EP3288712A1 - Vorrichtung zur oberflächenbearbeitung - Google Patents
Vorrichtung zur oberflächenbearbeitungInfo
- Publication number
- EP3288712A1 EP3288712A1 EP16724583.6A EP16724583A EP3288712A1 EP 3288712 A1 EP3288712 A1 EP 3288712A1 EP 16724583 A EP16724583 A EP 16724583A EP 3288712 A1 EP3288712 A1 EP 3288712A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- roller
- actuator
- force
- belt
- frame
- 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.)
- Granted
Links
- 238000003754 machining Methods 0.000 title claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004381 surface treatment Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000001000 micrograph Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/12—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving a contact wheel or roller pressing the belt against the work
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
-
- 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
- B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
-
- 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
-
- 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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- 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
- 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
- B24B49/16—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 taking regard of the load
Definitions
- the invention relates to an apparatus for automated machining or smoothing machining surfaces of workpieces, for example, for grinding workpiece surfaces.
- Abrasive machines are often deficient or require long set-up times or entry and exit areas to prevent irregularities in the finish on the final surface. These irregularities occur due to vibrations in the sanding belt or too sluggish control of the contact force.
- the contact force is the force with which the abrasive belt acts on the workpiece surface.
- JP S63-089263 a device is described, which regulates the contact force by a suitable storage. Due to the high inertial mass of the grinding machine but it comes - due to the inertia - inevitably to the above phenomena.
- the object underlying the invention is therefore to provide a device which allows elaborate grinding or polishing tasks partially or fully automated with improved quality can be performed.
- the tape is guided by means of the second roller - or with the help of the second roller and other rollers - so that acting on the roller carrier resulting belt force acts at a desired deflection of the actuator approximately in a second direction, which is orthogonal to the first direction is.
- Figure 1 shows a belt grinding device in which the contact force between the workpiece and the grinding belt is generated by means of a manipulator.
- FIG. 1 An example of a grinding device 100 known per se is shown in FIG.
- the grinding device 100 is stationary and has a revolving grinding belt 102, which is guided over at least two rollers 101, 103.
- the present example assumes that the tape rotates clockwise.
- the sanding belt 102 is tensioned by a tensioning element 105 (tensioning roller), which is mounted linearly displaceable by a suitable bearing 130 (for example by means of a sliding bearing).
- the components (rollers 101 and 103, tensioning element 105) are connected to a frame 160 (for example a machine bed or a housing part) by means of one or more supports 401, 402, 403.
- a correct setting (ie a control) of the contact force FK during the entire processing operation is desirable.
- a force control by the generally "rigid" manipulator proves to be difficult in known automated grinding devices, especially when placing the workpiece 200 on the grinding belt.
- transient disturbances (force peaks) in the contact force FK are very difficult to compensate by conventional means by regulation. This is usually a consequence of the inertia of the moving parts of the manipulator 150 and limitations in the actuators (minimum dead time, maximum force or torque, etc.).
- Insufficient force control results in inhomogeneous micrographs with chatter marks. Chatter marks are surface irregularities that result from inadequate regulation of the contact force FK.
- the actuator 302 does not act on the grinding machine 100 as a whole, but only on that role of the grinding machine 100, which presses against the workpiece in operation (ie on the roller 101).
- the roller 101 is (via the roller carrier 401) linearly displaceable (linear guide 140) mounted on the frame 160.
- the actuator 302 acts between roller carrier 401 and frame 160.
- the actuator is mounted on the roller carrier 401 and on another carrier 404 which is rigidly connected to the frame 160.
- the actuator 302 is on the Roller 101 exerts an actuator force FA acting along the moving direction (x direction) of the linear guide 140. Due to the comparatively low mass of the first roller 101 (and the roller carrier 401), only slight inertia forces occur at the actuator 302.
- the band force FB, X must be known. This can either be measured (for example by means of a force sensor in the tensioning device and the driving torque of the motor) or estimated using a mathematical model.
