EP4255674A1 - Machine-outil pour usinage assisté par robot de pièces à usiner, comprenant deux outils rotatifs - Google Patents

Machine-outil pour usinage assisté par robot de pièces à usiner, comprenant deux outils rotatifs

Info

Publication number
EP4255674A1
EP4255674A1 EP21824514.0A EP21824514A EP4255674A1 EP 4255674 A1 EP4255674 A1 EP 4255674A1 EP 21824514 A EP21824514 A EP 21824514A EP 4255674 A1 EP4255674 A1 EP 4255674A1
Authority
EP
European Patent Office
Prior art keywords
shaft
machine tool
drive
tool
drive shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21824514.0A
Other languages
German (de)
English (en)
Inventor
Ronald Naderer
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
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 Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of EP4255674A1 publication Critical patent/EP4255674A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/022—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with same working direction of toolheads on same workholder
    • B23Q39/024—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with same working direction of toolheads on same workholder consecutive working of toolheads
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces

Definitions

  • the present invention relates to a machine tool for robot-assisted machining of surfaces.
  • a machine tool e.g., a grinder, a drill, a milling machine, a polisher, and the like
  • a manipulator such as an industrial robot.
  • the machine tool can be coupled in different ways to the so-called TCP (Tool Center Point) of the manipulator; the manipulator can usually adjust the position and orientation of the TCP practically at will in order to move a machine tool on a trajectory, e.g. parallel to a surface of a workpiece.
  • Industrial robots are usually position-controlled, which allows precise movement of the TCP along the desired trajectory.
  • the process force (eg grinding force) needs to be controlled in many applications, which is often difficult to achieve with sufficient accuracy using conventional industrial robots.
  • the large and heavy arm segments of an industrial robot have too much inertia for a controller (closed-loop controller) to react quickly enough to fluctuations in the process force.
  • a linear actuator which is smaller (and lighter) than the industrial robot and which couples the TCP of the manipulator to the machine tool, can be arranged between the TCP of the manipulator and the machine tool.
  • the linear actuator only regulates the process force (i.e.
  • the linear actuator can compensate for inaccuracies in the position and shape of the workpiece to be machined as well as inaccuracies in the trajectory of the manipulator (within certain limits). Nevertheless there is Robots that are able to adjust the process force by means of force/torque control even without the linear actuator mentioned.
  • the comparatively heavy drive eg an electric motor or a compressed air motor
  • the actual tool eg grinding wheel
  • the rotating tool can be connected to the drive via a telescopic shaft, as is described, for example, in publication US 2019/0232502 A1, the content of which is hereby incorporated into this description in its entirety by reference.
  • a tool change can be carried out semi or fully automatically with the help of a robot.
  • Tool changing stations are known for this purpose, which, for example, enable a worn tool to be automatically replaced or also enable a grinding wheel to be exchanged for a polishing wheel, for example.
  • frequent changing of the tool can still increase the processing time.
  • the inventor has set himself the task of developing an improved machine tool that makes it possible to manage with fewer tool changes and, in particular, to be able to carry out several process steps (e.g. grinding and subsequent polishing) without changing the tool.
  • the machine tool comprises a mount, a first shaft which is mounted on the mount and which has a mount for a first tool, and a second shaft which is mounted on the mount and which has a mount for a second tool.
  • the machine tool further includes a drive shaft mechanically coupled to the first shaft (directly or indirectly) via a first one-way clutch and mechanically coupled to the second shaft via a second one-way clutch.
  • the first one-way clutch and the second one-way clutch may be arranged such that the first shaft is driven when the input shaft rotates in a first direction and the second shaft is driven when the input shaft rotates in a second direction.
  • the machine tool has a drive and a first shaft with a mounting point for a first tool and a second shaft with a mounting point for a second tool.
  • the drive is coupled directly or indirectly via a first overrunning clutch to the first shaft and via a second overrunning clutch to the second shaft in such a way that the drive drives the first or the second shaft depending on the direction of rotation.
  • Figure 1 is a perspective view of an embodiment of a machine tool for robot-assisted machining of surfaces, wherein the machine tool can accommodate two rotating tools on two opposite sides.
  • FIG. 2 shows a simplified sectional view (longitudinal section) of a machine tool according to a further exemplary embodiment.
