), the abrasive belt tensioning wheel (13), the belt breakage and deviation correction sensor (14), the deviation correction mechanism assembly (15) and the abrasive belt idler wheel (18) are all arranged on the base and the installation frame (11), and the abrasive belt contact wheel (110) is connected with the abrasive belt idler wheel (18) through the constant force compliant mechanism assembly (19); The abrasive belt contact wheel (110) can be driven to do forward movement and backward movement, the forward movement and the backward movement can respectively enable the abrasive belt (117) to be in a protruding state and a hanging state, and the abrasive belt machine can drive the abrasive belt tensioning wheel (13) to synchronously perform position compensation on the protruding state or the hanging state so as to enable the abrasive belt (117) to be capable of performing tightness adjustment in real time and always be in a tensioning state under a preset tensioning force value; The abrasive belt contact wheel (110) can realize forward movement and backward movement of the self position through a contact wheel moving cylinder (116) arranged on the base and the mounting frame (11) so as to match different grinding working condition environments; The abrasive belt tensioning wheel (13) can synchronously perform position compensation on the convex state or the suspended state through a tensioning wheel cylinder (113); The constant force compliant mechanism assembly (19) is provided with a constant force compliant cylinder (191) and an abrasive belt contact wheel connecting rod (193) for connecting the abrasive belt idler wheel (18) and the abrasive belt contact wheel (110), and the telescopic end of the constant force compliant cylinder (191) is connected with the middle part of the abrasive belt contact wheel connecting rod (193) and can maintain a constant force compliant contact function in a mode of enabling the abrasive belt contact wheel (110) to rotate around the axis of the abrasive belt idler wheel (18) by means of the abrasive belt contact wheel connecting rod (193).
  2. 2. Belt sander with intelligent compliant force control according to claim 1, characterized in that the constant force compliant mechanism assembly (19) comprises a mechanism link (192) arranged on the base and mounting frame (11), the constant force compliant cylinder (191) is mounted on the mechanism link (192), the telescopic end of the constant force compliant cylinder (191) is connected to the belt contact wheel link (193) through a constant force compliant cylinder joint (194).
  3. 3. Belt sander with intelligent compliant force control according to claim 2, characterized in that the contact wheel moving cylinder (116) is adapted to realize the forward and reverse movement of the belt contact wheel (110) by driving the mechanism link (192).
  4. 4. The belt sander with the intelligent flexible force control function according to claim 1, wherein the deviation rectifying mechanism assembly (15) can drive the belt deviation rectifying wheel (155) of the belt sander to accurately swing according to the running state information of the belt sander (117) collected by the belt breakage and deviation rectifying sensor (14) so as to execute deviation rectifying adjustment operation.
  5. 5. The belt sander with the intelligent flexible force control function according to claim 1, wherein an electric control module (115) and a pneumatic control module (118) are further arranged on the base and the mounting rack (11), the electric control module (115) and the pneumatic control module (118) are connected to a main air source, a power source and a signal interface (114), and the main air source, the power source and the signal interface (114) are connected with the controller (2) through a cable (3); the controller (2) can automatically control the abrasive belt machine (1) according to a control program preset in the controller (2), wherein a man-machine interaction interface and a plurality of function buttons are configured on the controller (2), and setting and monitoring of various key parameters of the abrasive belt machine (1) can be achieved through the function buttons.
  6. 6. The belt sander with intelligent compliance force control function according to claim 1, wherein the belt driving wheel and its mechanism assembly (111) comprises a motor (119), a synchronous belt (1114), a driving wheel axle (1116), driving wheels (1111) respectively arranged at two ends of the driving wheel axle (1116), a small belt pulley (1112) and a large belt pulley (1113) in driving connection with the motor (119), wherein two ends of the synchronous belt (1114) are respectively in tensioning fit with the small belt pulley (1112) and the large belt pulley (1113); the motor (119) can drive the large belt pulley (1113) to rotate, and the abrasive belt (117) is driven to rotate through the synchronous belt (1114), the small belt pulley (1112), the driving wheel axle (1116) and the driving wheel axle (1116).
