JP7685955B2 - ロボット支援による表面加工のための装置 - Google Patents

ロボット支援による表面加工のための装置 Download PDF

Info

Publication number
JP7685955B2
JP7685955B2 JP2021561764A JP2021561764A JP7685955B2 JP 7685955 B2 JP7685955 B2 JP 7685955B2 JP 2021561764 A JP2021561764 A JP 2021561764A JP 2021561764 A JP2021561764 A JP 2021561764A JP 7685955 B2 JP7685955 B2 JP 7685955B2
Authority
JP
Japan
Prior art keywords
machining head
shaft
head
linear actuator
support plate
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.)
Active
Application number
JP2021561764A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022530857A (ja
JP2022530857A5 (https=
JPWO2020212552A5 (https=
Inventor
ロナルド ナデラー
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 JP2022530857A publication Critical patent/JP2022530857A/ja
Publication of JP2022530857A5 publication Critical patent/JP2022530857A5/ja
Publication of JPWO2020212552A5 publication Critical patent/JPWO2020212552A5/ja
Application granted granted Critical
Publication of JP7685955B2 publication Critical patent/JP7685955B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B24B27/00—Other grinding machines or devices
    • B24B27/027—Other grinding machines or devices having a flexible shaft
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • 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
    • B24B49/08—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 liquid or pneumatic means
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
JP2021561764A 2019-04-19 2020-04-17 ロボット支援による表面加工のための装置 Active JP7685955B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019110421.1 2019-04-19
DE102019110421 2019-04-19
PCT/EP2020/060818 WO2020212552A1 (de) 2019-04-19 2020-04-17 Vorrichtung zum robotergestützten bearbeiten von oberflächen

Publications (4)

Publication Number Publication Date
JP2022530857A JP2022530857A (ja) 2022-07-04
JP2022530857A5 JP2022530857A5 (https=) 2023-04-19
JPWO2020212552A5 JPWO2020212552A5 (https=) 2023-04-19
JP7685955B2 true JP7685955B2 (ja) 2025-05-30

Family

ID=70391106

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021561764A Active JP7685955B2 (ja) 2019-04-19 2020-04-17 ロボット支援による表面加工のための装置

Country Status (7)

Country Link
US (1) US20220193857A1 (https=)
EP (1) EP3956102B1 (https=)
JP (1) JP7685955B2 (https=)
KR (1) KR102838341B1 (https=)
CN (1) CN113710420B (https=)
DE (1) DE102020110492A1 (https=)
WO (1) WO2020212552A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4054801A4 (en) * 2019-11-07 2023-08-23 Mirka Ltd METHOD FOR CONTROLLING THE OPERATION OF AN ABRASION SYSTEM AND APPARATUS COMPRISING AN ABRASION HEAD
US12318942B2 (en) 2020-10-22 2025-06-03 Fanuc Corporation Robot programming device and robot programming method
FI20215948A1 (en) * 2021-09-09 2023-03-10 Mirka Ltd Method and apparatus for surface processing
CN115319769B (zh) * 2022-09-06 2025-05-16 安徽新境界自动化技术有限公司 一种基于可变刚度的柔性打磨机器人
CN116810594B (zh) * 2023-07-19 2025-09-30 哈尔滨工程大学 一种深水打磨器
CN117381340A (zh) * 2023-08-18 2024-01-12 宁波锦辉光学科技有限公司 一种激光面罩光学面模具的加工方法
KR102913378B1 (ko) * 2023-12-28 2026-01-16 (주)정산 선박용 프로펠라 자동연마장치
DE102024000879A1 (de) * 2024-03-18 2025-09-18 Hochschule für angewandte Wissenschaften München, Körperschaft des öffentlichen Rechts Endeffektor mit optimierter Nachführung eines Werkzeugs und Verfahren zum Bearbeiten einer Werkstückoberfläche

