阅读说明：本技术 一种在线自动换刀的力控砂带磨抛系统及方法 (Force-controlled abrasive belt grinding and polishing system and method for online automatic tool changing ) 是由 赵欢 周浩源 丁汉 梁秀权 王辉 于 2021-09-15 设计创作，主要内容包括：本发明属于砂带磨抛机技术领域,并具体公开了一种在线自动换刀的力控砂带磨抛系统及方法。所述力控砂带磨抛机包括机架以及设于机架上的磨削模块、力控模块以及换刀模块,力控模块包括导轨、张紧轮以及力控驱动机构,换刀模块包括砂带切除组件以及砂带更换组件,砂带切除组件用于在砂带处于张紧状态切断所述砂带,砂带更换组件与磨抛轮机构对应设置,用于在张紧轮回位至起始位置时将新砂带套设在磨抛轮机构上。所述方法包括：控制砂带呈张紧状态,砂带切除组件切断张紧的砂带,张紧轮回位,砂带更换组件运动至与磨抛轮机构相对应的位置,将新砂带套设在磨抛轮机构上后回位。本发明实现各个功能部件的模块化设计,自动化水平高,整体适应性强。(The invention belongs to the technical field of abrasive belt grinding and polishing machines, and particularly discloses a force-controlled abrasive belt grinding and polishing system and method capable of automatically changing a tool on line. The force control abrasive belt grinding and polishing machine comprises a frame, and a grinding module, a force control module and a tool changing module which are arranged on the frame, wherein the force control module comprises a guide rail, a tension wheel and a force control driving mechanism, the tool changing module comprises an abrasive belt cutting-off assembly and an abrasive belt replacing assembly, the abrasive belt cutting-off assembly is used for being cut off in a tensioning state at an abrasive belt, the abrasive belt replacing assembly and a grinding and polishing wheel mechanism are correspondingly arranged, and the new abrasive belt is sleeved on the grinding and polishing wheel mechanism when the tension wheel returns to an initial position. The method comprises the following steps: and controlling the abrasive belt to be in a tensioning state, cutting off the tensioned abrasive belt by the abrasive belt cutting assembly, returning the tensioning wheel, moving the abrasive belt replacing assembly to a position corresponding to the grinding and polishing wheel mechanism, sleeving a new abrasive belt on the grinding and polishing wheel mechanism, and returning. The invention realizes the modular design of each functional component, has high automation level and strong overall adaptability.)

1. A force control abrasive belt grinding and polishing system capable of automatically changing tools on line is characterized by comprising a rack (27), and a grinding module (2), a force control module (1) and a tool changing module (3) which are arranged on the rack (27),

the grinding module (2) comprises an abrasive belt panel (4) and a grinding and polishing wheel mechanism which is arranged on the abrasive belt panel (4) in a triangular arrangement, the abrasive belt panel (4) is vertically arranged on the rack (27), and an abrasive belt is arranged on the grinding and polishing wheel mechanism;

the force control module (1) comprises a guide rail (9), a tension pulley (10) and a force control driving mechanism, wherein the guide rail (9) is arranged on the abrasive belt panel (4), the tension pulley (10) is arranged on the guide rail (9), the power output end of the force control driving mechanism is connected with the tension pulley (10), and the force control driving mechanism is used for driving the tension pulley (10) to move along the guide rail (9) so as to tension or loosen the abrasive belt;

the tool changing module (3) comprises an abrasive belt cutting-off assembly and an abrasive belt replacing assembly, the abrasive belt cutting-off assembly is arranged on the abrasive belt panel (4) and used for cutting off the abrasive belt when the abrasive belt is in a tensioning state, and the abrasive belt replacing assembly and the abrasive polishing wheel mechanism are correspondingly arranged and used for sleeving a new abrasive belt on the abrasive polishing wheel mechanism when the tensioning wheel (10) returns to the initial position.

2. The system for grinding and polishing the abrasive belt by force control with automatic tool changing online according to claim 1, characterized in that the abrasive belt cutting assembly comprises an abrasive belt cutting cylinder (6) and an abrasive belt cutting blade (7), the power output end of the abrasive belt cutting cylinder (6) is connected with the abrasive belt cutting blade (7), and the abrasive belt cutting blade (7) is arranged perpendicular to the straight line of one side of the abrasive belt.

