EP3571010A1 - Grinding robot for grinding electrically conductive workpieces, and method for operating same - Google Patents

Grinding robot for grinding electrically conductive workpieces, and method for operating same

Info

Publication number
EP3571010A1
EP3571010A1 EP17822173.5A EP17822173A EP3571010A1 EP 3571010 A1 EP3571010 A1 EP 3571010A1 EP 17822173 A EP17822173 A EP 17822173A EP 3571010 A1 EP3571010 A1 EP 3571010A1
Authority
EP
European Patent Office
Prior art keywords
grinding
measuring
transmission unit
workpiece
robot according
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
Application number
EP17822173.5A
Other languages
German (de)
French (fr)
Other versions
EP3571010B1 (en
Inventor
Martin Rohrer
Florian WEIGL
Stefan Karner
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.)
Voith Patent GmbH
Original Assignee
Voith Patent 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.)
Filing date
Publication date
Application filed by Voith Patent GmbH filed Critical Voith Patent GmbH
Publication of EP3571010A1 publication Critical patent/EP3571010A1/en
Application granted granted Critical
Publication of EP3571010B1 publication Critical patent/EP3571010B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B24B27/0038—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
    • 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
    • B24B49/10—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 electrical 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
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B24B1/002—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes using electric current
    • 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
    • B24B41/002—Grinding heads
    • 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
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D3/00—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents
    • B24D3/34—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties
    • B24D3/346—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties utilised during polishing, or grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D5/00—Bonded abrasive wheels, or wheels with inserted abrasive blocks, designed for acting only by their periphery; Bushings or mountings therefor
    • 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
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • 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
    • B24B49/18—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 presence of dressing tools
    • B24B49/183—Wear compensation without the presence of dressing tools

Definitions

  • the present invention relates to a grinding robot for grinding electrically conductive workpieces and a method for operating such a grinding robot.
  • the measurement of the sizes mentioned turns out to be difficult in practice.
  • the abrasive body wears off during operation. In the known grinding robots this is ignored, which reduces the accuracy of the grinding result.
  • the inventors have set themselves the task of specifying a grinding robot for grinding electrically conductive workpieces, in which the control of the grinding process can be carried out in normal operation solely by the measurement of electrical variables. In addition, the accuracy of the grinding result should be increased.
  • a grinding robot uses a grinding wheel to apply material to the surface of a workpiece For example, in order to mold the hydraulic contour of the blades on cast blades of an impeller for a hydraulic machine. In order to avoid a time-consuming approach procedure, it is necessary for the grinding robot to know when the abrasive body is in contact with the workpiece. In addition, since a grinding wheel wears during operation, reducing the diameter of the head, a grinding robot would always need to know the current head diameter so that it can produce the desired contour of the workpiece within tolerances. In conventional grinding wheels, the current head diameter during operation can only be estimated, for example, over the respective operating time. However, such an estimate is too inaccurate for the close tolerances of the above-mentioned hydraulic contours.
  • FIG. 1 grinding robot according to the invention
  • Figure 2 abrasive article for use in a invention
  • FIG. 3 Abrasive bodies for use in a device according to the invention
  • Figure 4 abrasive article for use in a invention
  • FIG. 1 shows a grinding robot according to the invention in a very highly schematic form.
  • the grinding robot according to the invention is suitable for automated grinding of a conductive workpiece, which is denoted by 6.
  • the grinding robot has an abrasive body, which is denoted by 5.
  • the grinding body 5 comprises a rotationally symmetrical head, which is denoted by 1, a tool holder, which is denoted by 3, and a measuring and transmission unit, which is denoted by 2.
  • the grinding robot further comprises a unit for actuating the grinding wheel 5, which are designated by 7.
  • the operation of the grinding wheel 5 comprises on the one hand the holder and rotation of the grinding wheel 5 by means of the tool holder 3.
  • the unit 7 for actuating the grinding wheel 5 may comprise, for example, a robot arm.
  • the grinding robot 8 further comprises a controller, which is designated by 8.
  • the controller 8 is connected to the unit 7 for operating the abrasive body 5 and controls the same, using data generated by the measuring and transmission unit 2 and transmitted to the controller.
  • FIG. 2 shows an abrasive body 5 for use in a grinding robot according to the invention in a first embodiment along the axis of rotation.
  • the rotationally symmetric head with 1 and the tool holder are designated 3.
  • the grinding wheel rotates about the tool holder 3.
  • the grinding wheel 5 further comprises a measuring and transmission unit, which is designated by 2.
  • the measuring and transmission unit 2 is equipped with an independent power supply, which, for example, a battery or a Supercapacitor includes (not shown).
  • an independent power supply which, for example, a battery or a Supercapacitor includes (not shown).
  • the rotationally symmetrical head 1 at least 2 conductor strands are embedded, two of which are exemplified by 10 and 11.
  • the conductor strands extend from the outer surface of the rotationally symmetrical head 1, which is in contact with the workpiece 6 during operation, into the interior of the head 1, where they are electrically connected to the measuring and transmission unit 2.
  • the conductor strands are electrically isolated from each other, which can be achieved either by a spacing of the conductor strands with each other or by an electrical insulation thereof.
  • FIG. 3 shows the same embodiment of the grinding wheel 5 as in FIG. 1 in a section transverse to the axis of rotation with the same designations. It can be seen that the conductor strands 10 and 11 in this representation are behind one another and extend radially from the cylindrical outer surface of the head 1 into the interior thereof.
  • the grinding body 5 from FIGS. 2 and 3 is designed so that the cylindrical outer surface of the head 1 is in contact with the electrically conductive workpiece 6 during operation.
  • an electrical connection between the strands of a conductor strand pair 10 and 11 is produced during operation by the contact of the conductive workpiece 6, so that a circuit is formed, which of the measuring and transmission unit 2 via the conductor strand 10, the Workpiece 6 and the conductor strand 11 back to the measuring and transmission unit 2 runs (or vice versa).
  • This circuit is used by the measuring and transmission unit 2 for a resistance measurement.
  • the conductor strands are designed so that the measured resistance is dominated by the resistance of the conductor strands.
  • the measured resistance is a reciprocal proportional measure of the degree of wear of the grinding wheel 5.
  • the measuring and transmission unit 2 is designed to transmit the measured resistance values and thus the degree of wear to the controller 8.
  • the transmission can be done for example via Bluetooth.
  • the signals received by the controller 8 are used to control the grinding process to produce the desired contour of the workpiece.
  • the measuring and transmission unit 2 transmits no resistance value to the controller 8. Instead, the measuring and transmission unit can transmit a different signal to the controller 8. This signal or the absence of a resistance signal is used by the controller 8 for the procedure to approach the abrasive body 5 to the workpiece 6.
  • the arrangement of the conductor strands 10, 11 shown in FIGS. 2 and 3 is only one of many possible arrangements.
  • the radial profile is particularly simple and thus advantageous for the production of an abrasive article 5 for use in a grinding robot according to the invention.
  • the conductor strands in Figure 3 could also extend spirally inward or not perpendicular to the cylindrical surface in Figure 2, but extend obliquely or curved.
  • the conductor strand length is continuously shortened with the expected wear of the head 1, so that the decrease in the conductor strand length represents a continuous measure of the degree of wear and thus the measured resistance is inversely proportional to the degree of wear.
