JP6852034B2 - Polishing equipment - Google Patents

Description

The present invention relates to a polishing apparatus that polishes an object to be polished by a polishing body.

The abrasive body for polishing the object to be polished is usually configured as a rotating body having a disk shape as exemplified in Patent Document 1. However, in this case, although it is possible to polish a flat surface, it is not easy to uniformly polish an uneven surface having undulations.

Therefore, it is recalled that an elastic body (cushion), for example, a sponge is provided on the polished body. In this case, the elastic body is crushed when polishing the convex portion of the object to be polished, while the crushed elastic body tends to return to the original shape when polishing the concave portion. As described above, since the elastic body exhibits the shape-following property of the polished body, it is considered that the uneven surface can be polished relatively easily.

Japanese Unexamined Patent Publication No. 2004-9189

In reality, the shape followability of the elastic body is not so good. Therefore, for example, when trying to polish the convex portion of the region to be polished having a complicated shape in which the convex portion and the concave portion are alternately connected, the elastic body may not be sufficiently crushed. When such a situation occurs, the amount of polishing on the convex portion becomes larger than the design value.

In order to avoid this, when the area to be polished has a complicated shape, polishing is often performed manually by an operator. However, in this case, it is complicated and burdensome for the operator.

The present invention has been made to solve the above-mentioned problems, and provides a polishing apparatus capable of automatically and satisfactorily polishing even when the area to be polished has a complicated shape. The purpose is.

To achieve the above object, there is provided a polishing apparatus for polishing a workpiece by relatively moving according to one embodiment, the Ken Migakukarada against workpiece of the present invention,
A pressing force applying mechanism that deforms the polished surface by applying a pressing force to the back surface of the polished surface of the polished body,
A support that supports the pressing force applying mechanism and
With
The pressing force imparting mechanism is advanceable toward said polishing surface, or retractable from the polishing body has a forward and reverse part of the tip facing the polishing body is swingably provided,
When the advancing / retreating portion moves forward or backward or swings according to the shape of the object to be polished, the polished body is deformed following the shape of the object to be polished.
Further, a polishing device including a control unit for adjusting the surface pressure of the polishing body with respect to the object to be polished is provided by controlling the propulsive force applied to the advancing / retreating portion.

In the present invention, when the support rotates eccentrically and the abrasive body is in sliding contact with the object to be polished (polishing), the advancing / retreating portion constituting the pressing force applying mechanism for applying the pressing force to the polished object advances. Or it retracts or the swinging part swings. By operating the advancing / retreating portion and the swinging portion in this way, the polished body expands and contracts appropriately, and while applying appropriate and substantially uniform surface pressure to the area to be polished, it slides into the area to be polished. Therefore, it is possible to perform automatic and good polishing.

It is preferable that the polishing apparatus is provided with an eccentric rotating means for eccentric rotation of the support. When the support is rotated eccentrically, the pressing force applying mechanism supported by the support also rotates eccentrically. Therefore, the polishing force transmitted to the object to be polished via the polishing body becomes wide, and the polishing area becomes wide.

Further, it is preferable that the polishing apparatus is provided with a tension applying means for applying tension to the polished body. By adjusting the tension applied to the polished body by the tension applying means, the surface pressure of the polished body to the area to be polished can be appropriately changed.

The pressing force applying mechanism corresponds to, for example, the shape of the area to be polished, and the advancing / retreating portion moves forward or backward, or the swinging portion swings. By operating the advancing / retreating portion and the swinging portion in this way, even when the area to be polished has a complicated shape, automatic and good polishing can be performed.

The polishing apparatus preferably includes a robot that holds the support. In this case, by storing the movement locus of the polishing mechanism in the robot (teaching), it is possible to continuously and automatically polish the area to be polished over a wider area than the polished body. Further, even when the object to be polished has a complicated shape, the polishing mechanism can be moved according to the shape, and polishing can be performed in a short time to finish.

The advancing / retreating portion can be composed of, for example, an air cylinder having a rod. In this case, the configuration of the advancing / retreating portion can be simplified, and the compactness and weight can be reduced.

Further, the abrasive body can be composed of an endless belt that can be circulated. In this case, it suffices to provide a driving force applying means for applying a driving force to orbit the endless belt. As a result, since the unspecified portion of the endless belt is in sliding contact with the area to be polished, it is possible to prevent the specific portion of the endless belt from being worn at an early stage.