3. An on-line automatic tool changing, force controlled belt sanding system according to claim 1, wherein the belt changing assembly comprises:

a base (26) provided on the frame (27);

a translation panel provided on the base (26);

the feeding cylinder (25) is arranged on the rack (27), and a power output shaft of the feeding cylinder (25) is connected with the translation panel;

the two abrasive belt beam guide frames are arranged on the translation panel, the two abrasive belt replacing sub-pieces are symmetrically arranged relative to the translation panel, and each abrasive belt beam guide frame comprises an abrasive belt beam (18) and an elastic jacking piece arranged at the bottom of the abrasive belt beam (18);

the novel abrasive belt is arranged between the abrasive belt beams (18) and the friction wheels (21), the upper surface of the novel abrasive belt is always in contact with the friction wheels (21) under the jacking action of the elastic jacking piece, the shape of the new abrasive belt supported by the two friction wheels (21) at least covers the grinding and polishing wheel mechanism, and the transmission assembly drives the friction wheels (21) to rotate so as to drive the outermost layer of the novel abrasive belt to move towards the grinding and polishing wheel mechanism.

4. The system for grinding and polishing the abrasive belt with force control and automatic tool changing on line according to claim 3, characterized in that the transmission assembly comprises a transmission shaft (23), a step motor (19), a synchronous belt (14) and a synchronous pulley (15), the transmission shaft (23) is fixedly arranged on the translation panel, the transmission shaft (23) is arranged between the two abrasive belt beams (18), two ends of the transmission shaft (23) are respectively in transmission connection with the synchronous pulley (15) through a conveyor belt, the synchronous pulley (15) is in transmission connection with the friction wheel (21) through the synchronous belt (14), and a power output end of the step motor (19) is connected with the transmission shaft (23) to drive the transmission shaft (23) to rotate, so that the friction wheel (21) is driven to rotate through the synchronous pulley (15).

5. The force-controlled abrasive belt grinding and polishing system with the automatic tool changing function on line as claimed in claim 4, wherein bearing seats (24) are further arranged at the bottoms of the two ends of the transmission shaft (23), and the bearing seats (24) are rotatably connected with the transmission shaft (23).

6. The system for grinding and polishing the abrasive belt with force control and automatic tool changing online according to claim 3, characterized in that the guide frame of the abrasive belt beam further comprises two vertical guide frames which are vertically arranged and a transverse guide frame which is connected with the vertical guide frames, the abrasive belt beam (18) is arranged on the two vertical guide frames, and a compression slide block pair (16) is arranged between the abrasive belt beam (18) and the vertical guide frames;

the elastic jacking piece is arranged between the abrasive belt beam (18) and the transverse guide frame.

7. The system for grinding and polishing force-controlled abrasive belt with automatic tool changing online according to claim 6, wherein a fixed toggle plate is arranged at the bottom of each vertical guide frame.

8. The system for grinding and polishing the abrasive belt with the force-controlled function and the automatic tool changing function on line according to claim 1, wherein the grinding and polishing wheel mechanism comprises a deviation-correcting concave wheel (5), a grinding wheel (8), a driving wheel (11) and a grinding and polishing driving piece, the deviation-correcting concave wheel (5), the grinding wheel (8) and the driving wheel (11) are arranged in a triangular structure, the deviation-correcting concave wheel (5) and the grinding wheel (8) are arranged in a horizontal straight line and are arranged above the tension wheel (10), the driving wheel (11) is arranged below the tension wheel (10), and a power output shaft of the grinding and polishing driving piece is connected with the driving wheel (11).

9. The system for grinding and polishing the abrasive belt with force control and automatic tool changing online according to claim 1, characterized in that the force control driving mechanism comprises a tension cylinder (13), a tension spring (12) is further arranged on the guide rail (9), one section of the tension spring (12) is connected with the abrasive belt panel (4), and the other end of the tension spring is connected with the tension wheel (10).

10. An on-line automatic tool changing method, which is realized by the force-controlled abrasive belt grinding and polishing system of any one of claims 1-9, and comprises the following steps:

s1 force control driving mechanism drives the tension wheel (10) to move along the guide rail (9), so that the abrasive belt arranged on the grinding wheel mechanism is in tension state;

s2 cutting off the tensioned abrasive belt by the abrasive belt cutting assembly, and dropping the abrasive belt;

s3, the force control driving mechanism drives a tension wheel (10) to move to the initial position of the guide rail (9) along the guide rail (9);

s4, moving the abrasive belt replacing component to a position corresponding to the grinding and polishing wheel mechanism, sleeving a new abrasive belt on the grinding and polishing wheel mechanism, and returning;

s5, the force control driving mechanism drives the tension wheel (10) to move along the guide rail (9) until the tension wheel (10) tensions the abrasive belt which is newly sleeved on the grinding and polishing wheel mechanism.

Technical Field

The invention belongs to the technical field of abrasive belt grinding and polishing machines, and particularly relates to a force-controlled abrasive belt grinding and polishing system and method capable of automatically changing a tool on line.

Background

Grinding and polishing are the last process for processing various parts such as aircraft engine blades, water taps, various furniture and the like, and the final contour precision and the surface quality of the parts are determined. At present, common grinding and polishing tools have diamond grinding wheels, grinding rings, vane wheels, abrasive belts and the like, and the abrasive belts are widely applied in many industries due to the advantages of excellent self-cooling performance, safety, high machine tool power utilization rate, small noise and dust damage and the like.