  • FIG. 3 shows a plurality of conductor strand pairs 10, 11.
  • the grinding wheel rotates very fast during operation, much less such pairs are sufficient for periodic resistance measurement, as each pair always again passes the electrically conductive workpiece.
  • the use of too many pairs of conductor strands 10, 11 on the contrary may be unfavorable, since then may be more than one pair of conductors in contact with the workpiece at a time (if, for example the surface of the workpiece 6 is correspondingly curved), which has the consequence that several circuits are closed simultaneously.
  • a suitably designed measuring and transmission device 2 can take this problem into account by recognizing and correspondingly taking into account such states, or most simply by using a smaller number of conductor strand pairs 10, 11.
  • FIG. 4 shows an abrasive body 5 for use in a grinding robot according to the invention in a second embodiment in a section along the axis of rotation with the same designations as in FIGS. 1, 2 and 3.
  • the grinding body 5 shown in FIG. 4 has a rotationally symmetrical head 1, which has a spherical shape has. Since such a head 1 is rather selectively in contact with the workpiece during operation, the conductor strand pairs 10, 11 must open much closer to the surface of the head 1 and extend in the expected wear region of the head 1 close to one another. Therefore, in Figure 4, the conductor strand pairs 10, 11 are each represented by a single line. It is clear that this arrangement usually makes it necessary that the conductor strands 10 are performed by the conductor strands 11 electrically isolated.
  • One way to achieve this is to use mutually insulated coaxial conductor strands, ie one of the conductor strands 10 or 11 surrounds the other tubular, with a suitable insulating material between the inner and outer conductor.
  • the two strands 10 and 11 can also run parallel with there being between the same insulation material.
  • conductor strand pairs 10, 11 are provided, which open in different wear areas of the surface of the head 1, and that the measuring and transmission unit 2 can distinguish between these pairs 10, 11.
  • the controller 8 can also be informed of such anisotropic wear.
  • the embodiment according to the invention from FIG. 4 also comprises an optional device for measuring any bending of the tool holder 3 that may occur.
  • a device may be advantageous if a disturbance in the electrical contact between the workpiece and the conductor strands 10, 11 should occur during operation.
  • the controller 8 permanently receives the feedback from the measuring and transmission unit 2 that there is no closed circuit and therefore no resistance measurement can take place. Since a present resistance signal, the controller 8 also informs about the present contact of the abrasive body with the workpiece, the controller 8 would assume that there is no contact and would therefore try to approximate the grinding wheel 5 to the workpiece 6. As a result, the pressure on the grinding wheel 5 would be increased, which already rests on the workpiece. This would lead to excessive bending of the tool holder 3.
  • the device for measuring the bending of the tool holder 3 from FIG. 4 additionally comprises a disk which is located on the tool holder 3 and is denoted by 4. Between disc 4 and the measuring and Transmission unit 2 is a suitable distance, and the measuring and transmission unit 2 has suitable sensors that can measure this distance distributed at several points over the circumference of the disc. The measuring and transmission unit 2 also transmits these measured values to the controller 8. If the tool holder 3 bends only slightly, this leads to one or more of the measured distances changing.
  • the measurement of the distance between the disk 4 and the measuring and transmission unit 2 can be done for example by means of optical, mechanical, capacitive or inductive sensors.
  • the arrangement of the conductor strand pairs 10, 11 and their evaluation in the measuring and transmission unit 2 must be adapted to the geometry of the rotationally symmetric head 1 and the expected wear of the same.
  • the geometries for the rotationally symmetric head 1 are all common geometries (for example, cones, half-rounded cylinders, etc.).
  • FIG. 5 shows a method for operating a grinding robot according to the invention.
  • the method comprises two process steps, designated VI and V2.
  • step VI the abrasive body 5 is brought closer to the workpiece 6 until the abrasive body 5 is in contact with the workpiece.
  • the measuring and transmission unit 2 supplies while a signal to the controller 8, which states that no circuit is closed via a conductor strand pair, as long as there is no contact between the grinding wheel 5 and 6 workpiece. As soon as there is contact, at least one circuit is closed via a pair of conductor strands, thereby enabling a resistance measurement.
  • the measuring and transmission unit 2 transmits the measured resistance values to the controller 8, whereupon it terminates the approaching step VI.
  • the measuring and transmission unit 2 can also transmit no signal as long as there is no contact.
  • the approaching step VI is terminated by the controller 8 as soon as the measuring and transmission unit 2 has transmitted a measured resistance value to the controller 8.
  • the measuring and transmission unit 2 permanently transmits the measured resistance values to the controller 8, which takes into account these values in the decision whether the desired surface contour is reached or not. This is made possible by the fact that, as described above, the measured resistance values contain the information about the current degree of wear of the grinding head 1.
  • the permanent transmission of the measured resistance values can also take place periodically, ie the measuring and transmission unit 2 transmits a resistance value whenever a predefined constant time interval has elapsed.
  • the period is determined in advance according to the expected wear per unit time and the required surface accuracy. The tighter the surface tolerance, the shorter the period must be selected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention relates to a grinding robot for grinding an electrically conductive workpiece (6), comprising a grinding wheel (5), a unit for actuating the grinding wheel (5), and a controller, wherein the grinding wheel (5) has an undulating tool receptacle (3), which defines an axis of rotation about which the grinding wheel can rotate during grinding, and a head (1) which is rotationally symmetrical with respect to the axis of rotation, contains abrasive material and has a grinding face which is in contact with the workpiece during grinding, wherein the grinding wheel comprises a measurement and transmission unit (2) and at least one conductor strand pair with two conductor strands (10, 11) that are electrically insulated from one another, wherein the conductor strands (10, 11) are embedded in the rotationally symmetrical head (1) and extend from the grinding face of the head (1) into the interior of the head (1) and are electrically connected to the measurement and transmission unit (2) there.

Description

Schleif roboter zum Schleifen elektrisch leitfähiger Werkstücke und Verfahren zum Betrieb eines solchen  Grinding robot for grinding electrically conductive workpieces and method for operating such
Die vorliegende Erfindung betrifft einen Schleifroboter zum Schleifen elektrisch leitfähiger Werkstücke und eine Verfahren zum Betrieb eines solchen Schleifroboters. The present invention relates to a grinding robot for grinding electrically conductive workpieces and a method for operating such a grinding robot.
Schleifroboter sind aus dem allgemeinen Stand der Technik bekannt. Die Annäherung des Schleifkörpers an das Werkstück wird dabei durch die Messung der Position des Schleifkörpers in Richtung zum Werkstück hin und durch Messung der Kraft, die vom Werkstück auf den Schleifkörper ausgeübt wird, gesteuert. Hierzu sei auf die EP 0 421 323 AI verwiesen. Grinding robots are known from the general state of the art. The approach of the abrasive article to the workpiece is controlled by measuring the position of the abrasive article toward the workpiece and by measuring the force exerted on the abrasive article by the workpiece. Reference is made to EP 0 421 323 AI.