- the influence of the belt forces FBI, FB2 on the contact force FK can be reduced (ideally eliminated).
- actuator force FA and the resulting belt force FB, X in the effective direction (x direction) of the actuator 302 are decoupled.
- An example of a suitable deflection of the abrasive belt 102 is shown in FIG.
- the example shown in Fig. 3 corresponds substantially to the previous example of FIG. 2, wherein on the roller carrier 401 next to the guide roller 101, two further pulleys 101a and 101b are arranged. Furthermore, two further deflection rollers 121a, 121b are provided, which are mounted immovably on the frame 160.
- the roller carrier 401 with the rollers 101, 101a and 101b is mounted on the frame 160 as in the previous example by means of the linear guide 140, wherein the linear guide allows a displacement of the roller carrier 401 in the horizontal direction (x direction) and locks other degrees of freedom.
- the grinding machine When designing the grinding machine, it can be designed so that the angular deviation ⁇ remains so small during operation that this disturbing force remains negligible.
- the force exerted by the actuator 302 FA (and thus the contact force FK) is regulated.
- the actual deflection x of the actuator 302 in the grinding operation depends on the position of the workpiece 200, which in turn is set by the manipulator 150.
- the manipulator is position-controlled and can position the workpiece, which corresponds to the Aktorauslenkung x the desired operating point xo at which the angular deviation ⁇ is zero.
- the actuator 302 only acts on the roller carrier 401, which carries the deflection rollers 101, 101a, 101b, and not on the entire grinding device.
- the actuator force engages exactly in the center C, so that the clamping forces FBI ', FB 2 ' and the friction force FR cancel each other out. In the same way, contact force FK and actuator force FA cancel each other.
- Fig. 5 shows an alternative embodiment of the grinding device 100, which is also adapted to decouple the actuator force FA and the belt forces FBI, FB2 ZU.
- the grinding device 100 has the same structure as in the previous example according to FIG. 4.
- the linear guide 140 of the roller carrier 401 and the actuator 302 are rotated by 90 degrees compared to the example of FIG.
- the frame 160 comprises for this purpose a boom 402 on which the roller carrier 401 is mounted (with the aid of the linear guide 140).
- the actuator 302 acts in the vertical direction (x-direction) between the arm 402 of the frame 160 and the roller carrier 401.
- the coordinate system is also rotated by 90 degrees relative to the previous example, so that the direction of action of the actuator 302 as in the previous example, the x-.
- the grinding belt 102 is guided only around the deflection roller 101 and the roller 103 (driven by the motor 104). As in the previous examples, a tensioning device with a tensioning roller 105 provides the necessary pretensioning of the grinding belt 102.
- the forces acting on the displaceably mounted pulley belt forces are called FBI (force in the upper band part) and FB2 (force in the lower band part).
- the force components FBI, X and FB2, X in the x-direction compensate each other at least partially (FBI, X> 0 and FB2, X ⁇ 0), so that the resulting force component in the x-direction FBI, X + FB2, X is negligibly small ,
- the resulting force FBI, X + FB2, X is equal to zero and there is no reaction of the belt forces FBI and FB2 on the actuator 302.
- Fig. 6a corresponds to the situation in Fig.
- the carrier 40 (sliding carriage) instead has a sliding surface 101c, along which the band can slide substantially at right angles to the direction of action of the actuator 302.
- the band 102 extends at the operating point substantially perpendicular to the effective direction of the actuator 302.
- the workpiece is not guided by the manipulator 150 in the example of FIG. 8, but the grinding machine.
- Frame 160 (see, e.g., Fig. 3) is thus part of, or rigidly connected to, manipulator 150 (its Tool Center Point TCP).
- the workpiece 200 may be disposed on a fixed support (not shown).
- two further deflection rollers 101a and 101b are arranged on a roller carrier 401 in addition to the deflection roller 101.
