EP3999277B1 - Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben - Google Patents

Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben Download PDF

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Publication number
EP3999277B1
EP3999277B1 EP20735136.2A EP20735136A EP3999277B1 EP 3999277 B1 EP3999277 B1 EP 3999277B1 EP 20735136 A EP20735136 A EP 20735136A EP 3999277 B1 EP3999277 B1 EP 3999277B1
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EP
European Patent Office
Prior art keywords
grinding wheel
support plate
clamping element
actuator
grinding
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.)
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Application number
EP20735136.2A
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German (de)
English (en)
French (fr)
Other versions
EP3999277C0 (de
EP3999277A1 (de
Inventor
Ronald Naderer
Jakob SCHINNERL
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.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology GmbH
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Publication of EP3999277A1 publication Critical patent/EP3999277A1/de
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Publication of EP3999277B1 publication Critical patent/EP3999277B1/de
Publication of EP3999277C0 publication Critical patent/EP3999277C0/de
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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
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D9/00—Wheels or drums supporting in exchangeable arrangement a layer of flexible abrasive material, e.g. sandpaper
    • B24D9/08—Circular back-plates for carrying flexible material
    • B24D9/085—Devices for mounting sheets on a backing plate
    • 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
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • B24B45/003—Accessories 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
    • B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/04—Portable grinding machines, e.g. hand-guided; Accessories therefor with oscillating grinding tools; Accessories 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • 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
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B24B55/10—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided
    • B24B55/102—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided with rotating tools

Definitions

  • the present invention relates to a changing station which enables a robot-assisted grinding device to automatically change grinding materials (e.g. grinding wheels).
  • grinding materials e.g. grinding wheels
  • Eccentric sanders are grinding machines in which an oscillatory movement (vibration) is superimposed on a rotary movement around an axis of rotation. They are often used for the final processing of surfaces with high demands on surface quality, for example when repairing surface defects on painted surfaces. In order for these requirements to be met, irregularities during the grinding process should be avoided as much as possible. In practice, this usually happens because these tasks are carried out by experienced skilled workers, especially when producing small quantities.
  • a grinding tool eg an orbital grinding machine
  • the grinding tool can be coupled to the so-called TCP ( Tool Center Point ) of the manipulator in different ways, so that the manipulator can adjust the position and orientation of the tool practically as desired.
  • Industrial robots are typically position controlled, allowing precise movement of the TCP along a desired trajectory.
  • process force grinding force
  • the large and heavy arm segments of an industrial robot have too much inertia for a closed-loop controller to react quickly enough to fluctuations in the process force.
  • a small linear actuator can be arranged between the TCP of the manipulator and the grinding tool compared to the industrial robot, which couples the TCP of the manipulator with the grinding tool.
  • the linear actuator only regulates the process force (i.e. the contact force between the tool and the workpiece) while the manipulator moves the grinding tool including the linear actuator along a predetermined trajectory in a position-controlled manner.
  • a grinding wheel for example, consists of paper (or another fiber composite material) coated with abrasive grains and can be attached to the carrier wheel using an adhesive layer or a Velcro fastener ( hook and loop fastener , Velcro fastener ). Even with robot-assisted grinding devices, worn grinding wheels are often changed manually. Although there are some concepts for robot-assisted changing stations for changing grinding wheels, known solutions are comparatively complex, difficult to implement and therefore expensive. An example of a known device is in the publication DE 20 2014 006506 U1 described. Furthermore, the publications US 20160039067A1 and AT 512 464 A1 referred.
  • An object on which the present invention is based can therefore be seen in providing a changing station which enables a robot-assisted grinding device to automatically change grinding wheels in a comparatively simple manner.
  • the device has the following: a support plate with a surface for depositing a grinding wheel; a movable clamp member raised in a first position with respect to the platen; an actuator which is coupled to the clamping element and which is designed to move the clamping element into a second position in which the clamping element is pressed against the support plate so that the grinding wheel is clamped between the support plate and the clamping element; and a trigger member arranged relative to the platen such that the trigger element is mechanically actuated when the grinding wheel is placed on and pressed against the surface of the platen.