Die Messung der genannten Größen erweist sich in der Praxis als schwierig. Außerdem nutzt sich der Schleifkörper während dem Betrieb ab. Bei den bekannten Schleifrobotern bleibt dies unberücksichtigt, was die Genauigkeit des Schleifergebnisses reduziert. Die Erfinder haben sich die Aufgabe gestellt, einen Schleifroboter zum Schleifen von elektrisch leitfähigen Werkstücken anzugeben, bei der die Steuerung des Schleifvorgangs im Normalbetrieb allein durch die Messung von elektrischen Größen erfolgen kann. Außerdem soll die Genauigkeit des Schleifergebnisses erhöht werden. The measurement of the sizes mentioned turns out to be difficult in practice. In addition, the abrasive body wears off during operation. In the known grinding robots this is ignored, which reduces the accuracy of the grinding result. The inventors have set themselves the task of specifying a grinding robot for grinding electrically conductive workpieces, in which the control of the grinding process can be carried out in normal operation solely by the measurement of electrical variables. In addition, the accuracy of the grinding result should be increased.
Erfindungsgemäß wird diese Aufgabe durch einen Schleifroboter mit den Merkmalen des unabhängigen Vorrichtungsanspruchs und durch ein Verfahren zum Betrieb eines solchen mit den Merkmalen des unabhängigen Verfahrensanspruchs gelöst. Weitere vorteilhafte Ausgestaltungen ergeben sich aus den abhängigen Unteransprüchen. According to the invention this object is achieved by a grinding robot with the features of the independent device claim and by a method for operating such with the features of the independent method claim. Further advantageous embodiments will be apparent from the dependent subclaims.
Die Erfinder haben sich von folgenden Gedanken leiten lassen. Ein Schleifroboter verwendet einen Schleifkörper, um Material an der Oberfläche eines Werkstücks zu entfernen, z.B. um bei gegossenen Schaufeln eines Laufrades für eine hydraulische Maschine die hydraulische Kontur der Schaufeln zu formen. Um eine zeitaufwändige Annäherungsprozedur zu vermeiden, ist es notwendig dass der Schleifroboter feststellen kann, wann sich der Schleifkörper im Kontakt mit dem Werkstück befindet. Da sich ein Schleifkörper während dem Betrieb abnutzt, wobei sich der Durchmesser des Kopfes reduziert, müsste ein Schleifroboter außerdem stets über den aktuellen Kopfdurchmesser informiert sein, damit er die gewünschte Kontur des Werkstücks innerhalb der Toleranzen erzeugen kann. Bei herkömmlichen Schleifkörpern kann der aktuelle Kopfdurchmesser während dem Betrieb nur abgeschätzt werden, z.B. über die jeweilige Betriebsdauer. Für die engen Toleranzen der oben erwähnten hydraulischen Konturen ist eine solche Abschätzung jedoch zu ungenau. The inventors let themselves be guided by the following thoughts. A grinding robot uses a grinding wheel to apply material to the surface of a workpiece For example, in order to mold the hydraulic contour of the blades on cast blades of an impeller for a hydraulic machine. In order to avoid a time-consuming approach procedure, it is necessary for the grinding robot to know when the abrasive body is in contact with the workpiece. In addition, since a grinding wheel wears during operation, reducing the diameter of the head, a grinding robot would always need to know the current head diameter so that it can produce the desired contour of the workpiece within tolerances. In conventional grinding wheels, the current head diameter during operation can only be estimated, for example, over the respective operating time. However, such an estimate is too inaccurate for the close tolerances of the above-mentioned hydraulic contours.
Die erfindungsgemäße Lösung wird nachfolgend anhand von Figuren erläutert. Darin ist im Einzelnen folgendes dargestellt: The solution according to the invention is explained below with reference to figures. The following is shown in detail:
Figur 1 Erfindungsgemäßer Schleifroboter; FIG. 1 grinding robot according to the invention;
Figur 2 Schleifkörper zur Verwendung in einem erfindungsgemäßen Figure 2 abrasive article for use in a invention
Schleifroboter in einer ersten Ausführungsform in einen  Grinding robot in a first embodiment in a
Schnitt entlang der Drehachse;  Section along the axis of rotation;
Figur 3 Schleifkörper zur Verwendung in einem erfindungsgemäßen FIG. 3 Abrasive bodies for use in a device according to the invention
Schleifroboter in einer ersten Ausführungsform in einem Schnitt quer zur Drehachse;  Grinding robot in a first embodiment in a section transverse to the axis of rotation;
Figur 4 Schleifkörper zur Verwendung in einem erfindungsgemäßen Figure 4 abrasive article for use in a invention
Schleifroboter in einer zweiten Ausführungsform in einem Schnitt entlang der Drehachse; Verfahren zum Betrieb eines erfindungsgemäßen Grinding robot in a second embodiment in a section along the axis of rotation; Method for operating a device according to the invention
Schleifroboters.  Grinding robot.
Figur 1 zeigt einen erfindungsgemäßen Schleifroboter in sehr stark schematisierter Form. Der erfindungsgemäße Schleifroboter ist geeignet zum automatisierten Schleifen eines leitfähigen Werkstückes, welches mit 6 bezeichnet ist. Der Schleifroboter verfügt über einen Schleifkörper, welcher mit 5 bezeichnet ist. Der Schleifkörper 5 umfasst einen rotationssymmetrischen Kopf, welcher mit 1 bezeichnet ist, eine Werkzeugaufnahme, welche mit 3 bezeichnet ist, und eine Mess- und Übertragungseinheit, welche mit 2 bezeichnet ist. Der Schleifroboter umfasst ferner eine Einheit zur Betätigung des Schleifkörpers 5, welche mit 7 bezeichnet sind. Die Betätigung des Schleifkörpers 5 umfasst dabei einerseits die Halterung und Drehung des Schleifkörpers 5 mittels der Werkzeugaufnahme 3. Ferner die Annäherung und Pressung des Schleifkörpers 5 an das Werkstück 6, wobei der Kopf 1 des Schleifkörpers 5 in Kontakt mit dem Werkstück kommt. Die Einheit 7 zur Betätigung des Schleifkörpers 5 kann beispielsweise einen Roboterarm umfassen. Der Schleifroboter 8 umfasst ferner eine Steuerung, welche mit 8 bezeichnet ist. Die Steuerung 8 ist mit der Einheit 7 zur Betätigung des Schleif körpers 5 verbunden und steuert dieselbe, wobei sie Daten verwendet, die von der Mess- und Übertragungseinheit 2 erzeugt und an die Steuerung übermittelt werden. FIG. 1 shows a grinding robot according to the invention in a very highly schematic form. The grinding robot according to the invention is suitable for automated grinding of a conductive workpiece, which is denoted by 6. The grinding robot has an abrasive body, which is denoted by 5. The grinding body 5 comprises a rotationally symmetrical head, which is denoted by 1, a tool holder, which is denoted by 3, and a measuring and transmission unit, which is denoted by 2. The grinding robot further comprises a unit for actuating the grinding wheel 5, which are designated by 7. The operation of the grinding wheel 5 comprises on the one hand the holder and rotation of the grinding wheel 5 by means of the tool holder 3. Further, the approach and pressing of the grinding wheel 5 to the workpiece 6, wherein the head 1 of the grinding wheel 5 comes into contact with the workpiece. The unit 7 for actuating the grinding wheel 5 may comprise, for example, a robot arm. The grinding robot 8 further comprises a controller, which is designated by 8. The controller 8 is connected to the unit 7 for operating the abrasive body 5 and controls the same, using data generated by the measuring and transmission unit 2 and transmitted to the controller.