Alternatively, a sheet body suspended from the support may be adopted as the polishing body. In this case, it is not particularly necessary to provide a driving force applying means for rotating the sheet body, and therefore, the polishing mechanism can be simplified.

The polishing start point is the movement start point of the polishing mechanism, and the polishing end point is the movement end point. Therefore, at the polishing start point and the polishing end point, the sliding contact force of the polished body at the time of sliding contact with the area to be polished becomes small. Therefore, it is preferable to set the propulsive force applied to the advancing / retreating portion at the polishing start point and the polishing end point with respect to the area to be polished to be larger than the propulsive force applied to the advancing / retreating portion in the other area to be polished by the control of the control unit. .. By doing so, the amount of polishing is sufficient even at the polishing start point and the polishing end point. As a result, uneven polishing can be avoided.

According to the present invention, a pressing force applying mechanism for applying a pressing force to a polishing body is provided with an advancing / retreating portion for advancing or retreating and a swinging portion provided at a tip facing the abrasive body of the advancing / retreating portion and swingable. It is designed to be configured as having. The polished body expands and contracts as appropriate as the advancing / retreating portion moves forward or backward and the swinging portion swings. Therefore, the polished body slides into the area to be polished while applying an appropriate and substantially uniform surface pressure to the area to be polished. This makes it possible to perform automatic and good polishing.

It is a schematic whole side view of the polishing apparatus which concerns on 1st Embodiment of this invention. It is a schematic side view of the polishing mechanism constituting the polishing apparatus. It is a schematic plan view of the polishing mechanism. It is a schematic front view of the polishing mechanism. It is a schematic front sectional view of the pressing force applying mechanism. It is a schematic explanatory drawing which showed the movement locus of the polishing mechanism on the work which is the object to be polished. It is a schematic plan view which shows an example of the posture of the pressing force applying mechanism when a recess is present in the area to be polished. It is a schematic plan view which shows an example of the posture of the pressing force applying mechanism when a convex part exists in the area to be polished. It is a schematic plan view of the polishing mechanism which constitutes the polishing apparatus which concerns on 2nd Embodiment of this invention. It is a schematic front sectional view of the pressing force applying mechanism. It is a schematic plan view of the polishing mechanism when the advancing / retreating part advances.

Hereinafter, suitable embodiments of the polishing apparatus according to the present invention will be given and will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic overall side view of the polishing apparatus 10 according to the first embodiment. The polishing device 10 includes an articulated robot 12, a polishing mechanism 16 provided on a tip arm 14 constituting the articulated robot 12, and a control unit 20 for controlling the articulated robot 12 and the polishing mechanism 16. Reference numeral 22 in FIG. 1 indicates a work to be polished. A specific example of the work 22 is an automobile body.

The articulated robot 12 has a rotatable pedestal 24 and a plurality of shaft portions 26, so that the polishing mechanism 16 can be moved to a predetermined position on the work 22 or displaced along the area to be polished of the work 22. It is possible to do.

As shown in FIGS. 2 and 4, the polishing mechanism 16 is connected to the tip arm 14 via the connecting plate 30. The gear holding plate 32, which is narrower and has a smaller area than the connecting plate 30, is close to the connecting plate 30. A gear train is provided on the gear holding plate 32. Specifically, the gear train includes a drive gear 38 provided on the eccentric drive shaft 36 of the eccentric rotation motor 34 (eccentric rotation means), a first driven gear 40 meshed with the drive gear 38, and the first driven gear 40. It has a second driven gear 42 meshed with one driven gear 40. The second driven gear 42 is provided with an eccentric driven shaft 44.

The eccentric drive shaft 36 and the eccentric driven shaft 44 are passed through shaft insertion holes (not shown) formed in the gear holding plate 32 and the connecting plate 30, respectively. At the tips of the eccentric drive shaft 36 and the eccentric driven shaft 44 on the side protruding from the connecting plate 30 and facing the polishing mechanism 16, the first eccentric rotating shaft 48 and the second eccentric rotating shaft 48 pass through the eccentric joint 46. The shafts 50 are connected to each other. As described above, the eccentric rotation mechanism 52 that rotates the polishing mechanism 16 eccentrically is configured. A bearing (not shown) is inserted between the shaft insertion hole and the eccentric drive shaft 36 or the eccentric driven shaft 44.