  • the trigger element and the actuator are coupled (directly or indirectly, electrically, or mechanically) so that when the trigger element is actuated, the actuator moves the clamping element from the first position to the second position.
  • the method comprises the following: placing a grinding wheel mounted on a grinding machine on a support plate of a honing device by means of a manipulator, wherein by placing the grinding wheel on the Support plate a trigger element of the puller is actuated.
  • the method further comprises clamping the grinding wheel between the support plate and a movable clamping element which is pressed towards the support plate in response to actuation of the trigger element, and lifting the grinding machine by means of the manipulator, whereby the clamped grinding wheel is removed from a support wheel of the grinding machine becomes.
  • a robot-assisted grinding device which includes a manipulator 1, for example an industrial robot, and a grinding machine 10 with a rotating grinding tool (for example an orbital grinding machine), which is coupled to the so-called tool center point (TCP) of the manipulator 1 via a linear actuator 20.
  • the manipulator can be constructed from four segments 2a, 2b, 2c and 2d, which are respectively connected via joints 3a, 3b and 3c.
  • the first segment is usually rigidly connected to a foundation 41 (which does not necessarily have to be the case).
  • the joint 3c connects the segments 2d and 2d.
  • the joint 3c can be 2-axis and allow the segment 2c to rotate about a horizontal axis of rotation (elevation angle) and a vertical axis of rotation (azimuth angle).
  • the joint 3b connects the segments 2b and 2c and enables a pivoting movement of the segment 2b relative to the position of the segment 2c.
  • the joint 3a connects the segments 2a and 2b.
  • the joint 3a can be 2-axis and therefore (similar to the joint 3c) enable a pivoting movement in two directions.
  • the TCP has a fixed relative position to segment 2a, This usually also includes a swivel joint (not shown) that enables a rotational movement about a longitudinal axis of the segment 2a (in Fig.
  • Each axis of a joint is assigned an actuator that can cause a rotational movement about the respective joint axis.
  • the actuators in the joints are controlled by a robot controller 4 according to a robot program.
  • the manipulator 1 is usually position-controlled, i.e. the robot controller can determine the pose (location and orientation) of the TCP and move it along a predefined trajectory. If the actuator 20 rests against an end stop, the pose of the grinding tool is also defined along with the pose of the TCP. As already mentioned at the beginning, the actuator 20 serves to set the contact force (process force) between the tool (grinder 10) and the workpiece 40 to a desired value during the grinding process. Direct force control by the manipulator 1 is generally too imprecise for grinding applications, since the high inertia of the segments 2a-c of the manipulator 1 means that quick compensation of force peaks (e.g. when placing the grinding tool on the workpiece 40) is practically impossible with conventional manipulators is possible. For this reason, the robot controller is designed to regulate the pose of the TCP of the manipulator, while the force regulation is carried out exclusively by the actuator 20.
  • the contact force F K between the tool (grinding machine 10) and the workpiece 40 can be adjusted using the (linear) actuator 20 and a force control (which can be implemented, for example, in the controller 4) so that the Contact force between grinding tool and workpiece 40 corresponds to a predeterminable target value.
  • the contact force is a reaction to the actuator force with which the linear actuator 20 presses on the workpiece surface. If there is no contact between the workpiece 40 and the tool, the actuator 20 moves against an end stop due to the lack of contact force on the workpiece 40.
  • the position control of the manipulator 1 (which can also be implemented in the controller 4) can work completely independently of the force control of the actuator 20.
  • the actuator 20 is not responsible for positioning the grinding machine 10, but only for setting and maintaining the desired contact force during the grinding process and for detecting contact between tool and workpiece.
  • the actuator can be a pneumatic actuator, for example a double-acting pneumatic cylinder.
  • pneumatic actuators applicable such as bellows cylinders and air muscles. Electric direct drives (gearless) can also be considered as an alternative.
  • the force control can be implemented in a manner known per se using a control valve, a regulator (implemented in the controller 4) and a compressed air reservoir.