Figur 2 zeigt einen Schleifkörper 5 zur Verwendung in einem erfindungsgemäßen Schleifroboter in einer ersten Ausführungsform entlang der Drehachse. Dabei sind der rotationssymmetrische Kopf mit 1 und die Werkzeugaufnahme mit 3 bezeichnet. Im Betrieb rotiert der Schleifkörper um die Werkzeugaufnahme 3. Der Schleifkörper 5 umfasst ferner eine Mess- und Übertragungseinheit, welche mit 2 bezeichnet ist. Die Mess- und Übertragungseinheit 2 ist mit einer eigenständigen Stromversorgung ausgerüstet, welche z.B. eine Batterie oder einen Superkondensator umfasst (nicht dargestellt). In den rotationssymmetrischen Kopf 1 sind wenigstens 2 Leiterstränge eingebettet, von welchen zwei beispielhaft mit 10 und 11 bezeichnet sind. Die Leiterstränge erstrecken sich dabei jeweils von derjenigen Außenfläche des rotationssymmetrischen Kopfes 1, welche sich im Betrieb im Kontakt mit dem Werkstück 6 befindet, ins Innere des Kopfes 1 und sind dort elektrisch mit der Mess- und Übertragungseinheit 2 verbunden. Die Leiterstränge sind elektrische voneinander isoliert, was entweder durch eine Beabstandung der Leiterstränge untereinander oder durch eine elektrische Isolation derselben erreicht werden kann. FIG. 2 shows an abrasive body 5 for use in a grinding robot according to the invention in a first embodiment along the axis of rotation. Here, the rotationally symmetric head with 1 and the tool holder are designated 3. In operation, the grinding wheel rotates about the tool holder 3. The grinding wheel 5 further comprises a measuring and transmission unit, which is designated by 2. The measuring and transmission unit 2 is equipped with an independent power supply, which, for example, a battery or a Supercapacitor includes (not shown). In the rotationally symmetrical head 1 at least 2 conductor strands are embedded, two of which are exemplified by 10 and 11. In each case, the conductor strands extend from the outer surface of the rotationally symmetrical head 1, which is in contact with the workpiece 6 during operation, into the interior of the head 1, where they are electrically connected to the measuring and transmission unit 2. The conductor strands are electrically isolated from each other, which can be achieved either by a spacing of the conductor strands with each other or by an electrical insulation thereof.
Figur 3 zeigt dieselbe Ausführungsform des Schleifkörpers 5 wie Figur 1 in einem Schnitt quer zur Drehachse mit denselben Bezeichnungen. Man erkennt, dass die Leiterstränge 10 und 11 in dieser Darstellungsweise hintereinander liegen und radial von der zylinderförmigen Außenfläche des Kopfes 1 ins Innere desselben verlaufen. FIG. 3 shows the same embodiment of the grinding wheel 5 as in FIG. 1 in a section transverse to the axis of rotation with the same designations. It can be seen that the conductor strands 10 and 11 in this representation are behind one another and extend radially from the cylindrical outer surface of the head 1 into the interior thereof.
Der Schleifkörper 5 aus Figur 2 und 3 ist dafür ausgelegt, dass während dem Betrieb die zylinderförmige Außenfläche des Kopfes 1 mit dem elektrisch leitfähigen Werkstück 6 in Kontakt steht. Bei geeigneten Drehstellungen des Schleif körpers 5 wird beim Betrieb durch den Kontakt des leitfähigen Werkstücks 6 eine elektrisch Verbindung zwischen den Strängen eines Leiterstrangpaares 10 und 11 hergestellt, so dass ein Stromkreis entsteht, welcher von der Mess- und Übertragungseinheit 2 über den Leiterstrang 10, das Werkstück 6 und den Leiterstrang 11 zurück zur Mess- und Übertragungseinheit 2 verläuft (oder umgekehrt). Dieser Stromkreis wird von der Mess- und Übertragungseinheit 2 für eine Widerstandsmessung genutzt. Die Leiterstränge sind so ausgelegt, dass der gemessene Widerstand vom Widerstand der Leiterstränge dominiert wird. Wenn sich der Schleifkörper 5 während dem Betrieb abnützt, verringert sich der Durchmesser des Kopfes 1, was zur Folge hat, dass sich die Leiterstränge 10, 11 entsprechend verkürzen, was wiederum zur Folge hat, dass der gemessene Widerstand kleiner wird. Somit ist der gemessene Widerstand ein reziprokproportionales Maß für den Abnützungsgrad des Schleifkörpers 5. Die Mess- und Übertragungseinheit 2 ist zur Übertragung der gemessenen Widerstandswerte und damit des Abnutzungsgrades an die Steuerung 8 ausgelegt. Die Übertragung kann beispielsweise über Bluetooth erfolgen. Die von der Steuerung 8 empfangenen Signale werden zur Steuerung des Schleifvorgangs verwendet, um die gewünschte Kontur des Werkstücks zu erzeugen. Wenn der Kopf 1 das Werkstück 6 nicht berührt, existiert kein geschlossener Stromkreis und es kann kein Strom durch die Leiterstränge 10 und 11 fließen. Die Mess- und Übertragungseinheit 2 überträgt in diesem Fall keinen Widerstandswert an die Steuerung 8. Stattdessen kann die Mess- und Übertragungseinheit ein anderes Signal an die Steuerung 8 übermitteln. Dieses Signal bzw. das nicht Vorliegen eines Widerstandssignals wird von der Steuerung 8 für die Prozedur zu Annäherung des Schleif körpers 5 an das Werkstück 6 verwendet. The grinding body 5 from FIGS. 2 and 3 is designed so that the cylindrical outer surface of the head 1 is in contact with the electrically conductive workpiece 6 during operation. At suitable rotational positions of the abrasive body 5, an electrical connection between the strands of a conductor strand pair 10 and 11 is produced during operation by the contact of the conductive workpiece 6, so that a circuit is formed, which of the measuring and transmission unit 2 via the conductor strand 10, the Workpiece 6 and the conductor strand 11 back to the measuring and transmission unit 2 runs (or vice versa). This circuit is used by the measuring and transmission unit 2 for a resistance measurement. The conductor strands are designed so that the measured resistance is dominated by the resistance of the conductor strands. When the abrasive body 5 wears off during operation, the diameter of the head 1 decreases, with the result that the conductor strands 10, 11 shorten correspondingly, which in turn results in the measured Resistance becomes smaller. Thus, the measured resistance is a reciprocal proportional measure of the degree of wear of the grinding wheel 5. The measuring and transmission unit 2 is designed to transmit the measured resistance values and thus the degree of wear to the controller 8. The transmission can be done for example via Bluetooth. The signals received by the controller 8 are used to control the grinding process to produce the desired contour of the workpiece. When the head 1 does not contact the workpiece 6, there is no closed circuit and no current can flow through the conductor strands 10 and 11. In this case, the measuring and transmission unit 2 transmits no resistance value to the controller 8. Instead, the measuring and transmission unit can transmit a different signal to the controller 8. This signal or the absence of a resistance signal is used by the controller 8 for the procedure to approach the abrasive body 5 to the workpiece 6.