The first eccentric rotating shaft 48 and the second eccentric rotating shaft 50 are connected to a support 60 constituting the polishing mechanism 16. Specifically, as shown in FIGS. 2 and 4, the support 60 supports the motor holding wall portion 62 having the maximum height and the back surface of the motor holding wall portion 62, and also from the motor holding wall portion 62. A bridge is provided between the first side wall portion 64 having a portion that inclines downward as the distance from the motor holding wall portion 62, the second side wall portion 66 whose height is approximately half that of the motor holding wall portion 62, and the first side wall portion 64 and the second side wall portion 66. It is configured by combining with the mechanism holding wall portion 68. The first eccentric rotation shaft 48 and the second eccentric rotation shaft 50 are connected above the motor holding wall portion 62. In this case, the first eccentric rotation shaft 48 and the second eccentric rotation shaft 50 are arranged along the longitudinal direction of the motor holding wall portion 62.

In this way, the tip arm 14 of the articulated robot 12 holds the support 60 constituting the polishing mechanism 16 via the connecting plate 30 and the eccentric rotation mechanism 52. As can be understood from the above, one end of the first side wall portion 64 and the second side wall portion 66 is connected to the motor holding wall portion 62, and the other end is connected to the mechanism holding wall portion 68. The mechanism holding wall portion 68 is separated from the motor holding wall portion 62 at a predetermined interval by interposing the first side wall portion 64 and the second side wall portion 66.

As shown in FIG. 2, a rotating motor 72 (driving force applying means) for applying a driving force for rotating the endless belt 70 constituting the polishing mechanism 16 is provided on the motor holding wall portion 62 for the first eccentric rotation shaft. It is installed at a position that does not interfere with the 48 and the second eccentric rotating shaft 50. A long cylindrical drive pulley 76 is externally fitted to the orbital drive shaft 74 of the orbiting motor 72. The drive pulley 76 sends out the endless belt 70.

The support 60 is provided with three bearing portions (not shown). As shown in FIG. 3, a support shaft 80 provided on a long cylindrical driven pulley 78 is rotatably supported on the bearing portion. Each side peripheral wall of the driven pulley 78 also sends out the endless belt 70. The endless belt 70 is bridged by the drive pulley 76 and the three driven pulleys 78 so as to have a rectangular shape in a plan view.

The endless belt 70 is composed of a laminate of an inner peripheral belt 82 and an outer peripheral belt 84. The inner peripheral belt 82 is made of a material having excellent wear resistance, and the outer peripheral belt 84 is made of a material having excellent polishing performance. By sending the inner peripheral belt 82 to the drive pulley 76 and the driven pulley 78, the outer peripheral belt 84 orbits integrally with the inner peripheral belt 82. The outer peripheral belt 84 is in sliding contact with the area to be polished of the work 22.

An outer tensioner 86 (tension applying means) is in sliding contact with the outer peripheral belt 84. The outer tensioner 86 applies tension to the endless belt 70 by pressing the outer peripheral belt 84 toward the inner peripheral belt 82 side. The greater the pressing force, the more the endless belt 70 becomes tense, and as a result, the greater the tension applied to the endless belt 70. On the contrary, when the pressing force is small, the tension applied to the endless belt 70 becomes small.

A plurality of pressing force applying mechanisms 90 that press the endless belt 70 from the inner peripheral belt 82 side are supported on the mechanism holding wall portion 68. Next, the pressing force applying mechanism 90 will be described.

FIG. 5 is a schematic front sectional view showing one pressing force applying mechanism 90 along the longitudinal direction. The pressing force applying mechanism 90 has an air cylinder 92 forming an advancing / retreating portion and a swinging portion 94.

The air cylinder 92 has a cylinder tube 98 to which the supply / discharge tube 96 is connected. By holding the cylinder tube 98 on the mechanism holding wall portion 68, the pressing force applying mechanism 90 is supported by the mechanism holding wall portion 68.

A piston (not shown) is housed in the cylinder tube 98, and a pressing rod 100 that is integrally displaced with the piston is exposed outside the cylinder tube 98. Further, the mechanism holding wall portion 68 is integrally attached to the tips of all the cylinder tubes 98. A plurality of rod insertion holes 102 are formed in the mechanism holding wall portion 68 (see FIG. 3), and each pressing rod 100 is passed through the rod insertion holes 102.