  • Figure 3 shows a modification and extension of the example of FIG. 2, wherein the tools are driven by eccentric shafts.
  • Figure 4 shows a modification of the example from Figure 2.
  • Figure 5 illustrates another embodiment in which a motor directly drives the shafts on which the tools are mounted.
  • Robots and manipulators for moving machine tools along a trajectory for example in order to machine the surface of a workpiece in an automated manner, are known per se. Since the process force plays an important role in the robot-assisted processing of a workpiece, various force control concepts have been developed.
  • the process force is the force between the rotating tool and the workpiece during the machining process, for example the force between a grinding wheel and the workpiece surface during a grinding process.
  • the rotating tool is mounted on a front side of the machine tool, whereas the drive (e.g. electric motor) for the rotating tool is mounted on the back side of the machine tool.
  • the rear of the machine tool is also connected to the robot/manipulator.
  • the linear actuator mentioned is located between the front and the rear.
  • a telescopic shaft is arranged between the motor on the back of the machine tool and the tool on the front of the machine tool to transmit the rotary movement, which can compensate for changes in the deflection of the actuator.
  • the motor is located at the front of the machine tool. In this case, no telescopic shaft is required.
  • the concepts described here can also be used in machine tools without an integrated linear actuator. Without an integrated linear actuator, there is no need for a telescopic shaft. In these cases, the force carried out directly by the robot/manipulator itself (robot with force/torque control), or the linear actuator is not integrated into the machine tool, but is arranged between the robot and the machine tool.
  • the exemplary embodiments described here essentially relate to the coupling of the shaft driven by the motor (telescopic shaft or a normal shaft or the motor shaft) with two different rotatable tools.
  • Fig. 1 illustrates an example of a machine tool with an integrated linear actuator and telescopic shaft, only the front of the machine tool is shown and the linear actuator is drawn only schematically.
  • the front of the machine tool essentially comprises a holder 32, which can be, for example, a mounting plate, a mounting frame, a housing part or the like.
  • the bracket 32 can consist of several parts which are rigidly connected to one another (and together form a mounting frame, for example).
  • the plate 32' and the cylindrical pins 32'' are parts of the holder 32.
  • the back of the machine tool can also have a mounting plate (not shown), which can be connected, for example, to the TCP (Tool Center Point). of a robot/manipulator.
  • TCP Tool Center Point
  • the linear actuator 20 shown only schematically, couples the rear of the machine tool, on which the motor 10 is also mounted, to the bracket 32 on the front of the machine tool.
  • the linear actuator 20 can, for example, contain a double-acting pneumatic cylinder and a linear guide.
  • the telescopic shaft 33 shown in Fig. 1 is mounted at one end of the shaft on the bracket 32 (mounting plate), for example by means of a ball bearing.
  • the other shaft end of the telescopic shaft is directly or indirectly coupled to the motor shaft of the motor 10.
  • the telescopic shaft 33 drives, via the belts 41 and 51, the shafts 34 and 34', which in the example shown are arranged substantially parallel to the telescopic shaft 33 (shafts are parallel if their axes of rotation are parallel).
  • the shafts 34 and 34' are journaled to the bracket 32 (e.g., to the plate 32' and the mounting plate of the bracket 32).
  • the telescopic shaft 33 as well as the shafts 34 and 34' are drive shafts which can drive the tools 12 and 13.
  • the shafts 34 and 34' are coupled to a first tool 12 and a second tool 13 to drive them.
  • the two tools 12 and 13 can be, for example, two different grinding wheels, a grinding wheel and a polishing wheel milling cutter and a grinding wheel, or another pair of tools. Since both shafts 34 and 34' are driven by the shaft 33 by means of belts, the shafts 34 and 34' always move synchronously, but can have different speeds with different transmission ratios of the belt drives. Therefore, in some exemplary embodiments, instead of the shafts 34 and 34', a single shaft can also be provided, which is driven by a single belt.
  • the coupling of the shaft 34 to the rotating tools 12 and 13 is shown schematically in FIG. 2 and is explained in more detail below.
  • Fig. 2 shows the bearing 331 (e.g. a ball bearing or a needle bearing) with which the telescopic shaft 33 (with the drive shaft connected to the motor 10) is rotatably mounted on the bracket 32. 2 also shows the bearings 342 and 341 with which the shaft 34 is mounted on the bracket 32 and the plate 32', respectively. As mentioned above, only a single belt 41 is needed to couple the shafts 33 and 34 in this case.
  • the shafts 46 and 56 Arranged coaxially with the shaft 34 are the shafts 46 and 56, the shaft 46 and a first end of the shaft 34 being coupled by means of a first one-way clutch 45 and the shaft 56 and a second end of the shaft 34 being coupled by means of a second one-way clutch 55 .