Die in den Figuren 2 und 3 gezeigte Anordnung der Leiterstränge 10, 11 ist nur eine von vielen möglichen Anordnungen. Der radiale Verlauf ist dabei besonders einfach und damit vorteilhaft für die Herstellung eines Schleifkörpers 5 zur Verwendung in einem erfindungsgemäßen Schleifroboter. Alternativ könnten die Leiterstränge in Figur 3 auch spiralig nach innen verlaufen oder in Figur 2 nicht senkrecht zur zylindrischen Oberfläche stehen, sondern schräg oder auch geschwungen verlaufen. Es besteht lediglich die Anforderung, dass sich die Leiterstrang länge stetig mit der zu erwartenden Abnutzung des Kopfes 1 verkürzt, so dass die Abnahme der Leiterstranglänge ein stetiges Maß für den Abnutzungsgrad darstellt und somit der gemessene Widerstand umgekehrt proportional zum Abnutzungsgrad ist. The arrangement of the conductor strands 10, 11 shown in FIGS. 2 and 3 is only one of many possible arrangements. The radial profile is particularly simple and thus advantageous for the production of an abrasive article 5 for use in a grinding robot according to the invention. Alternatively, the conductor strands in Figure 3 could also extend spirally inward or not perpendicular to the cylindrical surface in Figure 2, but extend obliquely or curved. There is only the requirement that the conductor strand length is continuously shortened with the expected wear of the head 1, so that the decrease in the conductor strand length represents a continuous measure of the degree of wear and thus the measured resistance is inversely proportional to the degree of wear.
In Figur 3 sind eine Vielzahl von Leiterstrangpaaren 10, 11 gezeigt. Da sich der Schleifkörper während dem Betrieb sehr schnell dreht, genügen jedoch auch viel weniger solche Paare zur periodischen Widerstandsmessung, da jedes Paar immer wieder am elektrisch leitfähigen Werkstück vorbeikommt. Daher genügt zur Bereitstellung der erfindungsgemäßen Funktionalität bereits ein Leiterstrang paar 10, 11. Die Verwendung von zu vielen Leiterstrangpaaren 10, 11 ist im Gegenteil unter Umständen ungünstig, da dann eventuell mehr als ein Leiterpaar zu einem Zeitpunkt in Kontakt zum Werkstück sein kann (wenn z.B. die Oberfläche des Werkstückes 6 entsprechend gekrümmt ist), was zur Folge hat, dass mehrere Stromkreise gleichzeitig geschlossen werden. Diesem Problem kann jedoch eine geeignet ausgelegte Mess- und Übertragungseinrichtung 2 Rechnung tragen, indem diese solche Zustände erkennt und entsprechend berücksichtigt, oder eben am einfachsten durch die Verwendung einer geringeren Anzahl von Leiterstrangpaaren 10, 11. FIG. 3 shows a plurality of conductor strand pairs 10, 11. However, since the grinding wheel rotates very fast during operation, much less such pairs are sufficient for periodic resistance measurement, as each pair always again passes the electrically conductive workpiece. On the contrary, the use of too many pairs of conductor strands 10, 11 on the contrary may be unfavorable, since then may be more than one pair of conductors in contact with the workpiece at a time (if, for example the surface of the workpiece 6 is correspondingly curved), which has the consequence that several circuits are closed simultaneously. However, a suitably designed measuring and transmission device 2 can take this problem into account by recognizing and correspondingly taking into account such states, or most simply by using a smaller number of conductor strand pairs 10, 11.
Figur 4 zeigt einen Schleifkörper 5 zur Verwendung in einem erfindungsgemäßen Schleifroboter in einer zweiten Ausführungsform in einem Schnitt entlang der Drehachse mit denselben Bezeichnungen wie in den Figuren 1, 2 und 3. Der in Figur 4 dargestellte Schleifkörper 5 hat einen rotationssymmetrischen Kopf 1, welcher Kugelform besitzt. Da ein solcher Kopf 1 während dem Betrieb eher punktuell mit dem Werkstück in Kontakt steht, müssen die Leiterstrangpaare 10, 11 sehr viel näher benachbart an der Oberfläche des Kopfes 1 münden und im zu erwartenden Abnützungsbereich des Kopfes 1 dicht beieinander verlaufen. Daher sind in Figur 4 die Leiterstrangpaare 10, 11 jeweils durch eine einzelne Linie dargestellt. Es ist klar, dass diese Anordnung es in der Regel notwendig macht, dass die Leiterstränge 10 von den Leitersträngen 11 elektrisch isoliert ausgeführt werden. Eine Möglichkeit diese zu erreichen, besteht in der Verwendung von gegeneinander isolierten koaxialen Leitersträngen, d.h. einer der Leiterstränge 10 oder 11 umschließt den anderen röhrenförmig, wobei sich zwischen Innen- und Außenleiter ein geeignetes Isolationsmaterial befindet. Genauso gut können die beiden Stränge 10 und 11 auch parallel verlaufen wobei sich zwischen denselben Isolationsmaterial befindet. Bei einem wie in Figur 4 geformten Schleifkörper ist zu erwarten, dass sich dieser nicht isotrop abnutzt, sondern es werden sich vermutlich die seitlich der Achse gelegenen Partien des Kopfes 1 schneller abnutzen als die Partien vorn im Bereich des Schnittpunktes der Drehachse mit der Oberfläche des Kopfes 1. Daher ist es vorteilhaft, dass Leiterstrangpaare 10, 11 vorgesehen werden, die in unterschiedlichen Abnutzungsbereichen der Oberfläche des Kopfes 1 münden, und dass die Mess- und Übertragungseinheit 2 zwischen diesen Paaren 10, 11 unterscheiden kann. Auf diese Weise kann die Steuerung 8 auch über eine solche anisotrope Abnützung informiert werden. FIG. 4 shows an abrasive body 5 for use in a grinding robot according to the invention in a second embodiment in a section along the axis of rotation with the same designations as in FIGS. 1, 2 and 3. The grinding body 5 shown in FIG. 4 has a rotationally symmetrical head 1, which has a spherical shape has. Since such a head 1 is rather selectively in contact with the workpiece during operation, the conductor strand pairs 10, 11 must open much closer to the surface of the head 1 and extend in the expected wear region of the head 1 close to one another. Therefore, in Figure 4, the conductor strand pairs 10, 11 are each represented by a single line. It is clear that this arrangement usually makes it necessary that the conductor strands 10 are performed by the conductor strands 11 electrically isolated. One way to achieve this is to use mutually insulated coaxial conductor strands, ie one of the conductor strands 10 or 11 surrounds the other tubular, with a suitable insulating material between the inner and outer conductor. Just as well, the two strands 10 and 11 can also run parallel with there being between the same insulation material. In the case of a grinding body shaped as in FIG. 4, it is to be expected that it will not wear isotropically, but the parts of the head 1 located laterally on the axis will presumably wear faster than the parts in front in the region of the point of intersection of the axis of rotation with the surface of the head 1. Therefore, it is advantageous that conductor strand pairs 10, 11 are provided, which open in different wear areas of the surface of the head 1, and that the measuring and transmission unit 2 can distinguish between these pairs 10, 11. In this way, the controller 8 can also be informed of such anisotropic wear.