  • a control valve implemented in the controller 4
  • a regulator implemented in the controller 4
  • a compressed air reservoir a compressed air reservoir.
  • the specific implementation is not important for the further explanation and is therefore not described in more detail.
  • a passive, flexible element such as a spring can also be used.
  • the actuator 20 can also be omitted if the force control is provided in sufficient quality by the manipulator itself.
  • the grinding machine 10 has a grinding wheel 11 which is mounted on a backing plate 12.
  • the surface of the carrier disk 12 or the back surface of the grinding disk 11 or both surfaces are designed such that the grinding disk 11 readily adheres to the carrier disk 12 upon contact.
  • a Velcro fastener hook and loop fastener or Velcro fastener
  • a common alternative to a Velcro fastener is an adhesive coating on the back of the grinding disk 11, which adheres to the corresponding surface of the carrier disk 12.
  • FIG. 2 illustrates an example of a grinding device 10 that can be mounted on a manipulator, wherein the grinding machine 10 is positioned relative to a grinding wheel honing device 30 such that the grinding wheel 11 rests on the surface of a support plate 35 of the grinding wheel honing device 30 and is pressed against this support plate 35 (for example with an adjustable Power).
  • a grinding wheel honing device 30 An exemplary embodiment of the grinding wheel honing device 30 is described below with reference to Fig. 3 to 6 explained in more detail.
  • Fig. 3 is a perspective view of the grinding wheel puller 30 Fig. 2 and Fig. 4 is a corresponding sectional view showing the components located inside the housing 31 of the puller 30.
  • the housing 31 of the puller 30 does not necessarily have to be a closed housing. Rather, a housing is understood to mean any mechanical structure on which other components of the puller 30 are movable, directly or indirectly or can be mounted immovably.
  • the housing can have a frame to which one or more covers are attached (in the case of an at least partially closed housing).
  • the housing 31 comprises several parts that are connected by screws. It goes without saying that other connection techniques such as rivets, snap-in connections , etc. can also be used.
  • the shape of the housing can also be designed differently than in the exemplary embodiments described here.
  • the housing has a base plate 310 with holes 311.
  • the base plate 310 (and thus the entire device 30) can be mounted on the floor or another surface using screws (not shown) which are inserted through the holes 311.
  • the support plate 35 against which the robot presses the grinding wheel 11 mounted on the grinding machine 10 during a stripping process, has an opening through which the end of a trigger element 33 is guided.
  • the end of the trigger element 33 protrudes from the opening in the support plate 35, so that the protruding end of the trigger element 33 is pressed into the opening (see Fig. 4 Contact pressure F A ) when the grinding wheel 11 is pressed against the support plate 35 during a honing process and rests flat against it.
  • the opening can also be designed as a slot.
  • the end of the trigger element 33 does not necessarily have to run through an opening in the support plate 35.
  • the trigger element 33 can also be arranged next to the support plate. The only relevant thing is that the trigger element 33 is arranged in such a way that it is actuated when the robot presses the grinding wheel 11 against the surface of the support plate 35.
  • Actuating the trigger element 33 (when pressing the grinding wheel against the support plate 35) triggers a mechanism which causes the grinding wheel 11 to be clamped at its edge between the support plate 35 and a clamping plate 34.
  • the robot moves the grinding machine 11 away from the honing device 30 again, the grinding wheel 11 is held by the clamping plate 34 while the carrier plate 12 of the grinding machine 10 is lifted off the surface of the support plate 35.
  • the carrier plate 12 of the grinding machine 10 is lifted off the surface of the support plate 35.
  • the carrier plate 12 By lifting the carrier plate 12, the (clamped) grinding wheel 11 is detached from the carrier plate.
  • the clamping plate 34 (generally referred to as a clamping element) mounted on a first end of a rocking lever 342, which is rotatably mounted on a part of the housing 31 by means of a joint 341. That is, the rocker arm 342, which can also be referred to as a rocker , can be pivoted about a pivot point (which is defined by the joint 341).
  • the clamping plate 34 (clamping element) can be attached to the rocker arm 341, for example by means of one or more screws 342. In other exemplary embodiments, clamping plate 34 and rocker arm 341 can also be made in one piece. In the in Fig.