A ball joint 104 is provided at the tip of the pressing rod 100. That is, as shown in FIG. 5, the screw-shaped shaft portion 106 of the ball joint 104 is screwed into a screw hole provided at the tip of the pressing rod 100. Further, the engaging shaft portion 109 protruding from the ball portion 108 connected to the screw-shaped shaft portion 106 is fitted into a bearing hole (not shown) which is an inner portion of the swing cover 110. The swing cover 110 swings around the ball portion 108 as the ball portion 108 rolls relative to the bearing hole. The end surface (pressing surface 114) of the swing cover 110 on the side facing the inner peripheral belt 82 is configured as a flat surface having a substantially square shape.

Further, the swing cover 110 has two inclined portions 116 which are connected to the end portion of the pressing surface 114 and are inclined so as to be close to the pressing rod 100. Therefore, the appearance of the swing cover 110 has a substantially isosceles triangular shape.

The pressing force applying mechanism 90 configured in this way is arranged so as to form a plurality of rows and a plurality of columns in a predetermined number. That is, the plurality of pressing force applying mechanisms 90 are arranged in parallel not only in the plane direction of FIG. 2 but also in the direction orthogonal to the paper surface.

The control unit 20 supplies / discharges compressed air to the air cylinder 92 via the eccentric rotation motor 34, the orbiting motor 72, the outer tensioner 86, and the supply / discharge tube 96 (shown in the figure). To control.

The polishing apparatus 10 according to the first embodiment is basically configured as described above, and next, the action and effect thereof will be described in relation to the control method (operation) of the polishing apparatus 10.

The articulated robot 12 is taught in advance so that each axis rotates or rotates at a predetermined angle in order to move the endless belt 70 along the area to be polished in a state of being in contact with the polishing start point of the work 22. It has been done. Further, the control unit 20 positions the pressing rod 100 at the reverse end of the plurality of pressing force applying mechanisms 90, which is determined not to enter the area to be polished as a result of teaching. Keep it in a good condition. For this purpose, it is not necessary to supply compressed air from the supply / discharge mechanism into the cylinder tube 98.

For example, when polishing the work 22 shown in FIG. 6, the polishing mechanism 16 is displaced in the order of A part 120 → B part 122 → C part 124 → D part 126 of the work 22. That is, the A portion 120 is the polishing start point, and the D portion 126 is the polishing end point. In this case, in the A part 120, one row in the bottom row, in the B part 122 and the C part 124, the bottom row and the two rows above the bottom row, and in the D part 126, the bottom row, the one row and the three rows above the two rows are It goes out of the area to be polished. That is, one row at the bottom does not overlap the area to be polished from the polishing start point to the polishing end point. Therefore, in this case, compressed air is not supplied to the air cylinder 92 to the pressing force applying mechanism 90 forming the lowermost row.

When starting polishing, the control unit 20 first controls the outer tensioner 86. Specifically, the outer tensioner 86 is displaced so as to be close to the endless belt 70, and the endless belt 70 is pressed. Due to this pressing, the endless belt 70 becomes tense and the tension increases. Further, the control unit 20 supplies compressed air from the supply / discharge mechanism to the air cylinder 92 constituting the pressing force applying mechanism 90 other than the lowermost row. The compressed air is introduced into the cylinder tube 98 via the supply / discharge tube 96 and presses the piston. As a result, the pressing rod 100 advances to the advancing end, and the flat pressing surface 114 of the swing cover 110 presses the endless belt 70 from the inner peripheral belt 82 side.

Each shaft portion 26 of the articulated robot 12 operates appropriately, and the endless belt 70 comes into contact with the A portion 120. When the convex portion 130 due to undulations or curvature is present in the A portion 120, the pressing force of the air cylinder 92 (pressing rod 100) facing the convex portion 130 may be reduced if necessary. For this purpose, a small amount of compressed air may be discharged from the cylinder tube 98 via the supply / discharge tube 96. In this way, by adjusting (correcting) the pressing force from the pressing rod 100 according to the convex portion 130 (see FIG. 8) of the A portion 120, the A portion 120 can be polished evenly.

