CN113710420B - 用于机器人辅助加工表面的装置 - Google Patents

用于机器人辅助加工表面的装置 Download PDF

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Publication number
CN113710420B
CN113710420B CN202080029865.4A CN202080029865A CN113710420B CN 113710420 B CN113710420 B CN 113710420B CN 202080029865 A CN202080029865 A CN 202080029865A CN 113710420 B CN113710420 B CN 113710420B
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CN
China
Prior art keywords
processing head
linear actuator
shaft
support plate
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202080029865.4A
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English (en)
Chinese (zh)
Other versions
CN113710420A (zh
Inventor
R·纳德雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of CN113710420A publication Critical patent/CN113710420A/zh
Application granted granted Critical
Publication of CN113710420B publication Critical patent/CN113710420B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/027—Other grinding machines or devices having a flexible shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/08—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
CN202080029865.4A 2019-04-19 2020-04-17 用于机器人辅助加工表面的装置 Active CN113710420B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019110421.1 2019-04-19
DE102019110421 2019-04-19
PCT/EP2020/060818 WO2020212552A1 (de) 2019-04-19 2020-04-17 Vorrichtung zum robotergestützten bearbeiten von oberflächen

Publications (2)

Publication Number Publication Date
CN113710420A CN113710420A (zh) 2021-11-26
CN113710420B true CN113710420B (zh) 2024-08-27

Family

ID=70391106

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080029865.4A Active CN113710420B (zh) 2019-04-19 2020-04-17 用于机器人辅助加工表面的装置

Country Status (7)

Country Link
US (1) US20220193857A1 (https=)
EP (1) EP3956102B1 (https=)
JP (1) JP7685955B2 (https=)
KR (1) KR102838341B1 (https=)
CN (1) CN113710420B (https=)
DE (1) DE102020110492A1 (https=)
WO (1) WO2020212552A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4054801A4 (en) * 2019-11-07 2023-08-23 Mirka Ltd METHOD FOR CONTROLLING THE OPERATION OF AN ABRASION SYSTEM AND APPARATUS COMPRISING AN ABRASION HEAD
US12318942B2 (en) 2020-10-22 2025-06-03 Fanuc Corporation Robot programming device and robot programming method
FI20215948A1 (en) * 2021-09-09 2023-03-10 Mirka Ltd Method and apparatus for surface processing
CN115319769B (zh) * 2022-09-06 2025-05-16 安徽新境界自动化技术有限公司 一种基于可变刚度的柔性打磨机器人
CN116810594B (zh) * 2023-07-19 2025-09-30 哈尔滨工程大学 一种深水打磨器
CN117381340A (zh) * 2023-08-18 2024-01-12 宁波锦辉光学科技有限公司 一种激光面罩光学面模具的加工方法
KR102913378B1 (ko) * 2023-12-28 2026-01-16 (주)정산 선박용 프로펠라 자동연마장치
DE102024000879A1 (de) * 2024-03-18 2025-09-18 Hochschule für angewandte Wissenschaften München, Körperschaft des öffentlichen Rechts Endeffektor mit optimierter Nachführung eines Werkzeugs und Verfahren zum Bearbeiten einer Werkstückoberfläche

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203751914U (zh) * 2013-12-31 2014-08-06 山佳卫 双面高速磨光机
WO2018055189A1 (de) * 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen
CN108778621A (zh) * 2016-03-10 2018-11-09 法玛通有限公司 操纵器和操纵器单元

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JPS61159366A (ja) * 1984-12-27 1986-07-19 Toshiba Corp 研削ロボツト
FR2591522B1 (fr) * 1985-12-13 1988-04-08 Syspro Dispositif de disjonction pour bras de robot
DE3609441A1 (de) 1986-03-20 1987-09-24 Bosch Gmbh Robert Exzenterschleifer mit einer vorrichtung zum veraendern der schleifbewegung
EP0492014B1 (en) * 1990-12-28 1996-03-20 Aiko Engineering Co. Ltd. Automatic grinding apparatus
DE4223107A1 (de) * 1992-07-14 1994-01-20 Bosch Gmbh Robert Flächenschleifmaschine
DE9404159U1 (de) * 1994-03-11 1994-09-01 Riesle, Norbert, 79279 Vörstetten Hilfsgerät zum Bearbeiten, insbesondere zum Verbinden von Teilen
US6244943B1 (en) * 1998-12-30 2001-06-12 Guther Bohler Gmbh Surface-processing apparatus
CN1292313A (zh) * 1999-10-10 2001-04-25 周毓明 一种钻夹头可与驱动电机分离的电钻
US6753495B2 (en) * 2001-05-31 2004-06-22 Murray Forlong Apparatus and methods for control of a material processing device
DE10200381A1 (de) * 2002-01-08 2003-07-17 Guenther Boehler Gmbh Vorrichtung zur Bearbeitung von Oberflächen
JP2004322219A (ja) * 2003-04-21 2004-11-18 Miyota Kk フレキシブル加工ヘッドユニット、及びそれを用いた研磨装置
CN108115525A (zh) * 2018-02-07 2018-06-05 大连理工大学 一种内表面在线检测和修整一体化工具
CN109366323A (zh) 2018-11-26 2019-02-22 湖南劳动人事职业学院 一种用于环形均布圆孔的多头打磨抛光机
JP2021159366A (ja) * 2020-03-31 2021-10-11 株式会社三洋物産 遊技機

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203751914U (zh) * 2013-12-31 2014-08-06 山佳卫 双面高速磨光机
CN108778621A (zh) * 2016-03-10 2018-11-09 法玛通有限公司 操纵器和操纵器单元
WO2018055189A1 (de) * 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen

Also Published As

Publication number Publication date
EP3956102B1 (de) 2024-09-25
JP7685955B2 (ja) 2025-05-30
KR102838341B1 (ko) 2025-07-23
JP2022530857A (ja) 2022-07-04
DE102020110492A1 (de) 2020-10-22
WO2020212552A1 (de) 2020-10-22
EP3956102A1 (de) 2022-02-23
CN113710420A (zh) 2021-11-26
US20220193857A1 (en) 2022-06-23
KR20210151108A (ko) 2021-12-13
EP3956102C0 (de) 2024-09-25

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