JP2002103156A - Automatic polishing disk attaching and detaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attach and detach a polishing disk to and from a polishing machine with a simple device and in short time. SOLUTION: An automatic polishing disk attaching and detaching device uses a holding part 7 for holding a polishing disk 3 releasably at the tip of a robot arm 6 to attach and detach the polishing disk 3 to and from a turntable 2 stopped in an arbitrary eccentric rotational position of a polishing machine 1. A moving means 11 is disposed between the robot arm 6 and the holding part 7 to move the holding part 7 in X- and Y-directions relatively to the robot arm 6 in accordance with external force. A V-guide 24 is provided so as to abut a peripheral side 2a of the turntable 2 to apply external force to the moving means 11 and guide the holding part 7 to an attachment and detachment position. The moving means 11 comprises X- and Y-moving bodies 22 and 17 movable respectively in the X- and Y-directions relatively to the robot arm 6, an X-spring 23 for urging the X-moving body positively in the X-direction, and Y-springs 18a and 18b for urging the Y-moving body to a neutral position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic polishing machine attaching / detaching apparatus, and more particularly to an automatic polishing machine attaching / detaching apparatus for automatically attaching / detaching a polishing machine to / from a turntable stopped at an arbitrary eccentric rotation position of the polishing machine.

[0002]

2. Description of the Related Art As shown in FIG. 5, a polishing machine 1 has a turntable 2 on an upper surface thereof.
The disc-shaped polishing plate 3 is detachably mounted on the top, and the polishing plate 3
Is to be rotated. The turntable 2 is provided with a mounting hole 4 slightly larger than the diameter of the polishing disk 3 and shallower than the thickness of the polishing disk 3, and the polishing disk 3 is fitted and mounted in the mounting hole 4. Polishing machine 3 with turntable 2
Is rotated, and an object to be polished (not shown) is placed on the upper surface of the polishing plate 3.
Is pressed to perform polishing, but in order to polish uniformly, as shown in FIG. 6, the turntable 2 is configured to be eccentrically rotated by about 1/4 of its diameter.
Thus, the polishing plate 3 is also eccentrically rotated, and uniform polishing is achieved. The center of rotation of the turntable 2 is indicated by O.

[0003] The polishing machine 3 according to the finish roughness of the object to be polished.
Is appropriately replaced, and especially when finishing to a mirror surface,
Are replaced in several stages from coarse abrasive grains to fine abrasive grains. For this reason, it is necessary to attach and detach the polishing machine 3.

[0004] This is performed by a polishing machine automatic attachment / detachment device as shown in FIG. The apparatus comprises a robot 5, a robot arm 6 extending from the robot 5 and having a three-dimensionally movable tip, and a gripper 7 attached to the tip of the robot arm 6 for detachably gripping the polishing plate 3. Be composed. The mounting or mounting of the polishing plate 3 is performed by holding the polishing plate 3 from the outside in the radial direction with the holding portion 7 and moving it directly above the turntable 2, lowering it vertically, fitting it into the mounting hole 4, releasing the grip. Do. Conversely, the removal of the polishing plate 3 is performed by moving the grip portion 7 to the position of the polishing plate 3 on the turntable 2, holding the polishing plate 3, and ascending the polishing plate 3 directly above.

[0005]

However, since the turntable 2 and the polishing table 3 can be stopped at an arbitrary eccentric rotation position as shown in FIG. 6, the grip portion 7 is changed every time the polishing table 3 is attached or detached. It has to be accurately aligned with the attachment / detachment position, and attachment / detachment is complicated.

On the other hand, a turntable 2 using image processing is used.
There is also a method of recognizing the position of the gripper and performing the positioning of the gripping portion 7, but this has many disadvantages such as an increase in the tact time and an increase in the cost of the apparatus.

Accordingly, an object of the present invention is to provide a polishing machine automatic attaching / detaching device which can attach / detach the polishing machine in a short time with a simple device.

[0008]

According to the present invention, a grip portion for detachably gripping a polishing machine is provided at the tip of a robot arm,
A polishing machine automatic attaching and detaching device for attaching and detaching the polishing machine to a turntable that stops at any eccentric rotation position of the polishing machine,
Moving means is provided between the robot arm and the gripping part for moving the gripping part relative to the robot arm in the X and Y directions along the surface direction of the turntable in response to an external force. And a V-shaped guide for applying an external force to the moving means by contacting the moving means and guiding the gripping portion to the attaching / detaching position.

Here, the moving means comprises an X movable body movable in the X direction relative to the robot arm,
An X spring for urging the movable body in the X direction from the robot arm side toward the turntable side, a Y movable body movable relative to the robot arm in the Y direction, and a Y movable body in the Y direction. It is preferable that a Y spring is provided to bias the neutral position, and one of the X movable body and the Y movable body is attached to the robot arm side and the other is attached to the grip section side.