- two further deflection rollers 105 and 103 are provided which are mounted on the manipulator 150 (a, frame 160) by means of the roller carriers 402 and 403, respectively.
- the roller 4 can be driven by means of a motor.
- the roller carrier 401 with the rollers 101, 101a and 101b is similar to the example of FIG. 3 slidably mounted on the manipulator, wherein a displacement of the roller carrier 401 in the x-direction is made possible and locks other degrees of freedom.
- the carrier 404 is likewise mounted on the manipulator 150.
- the actuator 302 is arranged, which acts on the roller carrier 401.
- no abrasive belt is used, but a simple belt.
- a grinding wheel 101 '(or other rotating tool) is connected to the foremost roller 101.
- belts are essentially perpendicular to the effective direction of the actuator, so that the belt forces FBI ', FB 2 ' are decoupled from the actuator force and no reaction of the belt forces FBI ', FB 2 'takes place on the actuator 302.
- FIG. 9 shows a further example in which two rollers 101, 101a are arranged on opposite ends of the roller carrier 401 on an elongate roller carrier 401.
- the roller carrier is slidably mounted on the frame 160 (see Fig. 3, not shown in Fig. 9).
- Two further rollers 103 and 105 are also mounted on the frame (beams 403 and 402), which roller 105 may be driven by a motor (see Fig. 3, not shown in Fig. 9) and the other roller 103 a part a tensioning unit to tension the revolving belt 102.
- the clamping unit can also be integrated in the drive (roller 105).
- the slidable roller carrier 401 (sliding carriage) is disposed between the rollers 103 and 105; the band running around the rollers 101, 103, 101a, 105 form approximately a convex quadrilateral in the cross-sectional view. It is clear from the representation that the belt forces acting on the roller carrier 401 cancel each other out in the direction of action of the actuator 302, and that no belt forces act on the actuator 302, which acts on the roller carrier 401.
- the actuator presses with a force FA on the roller carrier 401 and thus the roller 101 on the workpiece.
- the contact force FK reaction force
- FA reaction force
- Fig. 10 shows an example of a control circuit for controlling the contact force FK between the workpiece 200 and the abrasive belt 102 on the guide roller 101.
- the force measurement can take place directly via a force sensor integrated in the actuator 302 or coupled thereto.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015106480.4A DE102015106480A1 (de) | 2015-04-27 | 2015-04-27 | Vorrichtung zur Oberflächenbearbeitung |
PCT/AT2016/050111 WO2016172751A1 (de) | 2015-04-27 | 2016-04-25 | Vorrichtung zur oberflächenbearbeitung |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3288712A1 true EP3288712A1 (de) | 2018-03-07 |
EP3288712B1 EP3288712B1 (de) | 2023-10-11 |
EP3288712C0 EP3288712C0 (de) | 2023-10-11 |
Family
ID=56072142
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16724583.6A Active EP3288712B1 (de) | 2015-04-27 | 2016-04-25 | Vorrichtung zur oberflächenbearbeitung |
Country Status (7)
Country | Link |
---|---|
US (1) | US10974362B2 (de) |
EP (1) | EP3288712B1 (de) |
JP (2) | JP7017934B2 (de) |
KR (1) | KR102480548B1 (de) |
CN (1) | CN107666985A (de) |
DE (1) | DE102015106480A1 (de) |
WO (1) | WO2016172751A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101944958B1 (ko) * | 2017-06-07 | 2019-02-07 | 주식회사 제이로보텍 | 그라인더 장치 |