However, the belt after production cannot be dressed after it is worn out and is expensive, and therefore, it is necessary to replace the belt frequently. In addition, the abrasive belt is soft and the shape of the abrasive belt is not easy to fix, so that the automatic replacement of the abrasive belt is difficult. At present, most of common abrasive belt grinding and polishing equipment in the market adopts a mode of manually replacing an abrasive belt, and needs to be shut down firstly, then manually remove a waste abrasive belt and install a new abrasive belt. The manual replacement of the abrasive belt is not only low in efficiency, but also seriously restricts the automation degree of part grinding and polishing. In addition, the grinding and polishing processing site generally has great dust and noise pollution, which seriously harms the health of workers. Furthermore, if the belt is mounted in a defective position as a part rotating at high speed, the belt may be thrown off and hurt people.

Based on the above defects and shortcomings, there is a need in the art to provide a force-controlled abrasive belt grinding and polishing system with an online automatic tool changing function, which can implement convenient and fast maintenance and production of each functional component through a modular design, so as to overcome the problem of difficulty in replacing a grinding and polishing tool of a grinding and polishing unit using an abrasive belt as a grinding tool in the prior art.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides a force control abrasive belt grinding and polishing system and a method for automatically changing a tool on line, wherein the force control abrasive belt grinding and polishing system for automatically changing the tool on line is correspondingly designed by combining the characteristics of the force control abrasive belt grinding and polishing machine and the abrasive belt changing process characteristics, and the structures and the specific arrangement modes of key components of the force control abrasive belt grinding and polishing system, such as a grinding module, a force control module and a tool changing module, are researched and designed, so that the problem that the abrasive belt can not be automatically changed in the prior art can be effectively solved, and the modular design of each module can be realized, so that the abrasive belt can be conveniently and automatically changed on line, and the system has the characteristics of simple structure, strong adaptability, high automation level and the like.

In order to achieve the above object, according to one aspect of the present invention, a force-controlled abrasive belt grinding and polishing system with online automatic tool changing is provided, which comprises a frame, and a grinding module, a force-controlled module and a tool changing module arranged on the frame, wherein,

the grinding module comprises an abrasive belt panel and a grinding and polishing wheel mechanism which is arranged on the abrasive belt panel in a triangular mode, the abrasive belt panel is vertically arranged on the rack, and an abrasive belt is arranged on the grinding and polishing wheel mechanism;

the force control module comprises a guide rail, a tension wheel and a force control driving mechanism, the guide rail is arranged on the abrasive belt panel, the tension wheel is arranged on the guide rail, the power output end of the force control driving mechanism is connected with the tension wheel, and the force control driving mechanism is used for driving the tension wheel to move along the guide rail so as to tension or loosen the abrasive belt;

the tool changing module comprises an abrasive belt cutting assembly and an abrasive belt replacing assembly, the abrasive belt cutting assembly is arranged on an abrasive belt panel and used for cutting off the abrasive belt when the abrasive belt is in a tensioning state, and the abrasive belt replacing assembly and the abrasive wheel grinding mechanism are correspondingly arranged and used for sleeving a new abrasive belt on the abrasive wheel grinding mechanism when the tensioning wheel returns to the initial position.

Preferably, the abrasive belt cutting assembly comprises an abrasive belt cutting cylinder and an abrasive belt cutting blade, a power output end of the abrasive belt cutting cylinder is connected with the abrasive belt cutting blade, and the abrasive belt cutting blade is perpendicular to a straight line where one side of the abrasive belt is located.

As a further preference, the belt changing assembly comprises:

the base is arranged on the rack;

the translation panel is arranged on the base;

the feeding cylinder is arranged on the rack, and a power output shaft of the feeding cylinder is connected with the translation panel;

the two abrasive belt beam guide frames are arranged on the translation panel, the two abrasive belt replacing sub-pieces are symmetrically arranged relative to the translation panel, and each abrasive belt beam guide frame comprises an abrasive belt beam and an elastic jacking piece arranged at the bottom of the abrasive belt beam;

the novel abrasive belt is arranged between the abrasive belt beams and the friction wheels, the upper surface of the novel abrasive belt is always in contact with the friction wheels under the jacking action of the elastic jacking piece, the shape of the new abrasive belt propped up by the two friction wheels at least covers the grinding and polishing wheel mechanism, and the transmission component drives the friction wheels to rotate so as to drive the outermost layer of the novel abrasive belt to move towards the grinding and polishing wheel mechanism.

