EP1097781A2 - Vorrichtung zum Endbearbeiten von metallischen Oberflächen - Google Patents

Vorrichtung zum Endbearbeiten von metallischen Oberflächen Download PDF

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Publication number
EP1097781A2
EP1097781A2 EP00124142A EP00124142A EP1097781A2 EP 1097781 A2 EP1097781 A2 EP 1097781A2 EP 00124142 A EP00124142 A EP 00124142A EP 00124142 A EP00124142 A EP 00124142A EP 1097781 A2 EP1097781 A2 EP 1097781A2
Authority
EP
European Patent Office
Prior art keywords
work
unit
sliding
brush
axes
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.)
Withdrawn
Application number
EP00124142A
Other languages
English (en)
French (fr)
Other versions
EP1097781A3 (de
Inventor
Paolo Franco Zanella
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.)
ANTIL Srl
Original Assignee
ANTIL Srl
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.)
Filing date
Publication date
Application filed by ANTIL Srl filed Critical ANTIL Srl
Publication of EP1097781A2 publication Critical patent/EP1097781A2/de
Publication of EP1097781A3 publication Critical patent/EP1097781A3/de
Withdrawn legal-status Critical Current

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    • 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
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/005—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents using brushes
    • 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
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • 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
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces

Definitions

  • the present invention relates to a surface finishing apparatus for finishing the surfaces of metal pieces, in particular large-sized parts which have flat or arch-shaped surfaces diversely arranged and orientated one in relation to the other.
  • finishing refers to any operation of cleaning, polishing, satin-polishing, grinding or similar operations, performed by means of rotating brush which are moved and maintained in contact with the surface to be finished.
  • finishing or satin-polishing operations of metal extractor hoods or similar pieces are performed by means of extremely complex and bulky devices, which provide for the use of several fixed tools while the part to be worked is kept in motion so as to position it and orientate the same in relation to each working tool, or by maintaining the working tools in motion in relation to the fixed part to be polished.
  • Each tool or the part to be polished is supported by respective multiaxis and robotised work units, capable of performing various angular movements so as to maintain working contact constantly between brush and part to be polished, following the shape and/or the profile of the latter.
  • Apparatus of this kind due to their poor working flexibility, were found to be suitable and are mainly used for mass production, being wholly unsuitable for operating a limited number of pieces or in the case wherein frequent changing of the work program is required.
  • Apparatus of a known type due to the functional and structural complexity, are also high in cost and difficult to manage.
  • the main object of the present invention is to provide apparatus for surface finishing of metal pieces, which is structurally simple and easy to program.
  • the invention relates to an apparatus for satin-polishing extractor hoods in steel, which is of a new design and capable of operating automatically on flat and large-sized surfaces or which extend in at least one longitudinal direction.
  • a further object of the present invention is to provide apparatus as defined above, which uses two simple robotised work units each having a limited number of work axes controlled and managed by an easily programmable process unit, which allows extremely short programming times, within the reach of any operator, whereby it is possible to operate selectively on each surface of the extractor hood, acting in sequence over consecutive bands along a programmed work path.
  • Yet another object of the invention is to provide apparatus of the kind defined above, wherein each of two work units performs simple movements of linear translation and/or rotation in relation to a system of Cartesian axes, in this way allowing extreme simplification of the structure and overall dimensions of the same apparatus, and a drastic reduction in costs compared to previously used apparatus.
  • apparatus for finishing surfaces of metal work-pieces, comprising a support frame for a first and a second work unit which can be positioned frontally one in relation to the other in a manner controlled by a process unit, characterised in that it comprises:
  • Figure 1 represents schematically a metal piece to be worked, in the form of an extractor hood 10 in stainless steel, which has to be finely satin-polished on its external surfaces.
  • the mechanical operation of satin-polishing of the external surfaces of the extractor hood takes place, in a manner in itself known, by means of a rotary brush, moving it in contact with the surface to be satin-polished, along a programmed work path, represented for example by the dotted line L on the surface S1 in Figure 1, and maintaining a work pitch P along each band, substantially equal to the thickness of the brush.
  • the operation of satin-polishing or more generally of finishing in the case of the surface S1 takes place by operating sequentially along the various bands wherein the surface S1 can be considered ideally divided.
  • the apparatus comprises a three-dimensional frame 11 substantially consisting of a series of uprights and crosspieces rigidly connected one to the other.
  • Two of the lower crosspieces 12 and 13 in Figure 2 comprise longitudinal guides 12A, 13A which extend in a horizontal sliding plane along an axis A1 for a first work unit 14 for supporting the extractor hood 10.
