DE102020110492A1 - Vorrichtung zum robotergestützten bearbeiten von oberflächen - Google Patents
Vorrichtung zum robotergestützten bearbeiten von oberflächen Download PDFInfo
- Publication number
- DE102020110492A1 DE102020110492A1 DE102020110492.8A DE102020110492A DE102020110492A1 DE 102020110492 A1 DE102020110492 A1 DE 102020110492A1 DE 102020110492 A DE102020110492 A DE 102020110492A DE 102020110492 A1 DE102020110492 A1 DE 102020110492A1
- Authority
- DE
- Germany
- Prior art keywords
- machining head
- shaft
- linear actuator
- motor
- universal joint
- 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.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 19
- 238000003754 machining Methods 0.000 claims abstract description 50
- 239000000725 suspension Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009616 inductively coupled plasma Methods 0.000 description 2
- 235000010384 tocopherol Nutrition 0.000 description 2
- 235000019731 tricalcium phosphate Nutrition 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
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)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019110421.1 | 2019-04-19 | ||
| DE102019110421 | 2019-04-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE102020110492A1 true DE102020110492A1 (de) | 2020-10-22 |
Family
ID=70391106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE102020110492.8A Pending DE102020110492A1 (de) | 2019-04-19 | 2020-04-17 | Vorrichtung zum robotergestützten bearbeiten von oberflächen |
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=) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319769A (zh) * | 2022-09-06 | 2022-11-11 | 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 |
| 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 |
| US12318942B2 (en) | 2020-10-22 | 2025-06-03 | Fanuc Corporation | Robot programming device and robot programming method |
| 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 |
Families Citing this family (4)
| 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 |
| FI20215948A1 (en) * | 2021-09-09 | 2023-03-10 | Mirka Ltd | Method and apparatus for surface processing |
| CN116810594B (zh) * | 2023-07-19 | 2025-09-30 | 哈尔滨工程大学 | 一种深水打磨器 |
| KR102913378B1 (ko) * | 2023-12-28 | 2026-01-16 | (주)정산 | 선박용 프로펠라 자동연마장치 |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN203751914U (zh) * | 2013-12-31 | 2014-08-06 | 山佳卫 | 双面高速磨光机 |
| DE102016104412B3 (de) * | 2016-03-10 | 2017-08-17 | Areva Gmbh | Manipulator und Manipulatoreinheit |
| DE102016118173A1 (de) * | 2016-09-26 | 2018-03-29 | Ferrobotics Compliant Robot Technology Gmbh | Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen |
| 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 |
-
2020
- 2020-04-17 EP EP20720785.3A patent/EP3956102B1/de active Active
- 2020-04-17 DE DE102020110492.8A patent/DE102020110492A1/de active Pending
- 2020-04-17 KR KR1020217033998A patent/KR102838341B1/ko active Active
- 2020-04-17 JP JP2021561764A patent/JP7685955B2/ja active Active
- 2020-04-17 WO PCT/EP2020/060818 patent/WO2020212552A1/de not_active Ceased
- 2020-04-17 CN CN202080029865.4A patent/CN113710420B/zh active Active
- 2020-04-17 US US17/604,586 patent/US20220193857A1/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12318942B2 (en) | 2020-10-22 | 2025-06-03 | Fanuc Corporation | Robot programming device and robot programming method |
| DE112021004399B4 (de) * | 2020-10-22 | 2025-07-10 | Fanuc Corporation | Roboterprogrammiervorrichtung und Roboterprogrammierverfahren |
| CN115319769A (zh) * | 2022-09-06 | 2022-11-11 | 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 |
| 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 |
| 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 |
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 |
| CN113710420B (zh) | 2024-08-27 |
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R012 | Request for examination validly filed | ||
| R016 | Response to examination communication |