  • the tools 12 and 13, respectively can be mounted (see also Fig. 1).
  • the freewheeling clutches (freewheeling / overrunning clutches) 45 and 55 can be designed, for example, as sleeve freewheels / freewheel sleeves (drawn cup roller clutch).
  • Drawn cup clutches are one-way clutches, usually consisting of thin-walled, non-cut outer cups with clamping ramps, plastic cages, pressure springs and needle rollers. They transmit torque in only one direction and are radially space-saving.
  • the freewheels are available with and without bearings.
  • Drawn cup clutches usually have a relatively low overrunning frictional torque.
  • Sleeved clutches and other one-way clutches are known per se and are commercially available from various manufacturers (e.g. from Schaeffler). They are therefore not described further here.
  • the overrunning clutches 45 and 55 are mounted in such a way that when the shafts 33 and 34 rotate counterclockwise, the shaft 46 (first tool shaft) is driven via the overrunning clutch 45, while the overrunning clutch 55 is idling and no significant torque is applied to the shaft 56 (second tool shaft) transmits. When turning right of shafts 33 and 34 it is reversed; the shaft 56 is driven via the overrunning clutch 55 while the overrunning clutch 45 is idle and does not transmit any significant torque to the shaft 46. When idling, the overrunning clutches 45, 55 can only transmit a torque up to the level of the friction torque.
  • the workpiece may first be machined with a first grinding wheel (e.g., tool 12) mounted on shaft 46.
  • the motor 10 (see FIG. 1) and thus also the shafts 33 and 34 rotate counterclockwise.
  • the robot In order to change the tool and to process the workpiece, e.g. with a second grinding wheel (e.g. tool 13), which is mounted on the shaft 56, the robot only has to turn the machine tool around (180° rotation around an axis of rotation that lies in one plane, which is orthogonal to the axis of rotation of the shaft 33) and reverse the direction of rotation of the motor 10.
  • the motor 10 then rotates clockwise. In other embodiments, all directions of rotation may be reversed.
  • the shaft 34 can be divided into two. In this case, two belts are needed (as in the example of Fig. 1). In this case, the transmission ratios of the two belt drives can be different.
  • FIG. 3 shows a modification/extension of the example from FIG. 2. This modification/extension applies equally to the shafts 46 and 56. For the sake of simplicity, only the part of the machine tool with the shaft 56 is shown in FIG .
  • the shaft 56 is coupled at its outer end to an eccentric shaft 57, as is customary, for example, in an eccentric sander or in an orbital sanding machine. Grinding machines with eccentric shafts are known per se and are therefore not discussed further here.
  • a lug (taZ>), a lug (lug) or another element 61 protruding asymmetrically from the shaft 56 is connected to the shaft 56 .
  • the element 61 can be arranged on a ring 62 or a sleeve which extends around the shaft 56 .
  • the ring 62 can be clamped to the shaft 56 in any angular position in order to be able to adjust the angular position of the element 61.
  • a magnet 58 in particular a permanent magnet, can be arranged in the vicinity of the element 61 (the vane). If the element 61 made of ferromagnetic cal material (e.g.
  • the magnet 58 attracts the element 61 and thus the shaft 56 to a defined angular position, which can also be regarded as a reference position (see diagram (a) of Fig. 3, the lug 61 and the magnet 58 are directly opposite each other).
  • the arrangement of magnet 58 and element 61 can also be dimensioned in such a way that the no-load friction torque of the overrunning clutch 55 is not sufficient to turn the shaft out of this defined position. This ensures that when the motor 10 rotates to the left, the shaft 56 stands still and is not carried along by the idling friction torque of the overrunning clutch 55 .
  • Unintentional co-rotation of the shaft 56 when the motor 10 is rotating counterclockwise can, for example, result in material adhering to the tool 13 (eg dust particles, polishing agent, etc.) being thrown away from it.
  • the magnet 58 prevents this.
  • the arrangement of magnet 58 and element 61 can also be useful in machines without an eccentric shaft.
  • the machine tool can have a sensor 60 which is arranged in such a way that it can detect a specific angular position of the shaft 56.
  • the sensor 60 can, for example, be an optical sensor (e.g. a reflex light barrier) or another proximity sensor that essentially detects that the element 61 or the shaft 56 is in the reference position.
  • the eccentric shaft 57 is also in the reference position, which can be advantageous when the tool 13 is automatically exchanged.
  • the shaft 46 (not shown in Fig. 3) may comprise a ring with an unsymmetrical projecting element which is attracted by a magnet to pull the shaft to a reference position and to prevent the overrunning clutch from idling 45 the shaft 46 is entrained by the idling friction torque.
  • a sensor for detecting the reference position can also be provided.