DE102020111292A1 (de) | 2020-04-24 | 2021-10-28 | Ferrobotics Compliant Robot Technology Gmbh | Schnellspannsystem zur verbindung von werkzeugmaschinen mit einem roboter |
CN112077674A (zh) * | 2020-09-08 | 2020-12-15 | 合肥江丰电子材料有限公司 | 一种靶材组件中背板的抛光工艺 |
CN112720188B (zh) * | 2020-12-25 | 2022-12-06 | 邵武市泽诚机械有限公司 | 一种打磨机 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6389263A (ja) | 1986-10-02 | 1988-04-20 | Toshiba Corp | ベルトグラインダ−装置 |
US4841683A (en) * | 1987-12-23 | 1989-06-27 | Williams Clarence W | Roll grinding system |
DE4030158A1 (de) * | 1990-09-24 | 1992-03-26 | Hau Simex Gmbh | Bandschleifmaschine |
WO1993002834A1 (de) * | 1991-07-31 | 1993-02-18 | Farros Blatter Ag | Schleifgerät zum schleifen einer zylindrischen oder sphärischen oberfläche einer walze, insbesondere einer walze einer papiermaschine |
CH686350A5 (de) | 1992-02-07 | 1996-03-15 | Sig Schweiz Industrieges | Bandschleifmaschine. |
JPH08108359A (ja) | 1994-10-07 | 1996-04-30 | Fuji Photo Film Co Ltd | 研磨装置 |
JPH10549A (ja) | 1996-06-12 | 1998-01-06 | Nisshinbo Ind Inc | 研磨加工装置 |
CA2320158C (en) * | 1998-01-20 | 2008-12-02 | Valmet Corporation | Method and device for conditioning of a roll, in particular of a roll in a paper machine or in a paper finishing device |
DE19825698B4 (de) * | 1998-06-09 | 2005-07-21 | SHL Seelmann, Häring und Lehr Automatisierungstechnik GmbH | Bandschleifmaschine |
DE10013340C2 (de) * | 2000-03-17 | 2003-04-03 | Carat Robotic Innovation Gmbh | Bandschleifmaschine mit Andruckregelung |
KR20020034408A (ko) * | 2000-11-01 | 2002-05-09 | 이구택 | 스트립 연마 벨트의 위치 교정장치 |
US6561870B2 (en) * | 2001-03-30 | 2003-05-13 | Lam Research Corporation | Adjustable force applying air platen and spindle system, and methods for using the same |
JP2002301659A (ja) | 2001-04-03 | 2002-10-15 | Kawasaki Heavy Ind Ltd | 自動仕上げ方法および装置 |
JP2003220546A (ja) | 2002-01-24 | 2003-08-05 | Soken Kogyo Kk | ベルト式研磨装置 |
JP2009016759A (ja) | 2007-07-09 | 2009-01-22 | Nihon Micro Coating Co Ltd | 半導体ウェーハ端面研磨装置およびこれに用いる研磨ヘッド |
DE102012005439A1 (de) * | 2012-03-20 | 2013-09-26 | Texmag Gmbh Vertriebsgesellschaft | Vorrichtung zum Beeinflussen einer laufenden Warenbahn |
CN203779279U (zh) * | 2013-12-07 | 2014-08-20 | 泸州职业技术学院 | 自适应压力机械手打磨装置 |
CN103692317B (zh) * | 2013-12-10 | 2017-01-25 | 深圳先进技术研究院 | 带力反馈的砂带机 |
ES2616797T3 (es) * | 2014-07-17 | 2017-06-14 | Franke Water Systems Ag | Procedimiento para el accionamiento de un dispositivo de rectificado con cinta |
-
2015
- 2015-04-27 DE DE102015106480.4A patent/DE102015106480A1/de active Pending
-
2016
- 2016-04-25 KR KR1020177032399A patent/KR102480548B1/ko active IP Right Grant
- 2016-04-25 WO PCT/AT2016/050111 patent/WO2016172751A1/de active Application Filing
- 2016-04-25 JP JP2017556218A patent/JP7017934B2/ja active Active
- 2016-04-25 EP EP16724583.6A patent/EP3288712B1/de active Active
- 2016-04-25 CN CN201680030814.7A patent/CN107666985A/zh active Pending
- 2016-04-25 US US15/569,704 patent/US10974362B2/en active Active
-
2021
- 2021-10-28 JP JP2021176697A patent/JP2022017427A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2016172751A1 (de) | 2016-11-03 |
JP2018516764A (ja) | 2018-06-28 |
KR20170140261A (ko) | 2017-12-20 |
US20180126512A1 (en) | 2018-05-10 |
JP7017934B2 (ja) | 2022-02-09 |
EP3288712B1 (de) | 2023-10-11 |
US10974362B2 (en) | 2021-04-13 |
JP2022017427A (ja) | 2022-01-25 |
DE102015106480A1 (de) | 2016-10-27 |
EP3288712C0 (de) | 2023-10-11 |
CN107666985A (zh) | 2018-02-06 |
KR102480548B1 (ko) | 2022-12-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3439836B1 (de) | Robotergestützte schleifvorrichtung | |