Next, the control unit 20 drives the eccentric rotation motor 34 and the orbiting motor 72. The drive gear 38 rotates as the eccentric drive shaft 36 of the eccentric rotation motor 34 rotates, and the first driven gear 40 (see FIGS. 2 and 4) meshed with the drive gear 38 and the first driven gear 40. The second driven gear 42 that meshes with the first driven gear 40 rotates. Following this, the eccentric driven shaft 44 also rotates.

As described above, the first eccentric rotating shaft 48 and the second eccentric rotating shaft 50 are connected to the eccentric drive shaft 36 and the eccentric driven shaft 44 via the eccentric joint 46, respectively. Therefore, the first eccentric rotation shaft 48 and the second eccentric rotation shaft 50 move in a circular locus centered on each rotation center of the eccentric drive shaft 36 and the eccentric driven shaft 44. As a result, the polishing mechanism 16 in which the first eccentric rotation shaft 48 and the second eccentric rotation shaft 50 are connected to the support 60 rotates eccentrically.

Further, when the orbiting motor 72 is driven, the orbiting drive shaft 74 and the drive pulley 76 (see FIG. 4) rotate. Therefore, the endless belt 70 pulled by the drive pulley 76 starts to rotate. The orbit of the endless belt 70 is supported by three driven pulleys 78. That is, in this case, the endless belt 70 is rotated by the drive pulley 76 and the three driven pulleys 78 while being tensioned by the outer tensioner 86 and being pressed by the pressing rod 100 from the inner peripheral belt 82 side.

By the eccentric rotation of the polishing mechanism 16 and the rotation of the endless belt 70, polishing of the A portion 120 is started. That is, the endless belt 70 is in sliding contact with the A portion 120, so that the A portion 120 is polished. Since the endless belt 70 is tensioned by being pressed by the outer tensioner 86, the pressing force on the area to be polished is reduced. However, in the first embodiment, the endless belt 70 is pressed toward the area to be polished by advancing the pressing rod 100 constituting the pressing force applying mechanism 90. In other words, the endless belt 70 is pressed against the A portion 120. Therefore, since the endless belt 70 slides on the A portion 120 with sufficient surface pressure while rotating eccentrically, the A portion 120 is satisfactorily polished.

In this state, the control unit 20 operates each shaft unit 26 of the articulated robot 12 so that the polishing mechanism 16 moves to the D unit 126 via the B unit 122 and the C unit 124. During this process, the control unit 20 causes the pressing rod 100 to move forward or backward according to the shape of the area to be polished of the work 22 when the pressing force applying mechanism 90 moves to the B portion 122 side for one line. Supply and discharge compressed air. However, compressed air is not supplied or discharged to the air cylinder 92 in the lowermost row, which is outside the area to be polished.

By supplying and discharging compressed air to the air cylinder 92, the pressing rod 100 moves forward or backward. Further, the swing cover 110 can swing. This is because, as described above, the engaging shaft portion 109 of the ball joint 104 is fitted in the bearing hole of the swing cover 110. In this way, the pressing rod 100 moves forward or backward and the swing cover 110 swings, so that the position of the pressing surface 114 of the swing cover 110 matches the shape of the area to be polished. Change.

FIG. 7 shows an example of the position of the pressing surface 114 and the posture of the swing cover 110 when the recess 132 is present in the area to be polished. In this case, the pressing rod 100 of the air cylinder 92 located in the middle row advances with respect to the pressing rod 100 of the air cylinder 92 located below or above. Therefore, the endless belt 70 can be slidably contacted with the bottom of the recess 132.

On the contrary, when the convex portion 130 is present in the region to be polished, the endless belt 70 is pressed by the convex portion 130, so that the endless belt 70 is further tensioned. Therefore, as shown in FIG. 8, the control unit 20 retracts the pressing rod 100 of the air cylinder 92 located in the middle row with respect to the pressing rod 100 of the air cylinder 92 located below or above. The compressed air is supplied and discharged as described above. Therefore, the tension acting on the endless belt 70 is relaxed. Therefore, an appropriate surface pressure is applied to the area to be polished. Therefore, it is possible to prevent the area to be polished from being excessively polished. In FIG. 8, in order to facilitate understanding of the difference in the amount of advance / retreat of the pressing rod 100 and the difference in the posture of the swing cover 110, the case where all the pressing force applying mechanisms 90 have entered the area to be polished is shown. Illustrate.