  • two of the uprights 15 and 16 of the frame 11 are provided with vertical guides 15A, 16A along a sliding axis A2 for a second work unit 17 for supporting a rotary brush 18 movable in a vertical plane, at right angles to the sliding axis A1 of the first work unit 14.
  • the two sliding planes for the work units 14 and 17 form part of a system of reference Cartesian axes for programming a process and control unit, with the process data of each surface of the extractor hood 10 to be satin-polished.
  • the unit 14 for supporting the extractor hood 10 comprises a first carriage 19 sliding along the guides 12A and 13A, so as to move the extractor hood 10 respectively close to and away from the work brush 18 carried by the second work unit 17.
  • the carriage 19 is moved along the slide guides 12A, 13A for example by means of a belt transmission system comprising belts 20 at the crosspieces 12 and 13, connected one to the other by a synchronism axis 21 which receives the movement from a geared motor 22 connected to a signal generator 23, such as a resolver or another device suitable for supplying to the process unit a reference signal of the position of the carriage 19 along the axis A defined by the slide guides 12A, 13A.
  • a belt transmission system comprising belts 20 at the crosspieces 12 and 13, connected one to the other by a synchronism axis 21 which receives the movement from a geared motor 22 connected to a signal generator 23, such as a resolver or another device suitable for supplying to the process unit a reference signal of the position of the carriage 19 along the axis A defined by the slide guides 12A, 13A.
  • the work unit 14 also comprises a body 24 which extends upwards from the carriage 19, ending above with an overturnable part 25 for supporting the extractor hood, capable of rotating angularly along a horizontal axis 26 defining a third controlled axis A3, parallel to the sliding planes of both work units 14 and 17.
  • the overturnable support 25 comprises a large pulley 27 fastened to the same support 25, which pulley 27 is connected, by means of a belt 28, to a second pulley 29 carried by a pivotable arm 30.
  • the pulley 29 is in turn connected to the shaft of a geared motor 31 connected to a resolver 32 or signal generator suitable for supplying a reference signal of the angular position or slant assumed by the same support 25.
  • the pivotable support 25 extends upwards with a sleeve 33 rotatingly supported by a pin 33' which allows rotation of the extractor hood 10 through 360°, along a fourth controlled axis A4 (Fig. 2), so as to position selectively each of the lateral surfaces of the extractor hood 10 in front of the rotating brush 18.
  • the sleeve 33 is provided with gripping members 34 for gripping the extractor hood 10 and can be made to rotate by means of a belt 35 and a geared motor 36 provided with a resolver 32 or signal generator 37 designed to supply signals indicative of the angular position assumed by the extractor hood 10 in relation to a zero position of the controlled axis A4 defined by the pin 33'.
  • the unit 14 for supporting the extractor hood 10 or more generally of the metal piece to be worked is therefore provided with three controlled axes, including a first axis A1 for longitudinal sliding of the carriage 19, along a horizontal plane defined by the lateral guides 12A and 13A, as well as two controlled rotational axes A3, A4 at right angles one to the other for a first overturning movement of the extractor hood 10 towards the brush 18, and respectively for a second rotational movement designed to orientate selectively the lateral surfaces of the extractor hood 10 in relation to a predetermined reference plane.
  • reference plane can refer to a vertical plane parallel to the vertical axis A2, for example a plane passing through the rotational axis 26 of the upper part 25 of the support unit for the extractor hood, parallel to the sliding plane of the support unit 17 of the brush.
  • the second work unit 17 is shown in Figures 2, 3 and 4 of the drawings, while Figure 8 shows an enlarged detail of the pivotable arm for supporting the work brush 18 and the drive system.
  • the second work unit 17 comprises a second carriage 36 which extends crosswise and which moves vertically along the guides 15A, 16A of the two rear uprights 15 and 16, parallel to the ideal reference plane mentioned previously, for the selective positioning of the lateral surfaces of the extractor hood to be satin-polished.
  • the carriage 36 is moved by means of a belt system 37 ( Figure 3) connected by means of a synchronism axis 37' which receives the movement from a geared motor 38 provided with a reference signal generator 38', such as a resolver, in a similar manner to what was referred previously for the first carriage 19 designed to supply reference signals of the position of the same carriage 36, along a controlled reference axis A2 at right angles to the previous controlled axis A1.
  • a belt system 37 Figure 3
  • a synchronism axis 37' which receives the movement from a geared motor 38 provided with a reference signal generator 38', such as a resolver, in a similar manner to what was referred previously for the first carriage 19 designed to supply reference signals of the position of the same carriage 36, along a controlled reference axis A2 at right angles to the previous controlled axis A1.
  • the carriage 36 is in turn provided with a pair of longitudinal guides 36A for a slide 39, in turn driven by a belt system 40 which receive the movement from a geared motor 41.
  • the geared motor 41 is in turn provided with a signal generator 42 for supplying information on the position of the slide 39 on the slide guides 36A, in the direction of the controlled axis A5 defined by the same guides ( Figure 3).