  • the rocker arm 342 is positioned (first position) so that the clamping plate 34 is lifted off the support plate 35.
  • the rocker arm 342 is positioned (second position) so that the clamping plate 34 is pressed against the surface of the support plate 35 and a grinding wheel (if it is correctly positioned on the support plate 35) is clamped between the clamping plate 35 and the surface of the support plate 35 .
  • the movement of the rocker arm 342 from the first position (clamp loosened) to the second position (clamp tightened) is triggered by actuating the trigger element 33.
  • the rocker arm 342 has a stop 343 which rests on a corresponding support surface of the trigger element 33.
  • the triggering element 33 is - similar to the rocker arm 342 - pivotally mounted on a part of the housing 31 (swivel joint 331) and is pressed into a normal position by means of a spring 332, in which one end of the triggering element 33 is as in Fig. 4 shown protrudes beyond the surface of the support plate 35.
  • the trigger element 33 acts as a pawl ( pawl ) , which prevents the rocker arm 342 from moving into the second position (clamp tightened). Because the stop 343 of the rocker arm 342 rests on the trigger element 33 (acting as a pawl), the movement of the rocker arm 342 is blocked. If the protruding release element 33 is pressed against the spring force of the spring 332 towards the surface of the support plate 35 (when positioning the grinding wheel on the support plate 35), then the release element 33 is pivoted so that the stop 343 of the rocker arm 342 is no longer on the release element 33 is applied and movement of the rocker arm into the second position is no longer blocked.
  • the mentioned preload force F B can be provided by various preload mechanisms.
  • This biasing mechanism includes a pneumatic cylinder 37, which is arranged between a second end of the rocker arm 341 and a part (eg mounting bracket 311) of the housing 31.
  • the cylinder 37 is connected to the mounting bracket 311 (which can be seen as part of the housing) via a joint 374, and the piston rod of the piston 371 arranged in the cylinder is connected to the second end of the rocker arm 341 via a joint 373. If the in Fig.
  • the grinding machine 11 is moved away from the pulling device again, whereby the (clamped) grinding wheel 11 is pulled off the carrier wheel 12 of the grinding machine.
  • the rocker arm 341 (and thus the clamping plate 34) must then be moved from the second position (clamp tightened, Fig. 5 ) to the first position (clamp released, Fig. 4 ) can be moved back.
  • This movement can be accomplished by various restoring mechanisms.
  • the reset mechanism is provided by the pneumatic cylinder 37.
  • the preload mechanism and the reset mechanism are one unit.
  • the cylinder 37 can be a double-acting cylinder. That is, if the in Fig.
  • cylinder space designated V 2 is supplied with compressed air, then the pneumatic cylinder 37 generates a restoring force F R , which acts in exactly the opposite direction as the preload force F B.
  • the restoring force F R causes the rocker arm 341 to pivot back into the first position, thereby releasing the clamping of the grinding wheel.
  • the spring 332 pushes the trigger element 33 back into the normal position, so that when the next pulling process the preload force F B acts again, the movement of the rocker arm 341 is blocked again (as in Fig. 4 shown).
  • Air can be blown onto the grinding wheel 11 at high speed through the compressed air nozzle 32, so that it is blown in the direction of the baffle plate 312 and finally falls downwards, for example into a container.
  • Compressed air nozzle 32 and baffle are each optional, but in practice can improve the robustness of device 30.
  • the reset mechanism e.g. switching the compressed air from the cylinder chamber Vi to the cylinder chamber V 2 ) as well as the blowing out of compressed air from the nozzle 32 can be controlled by the robot control (see Fig. 1 , control 4) are triggered, since the robot control “knows” when the grinding machine 10 was moved away from the pulling device 30.
  • the reset mechanism can also be triggered by tilting the trigger element 33 back into the normal position.
  • an electrical switch could be coupled to the trigger element 33, and actuation of the electrical switch can trigger the switching of the compressed air from the cylinder chamber Vi to the cylinder chamber V 2 as well as the blowing out of compressed air from the nozzle 32.