EP3325214B1 (de) | Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen | |
EP3288712B1 (de) | Vorrichtung zur oberflächenbearbeitung | |
DE102016106141A1 (de) | Wechselstation zum automatischen Wechseln von Schleifmittel | |
DE68901850T2 (de) | Zur schleifbearbeitung von zylindrischen lagerflaechen von werkstuecken, insbesondere fuer die bearbeitung von kurbelwellen- und kurbelzapfen mittels bandschleifer. | |
DE102015104164B4 (de) | Verfahren und Vorrichtung zur robotergestützten Oberflächenbearbeitung | |
DE102015007132B4 (de) | Motorsteuervorrichtung | |
EP3765239B1 (de) | Drehzahlsteuerung beim robotergestützten schleifen | |
DE102015119589B4 (de) | Vorrichtung und Verfahren zum robotergestützen Rollfalzen | |
EP2834024A1 (de) | Robotergeführtes umformwerkzeug und umformverfahren | |
DE102010047510A1 (de) | Bandschleifmaschine zum Maßschleifen von Freiformflächen | |
EP3159103A1 (de) | Verfahren zum betreiben der schleifvorrichtung und schleifvorrichtung | |
EP3287244A1 (de) | Rastmomentkompensation bei einem industrieroboter | |
DE2846828C2 (de) | Maschine zum Nacharbeiten von Schweißfugen an großen hohlzylindrischen Werkstücken | |
DE102013202332A1 (de) | Vorrichtung zum automatischen Bearbeiten von Oberflächen | |
DE102017213717A1 (de) | Bearbeitungsvorrichtung für ein Luftfahrzeug | |
DE69106335T2 (de) | Gerät zum Schleifen des Randes einer Glasscheibe. | |
EP2623257B1 (de) | Werkzeugmaschine mit einer Positionsausgleichsvorrichtung | |
EP2623244B1 (de) | Verfahren zum Betrieb einer Werkzeugmaschine sowie Werkzeugmaschine | |
DE102019218485B4 (de) | Arbeitseinrichtung | |
DE4140687C2 (de) | Roboter-Antriebsvorrichtung nach dem kartesischen Prinzip für mehrachsige, räumlich angeordnete Transportsysteme, insbesondere für NC-Linearachsen | |
EP2433745A1 (de) | Vorrichtung zum Bearbeiten von Werkstücken | |
DE102019101579A1 (de) | Robotergestützte schleifvorrichtung mit integrierter wartungseinheit | |
DE102015113890A1 (de) | Werkzeugmaschine mit Werkstückpositions- und gewichtsabhängiger Einfederungskompensation | |
EP3934862B1 (de) | Schnellspannsystem zur verbindung von werkzeugmaschinen mit einem roboter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20171122 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20210531 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20230726 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE PATENT HAS BEEN GRANTED |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 502016016149 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
U01 | Request for unitary effect filed |
Effective date: 20231011 |
|
U07 | Unitary effect registered |
Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT SE SI Effective date: 20231026 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20240112 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20240211 |
|
U20 | Renewal fee paid [unitary effect] |
Year of fee payment: 9 Effective date: 20240319 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20231011 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20240211 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20240112 Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20231011 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20231011 Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20231011 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20240111 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20231011 |