  • a horizontal arm 43 projects, whose front part 44 is capable of rotating along a controlled rotational axis A6, at right angles to the sliding plane of the same slide, so as to position the work brush 19 in a vertical plane, as shown, or in a horizontal plane, or in any other plane as required.
  • the rotation of the front part 44 of the arm 43 for the brush 18 can be obtained, similarly to the support 25 for the extractor hood 10, by means of a respective geared motor, not shown, and a corresponding signal generator suitable for supplying an indication of the positioning plane of the same brush 18.
  • the rotating brush 18, as shown in greater detail in Figures 2, 4 and in Figure 8, is in turn supported by a pivotable arm 45 hinged in 46 to the rotating front part 44 of the horizontal support arm 43.
  • the brush 18 receives the movement from a geared motor 47 whereto it is connected by means of a pulley system and transmission belts 48 and 49.
  • the arm 45 for support of the brush 18 can be angularly moved by a slanted stop surface 50 and, in relation to a "zero" or work position, by means of a pneumatic drive cylinder 51, as shown. Also connected to the rod of the drive cylinder 51 is a position transducer 52, provided for example by a linear potentiometer, capable of giving an indication relating to the angular position assumed by the arm 45 for the brush 18, in relation to the aforementioned "zero" position.
  • the second work unit 17 also comprises three controlled axes two of which are at right angles one to the other for a sliding movement and a third one for rotation, in addition to orientation axis of the arm 45 for supporting the rotating brush 18.
  • FIG. 9 of the accompanying drawings shows a block diagram of the electronic control equipment for the two work units 14 and 17 described previously.
  • the electronic control equipment comprises a central process unit consisting for example of a CPU, having a first permanent memory unit 60, for example a ROM memory containing the work program which governs operation of the entire apparatus.
  • a second programmable memory unit 61 for example a RAM memory, is provided for storing the variable data, that is to say the management program for each controlled axis A1-A6, as a function of the dimensions and shape of the surfaces of the extractor hood or of the piece to be worked.
  • the CPU by means of a BUS 63, is capable of dialogue, i.e. of transmitting and receiving data from the six control units 64-69 which govern the controlled axes A1-A6 of the work unit 14 and respectively of the second work unit 17, as described previously.
  • Reference 70 in Figure 9 instead denotes the control unit which governs the motor 47 so as to adapt the rotational speed of the brush 18 to its wear state, while 52 denotes the block representing the homonymous position transducer of the rocking arm 45 which supports the rotating brush.
  • the signal of the position transducer 52 by means of the BUS 63, is fed back to the controlled axes of the carriages 19, 36 of the two work units 14, 17 to perform a tracking function when it is necessary to carry out brushing or an oscillating finishing operation of the various surfaces of the extractor hood or of the piece to be worked.
  • One of the main advantages of the present invention which results from the use of the two movable work units according to a system of Cartesian axes each having three controlled axes, as previously referred, consists in an extreme simplification of the programming of the entire work apparatus.
  • each position D0-D9 in a system which uses anthropomorphic robots is defined by twelve variants, it is clear that in the case above referred to, supposing that the brush is moved without transverse oscillations, 131 items of data have to be monitored for each of the four lateral surfaces of the extractor hood 10, to which the data relating to the other surfaces located along the lower edge and above the extractor hood itself have to be added.
  • the procedure is the following: initially the extractor hood is in the vertical position shown in Figures 2 to 4 spaced apart from the brush 18 which is totally raised.
  • the four lateral surfaces of the extractor hood are to be satin-polished in sequence; in this case, by acting on the first work unit 14, the extractor hood 10 is tilted, positioning the first surface S1 vertically or parallel to the previously mentioned reference plane.
  • the brush 18 is orientated, with its rotation axis in a vertical position, at the starting point P0, picking-up the data relating to the coordinates of this point.
  • the brush is then moved into the other reference points P1, P2, P3 in order to pick-up the respective positions or spaces A, B, C1 and C2, from which the programming data are to be obtained.
  • the extractor hood 10 will be rotated through 90°, once again picking-up the various reference items of data in the manner described and memorising the various sequences for selective positioning of the various surfaces of the extractor hood to be worked.
  • the apparatus will be able to carry out automatically, and in sequence, all the work phases, moving the brush 18 and/or the same extractor hood 10 in order to position in sequence the various surfaces parallel to the reference plane, always maintaining a constant work pressure of the brush 18 whose position will be constantly monitored and controlled automatically so as to compensate wear.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Coating By Spraying Or Casting (AREA)
  • Coating With Molten Metal (AREA)
EP00124142A 1999-11-08 2000-11-07 Vorrichtung zum Endbearbeiten von metallischen Oberflächen Withdrawn EP1097781A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT1999MI002330A IT1314012B1 (it) 1999-11-08 1999-11-08 Apparecchiatura per la finitura di superfici metalliche.
ITMI992330 1999-11-08