Die erfindungsgemäße Ausführungsform aus Figur 4 umfasst außerdem eine optionale Einrichtung zur Messung einer eventuell auftretenden Biegung der Werkzeugaufnahme 3. Eine solche Einrichtung kann von Vorteil sein, wenn eine Störung des elektrischen Kontakts zwischen Werkstück und den Leitersträngen 10, 11 während dem Betrieb auftreten sollte. In diesem Fall bekommt die Steuerung 8 permanent die Rückmeldung von der Mess- und Übertragungseinheit 2, dass kein geschlossener Stromkreis vorliegt und daher keine Widerstandsmessung stattfinden kann. Da ein vorliegendes Widerstandssignal die Steuerung 8 auch über den vorliegenden Kontakt des Schleif körpers mit dem Werkstück informiert, würde die Steuerung 8 davon ausgehen, dass noch kein Kontakt vorliegt und würde daher versuchen den Schleifkörper 5 weiter an das Werkstück 6 anzunähern. Dadurch würde der Druck auf den Schleifkörper 5 erhöht werden, welcher ja bereits am Werkstück anliegt. Dadurch käme es zu einer überhöhten Biegung der Werkzeugaufnahme 3. Wenn ein solcher Zustand nicht abgefangen würde, könnte es dazu führen, dass viel zu viel Material vom Werkstück 6 abgetragen wird und das Werkstück 6 außer Toleranz käme. Durch eine Überwachung der Biegung der Werkzeugaufnahme 3 kann dies verhindert werden. Die Einrichtung zur Messung der Biegung der Werkzeugaufnahme 3 aus Figur 4 umfasst zusätzlich eine Scheibe, welche sich auf der Werkzeugaufnahme 3 befindet und mit 4 bezeichnet ist. Zwischen Scheibe 4 und der Mess- und Übertragungseinheit 2 befindet sich ein geeigneter Abstand, und die Mess- und Übertragungseinheit 2 verfügt über geeignete Sensoren, die diesen Abstand an mehreren Stellen über den Umfang der Scheibe verteilt messen können. Die Mess- und Übertragungseinheit 2 überträgt auch diese Messwerte an die Steuerung 8. Biegt sich die Werkzeugaufnahme 3 nur geringfügig durch, so führt dies dazu, dass sich ein oder mehrere der gemessenen Abstände ändern. Wird während der Annäherung des Schleif körpers (5) an das Werkstück (6) (d.h. bevor, ein Widerstandswert gemessen werden kann) eine Biegung detektiert, welche eine vordefinierte Schwelle überschreitet, so wird eine Fehlermeldung erzeugt und der Schleifkörper 5 durch die Einheit 7 vom Werkstück 6 entfernt. Es ist klar, dass die beschriebene optionale Einrichtung zur Messung einer eventuell auftretenden Biegung der Werkzeugaufnahme 3 bei allen denkbaren Ausführungsformen eines Schleif körpers 5 zur Verwendung in einem erfindungsgemäßen Schleifroboter eingesetzt werden kann und nicht auf die Ausführungsform der Figur 4 beschränkt ist. The embodiment according to the invention from FIG. 4 also comprises an optional device for measuring any bending of the tool holder 3 that may occur. Such a device may be advantageous if a disturbance in the electrical contact between the workpiece and the conductor strands 10, 11 should occur during operation. In this case, the controller 8 permanently receives the feedback from the measuring and transmission unit 2 that there is no closed circuit and therefore no resistance measurement can take place. Since a present resistance signal, the controller 8 also informs about the present contact of the abrasive body with the workpiece, the controller 8 would assume that there is no contact and would therefore try to approximate the grinding wheel 5 to the workpiece 6. As a result, the pressure on the grinding wheel 5 would be increased, which already rests on the workpiece. This would lead to excessive bending of the tool holder 3. If such a condition were not caught, it could lead to far too much material from the workpiece 6 is removed and the workpiece 6 would be out of tolerance. By monitoring the bending of the tool holder 3, this can be prevented. The device for measuring the bending of the tool holder 3 from FIG. 4 additionally comprises a disk which is located on the tool holder 3 and is denoted by 4. Between disc 4 and the measuring and Transmission unit 2 is a suitable distance, and the measuring and transmission unit 2 has suitable sensors that can measure this distance distributed at several points over the circumference of the disc. The measuring and transmission unit 2 also transmits these measured values to the controller 8. If the tool holder 3 bends only slightly, this leads to one or more of the measured distances changing. If during the approach of the abrasive body (5) to the workpiece (6) (ie, before a resistance value can be measured) detected a bend which exceeds a predefined threshold, an error message is generated and the grinding wheel 5 by the unit 7 from Workpiece 6 removed. It is clear that the optional device described for measuring a possibly occurring bending of the tool holder 3 in all conceivable embodiments of an abrasive body 5 can be used for use in a grinding robot according to the invention and is not limited to the embodiment of Figure 4.
Die Messung des Abstandes zwischen der Scheibe 4 und der Mess- und Übertragungseinheit 2 kann beispielsweise mittels optischer, mechanischer, kapazitiver oder induktiver Sensoren erfolgen. The measurement of the distance between the disk 4 and the measuring and transmission unit 2 can be done for example by means of optical, mechanical, capacitive or inductive sensors.
Aus dem bisher Gesagten wird klar, dass die Anordnung der Leiterstrangpaare 10, 11 und deren Auswertung in der Mess- und Übertragungseinheit 2 jeweils an die Geometrie des rotationssymmetrischen Kopfes 1 und die zu erwartende Abnützung desselben angepasst werden muss. Als Geometrien für den rotationssymmetrischen Kopf 1 kommen dabei alle gängigen Geometrien in Frage (z.B. Kegel, halbabgerundete Zylinder usw.). From the above, it is clear that the arrangement of the conductor strand pairs 10, 11 and their evaluation in the measuring and transmission unit 2 must be adapted to the geometry of the rotationally symmetric head 1 and the expected wear of the same. The geometries for the rotationally symmetric head 1 are all common geometries (for example, cones, half-rounded cylinders, etc.).