Preferably, the transmission assembly includes a transmission shaft, a step motor, a synchronous belt and a synchronous pulley, the transmission shaft is fixedly disposed on the translation panel, the transmission shaft is disposed between the two abrasive belt beams, two ends of the transmission shaft are respectively in transmission connection with the synchronous pulley through a conveyor belt, the synchronous pulley is in transmission connection with the friction wheel through the synchronous belt, and a power output end of the step motor is connected with the transmission shaft to drive the transmission shaft to rotate, so that the friction wheel is driven to rotate through the synchronous pulley.

Preferably, bearing seats are further arranged at the bottoms of the two ends of the transmission shaft, and the bearing seats are rotatably connected with the transmission shaft.

Preferably, the abrasive belt beam guide frame further comprises two vertical guide frames which are vertically arranged and a transverse guide frame which is connected with the vertical guide frames, the abrasive belt beam is arranged on the two vertical guide frames, and a pressing sliding block pair is arranged between the abrasive belt beam and the vertical guide frames;

the elastic jacking piece is arranged between the abrasive belt beam and the transverse guide frame.

Preferably, a fixed toggle plate is arranged at the bottom of each vertical guide frame.

Preferably, the grinding and polishing wheel mechanism comprises a deviation-correcting concave wheel, a grinding wheel, a driving wheel and a grinding and polishing driving piece, the deviation-correcting concave wheel, the grinding wheel and the driving wheel are arranged in a triangular structure, the deviation-correcting concave wheel and the grinding wheel are arranged in a horizontal straight line and are arranged above the tension wheel, the driving wheel is arranged below the tension wheel, and a power output shaft of the grinding and polishing driving piece is connected with the driving wheel.

Preferably, the force control driving mechanism comprises a tensioning cylinder, the guide rail is further provided with a tensioning spring, one section of the tensioning spring is connected with the abrasive belt panel, and the other end of the tensioning spring is connected with the tensioning wheel.

According to another aspect of the invention, the invention also provides an online automatic tool changing method, which is realized by adopting the force control abrasive belt grinding and polishing system and comprises the following steps:

s1 the force control driving mechanism drives the tension wheel to move along the guide rail, so that the abrasive belt arranged on the grinding and polishing wheel mechanism is in a tension state;

s2 cutting off the tensioned abrasive belt by the abrasive belt cutting assembly, and dropping the abrasive belt;

s3, the force control driving mechanism drives the tension wheel to move to the initial position of the guide rail along the guide rail;

s4, moving the abrasive belt replacing component to a position corresponding to the grinding and polishing wheel mechanism, sleeving a new abrasive belt on the grinding and polishing wheel mechanism, and returning;

s5, the force control driving mechanism drives the tension wheel to move along the guide rail until the tension wheel tensions the abrasive belt which is newly sleeved on the grinding and polishing wheel mechanism.

Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:

1. through the modular design, the invention can realize convenient and fast maintenance and production of each functional component. By automatically replacing the abrasive belt, the problem that the grinding and polishing cutter of the grinding and polishing unit using the abrasive belt as a grinding tool is difficult to replace is solved, and the automation level of the grinding and polishing unit is effectively improved.

2. According to the invention, the space is efficiently utilized by stacking the abrasive belts, more than 20 abrasive belts can be quickly installed at one time only by occupying a tool changing module with the size like that of a grinding and polishing panel, and automatic removal of waste abrasive belts and installation of new abrasive belts are realized.

3. The invention combines the impedance control characteristic of the grinding mechanism, realizes the cutting and replacement of the abrasive belt through the movement of the tension wheel, namely, the abrasive belt is tensioned in the abrasive belt cutting process and moves to the initial position after falling off to provide a corresponding area for the abrasive belt replacement, thereby effectively utilizing the characteristic of the existing grinding mechanism and simultaneously improving the automation level and the accuracy of the abrasive belt replacement and the overall adaptability of the device.

4. According to the invention, due to the jacking and compressing effect of the compression spring, a certain pressure is ensured to exist between the abrasive belt and the friction wheel all the time, so that only the outermost layer of the stacked new abrasive belt can move outwards in a translation manner, and conditions are provided for the subsequent installation of the abrasive belt.

Drawings

FIG. 1 is a schematic structural diagram of an on-line automatic tool changing force control abrasive belt grinding and polishing system according to a preferred embodiment of the invention;

FIG. 2 is a schematic structural view of the grinding module and belt cutting assembly referenced in FIG. 1;

FIG. 3 is a schematic structural view showing a sanding belt in a naturally falling state when the tension pulley moves to the initial position of the guide rail in the present invention;

fig. 4 is a schematic structural view of the belt changing assembly referred to in fig. 1.