Publications (2)

Publication Number Publication Date
EP1097781A2 true EP1097781A2 (de) 2001-05-09
EP1097781A3 EP1097781A3 (de) 2003-09-17

Family

ID=11383916

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00124142A Withdrawn EP1097781A3 (de) 1999-11-08 2000-11-07 Vorrichtung zum Endbearbeiten von metallischen Oberflächen

Country Status (2)

Country Link
EP (1) EP1097781A3 (de)
IT (1) IT1314012B1 (de)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2381768B (en) * 2000-07-10 2004-02-25 Cme Blasting & Mining Equip Improved grinding apparatus
CN102166729A (zh) * 2011-01-22 2011-08-31 万清桂 一种不锈钢水槽专用内胆抛光机
CN102909640A (zh) * 2012-11-09 2013-02-06 昆山市大金机械设备厂 摇摆式抛光装置
CN104786129A (zh) * 2015-04-28 2015-07-22 北京航空航天大学 全自动打磨抛光机器人
CN106363515A (zh) * 2016-11-14 2017-02-01 无锡溥汇机械科技有限公司 一种水龙头生产工艺用机械抛光装置
CN106891237A (zh) * 2017-03-07 2017-06-27 河南摩西机械制造有限公司 一种铁锅内表面抛光除尘机器人
CN107855902A (zh) * 2017-10-20 2018-03-30 伍振铭 一种五金加工用铁棒高效除锈设备
JP2021065877A (ja) * 2019-10-25 2021-04-30 朱暁鳳 鋼材の防錆スプレー塗装設備
CN114346875A (zh) * 2021-11-23 2022-04-15 河北邯峰发电有限责任公司 一种为保证平滑的原煤斗内口抛光装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3916104A1 (de) * 1989-05-18 1990-11-22 Helmut Stahl Polierverfahren und poliermaschine
EP0487460A1 (de) * 1990-11-20 1992-05-27 Mapos Italiana S.R.L. Vorrichtung zum Reinigen und Polieren von Metallteilen
US5368425A (en) * 1992-07-31 1994-11-29 Ford Motor Company Multi-axis linear motor positioner with Y-axis supported at single end

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3916104A1 (de) * 1989-05-18 1990-11-22 Helmut Stahl Polierverfahren und poliermaschine
EP0487460A1 (de) * 1990-11-20 1992-05-27 Mapos Italiana S.R.L. Vorrichtung zum Reinigen und Polieren von Metallteilen
US5368425A (en) * 1992-07-31 1994-11-29 Ford Motor Company Multi-axis linear motor positioner with Y-axis supported at single end

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2381768B (en) * 2000-07-10 2004-02-25 Cme Blasting & Mining Equip Improved grinding apparatus
CN102166729A (zh) * 2011-01-22 2011-08-31 万清桂 一种不锈钢水槽专用内胆抛光机
CN102909640A (zh) * 2012-11-09 2013-02-06 昆山市大金机械设备厂 摇摆式抛光装置
CN102909640B (zh) * 2012-11-09 2015-03-04 昆山市大金机械设备厂 摇摆式抛光装置
CN104786129A (zh) * 2015-04-28 2015-07-22 北京航空航天大学 全自动打磨抛光机器人
CN106363515A (zh) * 2016-11-14 2017-02-01 无锡溥汇机械科技有限公司 一种水龙头生产工艺用机械抛光装置
CN106363515B (zh) * 2016-11-14 2018-07-10 无锡溥汇机械科技有限公司 一种水龙头生产工艺用机械抛光装置
CN106891237A (zh) * 2017-03-07 2017-06-27 河南摩西机械制造有限公司 一种铁锅内表面抛光除尘机器人
CN106891237B (zh) * 2017-03-07 2023-03-17 河南摩西机械制造有限公司 一种铁锅内表面抛光除尘机器人
CN107855902A (zh) * 2017-10-20 2018-03-30 伍振铭 一种五金加工用铁棒高效除锈设备
JP2021065877A (ja) * 2019-10-25 2021-04-30 朱暁鳳 鋼材の防錆スプレー塗装設備
CN114346875A (zh) * 2021-11-23 2022-04-15 河北邯峰发电有限责任公司 一种为保证平滑的原煤斗内口抛光装置

Also Published As

Publication number Publication date
IT1314012B1 (it) 2002-12-03
ITMI992330A0 (it) 1999-11-08
ITMI992330A1 (it) 2001-05-08
EP1097781A3 (de) 2003-09-17

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