Als Material für die Leiterstränge 10, 11 kommt Graphit oder Carbonfaser in Frage. Es sind jedoch auch andere Materialien mit einem geeigneten spezifischen Widerstand verwendbar. Figur 5 zeigt ein Verfahren zum Betrieb eines erfindungsgemäßen Schleifroboters. Das Verfahren umfasst zwei Verfahrensschritte, welche mit VI und V2 bezeichnet sind. Im Schritt VI wird der Schleifkörper 5 solange an das Werkstück 6 angenähert bis der Schleifkörper 5 in Kontakt mit dem Werkstück ist. Die Mess- und Übertragungseinheit 2 liefert dabei solange ein Signal an die Steuerung 8, welches besagt, dass kein Stromkreis über ein Leiterstrangpaar geschlossen ist, solange noch kein Kontakt zwischen Schleifkörper 5 und Werkstück 6 vorliegt. Sobald ein Kontakt vorliegt, wird wenigstens ein Stromkreis über ein Leiterstrangpaar geschlossen wodurch eine Widerstandsmessung ermöglicht wird. Die Mess- und Übertragungseinheit 2 übermittelt die gemessenen Widerstandswerte an die Steuerung 8 worauf diese den Annäherungsschritt VI beendet. Im Prinzip kann die Mess- und Übertragungseinheit 2 auch kein Signal übermitteln solange noch kein Kontakt vorliegt. In jedem Fall wird der Annäherungsschritt VI durch die Steuerung 8 beendet sobald die Mess- und Übertragungseinheit 2 einen gemessenen Widerstandswert an die Steuerung 8 übermittelt hat. Im nachfolgenden Schritt V2 wird das Werkstück 6 mittels des Schleif körpers 5 solange bearbeitet, bis die gewünschte Oberflächenkontur erreicht ist, wobei die Mess- und Übertragungseinheit 2 permanent die gemessenen Widerstandswerte an die Steuerung 8 übermittelt, welche diese Werte bei der Entscheidung berücksichtigt, ob die gewünschte Oberflächenkontur erreicht ist oder nicht. Dies wird dadurch ermöglicht, dass wie oben beschrieben die gemessenen Widerstandswerte die Information über den aktuellen Abnützungsgrad des Schleifkopfes 1 enthalten. Die permanente Übermittlung der gemessenen Widerstandswerte kann auch periodisch erfolgen, d.h. die Mess- und Übertragungseinheit 2 übermittelt einen Widerstandswert immer dann, wenn ein vordefiniertes konstantes Zeitintervall verstrichen ist. Die Periodendauer wird gemäß dem zu erwartenden Verschleiß pro Zeiteinheit und der erforderlichen Oberflächengenauigkeit vorab festgelegt. Je enger die Oberflächentoleranz ist, desto kürzer muss die Periodendauer gewählt werden. As material for the conductor strands 10, 11 is graphite or carbon fiber in question. However, other materials with suitable resistivity are also usable. FIG. 5 shows a method for operating a grinding robot according to the invention. The method comprises two process steps, designated VI and V2. In step VI, the abrasive body 5 is brought closer to the workpiece 6 until the abrasive body 5 is in contact with the workpiece. The measuring and transmission unit 2 supplies while a signal to the controller 8, which states that no circuit is closed via a conductor strand pair, as long as there is no contact between the grinding wheel 5 and 6 workpiece. As soon as there is contact, at least one circuit is closed via a pair of conductor strands, thereby enabling a resistance measurement. The measuring and transmission unit 2 transmits the measured resistance values to the controller 8, whereupon it terminates the approaching step VI. In principle, the measuring and transmission unit 2 can also transmit no signal as long as there is no contact. In any case, the approaching step VI is terminated by the controller 8 as soon as the measuring and transmission unit 2 has transmitted a measured resistance value to the controller 8. In the following step V2, the workpiece 6 by means of the abrasive body 5 is processed until the desired surface contour is reached, the measuring and transmission unit 2 permanently transmits the measured resistance values to the controller 8, which takes into account these values in the decision whether the desired surface contour is reached or not. This is made possible by the fact that, as described above, the measured resistance values contain the information about the current degree of wear of the grinding head 1. The permanent transmission of the measured resistance values can also take place periodically, ie the measuring and transmission unit 2 transmits a resistance value whenever a predefined constant time interval has elapsed. The period is determined in advance according to the expected wear per unit time and the required surface accuracy. The tighter the surface tolerance, the shorter the period must be selected.

Claims

Patentansprüche claims
1. Schleifroboter zum Schleifen eines elektrisch leitfähigen Werkstückes (6) umfassend einen Schleifkörper (5), eine Einheit (7) zur Betätigung des Schleif körpers (5) und eine Steuerung (8), welche mit der Einheit (7) zur Betätigung des Schleifkörpers (5) verbunden ist und dieselbe steuert, wobei der Schleifkörper (5) eine wellenförmige Werkzeugaufnahme (3) umfasst, welche eine Drehachse definiert, um die der Schleifkörper beim Schleifen rotieren kann, und einen bezüglich der Drehachse rotationssymmetrischen Kopf (1), welcher abrasives Material enthält und eine Schleiffläche aufweist, welche während dem Schleifen im Kontakt mit dem Werkstück (6) ist, dadurch gekennzeichnet, dass der Schleifkörper eine Mess- und Übertragungseinheit (2) und wenigstens ein Leiterstrangpaar mit zwei voneinander elektrisch isolierten Leitersträngen (10, 11) umfasst, wobei die Leiterstränge (10, 11) in den rotationssymmetrischen Kopf (1) eingebettet sind und sich von der Schleiffläche des Kopfes (1) ins Innere des Kopfes (1) erstrecken und dort elektrisch mit der Mess- und Übertragungseinheit (2) verbunden sind, wobei die Leiterstränge (10, 11) so angeordnet sind, dass während dem Schleifen durch den Kontakt mit dem Werkstück (6) ein geschlossener Stromkreis zur Messung eines Widerstandswertes entstehen kann, wobei der Stromkreis von der Mess- und Übertragungseinheit (2) über den Leiterstrang (10), das Werkstück (6) und den Leiterstrang (11) zurück zur Mess- und Übertragungseinheit (2) verläuft, und wobei die Leiterstränge (10, 11) so ausgelegt und angeordnet sind, dass der gemessene Widerstand vom Widerstand der Leiterstränge (10, 11) dominiert wird, so dass der gemessene Widerstand ein umgekehrt proportionales Maß für den Abnützungsgrad des Schleifkörpers (5) darstellt, und wobei die Mess- und Übertragungseinheit (2) zur Messung dieses Widerstandes und Übertragung des Messwertes an Steuerung (8) ausgelegt ist, und wobei die Steuerung (8) so ausgebildet ist, dass diese die übertragenen Widerstandswerte bei der Entscheidung berücksichtigen kann, ob eine vordefinierte Oberflächenkontur des Werkstückes (6) erreicht ist, oder nicht. A grinding robot for grinding an electrically conductive workpiece (6) comprising an abrasive body (5), a unit (7) for actuating the abrasive body (5) and a controller (8) connected to the unit (7) for actuating the abrasive body (5) and controls the same, wherein the grinding body (5) comprises a wave-shaped tool holder (3) which defines an axis of rotation about which the grinding body can rotate during grinding, and a rotationally symmetrical with respect to the axis of rotation head (1), which abrasive Material and having an abrasive surface which is in contact with the workpiece (6) during grinding, characterized in that the abrasive article comprises a measuring and transmission unit (2) and at least one conductor strand pair with two conductor strands (10, 11) electrically insulated from one another. comprising, wherein the conductor strands (10, 11) are embedded in the rotationally symmetrical head (1) and from the grinding surface de s head (1) extend into the interior of the head (1) and there are electrically connected to the measuring and transmission unit (2), wherein the conductor strands (10, 11) are arranged so that during grinding by the contact with the workpiece (6) a closed circuit for measuring a resistance value can arise, wherein the circuit from the measuring and transmission unit (2) via the conductor strand (10), the workpiece (6) and the conductor strand (11) back to the measuring and transmission unit ( 2), and wherein the conductor strands (10, 11) are designed and arranged such that the measured resistance is dominated by the resistance of the conductor strands (10, 11) so that the measured resistance is an inversely proportional measure of the wear rate of the abrasive body (FIG. 5), and wherein the measuring and transmission unit (2) designed to measure this resistance and transmit the measured value to the controller (8) and wherein the controller (8) is arranged such that it can take into account the transmitted resistance values in the decision as to whether or not a predefined surface contour of the workpiece (6) has been reached.