In all the figures, the same reference numerals denote the same features, in particular: 1-force control module, 2-grinding module, 3-tool changing module, 4-abrasive belt panel, 5-deviation rectifying concave wheel, 6-abrasive belt cutting cylinder, 7-abrasive belt cutting blade, 8-grinding wheel, 9-guide rail, 10-tension wheel, 11-driving wheel, 12-tension spring, 13-tension cylinder, 14-synchronous belt, 15-synchronous pulley, 16-pressing slide block pair, 17-pressing spring, 18-abrasive belt beam, 19-stepping motor, 20-feeding slide block pair, 21-friction wheel, 22-stacked abrasive belt, 23-transmission shaft, 24-bearing seat, 25-feeding cylinder, 26-base and 27-frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1, a force-controlled abrasive belt grinding and polishing system with an online automatic tool changing function according to an embodiment of the present invention includes a frame 27, and a grinding module 2, a force-controlled module 1, and a tool-changing module 3, which are disposed on the frame 27. The grinding module 2 is used for carrying out grinding and polishing operations under the control of the controller, and the force control module 1 is used for providing tension of an abrasive belt in the grinding module 2 and providing a position required by abrasive belt replacement in the abrasive belt replacement process. The tool changing module 3 realizes the replacement of the abrasion abrasive belt by a friction moving method. More specifically, the force control module 1 realizes the control of contact force during grinding and polishing work through a linear module driven by a motor, and is connected with the grinding module 2 through a pair of linear sliding rails distributed in parallel to realize the linear motion of the grinding module, and the force control function is realized through position compensation. The grinding module 2 mainly realizes the grinding operation of the motor-driven abrasive belt, and realizes the dismantling of the waste abrasive belt and the tensioning function of the new abrasive belt through the driving of the cylinder. The tool changing module 3 is driven by a friction wheel driven by a motor to realize the falling and preassembling of a new abrasive belt, and the feeding during tool changing and the returning after the tool changing are finished are realized by the advancing and the retreating driven by a cylinder. According to the invention, through the modular design, the convenient and fast maintenance and production of each functional component can be realized. By automatically replacing the abrasive belt, the problem that the grinding and polishing cutter of the grinding and polishing unit using the abrasive belt as a grinding tool is difficult to replace is solved, and the automation level of the grinding and polishing unit is effectively improved. Meanwhile, the tool changing module 3 realizes efficient utilization of space through stacking of the abrasive belts, and can quickly install more than 20 abrasive belts at one time only by occupying the tool changing module with the size as the abrasive belt panel, and realize automatic removal of waste abrasive belts and installation of new abrasive belts.

More specifically, as shown in fig. 2, 3 and 4, the frame 27 has an L-shaped structure, the grinding module 2 is disposed on a side close to the vertical plate, the tool changing module 3 is disposed on a side of the horizontal plate, and the grinding module 2 is disposed corresponding to the tool changing module 3. The grinding module 2 comprises an abrasive belt panel 4, a deviation rectifying concave wheel 5, a grinding wheel 8, a driving wheel 11 and a grinding and polishing driving piece, the abrasive belt panel 4 is arranged in parallel with a vertical plate of the rack 27, the deviation rectifying concave wheel 5, the grinding wheel 8 and the driving wheel 11 are arranged on the abrasive belt panel 4, and the deviation rectifying concave wheel 5, the grinding wheel 8 and the driving wheel 11 are arranged in an inverted triangle structure. As a preferred embodiment of the present invention, the deviation-correcting recessed wheel 5, the grinding wheel 8, and the driving wheel 11 are arranged in an equilateral triangle with the driving wheel 11 as a vertex. The driving wheel 11 is connected with a power output shaft of the grinding and polishing driving piece, the abrasive belt is sleeved on the deviation-correcting concave wheel 5, the grinding wheel 8 and the driving wheel 11, if the abrasive belt is directly sleeved on the deviation-correcting concave wheel 5, the grinding wheel 8 and the driving wheel 11, the abrasive belt is in a relaxed state, and at the moment, the abrasive belt naturally falls and is only supported by the deviation-correcting concave wheel 5 and the grinding wheel 8 and gravity. The force control module comprises a guide rail groove arranged on the abrasive belt panel 4, a guide rail 9 is arranged in the guide rail groove, the guide rail 9 is arranged in parallel to a connecting line of the deviation correcting concave wheel 5 and the grinding wheel 8, the deviation correcting concave wheel 5 and the grinding wheel 8 are arranged on the upper portion of the guide rail 9, and the driving wheel 11 is arranged on the lower portion of the guide rail 9. A tensioning wheel 10 is movably arranged on the guide rail 9, one end of which is used for tensioning or releasing the sanding belt, and the other end of which passes through the guide rail and is connected with a tensioning cylinder 13, the tensioning cylinder 13 is arranged on the other side of the sanding belt panel 4, i.e. the side where the sanding belt is not installed, and the tensioning cylinder 13 is arranged along the guide rail 9, in this way, the tensioning or releasing or tensioning degree of the sanding belt is realized by driving the tensioning wheel 10 to move. When the tensioning cylinder 13 drives the tensioning wheel 10 to the starting position of the guide rail 9, i.e. to the extreme end of the guide rail 9, as shown in fig. 3, the sanding belt is now in a relaxed and naturally hanging state. In the preferred embodiment of the invention, the guide rail 9 is further provided with a tension spring 12, which tension spring 13 is fixedly connected at one end to the belt panel 4 and at the other end to the tension wheel 10, and which tension spring 13, in cooperation with the tension cylinder 13, provides a resistance to the grinding module 2 during the grinding action and, at the same time, provides a smoother movement of the tension wheel 10.