  • a friction lining or one or more latching rollers are provided, which can ensure that the respective shaft 46, 56 is not carried along by the idling friction torque of the respective overrunning clutch.
  • Fig. 4 shows a modification of the example of Fig. 2.
  • the freewheel sleeves 45 and 55 are arranged on the other side of the belt drives than in the example from Fig. 1.
  • the freewheel clutches 45 and 55 are mounted on the shaft 33 (e.g. telescopic shaft or normal drive shaft or a motor shaft) so that when the shaft 33 rotates to the left, the freewheel sleeve 45 can transmit torque and consequently the shaft 46 (first tool shaft) is driven via the belt 41 is while the freewheel sleeve 55 is idling.
  • Figure 5 illustrates another embodiment which can be considered a modification of the Figure 2 example.
  • the drive shaft 33 and the belt drive have been replaced by a motor 10 which drives the tool shafts 46 and 56 directly (without gears).
  • the shaft 34 is the motor shaft, which protrudes from the motor housing on both sides thereof.
  • the ends of the motor shaft are coupled by overrunning clutches 45 and 55 to the tool shafts 46 and 56 on which the tools are mounted.
  • the overrunning clutches 45 and 55 work in the same way in this example as in the example from FIG. 2 and reference is made to the relevant description above.
  • a telescopic shaft is not necessary in this example.
  • the motor 10 is mounted/supported at the front of the machine tool. Nevertheless, a linear actuator 20 can be between the front of the machine tool (mount 32) and the back of the machine tool (not explicitly shown).
  • the rear of the machine tool can be mounted on a robot's TCP.
  • the machine tool also includes (at least) one drive shaft (see FIG. 2, telescopic shaft 33 and shaft 34, or FIG. 1, partial shafts 34 and 34'), which is mechanically coupled to the first shaft (directly or indirectly) via a first overrunning clutch and which is mechanically coupled to the second shaft via a second one-way clutch (see Fig. 2, sleeve type clutches 45 and 55).
  • the drive shaft may be coupled to the first and second (tool) shafts by means of first and second belt drives (see e.g. Figure 4, belts 41, 51).
  • the overrunning clutches can be arranged on the drive side (see FIG. 4) or the driven side (see FIG. 2) of the belt drives.
  • the first one-way clutch and the second one-way clutch are coupled to the drive shaft in opposite directions. That is, one of the one-way clutches is always idle.
  • the two one-way clutches can thus be arranged such that the first shaft is driven when the input shaft rotates in a first direction and the second shaft is driven when the input shaft rotates in a second direction.
  • the machine tool has a motor (see FIG. 1, motor 10) which is directly or indirectly coupled to the first drive shaft and can drive it.
  • the telescopic shaft 33 can be seen as a drive shaft. This can, for example, be mechanically connected coaxially to the motor shaft.
  • the motor 10 is also coupled to the shaft 34 (or sub-shafts 34 and 34') indirectly via the belts (or any other transmission), so that the shaft 34 can also be seen as part of the drive and therefore as a drive shaft.
  • the motor is directly mechanically connected to a drive shaft (see FIG. 1, drive shaft 33 is coaxial with the motor shaft), and this The drive shaft is in turn connected via a gear, in particular a belt drive, to at least one further drive shaft (cf. FIG. 2, shaft 34, or FIG. 1, partial shafts 34 and 34').
  • This further drive shaft can have two sub-shafts (see Fig. 1, sub-shafts 34, 34'), both of which are driven by the motor.
  • the motor drives both tools 12 and 13.
  • the drive train can be separated at different points.
  • the shaft 34 can be the motor shaft (eg, of an electric motor or an air motor, see FIG. 5).
  • a linear actuator is connected to the mount of the machine tool.
  • one of the drive shafts can be designed as a telescopic shaft (cf. FIG. 1).
  • the actuator is used in particular to adjust the process force.
  • the telescopic shaft is not necessary if the motor is stored/mounted on the front of the machine tool, on which the tool shafts are also stored/mounted (see e.g. Fig. 5).
  • the machine tool has a first element (e.g. a ferromagnetic vane) protruding asymmetrically from the second shaft (see FIG. 3, shaft 56) and a second element (e.g. a magnet) which is immovable in relation to the holder. which is suitable for holding the first element and thus also the second shaft in a reference position when not actively driven (i.e. when the associated one-way clutch is idling).
  • the first element connected to the shaft and co-rotating
  • the second element static with respect to the holder
  • the second element has a friction lining or a detent roller.
  • Another embodiment relates to a method for robot-assisted machining of a workpiece with a machine tool, in which a motor can drive either a first or a second tool by means of two overrunning clutches depending on the direction of rotation.
  • the method includes machining the workpiece with a first rotary tool mounted on a first shaft of the machine tool, reversing the machine tool and changing the direction of rotation of a drive shaft of the machine tool, and machining the workpiece with a second rotary tool mounted on a second shaft of the machine tool is mounted.