2. Schleifroboter nach Anspruch 1, wobei die Leiterstränge (10, 11) zur gegenseitigen Isolation voneinander beabstandet ausgeführt sind. 2. grinding robot according to claim 1, wherein the conductor strands (10, 11) are designed for mutual isolation from each other spaced.
3. Schleifroboter nach Anspruch 1, wobei sich zwischen den Leitersträngen (10, 11) ein geeignetes elektrisches Isolationsmaterial befindet. 3. Grinding robot according to claim 1, wherein there is a suitable electrical insulation material between the conductor strands (10, 11).
4. Schleifroboter nach einem der Ansprüche 2 oder 3, wobei die Leiterstränge (10, 11) parallel zueinander verlaufen. 4. grinding robot according to one of claims 2 or 3, wherein the conductor strands (10, 11) parallel to each other.
5. Schleifroboter nach Anspruch 3, wobei die Leiterstränge (10, 11) koaxial zueinander verlaufen, und wobei ein Leiterstrang (10) röhrenförmig ausgebildet ist und den Leiterstrang (11) umfasst. 5. grinding robot according to claim 3, wherein the conductor strands (10, 11) extend coaxially to each other, and wherein a conductor strand (10) is tubular and comprises the conductor strand (11).
6. Schleifroboter nach einem der vorhergehenden Ansprüche, wobei die Leiterstränge (10, 11) aus Graphit bestehen. 6. grinding robot according to one of the preceding claims, wherein the conductor strands (10, 11) consist of graphite.
7. Schleifroboter nach einem der Ansprüche 1 bis 5, wobei die Leiterstränge (10, 11) aus Carbon-Faser bestehen. 7. grinding robot according to one of claims 1 to 5, wherein the conductor strands (10, 11) consist of carbon fiber.
8. Schleifroboter nach einem der vorhergehenden Ansprüche, wobei die Mess- und Übertragungseinheit (2) eine Batterie umfasst. 8. Grinding robot according to one of the preceding claims, wherein the measuring and transmission unit (2) comprises a battery.
9. Schleifroboter nach einem der Ansprüche 1 bis 7, wobei die Mess- und Übertragungseinheit (2) einen Superkondensator umfasst. 9. grinding robot according to one of claims 1 to 7, wherein the measuring and transmission unit (2) comprises a supercapacitor.
10. Schleifroboter nach einem der vorhergehenden Ansprüche, wobei die Mess- und Übertragungseinheit (2) dazu ausgebildet ist, die Messwerte mit Hilfe von Bluetooth an die Steuerung (8) zu übertragen. 10. Grinding robot according to one of the preceding claims, wherein the measuring and transmission unit (2) is adapted to transmit the measured values by means of Bluetooth to the controller (8).
11. Schleifroboter nach einem der vorhergehenden Ansprüche, wobei der Schleifkörper (5) über Mittel (4) zur Messung der Biegung der Werkzeugaufnahme (3) verfügt, und die Mess- und Übertragungseinheit (2) dazu ausgebildet ist, die Messwerte der Biegung an die Steuerung (8) zu übertragen. 11. Grinding robot according to one of the preceding claims, wherein the grinding body (5) via means (4) for measuring the bending of the tool holder (3), and the measuring and transmission unit (2) is adapted to the measured values of the bend to the Control (8) to transmit.
12. Schleifroboter nach Anspruch 11, wobei der Schleifkörper (5) eine Scheibe (4) umfasst, welche sich auf der Werkzeugaufnahme (3) befindet, und die Mess- und Übertragungseinheit (2) mehrere Sensoren umfasst, welche dazu eingerichtet sind, den Abstand zwischen der Scheibe (4) und der Mess- und Übertragungseinheit (2) an mehreren um den Umfang der12. Grinding robot according to claim 11, wherein the grinding body (5) comprises a disc (4) which is located on the tool holder (3), and the measuring and transmission unit (2) comprises a plurality of sensors which are adapted to the distance between the disc (4) and the measuring and transmission unit (2) at several around the circumference of
Scheibe (4) verteilten Stellen zu messen. Slice (4) to measure distributed locations.
13. Verfahren zum Betrieb eines Schleifroboters gemäß einem der vorangehenden Ansprüche, wobei das Verfahren folgende Schritte umfasst: VI: Annäherung des Schleif körpers (5) an das Werkstück (6) bis der Schleifkörper (5) in Kontakt mit dem Werkstück (6) kommt;13. A method for operating a grinding robot according to one of the preceding claims, wherein the method comprises the following steps: VI: approach of the grinding body (5) to the workpiece (6) until the grinding body (5) comes into contact with the workpiece (6) ;
V2: Bearbeitung des Werkstückes (6) mittels des Schleifkörpers (5) bis eine vordefinierte Oberflächenkontur des Werkstückes (6) erreicht ist; dadurch gekennzeichnet, dass die Steuerung (8) den Schritt VI beendet und zu Schritt V2 übergeht, sobald sie einen Widerstandsmesswert von der Mess- und Übertragungseinheit (2) übermittelt bekommen hat, und wobei die Mess- und Übertragungseinheit (2) in Schritt V2 permanent die gemessenen Widerstandswerte an die Steuerung (8) übermittelt, welche die Widerstandswerte bei der Entscheidung berücksichtigt, ob die vordefinierte Oberflächenkontur erreicht worden ist, oder nicht. V2: processing of the workpiece (6) by means of the grinding body (5) until a predefined surface contour of the workpiece (6) is reached; characterized in that the controller (8) terminates step VI and proceeds to step V2 as soon as it has received a resistance reading from the measurement and transmission unit (2), and wherein the measurement and transmission unit (2) in step V2 permanent transmits the measured resistance values to the controller (8), which takes into account the resistance values in deciding whether the predefined surface contour has been reached or not.
14. Verfahren nach Anspruch 13 zum Betrieb eines Schleifroboters gemäß14. The method of claim 13 for operating a grinding robot according to
Anspruch 11 oder 12, wobei die Steuerung (8) eine Fehlermeldung erzeugt und den Schleifkörper (5) vom Werkstück (6) entfernt, wenn in Schritt VI die Mess- und Übertragungseinheit (2) eine Biegung übermittelt, welche einen vordefinierten Wert für die Biegung überschreitet. Claim 11 or 12, wherein the controller (8) generates an error message and removes the abrasive body (5) from the workpiece (6) when in step VI the measuring and transmission unit (2) transmits a bend which exceeds a predefined value for the bend.
EP17822173.5A 2017-01-23 2017-12-04 Grinding robot for grinding electrically conductive workpieces, and method for operating same Active EP3571010B1 (en)

Applications Claiming Priority (2)

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DE102017101175 2017-01-23
PCT/EP2017/081302 WO2018133984A1 (en) 2017-01-23 2017-12-04 Grinding robot for grinding electrically conductive workpieces, and method for operating same

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CN114473806B (en) * 2022-01-19 2023-11-17 庚显表面处理(江门)有限公司 Polishing equipment with compensation function

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US11772233B2 (en) 2023-10-03
CN110177648A (en) 2019-08-27
WO2018133984A1 (en) 2018-07-26
US20190344400A1 (en) 2019-11-14
CN110177648B (en) 2021-05-28
EP3571010B1 (en) 2020-07-01
BR112019010965A2 (en) 2019-10-01

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