In the invention, the tension wheel 10 is arranged at the outer side of the abrasive belt, the inward concave degree of the abrasive belt is changed through the movement of the tension wheel 10, so that the tension of the abrasive belt is realized, the resistance force of the grinding module 2 in the grinding action is provided, and the feed amount of the tension wheel can be adjusted through a variable resistance force control algorithm, thereby ensuring a stable and compliant grinding process.

As shown in fig. 2 and 4, the tool changing module 3 includes an abrasive belt cutting-off component and an abrasive belt replacing component, the abrasive belt cutting-off component is disposed on the abrasive belt panel 4 and is configured to cut off the abrasive belt when the abrasive belt is in a tensioned state, and the abrasive belt replacing component is disposed corresponding to the polishing wheel mechanism and configured to sleeve a new abrasive belt on the polishing wheel mechanism when the tensioning wheel 10 returns to an initial position. The abrasive belt cutting assembly comprises an abrasive belt cutting cylinder 6 and an abrasive belt cutting blade 7, the power output end of the abrasive belt cutting cylinder 6 is connected with the abrasive belt cutting blade 7, and the abrasive belt cutting blade 7 is perpendicular to the straight line where one side of the abrasive belt is located. More specifically, in the present invention, the belt cutting blade 7 is disposed perpendicular to and above the line connecting the deviation-correcting recessed wheel 5 and the grinding wheel 8, in such a manner that the belt cutting cylinder 6 pushes the belt cutting blade 7 to move downward to cut off the damaged sand bag. More specifically, in order to realize the precision of the movement of the abrasive belt cutting blade 7, so that the abrasive belt cutting blade 7 moves according to a given route, a blade movement guide rail which is vertically arranged is further arranged on the abrasive belt panel 4, the abrasive belt cutting blade 7 is clamped on the blade movement guide rail through a slide block, and is driven through the abrasive belt cutting cylinder 6. Of course, the above is only one preferred embodiment of the present invention, and other constructions that can provide the belt cutting blade 7 with a linear motion satisfy the requirements of the present invention, such as the provision of a linear slide slot, etc.

As shown in fig. 4, the abrasive belt replacing assembly comprises a base 26, a translation panel, a feeding cylinder 25, two abrasive belt beam guides, and a translation driving member, wherein the base 26 is disposed on the frame 27, the translation panel is disposed on the base 26, the feeding cylinder 25 is disposed on the frame 27, a power output shaft of the feeding cylinder 25 is connected to the translation panel, the two abrasive belt beam guides are disposed on the translation panel, and the two abrasive belt replacing sub-members are symmetrically arranged with respect to the translation panel, the abrasive belt beam guides comprise an abrasive belt beam 18 and an elastic jacking member disposed at the bottom of the abrasive belt beam 18, the translation driving member comprises a friction wheel 21 disposed on the two abrasive belt beams 18 and a transmission assembly for driving the friction wheel 21 to rotate, a new abrasive belt is disposed between the abrasive belt beam 18 and the friction wheel 21, and under the action of the elastic jacking member, an upper surface of the new abrasive belt is always disposed in contact with the friction wheel 21, the shape of the two friction wheels 21 supporting the new abrasive belt at least covers the grinding and polishing wheel mechanism, and the transmission component drives the friction wheels 21 to rotate so as to drive the outermost new abrasive belt to move towards the grinding and polishing wheel mechanism. The transmission assembly comprises a transmission shaft 23, a step motor 19, a synchronous belt 14 and a synchronous belt wheel 15, the transmission shaft 23 is fixedly arranged on the translation panel, the transmission shaft 23 is arranged between the two abrasive belt beams 18, two ends of the transmission shaft 23 are respectively in transmission connection with the synchronous belt wheel 15 through conveyor belts, the synchronous belt wheel 15 is in transmission connection with the friction wheel 21 through the synchronous belt 14, and a power output end of the step motor 19 is connected with the transmission shaft 23 to drive the transmission shaft 23 to rotate, so that the friction wheel 21 is driven to rotate through the synchronous belt wheel 15. And bearing seats 24 are further arranged at the bottoms of the two ends of the transmission shaft 23, and the bearing seats 24 are rotatably connected with the transmission shaft 23. The abrasive belt beam guide frame also comprises two vertical guide frames which are vertically arranged and a transverse guide frame which is connected with the vertical guide frames, the abrasive belt beam 18 is arranged on the two vertical guide frames, and a pressing slide block pair 16 is arranged between the abrasive belt beam 18 and the vertical guide frames; the elastic jacking piece is arranged between the abrasive belt beam 18 and the transverse guide frame, and the bottom of each vertical guide frame is provided with a fixed toggle plate.

