JPH0326458A - Polishing method - Google Patents
Polishing methodInfo
- Publication number
- JPH0326458A JPH0326458A JP15700589A JP15700589A JPH0326458A JP H0326458 A JPH0326458 A JP H0326458A JP 15700589 A JP15700589 A JP 15700589A JP 15700589 A JP15700589 A JP 15700589A JP H0326458 A JPH0326458 A JP H0326458A
- Authority
- JP
- Japan
- Prior art keywords
- polishing
- rough
- finish
- tool
- brush
- 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.)
- Granted
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims description 14
- 238000000576 coating method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000006061 abrasive grain Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 229910000085 borane Inorganic materials 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004070 electrodeposition Methods 0.000 description 1
- UORVGPXVDQYIDP-UHFFFAOYSA-N trihydridoboron Substances B UORVGPXVDQYIDP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は研摩方法に係り、詳しくは、ツール交換可能な
研摩ロポットにより、粗研摩と仕上げ研摩とをおこなう
ようにした研摩方法に関するものである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a polishing method, and more particularly, to a polishing method in which rough polishing and finish polishing are performed using a polishing robot with replaceable tools. .
〔従来の技術）
電着塗装等による下塗り工程または中塗り工程を終了し
た自動車等の車体の塗装面は、研摩工程で、プレイバッ
ク型のロボット等に把持された研摩ブラシにより平滑に
研摩される。その研摩ブラシは、砥粒を付着させたナイ
ロン繊維を放射状に植設したホイール状のものやペーパ
ーブラシを貼着したもの等が採用され、その研摩ブラシ
をエアモータ等のアクチュエー夕により回転駆動させる
とともに、所定の押付圧力で塗装面に付勢し、高圧のエ
アを供給しつつ・、あるいは水を供給しながら、移動さ
せて塗装面の研摩がおこなわれる。ちなみに、特開昭５
８ − ６７３７７号公報には、平面の研摩と曲面の研
摩とを、それぞれ専用のロボッ１−でおこなうようにし
た自動水研装置が記載されている。[Prior art] In the polishing process, the painted surface of the body of an automobile, etc., which has undergone the undercoating process or the intermediate coating process by electrodeposition coating, etc., is polished smooth by a polishing brush held by a playback type robot, etc. . The polishing brushes are wheel-shaped, in which nylon fibers with abrasive grains are attached radially planted, or paper brushes are attached.The polishing brushes are driven to rotate by an actuator such as an air motor. The painted surface is polished by applying force to the painted surface with a predetermined pressing pressure and moving it while supplying high-pressure air or water. By the way, Japanese Patent Publication No. 5
No. 8-67377 describes an automatic water polishing device in which flat surfaces and curved surfaces are polished using dedicated robots 1-, respectively.
ところで、安定した研摩精度を得るためには、被研摩物
に対する研摩ブラシの押付圧力を一定に保つ等の措置が
、従来より採られている。それは、押付圧力が低下する
と研摩不足となり、過大になると研摩過剰となり、この
押付圧力が仕上げ精度に大きく影響するからである。こ
のようなことから、例えば、本出願人は、被研摩而乙こ
対するＩコボッ１・アームの対応距離を調整することに
より、研摩川ツールの回転数を一定に保ち、その研摩用
ツー・ルの押付圧力を一定にするようｌ：’． ｌ〜た
研摩ロボットの制御装置を提案している。By the way, in order to obtain stable polishing accuracy, measures such as keeping the pressing pressure of the polishing brush against the object to be polished constant have been conventionally taken. This is because if the pressing pressure is too low, polishing will be insufficient, and if it is too high, polishing will be excessive, and this pressing pressure will greatly affect finishing accuracy. For this reason, for example, the present applicant maintains the rotational speed of the polishing tool at a constant level by adjusting the corresponding distance of the I-cobot 1 arm to the polished object. l:'. so as to keep the pressing pressure constant. We are proposing a control device for a polishing robot.
しかし、より高い仕上げ精庶が必要とざれる場合、まず
、ｍ研摩ブラシでｉＩＩ研摩した後、仕上げ研摩ブラシ
で什，Ｅげ研摩することが好ましい。ところが、−つの
（ｉｌ！序ステーションで粗研摩した後、車体を次のス
テ〜 シゴンに移動させて、、仕Ｆげ研摩するのは、広
い作業スペースを要するのみならず、非能率でもある。However, if higher finishing precision is required, it is preferable to first perform III polishing with an m polishing brush, and then perform additional polishing with a finishing polishing brush. However, after rough polishing at one station, moving the car body to the next station for final polishing not only requires a large work space but is also inefficient.
