DD293537A5 - METHOD AND DEVICE FOR GRINDING, ESPECIALLY FOR INDUSTRIAL ROBOTS - Google Patents

Abstract

Method and device for grinding, preferably for industrial robots, with flexible grinding tool. The method and the device allow a universal applicability for a variety of grinding tasks and within wide limits freely selectable geometries of the grinding points. In addition, rotationally symmetric and elongated grinding point shapes with edge-free overlaps to the unprocessed material surface are possible. For this purpose, the flexible grinding tool in addition to the cutting, feed, feed and / or cross-feed movement completes a further working movement in the form of an additional rotation. The axis of rotation of the additional rotation is preferably arranged parallel to the longitudinal axis of the feed movement. The device for carrying out the method, in addition to the feed, feed and / or cross-feed unit via an additional rotary unit, which performs the additional rotation of the flexible grinding tool. All movement units can be coupled to each other and interchangeable. {Industrial robots; Manipulator; Grind; Robot grinding device; Moving units; Additional rotation; flexible grinding tool}

Description

For this 1 page drawing

Field of application of the invention

The invention relates to the field of abrasive machining of surfaces with flexible abrasive tools and is preferably suitable for industrial robots.

Characteristic of the known state of the art

For grinding with industrial robots or with manipulators, there are methods and devices based on flexible grinding tools, so in EP186031. Their functional design was always tailored to one or a few mission tasks, such. B. on the grinding of material increases or aui the smooth grinding of material surfaces. A greater variety of different application tasks can not be realized with such robotic grinding or only in a very complex manner. For this they lack the modular, i. Adaptable to many grinding tasks Structure of responsible for the tool movements movement axes.

Finally, although the currently known robotic grinding devices are suitable for abrading excess material or for smoothing material surfaces, they are not suitable for grinding out depressions. This applies even more for grinding tasks in which geometrically exact depressions, z. B. in the form of rotationally symmetric troughs in material surfaces must be introduced. Such grinding tasks occur u. a. in plant maintenance, if surface defects, such as cracks, pores or corrosion spots are to be eliminated.

Object of the invention

The aim of the invention is to provide a method and an apparatus for grinding, in particular for industrial robots, which allow a universal substitutability for a variety of grinding tasks while ensuring high dimensional and dimensional accuracy of the grinding point.

Explanation of the essence of the invention

The invention has for its object to develop a method and apparatus which allow for grinding with flexible abrasive tools within wide limits freely selectable geometries of the grinding points including rotationally symmetrical grinding point shapes and also allow the production edge-free transitions to the unprocessed material surface.

According to the invention the object is achieved in that the flexible grinding tool in addition to its known movements, the cutting movement, the delivery movement, the advancing movement and / or the cross-feed movement performs another working movement in the form of additional rotation, wherein the axis of rotation of this additional rotation is preferably arranged parallel to the longitudinal axis the feed movement of the flexible grinding tool. The additional rotation of the flexible grinding tool is both as uninterrupted or the same or different large angles of rotation

interrupted, reversing or non-reversing working movement possible. The device for carrying out the method according to the invention has, in addition to the feed, feed and / or cross-feed unit via an additional rotary unit, which draws the additional rotation of the flexible grinding tool. All of these units are coupled to each other and interchangeable, depending on the abrasive task resulting from the grinding task. At least coupled to each other are the grinding tool unit with the flexible grinding tool and the rotating unit for the additional rotation.

embodiment The invention will be explained in more detail using an exemplary embodiment. In the accompanying drawing shows Fig. 1: Schematic representation of a robot grinding device with flexible grinding tool.

As can be seen from FIG. 1, the robot grinding device consists of the following movement units

the delivery unit 1,

the feed unit 2,

- The cross-feed unit 3 and

- the turntable 4.

Added to this is the grinding tool unit 6, which carries the flexible grinding tool 5 in the form of a sanding belt. The

Cutting movement S of the flexible grinding tool 5 is realized by a drive, not shown.

The feed unit 1, which is also coupled to the industrial robot or manipulator, completes the feed motion Z of

flexible grinding tool 5. By the feed unit 2, the longitudinal feed movement X, and by the

Cross feed unit 3, the transverse feed Y is secured. The rotary unit 4 displaces the flexible grinding tool 5

in the additional rotation C. The axis of rotation c of the additional rotation C is preferably arranged parallel to the longitudinal axis ζder Zustellinheit Z executing the Zustellbewegung Z.

The feed unit 1, feed unit 2, Quorvorschubeinheit 3 and the rotary unit 4 have not shown in detail

Coupling points that allow them to be combined with each other in their arrangement. This modular design is the Possibility to always be able to assemble such variants of devices as they are to carry out the

required Schleifwarkzeugbewegungen be required in accordance with the grinding task to be realized.

With the modular design of the axes of movement of the robot grinding device, it is possible, the most diverse To realize grinding tasks. Among other things, the grinding edge-free rotationally symmetric or elongated stretched Troughs for the purpose of eliminating cracks, corrosion marks or similar surface damage, leveling, smoothing

or derusting of material surfaces, the grinding of edge offsets, the processing of weld projections and root welds, etc. If necessary, to the flexible grinding tool 5 via contact rollers or

Contact shoes with special profiles. With the additional rotation C and the feed Z of the flexible grinding tool 5 can be in particular

produce rotationally symmetric depressions with high accuracy. With the help of further axes of motion of the

Transition of these wells to the raw material surface are designed edge-free. Also is one then Longitudinal stretching of the ground depressions given to elongated Muldenformen.

Claims (4)

1. A method for grinding, preferably for industrial robots, in which a flexible grinding tool is used, which in addition to its cutting movement also performs a feed movement, feed movement and / or cross-feed movement or a superimposed from these movements work movement, characterized in that the flexible grinding tool (5) a further working movement takes place in the form of an additional rotation (C), wherein the axis of rotation (c) of this additional rotation (C) is preferably arranged parallel to the longitudinal axis (z) of the feed movement (Z) of the flexible grinding tool (5). 2. The method according to claim 1, characterized in that the additional rotation (C) of the flexible grinding tool (5) is an interruption-free or the same or different large angles of rotation interrupted, reversing or non-reversing working movement. 3. The method according to claim 1 and 2, characterized in that the flexible grinding tool (5) preferably an abrasive belt. 4. Apparatus for grinding, preferably for industrial robots, characterized in that - A flexible grinding tool (5) by means of feed unit (1), feed unit (2) and / or cross-feed unit (3) is moved and additionally via a rotary unit (4) performs an additional rotation (C), - The feed unit (1), feed unit (2), transverse feed unit (3) and rotary unit (4) are coupled to each other and interchangeable and - The grinding tool unit (6) with the flexible grinding tool (5) is at least coupled to the rotary unit (4).