More specifically, in a preferred embodiment of the invention, the belt changer is arranged parallel to belt panel 4, and comprises two bases 26 mounted on a frame 27, base 26 being arranged perpendicular to belt panel 4, base 26 being provided with a slide on which a translating panel is arranged by means of a slide, which translating panel is slidable in the slide. A feeding cylinder 25 is arranged between the two bases 26, the feeding cylinder 25 is arranged on a frame 27, and a power output shaft of the feeding cylinder 25 is fixedly connected with the translation panel so as to drive the translation panel to move. Two abrasive belt beam guide frames are arranged on the translation panel, each abrasive belt beam guide frame comprises two vertical guide frames, a transverse guide frame and an abrasive belt beam 18, and the transverse guide frames and the abrasive belt beams 18 are arranged in parallel and perpendicular to the abrasive belt panel 4. A compression spring 17 is also arranged between the transverse guide and the belt beam 18. In this way, after the abrasive belts in the stacked abrasive belts 22 are translated out, the pressing spring 17 lifts the abrasive belt beam 18 to move upwards by the thickness of one abrasive belt along the guide groove. Of course, the above is only a preferred embodiment of the present invention, and other structures capable of achieving the corresponding effects are also applicable to the present invention.

In another preferred embodiment of the invention, a drive shaft 23 is provided on the translation panel, which drive shaft 23 is arranged between the two belt beam guides and has its centre line arranged parallel to belt panel 24. A bearing seat 24 is arranged between the transmission shaft 23 and the translation panel, the transmission shaft 23 is fixedly connected with the bearing seat 24, and the transmission shaft 23 can rotate relative to the bearing seat 24. The translation panel is also provided with a progressive motor 19 for driving the transmission shaft 23 to rotate, and a power output shaft of the progressive motor 19 is fixedly connected with the transmission shaft 23. The both ends of transmission shaft 23 are equipped with the conveyer belt, and the conveyer belt is arranged along vertical direction, and this conveyer belt one end is established on transmission shaft 23, and the other end is connected with synchronous pulley 15 that sets up on vertical guide frame, and like this, synchronous pulley 15, conveyer belt and transmission shaft 23 constitute the transmission and are connected. Synchronous pulley 15 and friction pulley all set up on vertical guide frame, and the central line between them arranges with abrasive band panel 4 is perpendicular, and synchronous pulley 15 and friction pulley pass through hold-in range 14 transmission and connect, and like this, will advance the rotation power of motor and transmit to the friction pulley in proper order. In the invention, in order to reduce the alignment precision of the whole device and improve the whole adaptability of the device, the distance between the two abrasive belt beams 18 is not less than the distance between the deviation-correcting concave wheel 5 and the grinding wheel 8, so that the abrasive belt can be directly sleeved on the deviation-correcting concave wheel 5 and the grinding wheel 8 when the abrasive belt is translated.

When the invention is used for grinding, the tensioning cylinder is in a contraction state 13, the abrasive belt is tensioned, and the driving wheel 10 drives the abrasive belt to rotate for grinding. After the abrasive belt is worn, the abrasive belt cutting cylinder 6 extends out to push the abrasive belt cutting blade 7 to cut off the abrasive belt, and after the abrasive belt is cut off, the abrasive belt cutting cylinder 6 retracts; the tensioning cylinder 13 is then actuated to move the tensioning wheel 10 to the left to the position shown in fig. 3, i.e. the starting position, at which the severed used sanding belt falls off and the removal of the used sanding belt is completed. After the waste abrasive belt is removed, a feeding cylinder 25 of the tool changing module acts to push the upper part of the tool changing module to move forwards integrally, and the stacked abrasive belt 22 moves to the upper part of the grinding module 2 in the figure 2 to surround a triangular area formed by the concave deviation rectifying wheel 5, the grinding wheel 8 and the driving wheel 11; then, the stepping motor 19 rotates by a set angle, the friction wheels 21 which are symmetrically distributed are driven to rotate through the transmission of the synchronous belt, and the abrasive belt drops forwards through the friction force between the friction wheels and the abrasive belt, so that the preassembly of the abrasive belt is realized, and the shape shown in fig. 3 is achieved. Due to the action of the compression spring 17, a certain pressure is ensured to exist between the abrasive belt and the friction wheel all the time, and conditions are provided for the subsequent installation of the abrasive belt.