  • a corresponding valve control with the associated valves is not shown in the figures, since various options for implementing the valve control are within the scope of professional skill.
  • one or more pins 38 can be attached to the housing 31 (directly or indirectly), which are arranged in such a way that one is on the clamping plate 34 adhesive grinding wheel 11 is pressed away from the clamping plate 34 when it is moved back to the first position.
  • the pens are in Fig. 4 and 5 too shown. In the too Fig. 5 proper top view Fig.
  • the clamping plate 34 has small recesses 38' through which the pins 38 push when the clamping plate 34 is moved (away from the support surface 35) into the first position. If a grinding wheel sticks to the clamping plate 34 during this movement, then at the end of the movement it is pushed away by the pins 38 and released from the clamping plate 34 to such an extent that the compressed air can transport the grinding wheel away.
  • the pulling device 30 can have a sensor 36.
  • the sensor 36 is in Fig. 4-6 can be seen and can be designed, for example, as a retro-reflective light barrier.
  • the reflector 361 belonging to the light barrier 36 is also shown.
  • the sensor 36 eg a module with a light-emitting diode and a photodiode
  • the reflector 361 are positioned relative to one another in such a way that the light beam emitted by the sensor 36 is interrupted by a grinding wheel. Consequently, the sensor can detect whether the grinding wheel has been transported away by the compressed air or not.
  • one or more compressed air pulses can be delivered again via the nozzle 32. If the grinding wheel still sticks to the puller, a warning signal can be triggered.
  • the sensor 36 does not necessarily have to be designed as a light barrier. Since the grinding wheels usually have a certain color, an optical color sensor can also be used instead to detect the presence of a grinding wheel. Alternatively, one or more sensors can also be used to monitor whether the grinding wheel falls out of the device 30 below the baffle plate 312.
  • the pulling device has a support plate (see e.g Fig. 2 and 6 , support plate 35) with a surface for placing a grinding wheel 11 on.
  • the grinding wheel 11 can be placed on the surface of the support plate 35 with the help of a robot. How to, for example, in Fig. 6 can see, the grinding wheel 11 does not have to rest completely on the surface of the support plate 35. It is sufficient if part of the grinding wheel rests on the support plate 35.
  • the pulling device also has a movable clamping element (see e.g Fig. 4 and 5 , clamping element 34), which is raised in a first position with respect to the support plate. This means that in the first position the clamping element does not touch the support surface.
  • the pulling device has an actuator which is coupled to the clamping element and which is designed to move the clamping element into a second position in which the clamping element is pressed against the support plate in such a way that the grinding wheel is clamped between the support plate and the clamping element will (see Fig. 5 ).
  • a trigger element is coupled to the actuator (directly or indirectly, mechanically or electrically, depending on the actuator) in such a way that when the trigger element is actuated, the actuator moves the clamping element from the first position to the second position.
  • the trigger element projects beyond the surface of the platen so that the trigger element is mechanically actuated when the grinding wheel (mounted on the grinder) is positioned on and moved against the surface of the platen.
  • the actuator can be a preloaded spring.
  • a pneumatic actuator pneumatic cylinder-piston unit
  • the clamping element blocks the movement of the actuator as long as it has not been actuated (see Fig. 4 , cylinder preloaded with compressed air), which then abruptly moves the clamping element from the first position (clamp loosened) to the second position (clamp tightened) when the trigger element is actuated (see Fig. 5 ).
  • the trigger element is a purely mechanical machine element that essentially has the function of a pawl. In order to move the clamping element back into the first position, a reset mechanism can be provided.
  • a double-acting pneumatic cylinder can also generate a restoring force and accordingly move the clamping element back to the first position.
  • a spring can also generate the restoring force, so that the spring moves the clamping element back to the first position when the single-acting pneumatic cylinder is depressurized.
  • the restoring force can be generated, for example, by a lifting magnet, which can tension the spring again.
  • a unit consisting of two (single-acting) pneumatic cylinders is also possible, with one cylinder serving as a (preloaded) actuator and the other being responsible for the restoring movement to the first position.