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61159366A (ja) * 1984-12-27 1986-07-19 Toshiba Corp 研削ロボツト
FR2591522B1 (fr) * 1985-12-13 1988-04-08 Syspro Dispositif de disjonction pour bras de robot
DE3609441A1 (de) 1986-03-20 1987-09-24 Bosch Gmbh Robert Exzenterschleifer mit einer vorrichtung zum veraendern der schleifbewegung
EP0492014B1 (en) * 1990-12-28 1996-03-20 Aiko Engineering Co. Ltd. Automatic grinding apparatus
DE4223107A1 (de) * 1992-07-14 1994-01-20 Bosch Gmbh Robert Flächenschleifmaschine
DE9404159U1 (de) * 1994-03-11 1994-09-01 Riesle, Norbert, 79279 Vörstetten Hilfsgerät zum Bearbeiten, insbesondere zum Verbinden von Teilen
US6244943B1 (en) * 1998-12-30 2001-06-12 Guther Bohler Gmbh Surface-processing apparatus
CN1292313A (zh) * 1999-10-10 2001-04-25 周毓明 一种钻夹头可与驱动电机分离的电钻
US6753495B2 (en) * 2001-05-31 2004-06-22 Murray Forlong Apparatus and methods for control of a material processing device
DE10200381A1 (de) * 2002-01-08 2003-07-17 Guenther Boehler Gmbh Vorrichtung zur Bearbeitung von Oberflächen
JP2004322219A (ja) * 2003-04-21 2004-11-18 Miyota Kk フレキシブル加工ヘッドユニット、及びそれを用いた研磨装置
CN203751914U (zh) * 2013-12-31 2014-08-06 山佳卫 双面高速磨光机
DE102016104412B3 (de) * 2016-03-10 2017-08-17 Areva Gmbh Manipulator und Manipulatoreinheit
DE102016118173A1 (de) * 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Werkzeugmaschine zum robotergestützten bearbeiten von oberflächen
CN108115525A (zh) * 2018-02-07 2018-06-05 大连理工大学 一种内表面在线检测和修整一体化工具
CN109366323A (zh) 2018-11-26 2019-02-22 湖南劳动人事职业学院 一种用于环形均布圆孔的多头打磨抛光机
JP2021159366A (ja) * 2020-03-31 2021-10-11 株式会社三洋物産 遊技機

Also Published As

Publication number Publication date
EP3956102B1 (de) 2024-09-25
KR102838341B1 (ko) 2025-07-23
JP2022530857A (ja) 2022-07-04
DE102020110492A1 (de) 2020-10-22
CN113710420B (zh) 2024-08-27
WO2020212552A1 (de) 2020-10-22
EP3956102A1 (de) 2022-02-23
CN113710420A (zh) 2021-11-26
US20220193857A1 (en) 2022-06-23
KR20210151108A (ko) 2021-12-13
EP3956102C0 (de) 2024-09-25

Similar Documents

Publication Publication Date Title
JP7685955B2 (ja) ロボット支援による表面加工のための装置
US11364626B2 (en) 6-dof parallel robot with a double-gyroscopic component
US8109173B2 (en) Parallel robot provided with wrist section having three degrees of freedom
EP1863734B1 (en) Parallel robot
US8893578B2 (en) Parallel robot provided with wrist section having three degrees of freedom
JP7093342B2 (ja) ロボット支援による表面加工機械
CN109986542A (zh) 一种气电混合驱动的刚柔混合型力控末端执行器
JP7718990B2 (ja) ロボット支援表面加工における位置決め誤差の補正
KR102642762B1 (ko) 로봇-보조 연마에 있어서 회전 속도 제어
JP7195270B2 (ja) ロボット支援研削装置
JP4696384B2 (ja) パラレルリンクロボット
JPS63278674A (ja) 回転中心のオフセツト機構
JP5394358B2 (ja) ３自由度を有する姿勢変更機構を備えたパラレルリンクロボット
JPWO2020212552A5 (https=)
KR102814770B1 (ko) 피니싱 작업을 위한 매니퓰레이터 및 그의 제어 방법
JPH10109285A (ja) マニプレータ
JPH1029178A (ja) マニプレータ
KR100237552B1 (ko) 3차원상에서 위치 및 자세를 제어하기 위한 병렬기구 구조
CN111716343B (zh) 机器人
JPH11887A (ja) パラレルリンクマニプレータ
JPH10286792A (ja) 平行リンクで構成された脚を有する位置決め装置及び工作機械
US20220238788A1 (en) Robot and end effector
Gong et al. A negative-pressure-based surface-compliant constant-force grinding end-effector for climbing machining robots
CN120363247A (zh) 机械臂和机器人结构
KR20200060664A (ko) 초소형 소형 결합부

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230411

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230411

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20240430

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20240507

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20240806

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240909

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250107

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250404

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250422

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250520

R150 Certificate of patent or registration of utility model

Ref document number: 7685955

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150