According to another aspect of the invention, an online automatic tool changing method is further provided, and the method is completed by using the force-controlled sand bag polishing machine. Specifically, the method comprises the following steps:

step one, a force control driving mechanism drives a tension wheel 10 to move along a guide rail 9, so that an abrasive belt arranged on a grinding and polishing wheel mechanism is in a tension state. In particular, the method comprises the following steps of,

when the abrasive belt on the grinding module 2 is worn and does not meet the processing requirements, the abrasive belt on the grinding module 2 is replaced by the tool changing module 3. Preferably, the tensioning cylinder 13 pushes the tensioning wheel 10 to move along the guide rail 9, so that the abrasive belt arranged on the grinding and polishing wheel mechanism is in a tensioning state, and when the abrasive belt cutting blade 7 moves downwards to cut off the abrasive belt, the abrasive belt cannot deform greatly, so that the cutting efficiency is influenced.

And step two, cutting off the tensioned abrasive belt by the abrasive belt cutting assembly, and dropping the abrasive belt. At this point, belt cut cylinder 6 drives belt cut blade 7 vertically downward until the belt is cut. In the preferred embodiment of the invention the movement path of belt cutting blade 7 is constant and correspondingly the tension of tensioning wheel 10 on the belt is constant each time the belt is changed, so that belt cutting blade 7 can cut off the belt within a given movement range. Meanwhile, in order to realize the natural falling of the cut-off abrasive belt, the tensioning wheel 10 tensions the abrasive belt from the outer side of the abrasive belt, and after the abrasive belt at the upper part is cut off, the abrasive belt can naturally slide down by means of the gravity of the abrasive belt and cannot be hung on a rotating wheel structure, so that the intelligent operation of the whole replacing mechanism is further promoted.

And step three, driving a tensioning wheel 10 to move to the initial position of the guide rail 9 along the guide rail 9 by the force control driving mechanism. In this step, the tension wheel 10 leaves the triangular area formed by the deviation-correcting concave wheel 5, the grinding wheel 8 and the driving wheel 11, so as to provide enough space for the tool changing module 3 to replace the abrasive belt. The tensioning cylinder 13 drives the tensioning wheel 10 to move along the guide rail 9 to the initial position of the guide rail 9, and leaves the triangular area formed by the concave deviation rectifying wheel 5, the grinding wheel 8 and the driving wheel 11. At this point, feed cylinder 25 pushes the translation plate along the slide provided on base 26 so that the stacked belt 22 provided on belt beam 18 corresponds to the triangular area. That is, in the present invention, in order to reduce the alignment accuracy of the whole apparatus and improve the whole adaptability of the apparatus, the distance between the two belt beams 18 is not less than the distance between the deviation-correcting concave wheel 5 and the grinding wheel 8, so that the belt can be directly sleeved on the deviation-correcting concave wheel 5 and the grinding wheel 8 when the belt is translated.

And fourthly, moving the abrasive belt replacing component to a position corresponding to the grinding and polishing wheel mechanism, sleeving a new abrasive belt on the grinding and polishing wheel mechanism, and returning. The progressive motor 19 drives the transmission shaft 23 to rotate, the transmission shaft 23 drives the synchronous pulley 15 to rotate through a pulley belt, the synchronous pulley 15 drives the friction wheel 21 connected with the synchronous pulley 15 to rotate through the synchronous belt 15, the rolling direction of the friction wheel 21 faces the grinding and polishing wheel mechanism, meanwhile, the pressing spring 17 provides upward jacking force for the abrasive belt beam 18, the abrasive belt beam 18 and the friction wheel are enabled to be tightly pressed on the stacked abrasive belt 22 arranged between the abrasive belt beam 18 and the friction wheel, when the friction wheel 21 rotates, friction force facing the grinding and polishing wheel mechanism is provided for the new abrasive belt on the outermost layer, meanwhile, pressing force is provided for the abrasive belt beam 18 and the friction wheel, and the stacked new abrasive belt only has the outermost layer capable of moving outwards in a translation mode. After a new belt is mounted on the wheel mechanism, the feed cylinder 25 pushes the translation panel along the slide provided on the base 26 to move away from the wheel mechanism. At this time, the new abrasive belt is in a state of hanging down naturally on the polishing wheel mechanism as shown in fig. 3.

And step five, the force control driving mechanism drives a tension wheel 10 to move along a guide rail 9 until the tension wheel 10 tensions an abrasive belt newly sleeved on the grinding and polishing wheel mechanism. At this time, the movement position of the tension wheel 10 can be adaptively adjusted according to the resistance force of the grinding module 2 in the grinding action.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.