Landscapes

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

Abstract

Divers modes de réalisation concernent une machine-outil, en particulier pour l'usinage assisté par robot de pièces à usiner. La machine-outil comprend un entraînement et un premier arbre avec un point de montage pour un premier outil et un second arbre avec un point de montage pour un second outil. L'entraînement est couplé directement ou indirectement au premier arbre via un premier couplage à roue libre et directement ou indirectement au second arbre via un second couplage à roue libre de telle sorte que l'entraînement entraîne le premier ou le second arbre sur la base de la direction de rotation. L'invention concerne de plus un procédé correspondant pour l'usinage assisté par robot d'une pièce à usiner à l'aide d'une machine-outil.
EP21824514.0A 2020-12-02 2021-11-30 Machine-outil pour usinage assisté par robot de pièces à usiner, comprenant deux outils rotatifs Pending EP4255674A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020131967.3A DE102020131967A1 (de) 2020-12-02 2020-12-02 Werkzeugmaschine für robotergestütztes bearbeiten von werkstücken mit zwei rotierbaren werkzeugen
PCT/EP2021/083583 WO2022117568A1 (fr) 2020-12-02 2021-11-30 Machine-outil pour usinage assisté par robot de pièces à usiner, comprenant deux outils rotatifs

Publications (1)

Publication Number Publication Date
EP4255674A1 true EP4255674A1 (fr) 2023-10-11

Family

ID=78916732

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21824514.0A Pending EP4255674A1 (fr) 2020-12-02 2021-11-30 Machine-outil pour usinage assisté par robot de pièces à usiner, comprenant deux outils rotatifs

Country Status (7)

Country Link
US (1) US20230415301A1 (fr)
EP (1) EP4255674A1 (fr)
JP (1) JP2023551881A (fr)
KR (1) KR20230106695A (fr)
CN (1) CN116600938A (fr)
DE (1) DE102020131967A1 (fr)
WO (1) WO2022117568A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0455853B1 (fr) * 1990-05-09 1995-04-12 Siemens Aktiengesellschaft Dispositif pour la fabrication de prothèses médicales, en particulier prothèses dentaires
DE102016118173A1 (de) 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen

Also Published As

Publication number Publication date
WO2022117568A1 (fr) 2022-06-09
US20230415301A1 (en) 2023-12-28
CN116600938A (zh) 2023-08-15
KR20230106695A (ko) 2023-07-13
JP2023551881A (ja) 2023-12-13
DE102020131967A1 (de) 2022-06-02

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