As described above, the surface pressure of the endless belt 70 when the endless belt 70 is in sliding contact with the area to be polished is appropriately adjusted by the control unit 20 appropriately moving the pressing rod 100 forward or backward. Moreover, when the endless belt 70 is deformed according to the shape of the area to be polished, the swing cover 110 swings. Therefore, the deformation (expansion and contraction) of the endless belt 70 is not hindered. Therefore, the area to be polished can be satisfactorily polished regardless of the shape of the area to be polished. Even within the area to be polished, when passing through a portion that does not require polishing, the pressing rod 100 facing the portion that does not require polishing can be retracted to the reverse end.

When the polishing mechanism 16 reaches the D portion 126, the rotation or rotation of each shaft portion 26 of the articulated robot 12 is stopped, and the movement of the polishing mechanism 16 is completed. At this time, the control unit 20 stops both the eccentric rotation motor 34 and the lap motor 72, thereby stopping the eccentric rotation of the polishing mechanism 16 and the lap of the endless belt 70. The control unit 20 further supplies compressed air into the cylinder tube 98 other than the lowermost row and the first row and the second row above it, for a total of three rows, and maintains the pressing rod 100 at the forward end position.

As described above, in the first embodiment, by increasing the propulsive force of the air cylinder 92 at the polishing start point (A part 120) and the polishing end point (D part 126) regardless of the shape, another object is covered. A large surface pressure is applied compared to the polished area. As a result, it is possible to avoid insufficient polishing at the polishing start point and the polishing end point. Moreover, since the polishing device 10 can automatically perform polishing, the burden on the operator is reduced.

In this case, since the endless belt 70 orbits, an unspecified portion of the outer peripheral belt 84 is in sliding contact with the area to be polished. In other words, it is avoided that only a specific portion of the outer peripheral belt 84 is involved in polishing. Therefore, the outer peripheral belt 84 is less likely to be worn. Therefore, the same outer peripheral belt 84 can be used for a long period of time. When the outer peripheral belt 84 is worn due to repeated polishing for a long period of time and the polishing accuracy is lowered, the outer peripheral belt 84 may be replaced with a new one.

Next, the polishing apparatus according to the second embodiment will be described. The same components as the components constituting the polishing apparatus 10 according to the first embodiment are designated by the same reference numerals, and illustration and detailed description thereof will be omitted.

The polishing apparatus has a polishing mechanism 150 shown in FIG. The support 152 constituting the polishing mechanism 150 has a connecting wall portion 154 and a guide plate portion 156. A connecting cylinder 157 is bridged between the guide plate portion 156 and the connecting wall portion 154. Further, as shown in detail in FIG. 10, the guide plate portion 156 is provided with an insertion hole 158 through which the pressing rod 100 of the air cylinder 92 constituting the pressing force applying mechanism 159 is passed, and the insertion hole 158 is provided. The fitting 160 provided at the tip of the cylinder tube 98 is housed in the cylinder tube 98. The fixture 160 prevents the guide plate portion 156 from falling off.

A plurality (for example, two) of guide holes 162 are formed in the guide plate portion 156 at positions surrounding the pressing rod 100. A bush 164 is housed in each of the guide holes 162, and a guide rod 166 is passed through the bush 164. A nut 172 is screwed to the tip of the guide rod 166 provided with a screw portion after being passed through a through hole 170 formed in the displacement plate 168. Further, the tip of the pressing rod 100 is attached to the displacement plate 168. Therefore, the displacement plate 168 is displaced as the pressing rod 100 expands and contracts, and the guide rod 166 expands and contracts.

A stepped holder 174 having a stepped portion is attached to the displacement plate 168. A screw hole is formed at the tip of the stepped holder 174, and the screw-shaped shaft portion 106 of the ball joint 104 is screwed into the screw hole. Further, a splittable swing cover 180 is screwed and attached to the two engaging shaft portions 109 protruding from the ball portion 108 of the ball joint 104.

A first holding rod 184 that rotatably holds the first roller 182 and a second holding rod 188 that rotatably holds the second roller 186 are connected to the support 152.