[0010]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 to FIG. 3 show an automatic attaching / detaching apparatus for a polishing machine according to this embodiment. The configurations of the polishing machine 1, the robot 5, the robot arm 6, and the gripper 7 are the same as those in the related art. Supplementally, the holding portion 7 includes a base portion 8 and a pair of holding members 9 supported by the base portion 8 and capable of opening and closing, and the contact pieces 10 are attached to the holding member 9 inward at four places in total. Then, the outer peripheral side surface 3a of the polishing machine 3 is gripped from four corners on the outer side in the radial direction.
The tip of the contact piece 9 is notched obliquely according to the shape of the outer peripheral side surface 3 a of the polishing plate 3. Further, in the polishing plate 3 mounted on the turntable 2, at least the contact piece 9 is formed to have a thickness smaller than the protruding length so that an upper end portion protruding above the turntable 2 can be gripped.

Here, as shown in the figure, directions orthogonal to each other along the surface direction of the turntable 2 (the direction of a surface perpendicular to the rotation center O of the turntable 2) are defined as an X direction and a Y direction. A direction perpendicular to these XY directions is defined as a Z direction. The + direction in each direction is as indicated by an arrow. The direction from the robot arm 6 side to the polishing machine 1 side is + X direction,
The upward direction is the + Z direction.

Between the robot arm 6 and the gripper 7,
Moving means 11 is provided for moving the gripper 7 relative to the robot arm 6 in the X and Y directions according to an external force. The moving means 11 includes an X stage 12 and a Y stage 13,
The Y stage 13 is located above the X stage 12.

The Y stage 13 is fixed to the end of the robot arm 6 and extends in the Y direction in a U-shape in plan view. A Y guide rod 16 having a polygonal cross section (square in this case) extending therethrough, and a Y movable body 17 through which the Y guide rod 16 is inserted and slidably movable.
And a pair of Y springs 18a, 18b arranged in a compressed state between the Y movable body 17 and the end walls 15, 15, and fitted and supported on the outer peripheral side of the Y guide rod 16. Here, the Y springs 18a and 18b are constituted by coil springs.

According to this configuration, the Y movable body 17 can be moved relative to the robot arm 6 in the Y direction, and the Y movable body 17 is biased (centered) to the neutral position in the Y direction by the Y springs 18a and 18b. You. Usually, the Y movable body 17 is stopped at the center of the Y stage 13.

The X stage 12 has a configuration in which the Y stage 13 is rotated by 90 ° around the Z axis except for some differences. That is, the X stage 12 is fixed to the lower side of the Y movable body 17 and extends in the X direction in a U-shape in plan view, and the end walls 20 a and 20 at both ends of the X frame 19.
b, and the X guide rod 21 having a polygonal cross section (square in this case) and extending in the X direction.
Is inserted in a compressed state between the X movable body 22 slidable along the X movable body 22 and the end wall 20 a on the −X side, and is fitted and supported on the outer peripheral side of the X guide rod 21. And an X spring 23. The X spring 23 is also formed of a coil spring here.

According to this configuration, the X movable body 22 can move relative to the robot arm 6 in the X direction, and the X movable body 22 is urged to the + X side by the X spring 23. Normally, the X movable body 22 abuts on the end wall 20b on the + X side, and stands still at the most + X side of the X stage 12.

The base 8 of the grip 7 is fixed to the lower surface of the X movable body 22, and the grip 9 extends from the base 8 to the + X side.

Further, the moving means 11 is provided with a V-shaped guide 24 which can contact the outer peripheral side surface 2a of the turntable 2. The V-shaped guide 24 has a portion near the apex of the V fixed to the lower surface of the base 8 of the grip 7. And + X
While extending at an angle of 90 ° toward the side, and extending to the + X side. The V-shaped guide 24 is constituted by a pair of rod-shaped members having a rectangular cross section.

The robot arm 6 and the gripper 7 are operated by hydraulic pressure, pneumatic pressure, electric power, or the like, similarly to a normal robot. In the grip portion 7, the grip member 9 extends in the X direction, and operates in the Y direction while being parallel to each other to open and close.

Next, the operation of the present embodiment will be described.

When mounting the polishing machine 3, first, FIG.
As shown in FIG. 5, the polishing plate 3 held by the holding portion 7 is located at a standby position as shown in the figure. At this time, the polishing machine 3 is positioned on the −X side of the turntable 2 in the X direction,
In the Y direction, it is located concentrically with the rotation center O of the turntable 2, and in the Z direction, it is located slightly higher than the turntable 2.

From this state, the grip 7 is advanced in the + X direction. Then, at least one inner side surface 24a of the V-shaped guide 24 first contacts the outer side surface 2a of the turntable 2 stopped at an arbitrary eccentric position. As the vehicle advances, the inner surface 24a of the V-shaped guide 24 slides on the outer peripheral surface 2a of the turntable 2, and at this time, the V-shaped guide 24 receives an external force or reaction force from the turntable 2. This external force or reaction force is applied to the base 8 of the grip 7, the X movable body 22, X
It is transmitted to the frame 19 and the Y movable body 17 in order, and in particular, moves the X movable body 22 and the Y movable body 17 in the X direction and the Y direction. As a result, the eccentric displacement of the turntable 2 is gradually absorbed. Finally, as shown in FIGS. 1 and 2, both inner side surfaces 24 a of the V-shaped guide 24 abut on the outer side surface 2 a of the turntable 2 so as to sandwich the same. Thus, the centers of the polishing table 3 and the turntable 2 coincide with each other, and the positioning of the polishing table 3 in the XY directions is completed. As described above, the V-shaped guide 24 comes into contact with the outer peripheral side surface 2a of the turntable 2 to apply an external force to the moving means 11 and to place the grip portion 7 in the attaching / detaching position (directly above the turntable 2).
To guide.

