JP2006123059A5 - - Google Patents

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Publication number
JP2006123059A5
JP2006123059A5 JP2004313335A JP2004313335A JP2006123059A5 JP 2006123059 A5 JP2006123059 A5 JP 2006123059A5 JP 2004313335 A JP2004313335 A JP 2004313335A JP 2004313335 A JP2004313335 A JP 2004313335A JP 2006123059 A5 JP2006123059 A5 JP 2006123059A5
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JP
Japan
Prior art keywords
polishing
curved surface
workpiece
polishing member
elastic member
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Withdrawn
Application number
JP2004313335A
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Japanese (ja)
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JP2006123059A (en
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Priority to JP2004313335A priority Critical patent/JP2006123059A/en
Priority claimed from JP2004313335A external-priority patent/JP2006123059A/en
Publication of JP2006123059A publication Critical patent/JP2006123059A/en
Publication of JP2006123059A5 publication Critical patent/JP2006123059A5/ja
Withdrawn legal-status Critical Current

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Claims (3)

面接触可能なように弾性部材を介して湾曲面が形成され、被加工物の湾曲部に前記湾曲面が押し付けられる研磨部材と、前記研磨部材を支持し、かつ、研磨運動をさせる支持駆動手段と、前記被加工物への前記研磨部材の押付力を制御する押付力制御手段とを備えた研磨装置を、任意の３次元位置の制御が可能な汎用多関節アームロボットの手首部分に取り付けて、
前記研磨部材の湾曲面が、前記被加工物上の研磨面を折り返しながら連続して移動されると共に、前記研磨部材の湾曲面の研磨幅の１／３の幅のピッチで折り返すように制御されることを特徴とする研磨ロボット。 A polishing member in which a curved surface is formed through an elastic member so as to allow surface contact, and the curved surface is pressed against a curved portion of a workpiece, and a support driving unit that supports the polishing member and causes a polishing motion And a polishing apparatus having a pressing force control means for controlling the pressing force of the polishing member against the workpiece is attached to the wrist portion of a general-purpose articulated arm robot capable of controlling an arbitrary three-dimensional position. ,
The curved surface of the polishing member is continuously moved while folding the polishing surface on the workpiece, and is controlled to be folded back at a pitch of 1/3 of the polishing width of the curved surface of the polishing member. A polishing robot characterized by that. 面接触可能なように弾性部材を介して湾曲面が形成され、被加工物の湾曲部に前記湾曲面が押し付けられるベルト状の研磨部材と、前記弾性部材を支持すると共に、前記ベルト状の研磨部材を、前記弾性部材を介して回転可能に支持する第１ホイールと、前記ベルト状の研磨部材を回転駆動する第２ホイールと、前記被加工物への前記研磨部材の押付力を制御する押付力制御手段と、前記ベルト状の研磨部材の湾曲面の首振りを行う首振機構とを備えた研磨装置を、任意の３次元位置の制御が可能な汎用多関節アームロボットの手首部分に取り付けて、
前記研磨部材の湾曲面が、前記被加工物上の研磨面を折り返しながら連続して移動されると共に、前記研磨部材の湾曲面の研磨幅の１／３の幅のピッチで折り返すように制御されることを特徴とする研磨ロボット。 A curved surface is formed through an elastic member so that the surface can be contacted, and the belt-shaped polishing member that presses the curved surface against the curved portion of the workpiece, and supports the elastic member, and the belt-shaped polishing member A first wheel that rotatably supports the member via the elastic member; a second wheel that rotationally drives the belt-like polishing member; and a pressing that controls a pressing force of the polishing member against the workpiece. A polishing apparatus comprising force control means and a swing mechanism for swinging the curved surface of the belt-shaped polishing member is attached to the wrist portion of a general-purpose articulated arm robot capable of controlling any three-dimensional position. And
The curved surface of the polishing member is continuously moved while folding the polishing surface on the workpiece, and is controlled to be folded back at a pitch of 1/3 of the polishing width of the curved surface of the polishing member. A polishing robot characterized by that. 面接触可能なように弾性部材を介して湾曲面が形成され、被加工物の湾曲部に前記湾曲面が押し付けられるシート状の研磨部材と、前記弾性部材を支持すると共に、前記シート状の研磨部材を、前記弾性部材を介して支持する支持部材と、前記支持部材を振動させる振動手段と、前記被加工物への前記研磨部材の押付力を制御する押付力制御手段とを備えた研磨装置を、任意の３次元位置の制御が可能な汎用多関節アームロボットの手首部分に取り付けて、A curved surface is formed through an elastic member so that surface contact is possible, the sheet-shaped polishing member is pressed against the curved portion of the workpiece, and the sheet-shaped polishing is supported while supporting the elastic member A polishing apparatus comprising: a support member that supports a member via the elastic member; a vibration unit that vibrates the support member; and a pressing force control unit that controls a pressing force of the polishing member against the workpiece. Is attached to the wrist part of a general-purpose articulated arm robot capable of controlling any three-dimensional position,
前記研磨部材の湾曲面が、前記被加工物上の研磨面を折り返しながら連続して移動されると共に、前記研磨部材の湾曲面の研磨幅の１／３の幅のピッチで折り返すように制御されることを特徴とする研磨ロボット。The curved surface of the polishing member is continuously moved while folding the polishing surface on the workpiece, and is controlled to be folded back at a pitch of 1/3 of the polishing width of the curved surface of the polishing member. A polishing robot characterized by that.
JP2004313335A 2004-10-28 2004-10-28 Polishing device, polishing robot using the same, and polishing method Withdrawn JP2006123059A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2004313335A JP2006123059A (en) 2004-10-28 2004-10-28 Polishing device, polishing robot using the same, and polishing method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004313335A JP2006123059A (en) 2004-10-28 2004-10-28 Polishing device, polishing robot using the same, and polishing method