A first coil spring 192 and a second coil spring 194 as tension applying means are hooked on the hook portion 190 provided on the connecting wall portion 154. Further, the seat body 196 is hooked and held on the first coil spring 192 and the second coil spring 194. A predetermined tension acts on the seat body 196 by contracting the first coil spring 192 and the second coil spring 194 and contacting the flat pressing surface 114 of the swing cover 180.

The polishing apparatus according to the second embodiment basically includes a polishing mechanism 150 configured as described above and an eccentric rotation mechanism 52 configured similarly to the polishing apparatus 10 according to the first embodiment. It is composed of. Next, the operation of the polishing device will be described.

The articulated robot 12 is taught so that each shaft portion 26 rotates or rotates at a predetermined angle in order to move the sheet body 196 along the area to be polished in a state of being in contact with the polishing start point of the work 22. Is done in advance.

When polishing is started, the control unit 20 supplies compressed air to the air cylinder 92 from the supply / discharge mechanism. The compressed air is introduced into the cylinder tube 98 via the supply / discharge tube 96 and presses the piston. As a result, as shown in FIG. 11, the pressing rod 100 advances to the advancing end, and the flat pressing surface 114 of the swing cover 180 presses the seat body 196. Along with this, the seat body 196 is extended while receiving assistance by sliding relative to the first roller 182 and the second roller 186. Further, the first coil spring 192 and the second coil spring 194 are extended to apply a predetermined tension to the seat body 196.

Each shaft portion 26 of the articulated robot 12 operates appropriately, and the sheet body 196 comes into contact with the polishing start point (part A 120 in FIG. 6). Similar to the above, when the convex portion 130 due to undulation or curvature is present in the A portion 120, if necessary, the pressing force of the air cylinder 92 (pressing rod 100) facing the convex portion 130 is reduced. May be good. For this purpose, a small amount of compressed air may be discharged from the cylinder tube 98 via the supply / discharge tube 96. In this way, by adjusting (correcting) the pressing force from the pressing rod 100 according to the convex portion 130 of the A portion 120, the A portion 120 can be polished evenly.

Next, the control unit 20 drives the eccentric rotation motor 34 (see FIGS. 2 and 3). The drive gear 38 rotates as the eccentric drive shaft 36 of the eccentric rotation motor 34 rotates, and the first driven gear 40 (see FIGS. 2 and 4) meshed with the drive gear 38 and the first driven gear 40. The second driven gear 42 that meshes with the first driven gear 40 rotates. Following this, the eccentric driven shaft 44 also rotates. Further, the first eccentric rotation shaft 48 and the second eccentric rotation shaft 50 are driven to rotate, so that the polishing mechanism 150 rotates eccentrically.

As the polishing mechanism 150 rotates eccentrically in this way, the sheet body 196 slides into contact with the A portion 120. Since the sheet body 196 slides on the A portion 120 with sufficient surface pressure while rotating eccentrically, the A portion 120 is satisfactorily polished.

In this state, the control unit 20 operates each shaft unit 26 of the articulated robot 12 to move the polishing mechanism 150. During this process, compressed air is supplied and discharged to the air cylinder 92, and the pressing rod 100 moves forward or backward. Further, the swing cover 180 swings, and the position of the pressing surface 114 changes according to the shape of the area to be polished. Therefore, even when the concave portion 132 or the convex portion 130 is present in the region to be polished, an appropriate surface pressure is applied from the sheet body 196 to the region to be polished. Therefore, the area to be polished can be accurately polished regardless of the shape of the area to be polished.

Similar to the polishing apparatus 10 according to the first embodiment, the compressed air is not supplied or discharged to the air cylinder 92 outside the area to be polished between the polishing start point and the polishing end point. May be good.

When the polishing mechanism 150 reaches the polishing end point, the rotation or rotation of each shaft portion 26 of the articulated robot 12 is stopped, and the movement of the polishing mechanism 150 is completed. At this time, the control unit 20 stops the eccentric rotation motor 34, and stops the eccentric rotation of the polishing mechanism 150 and the rotation of the endless belt 70. The control unit 20 further supplies compressed air into the cylinder tube 98 other than the lowermost row and the first row and the second row above it, for a total of three rows, and maintains the pressing rod 100 at the forward end position.

As described above, the same effects as those in the first embodiment can be obtained in the second embodiment as well.