Thereafter, when the grip 7 is slightly lowered to release the grip, the polishing disc 3 is fitted into the mounting hole 4, and the mounting of the polishing disc 3 is completed.

The removal of the polishing plate 3 may be performed in the reverse order. Also in this case, when the gripper 7 is moved closer to the turntable 2, the amount of eccentric displacement of the turntable 2 is absorbed by the movement of the X movable body 22 and the Y movable body 17, so that accurate positioning can be performed in a short time. Is achieved in.

Assuming that the amount of eccentricity of the turntable 2 is e,
The movable range between the X movable body 22 and the Y movable body 17 needs to be at least 2e, and is actually 2e + α including the margin α.

As shown in FIG. 7, when the XY coordinates are determined with the rotation center O of the turntable 2 as the origin, when the turntable 2 is at the (+ e, 0) position, the X spring 2
3 is slightly compressed by α ₁ (<α), and the alignment is completed. Similarly, when the turntable 2 is at the position (0, + e), one Y spring 18a is e-compressed, and the other Y spring 18b is e-elongated, thereby completing the alignment. Conversely, when the turntable 2 is at the position (0, -e), one of the Y springs 18a is extended by e and the other Y spring 18b is compressed by e to complete the alignment. Further, when the turntable 2 is at the position of (−e, 0), the X spring 23 is compressed by 2e + α ₁ to complete the alignment. As can be seen, the movement of the robot arm 6 in the XY directions only requires moving the tip to a fixed position where the above is achieved. Then, by the cooperative action of the moving means 11 and the V-shaped guide 24, the gripper 7 can be automatically positioned with respect to the turntable 2 at any eccentric rotation position.

As described above, according to the present embodiment, since the automatic positioning according to the amount of eccentric displacement of the turntable 2 can be achieved, the gripping portion 7 and the polishing machine 3 can be moved only by moving the robot arm 6 to a predetermined position. Can be accurately positioned, and the polishing disc can be easily attached and detached in a short time. Moreover, since this is performed by a mechanical configuration, the apparatus is extremely simple and low in cost.

The embodiment of the present invention is not limited to the above. In the above embodiment, the X movable body is placed on the gripper side,
Although the Y movable body is attached to the robot arm side, these may be reversed. Also, various modifications of the moving means are possible, such as those using rotary motion in addition to the above-described orthogonal motion mechanism, those using elastic bodies such as rubber in addition to coil springs, and the like.

[0030]

In summary, according to the present invention, the effect that the polishing disk can be attached and detached in a short time with a simple device is exhibited.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of the present invention and showing a state after positioning of a gripper and a polishing board is completed.

FIG. 2 is a front view of the same.

FIG. 3 is a plan view showing the embodiment of the present invention and showing a state before the positioning of the gripper and the polishing board is completed.

4A and 4B show a conventional robot, wherein FIG. 4A is a plan view and FIG. 4B is a front view.

FIG. 5 is a perspective view showing a polishing machine.

FIG. 6 is a plan view showing how the turntable rotates eccentrically.

FIG. 7 is a schematic plan view showing various aspects of alignment according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Polishing machine 2 Turntable 2a Outer side surface 3 Polishing machine 6 Robot arm 7 Grasping part 11 Moving means 17 Y movable body 18a, 18b Y spring 22 X movable body 23 X spring 24 V guide

Claims (2)

[Claims] 1. A polishing machine automatic attachment / detachment device wherein a holding portion for detachably holding a polishing machine is provided at a tip of a robot arm, and the polishing machine is attached to and detached from a turntable stopped at an arbitrary eccentric rotation position of the polishing machine. Between the robot arm and the gripping portion, the gripping portion is moved along the surface direction of the turntable with respect to the robot arm in accordance with an external force.
Polishing means for providing a moving means for relatively moving in the direction, applying an external force to the moving means in contact with the outer peripheral side surface of the turntable, and providing a V-shaped guide for guiding the gripping portion to a detachable position. Automatic panel attachment / detachment device. 2. The moving means, wherein the X movable body is relatively movable in the X direction with respect to the robot arm, and biases the X movable body in the X direction from the robot arm toward the turntable. An X spring, a Y movable body that is relatively movable in the Y direction with respect to the robot arm, and a Y spring that biases the Y movable body to a neutral position in the Y direction.
2. The automatic polishing machine attaching / detaching apparatus according to claim 1, wherein one of the movable body and the Y movable body is attached to the robot arm side, and the other is attached to the grip portion side.