JP6741491B2 - 研磨装置 - Google Patents
研磨装置 Download PDFInfo
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- JP6741491B2 JP6741491B2 JP2016128725A JP2016128725A JP6741491B2 JP 6741491 B2 JP6741491 B2 JP 6741491B2 JP 2016128725 A JP2016128725 A JP 2016128725A JP 2016128725 A JP2016128725 A JP 2016128725A JP 6741491 B2 JP6741491 B2 JP 6741491B2
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- JP
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- work
- polishing
- arm
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- Prior art date
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Links
- 238000005498 polishing Methods 0.000 title claims description 120
- 210000000707 wrist Anatomy 0.000 description 31
- 230000002093 peripheral effect Effects 0.000 description 8
- 238000001179 sorption measurement Methods 0.000 description 5
- 238000009958 sewing Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 1
- 239000006061 abrasive grain Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
Images
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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/002—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor for travelling workpieces
-
- 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
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
- B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
-
- 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
-
- 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
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- B24B49/12—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 optical 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/006—Deburring or trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
-
- 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Description
本実施形態1に係る研磨装置10は、ワーク40(図3)を研磨してバリ取りや面取りなどを行うことが可能な装置である。図1に示すロボット11により本発明に係る研磨装置10を構成した場合について説明する。ただし、研磨装置10はロボット11により構成される場合に限定されない。なお、このロボット11について、水平多関節型の双腕ロボットを説明するが、水平多関節型・垂直多関節型などの他のロボットを採用することができる。
11 :ロボット
13 :アーム
20 :把持部
22 :挟持部材
30 :研磨部材
30a :第1研磨部材(研磨部材)
30b :第2研磨部材(研磨部材)
30c :第3研磨部材(研磨部材)
31 :吸着部
32 :カメラ
40 :ワーク
Claims (5)
- ワークを研磨する研磨部材を先端に有し、かつ、前記研磨部材を直線往復運動する第1アームと、
前記ワークを把持する把持部を先端に有し、かつ、回転往復運動によって前記ワークを揺動する第2アームと、を備え、
前記第2アームは、前記研磨部材が直線往復運動する方向と直交する軸を中心に回転往復運動によって前記ワークを揺動し、
前記研磨部材は、前記第1アームにより直線往復運動する方向に延び、回転往復運動により揺動している前記ワークに当接しながら直線往復運動する、研磨装置。 - 前記第1アームは複数の前記研磨部材を有し、
複数の前記研磨部材は、前記第1アームの軸を中心に周方向に間隔を空けて配置されて回動する、請求項1に記載の研磨装置。 - 前記第1アームは吸着部をさらに有し、
前記吸着部は吸着した前記ワークを前記把持部に供給する、請求項1または2に記載の研磨装置。 - 前記第1アームはカメラをさらに有し、
前記カメラにより撮影された画像に基づき前記吸着部により吸着された前記ワークと前記把持部との位置合わせを行う、請求項3に記載の研磨装置。 - 前記第1アームおよび前記第2アームを備えたロボットにより構成されている、請求項1〜4のいずれか一項に記載の研磨装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016128725A JP6741491B2 (ja) | 2016-06-29 | 2016-06-29 | 研磨装置 |
PCT/JP2017/023483 WO2018003765A1 (ja) | 2016-06-29 | 2017-06-27 | 研磨装置 |
CN201780039867.XA CN109414794B (zh) | 2016-06-29 | 2017-06-27 | 研磨装置 |
US16/314,289 US20190202022A1 (en) | 2016-06-29 | 2017-06-27 | Grinding device |
KR1020197001487A KR102177705B1 (ko) | 2016-06-29 | 2017-06-27 | 연마 장치 |
EP17820119.0A EP3479953A4 (en) | 2016-06-29 | 2017-06-27 | POLISHING DEVICE |
TW106121577A TWI640397B (zh) | 2016-06-29 | 2017-06-28 | 硏磨裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016128725A JP6741491B2 (ja) | 2016-06-29 | 2016-06-29 | 研磨装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018001311A JP2018001311A (ja) | 2018-01-11 |
JP6741491B2 true JP6741491B2 (ja) | 2020-08-19 |
Family
ID=60785978
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016128725A Active JP6741491B2 (ja) | 2016-06-29 | 2016-06-29 | 研磨装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20190202022A1 (ja) |
EP (1) | EP3479953A4 (ja) |
JP (1) | JP6741491B2 (ja) |
KR (1) | KR102177705B1 (ja) |
CN (1) | CN109414794B (ja) |
TW (1) | TWI640397B (ja) |
WO (1) | WO2018003765A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108436610B (zh) * | 2018-03-27 | 2024-04-02 | 成都与俱科技有限公司 | 机加工设备 |
CN110125747B (zh) * | 2019-04-18 | 2020-12-29 | 合肥工业大学 | 一种用于大型表面喷涂的搬运打磨一体机 |
CN110340786A (zh) * | 2019-09-06 | 2019-10-18 | 广西金鼎家具集团有限公司 | 一种用于办公家具加工的抛光装置 |
CN113334347B (zh) * | 2021-06-30 | 2022-04-01 | 安徽机电职业技术学院 | 一种基于自动化搬运的工业机器人 |
CN115338725B (zh) * | 2022-09-16 | 2023-12-08 | 江苏库纳实业有限公司 | 一种铝型材表面处理设备 |
CN116748961B (zh) * | 2023-06-07 | 2024-05-10 | 中国长江电力股份有限公司 | 一种用于镜板的超声波研磨装置及方法 |
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-
2016
- 2016-06-29 JP JP2016128725A patent/JP6741491B2/ja active Active
-
2017
- 2017-06-27 US US16/314,289 patent/US20190202022A1/en not_active Abandoned
- 2017-06-27 CN CN201780039867.XA patent/CN109414794B/zh active Active
- 2017-06-27 WO PCT/JP2017/023483 patent/WO2018003765A1/ja unknown
- 2017-06-27 KR KR1020197001487A patent/KR102177705B1/ko active IP Right Grant
- 2017-06-27 EP EP17820119.0A patent/EP3479953A4/en not_active Withdrawn
- 2017-06-28 TW TW106121577A patent/TWI640397B/zh active
Also Published As
Publication number | Publication date |
---|---|
EP3479953A1 (en) | 2019-05-08 |
CN109414794B (zh) | 2021-04-06 |
CN109414794A (zh) | 2019-03-01 |
EP3479953A4 (en) | 2020-01-08 |
TWI640397B (zh) | 2018-11-11 |
KR20190018517A (ko) | 2019-02-22 |
JP2018001311A (ja) | 2018-01-11 |
TW201811496A (zh) | 2018-04-01 |
WO2018003765A1 (ja) | 2018-01-04 |
KR102177705B1 (ko) | 2020-11-11 |
US20190202022A1 (en) | 2019-07-04 |
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