Further, since it is not necessary to orbit the sheet body 196 in the polishing mechanism 150, an orbiting motor, a pulley, or the like is not required. By this amount, the polishing mechanism 150 can have a simple structure.

The present invention is not particularly limited to the first and second embodiments described above, and various modifications can be made without departing from the gist of the present invention.

For example, in the second embodiment, the first coil spring 192 and the second coil spring 194 are adopted as the tension applying means, but instead of these, a cylinder may be adopted.

Further, instead of the polishing mechanism 16, the polishing mechanism 150 may be arranged in the endless belt 70 to form the polishing device 10.

Further, polishing may be performed in the same manner as described above except that the eccentric rotation motor 34 is not operated (in other words, the polishing mechanism 16 is not eccentricly rotated). Even in this case, sufficient polishing is performed. As can be understood from this, the eccentric rotation means such as the eccentric rotation motor 34 is not indispensable.

Furthermore, the support 60 (or) of the adjacent pressing force applying mechanisms 90, 90 (or pressing force applying mechanism 159, 159) is placed so that the phases of the swing cover 110 (or swing cover 180) are 90 ° out of phase with each other. It may be supported by the support 152).

10 ... Polishing device 12 ... Articulated robot 14 ... Tip arm 16, 150 ... Polishing mechanism 20 ... Control unit 22 ... Work 34 ... Eccentric rotation motor (eccentric rotation means) 36 ... Eccentric drive shaft 38 ... Drive gears 40, 42 ... Driven gear 44 ... Driven shaft for eccentricity 46 ... Eccentric joints 48, 50 ... Rotating shaft for eccentricity 52 ... Eccentric rotating mechanism 60, 152 ... Support 70 ... Endless belt (polished body)
72 ... Circulation motor 74 ... Orbital drive shaft 76 ... Drive pulley 78 ... Driven pulley 82 ... Inner circumference belt 84 ... Outer circumference belt 86 ... Outer tensioner (tension applying means) 90 ... Pushing pressure applying mechanism 92 ... Air cylinder 94 ... Swinging part 98 ... Cylinder tube 100 ... Pressing rod 104 ... Ball joint 110, 180 ... Swinging cover 114 ... Pressing surface 120 ... Part A (polishing start point)
122 ... Part B (area to be polished) 124 ... Part C (area to be polished)
126 ... D part (polishing end point) 130 ... Convex part 132 ... Concave part 166 ... Guide rod 168 ... Displacement plate 182, 186 ... Roller 192, 194 ... Coil spring 196 ... Sheet body (polished body)

Claims (8)

The Ken Migakukarada a polishing apparatus for polishing a workpiece by relatively moving with respect to the object to be polished,
A pressing force applying mechanism that deforms the polished surface by applying a pressing force to the back surface of the polished surface of the polished body,
A support that supports the pressing force applying mechanism and
With
The pressing force imparting mechanism is advanceable toward said polishing surface, or retractable from the polishing body has a forward and reverse part of the tip facing the polishing body is swingably provided,
When the advancing / retreating portion moves forward or backward or swings according to the shape of the object to be polished, the polished body is deformed following the shape of the object to be polished.
Further, a polishing device including a control unit that adjusts the surface pressure of the polishing body with respect to the object to be polished by controlling the propulsive force applied to the advancing / retreating portion. The polishing apparatus according to claim 1, further comprising an eccentric rotating means for eccentric rotation of the support. The polishing apparatus according to claim 1 or 2, further comprising a tension applying means in which the tension applied to the polished body is controlled by the control unit. The polishing apparatus according to any one of claims 1 to 3 , further comprising a robot that holds the support. The polishing apparatus according to any one of claims 1 to 4 , wherein the advancing / retreating portion is composed of an air cylinder having a rod. The polishing apparatus according to any one of claims 1 to 5 , wherein the polishing body is an endless belt capable of orbiting, and includes a driving force applying means for imparting a driving force to orbit the endless belt. The polishing apparatus according to any one of claims 1 to 5 , wherein the polishing body is a sheet body hooked on the support. In the polishing apparatus according to any one of claims 1 to 7, the control unit applies propulsive force to the advancing / retreating portion at the polishing start point and the polishing end point of the object to be polished in another area to be polished. A polishing device that is set to be larger than the propulsive force applied to the advancing / retreating portion.

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