  • the actuator does not have to generate a biasing force while the movement of the actuator is mechanically blocked by the trigger element.
  • the actuator is actively controlled to move the clamping element from the first position to the second position when the trigger element is actuated, which in this case can also be an electrical switch (e.g. a button), which in turn is positioned so that it projects beyond the support plate and is therefore operated "automatically" when the grinding wheel mounted on the grinder is placed on the surface of the support plate.
  • the actuator can be any actuator (electric motor, linear motor, pneumatic actuator, solenoid, etc.) that is designed to move the clamping element from the first position to the second position.
  • a simple switch such as a button
  • another sensor element can also be used, which is able to detect that a grinding wheel has been placed on the support plate.
  • the clamping element is mounted at one end of a rocker arm (see Fig. 5 ).
  • the clamping element and rocker arm can also be an integral component.
  • the clamping element and rocker arm are made of one piece.
  • the clamping element can be designed as a small plate, which was referred to above as a clamping plate.
  • the clamping element is not necessarily a plate, but can also be formed, for example, by several short pins which protrude from the rocker arm and can clamp the grinding wheel against the support plate.
  • the method includes placing a grinding wheel mounted on a grinding machine on a support plate of a honing device using a manipulator (cf. Fig. 7 , step S1). This situation is also in Fig. 4 shown. Placing the grinding wheel on the support plate also activates a trigger element of the puller (cf. Fig. 4 , designed as a pawl trigger element 33). The method further includes clamping the grinding wheel between the support plate and a movable clamping element ( Fig.
  • step S2 which is pressed in the direction of the support plate in response to the actuation of the trigger element. This situation is also in Fig. 5 shown.
  • the grinding machine is then raised using the manipulator, whereby the clamped grinding wheel is removed from a carrier wheel of the grinding machine (cf. Fig. 7 , step S3).
  • the clamping element can then be lifted again to release the clamped grinding wheel.
  • the grinding wheel can be secured using one or more pins (see Fig. 5 , pins 38) can be removed.
  • the pins 38 block the movement of the grinding wheel adhering to the clamping element, whereby the grinding wheel is detached from the clamping element.
  • the pin or pins can be mounted on the housing of the puller in such a way that when the clamping element is lifted, the pins fall into one or more recesses (see Fig. 6 , recesses 38 ⁇ ) on the edge of the clamping element.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
EP20735136.2A 2019-07-15 2020-06-24 Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben Active EP3999277B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019119152.1A DE102019119152B4 (de) 2019-07-15 2019-07-15 Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben
PCT/EP2020/067693 WO2021008837A1 (de) 2019-07-15 2020-06-24 Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben

Publications (3)

Publication Number Publication Date
EP3999277A1 EP3999277A1 (de) 2022-05-25
EP3999277B1 true EP3999277B1 (de) 2024-02-21
EP3999277C0 EP3999277C0 (de) 2024-02-21

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EP20735136.2A Active EP3999277B1 (de) 2019-07-15 2020-06-24 Vorrichtung und verfahren zum automatischen abziehen von schleifscheiben

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US (1) US12202100B2 (https=)
EP (1) EP3999277B1 (https=)
JP (1) JP7791077B2 (https=)
KR (1) KR102788941B1 (https=)
CN (1) CN114126804B (https=)
DE (1) DE102019119152B4 (https=)
WO (1) WO2021008837A1 (https=)

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WO2021105876A1 (en) * 2019-11-27 2021-06-03 3M Innovative Properties Company Robotic paint repair
US20250058432A1 (en) * 2020-07-31 2025-02-20 GrayMatter Robotics Inc. System for autonomously changing a sanding pad of a sanding head
CN117697548B (zh) * 2024-02-06 2024-04-26 泉州恒一五金机械有限公司 一种圆机针筒的打磨装置

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US12202100B2 (en) 2025-01-21
CN114126804A (zh) 2022-03-01
EP3999277C0 (de) 2024-02-21
EP3999277A1 (de) 2022-05-25
JP7791077B2 (ja) 2025-12-23
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