Publications (2)

Publication Number Publication Date
JP2006123059A JP2006123059A (en) 2006-05-18
JP2006123059A5 true JP2006123059A5 (en) 2007-11-29

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ID=36718274

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004313335A Withdrawn JP2006123059A (en) 2004-10-28 2004-10-28 Polishing device, polishing robot using the same, and polishing method

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JP (1) JP2006123059A (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008077398A1 (en) 2006-12-22 2008-07-03 Vestas Wind Systems A/S Automatic grinding machine for grinding elongated objects, like rotor blades for windturbines
JP2012135829A (en) * 2010-12-27 2012-07-19 Onodani Kiko Kk Outer peripheral face grinding apparatus for vehicle tire
JP5758680B2 (en) * 2011-04-13 2015-08-05 株式会社ミツトヨ Deburring device
CN102267077B (en) * 2011-08-11 2013-06-19 西北工业大学 Method for carrying out numerical control polishing on air inlet/exhaust edges of formed arc blades
FR2983105B1 (en) * 2011-11-24 2014-11-21 Peugeot Citroen Automobiles Sa DEVICE FOR GRINDING A WELD CORD, ESPECIALLY FOR A MOTOR VEHICLE
JP6012104B2 (en) 2012-12-18 2016-10-25 三菱日立パワーシステムズ株式会社 Burnishing apparatus and burnishing method using the same
US9757837B2 (en) * 2014-07-22 2017-09-12 United Technologies Corporation Machining tool including a pivoting machining arm
CN105196138B (en) * 2015-10-27 2017-09-01 邵东和谐五金机电有限公司 Adjustable anti-deviation two-sided belt sander
CN107775456A (en) * 2017-11-14 2018-03-09 佛山市新鹏机器人技术有限公司 A kind of production line for processing polishing door handle
CN109664296B (en) * 2018-12-13 2021-12-17 华南理工大学 Optimized track searching method for robot abrasive belt grinding
CN110625492B (en) * 2019-09-24 2020-11-20 温州忻赟工业产品设计有限公司 Quincunx drum curved surface polishing machine

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