  7. 7. A control method of an abrasive belt machine with intelligent flexibility force control function according to any one of claims 1 to 6, characterized in that the abrasive belt machine (1) is controlled by a controller (2) to perform autonomous movement according to a preset program, and the dynamic real-time deviation correcting and belt breakage monitoring function in the abrasive belt (117) rotating process is realized by controlling a deviation correcting mechanism assembly (15) according to the running state information of the abrasive belt (117) acquired by a belt breakage and deviation correcting sensor (14), wherein a constant force flexibility mechanism assembly (19) of the abrasive belt machine (1) can enable an abrasive belt contact wheel (110) to have a constant force flexibility contact function.

Description

Abrasive belt machine with intelligent flexible force control function and control method thereof Technical Field The invention relates to the technical field of belt sanders, in particular to a belt sander with an intelligent flexible force control function and a control method thereof. Background The belt sander as the end-of-robot tool (EOAT) must meet the intelligent compliance function, the force control function, the safety interlock function and the visual independent control function to meet the technical indexes required by the automatic polishing and grinding project of the robot. Otherwise, it would not be useful for robotic automation projects. In order to realize the above functions to meet the requirements of robot automation projects, various schemes are designed in the prior art, for example, a multi-station belt sander is disclosed in patent document CN207171724U, a multi-station rotary table-type force control belt sander is disclosed in patent document CN215617189U, a double-station intelligent force control belt sander is disclosed in patent document CN217143453U, and the belt sanders meet the requirements of being used as a robot end tool (EOAT) in terms of structural form and basic function, but the design has a plurality of defects, on the one hand, the real-time online automatic deviation rectifying function cannot be realized, and therefore, the real intelligent softening effect cannot be realized. On the other hand, whether the belt adopts a 2-wheel structure, a 4-wheel structure or a 10-wheel structure, the contradiction and balance relation between the tensioning force of the abrasive belt and the polishing force of the contact wheel can not be solved, and the belt has the floating polishing effect at best, but cannot realize the real constant force control effect. In view of the above drawbacks of the prior art, there is a need to design a new belt sander to meet the production requirements. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide the abrasive belt machine with the intelligent flexible force control function and the control method thereof. The invention provides an abrasive belt machine with an intelligent flexible force control function, which comprises a base, an installation frame, a belt breakage and deviation correction sensor, a constant force flexible mechanism assembly, an abrasive belt driving wheel and mechanism assembly thereof, an abrasive belt tensioning wheel, a deviation correction mechanism assembly, an abrasive belt idler wheel and an abrasive belt contact wheel which are sequentially in rotary fit with the abrasive belt; the constant force compliant mechanism assembly, the abrasive belt driving wheel and the mechanism assembly thereof, the abrasive belt tensioning wheel, the belt breakage and deviation correction sensor, the deviation correction mechanism assembly and the abrasive belt idler wheel are all arranged on the base and the installation frame, and the abrasive belt contact wheel is connected with the abrasive belt idler wheel through the constant force compliant mechanism assembly; the abrasive belt contact wheel can be driven to do forward movement and backward movement, the forward movement and the backward movement can respectively enable the abrasive belt to be in a protruding state and a hanging state, and the abrasive belt machine can drive the abrasive belt tensioning wheel to synchronously perform position compensation on the protruding state or the hanging state so that the abrasive belt can be subjected to tightness adjustment in real time and always be in a tensioning state under a preset tensioning force value. Preferably, the abrasive belt contact wheel can realize forward movement and backward movement of the self position through a contact wheel moving cylinder arranged on the base and the mounting frame so as to match different grinding working condition environments. Preferably, the belt tensioner can synchronously compensate the position of the raised or suspended state by means of a tensioner cylinder. Preferably, the constant force compliant mechanism assembly is provided with a constant force compliant cylinder and an abrasive belt contact wheel connecting rod for connecting the abrasive belt idler wheel and the abrasive belt contact wheel, and the telescopic end of the constant force compliant cylinder is connected with the middle part of the abrasive belt contact wheel connecting rod and can maintain a constant force compliant contact function in a mode that the abrasive belt contact wheel rotates around the axis of the abrasive belt idler wheel by means of the abrasive belt contact wheel connecting rod. Preferably, the constant force compliant mechanism assembly comprises a mechanism connecting rod arranged on the base and the mounting frame, the constant force compliant cylinder is mounted on the mechanism connecting rod, and the telescopic end of the constant force complia