本発明は，、このような事情を考慮（、７てなされ、甲
−の研摩ステーションで、能率的に、高い精度で研摩を
おこなうことができる研摩力法を提供することを課題と
している。The present invention has been made in consideration of these circumstances, and an object of the present invention is to provide a polishing force method that can perform polishing efficiently and with high precision at the polishing station A.
本発明の方法は、研摩用ツールユニソ１・を把持した研
摩ロボッ［・により研摩対象物を０動的に研摩するよう
にした研摩方法にあって、Ｗ記課題を解決するために、
Ｌ記研摩用ツールユニッ１・をツール交換ｉｉＪ能に構
或し、ｔＪｉｌ研摩用ツールで粗研摩し７た後、仕上げ
研摩用ツールに交換して、仕ト−げ研摩をおこなうよう
にしている。The method of the present invention is a polishing method in which an object to be polished is dynamically polished by a polishing robot [.
The L polishing tool unit 1 is configured to have a tool exchange function, and after rough polishing with the tJil polishing tool, it is replaced with the finish polishing tool to perform final polishing. .
〔作 用］
まず、研摩『１ボッ１・に把持されている研摩用ツール
ユニッ１・に相研摩用ツールを取付けて｛ＩＴ摩対象物
を粗研ｆｔ ＋，た後、仕−Ｌげ研摩用ツールに交換（
，２て、仕−１げ研摩をおこなうようにしたので、単一
の研摩ステーションで、粗研摩から仕上げ研摩まで能率
よくおこなうことが７きる。[Operation] First, attach the phase polishing tool to the polishing tool unit 1 held in the polishing unit 1, and after roughly polishing the object to be polished, finish and polish it. Replace with tool for (
, 2. Since pre-polishing is performed, a single polishing station can efficiently carry out everything from rough polishing to final polishing.
本発明は、研摩用ツールユニッ１・を把持した研摩ロボ
ットにより研摩対象物を自動的に研摩するようにした研
摩方法にあって、その研摩用ツールユニットをツール交
換可能に構威し、粗研摩用ツールで粗研摩した後、仕上
げ研摩用ツールに交換して、仕−Ｌげ研摩をおこなうよ
うにしたので、単−・の研摩ステーションで、能率よく
高い仕上げ精度の研摩をおこなうことができる。The present invention is a polishing method in which an object to be polished is automatically polished by a polishing robot holding a polishing tool unit 1, in which the polishing tool unit is configured to be replaceable, and the rough polishing After rough polishing with a tool, the tool is replaced with a finish polishing tool and finishing polishing is performed, so that polishing with a high finishing accuracy can be performed efficiently with a single polishing station.
以下に、ネ発明をその実施例に基づき詳細に説明する。 The present invention will be described in detail below based on examples thereof.
本実施例に示す研摩方法は、ツール交換ｉｉＪ能な研摩
ロボッ１・により、単一の研摩ステーションで、粗研序
と仕［げ研摩とを能率よくおこなうよ・うにしたもので
、以下のようにおこなわれる。The polishing method shown in this example uses a polishing robot 1 with tool exchange capability to efficiently perform rough polishing and finish polishing at a single polishing station. It will be held in
第３図に示すように、研摩ステーション１には、市体２
の曜送ライン３に沿って移動する吊下げ型のルーフ研摩
用の研摩ロボット４と、側面研摩用の研！？！ロボン｝
５．５が、下塗りまたは中塗り工程を終了し”ζ作業位
置に搬入された車体２に対応ずるように配置されている
。各研摩ロボノ１・４，５のアーム１４．１５には、粗
研摩用ツール６と仕上げ研摩用ツール７とを取り替え自
在な研摩用ツールユニッ１−８が取付けられており、研
摩ステーション１に搬入された車体２の外板が、図示し
ないエア供給装置からエアの供給を受りつつ、粗研摩用
ツール６によって粗研摩された後、仕」二げ研摩用ツー
ル７で仕−Ｌげ研摩される。As shown in FIG.
A hanging type polishing robot 4 for polishing the roof that moves along the daily feed line 3, and a polishing robot 4 for polishing the sides! ? ! Robon}
5.5 are arranged so as to correspond to the car body 2 which has completed the undercoating or intermediate coating process and has been carried into the working position.The arms 14.15 of each polishing robot 1, 4, and 5 are equipped with rough coatings. A polishing tool unit 1-8 is installed in which the polishing tool 6 and the finishing polishing tool 7 can be freely replaced. While receiving the supply, it is roughly polished by the rough polishing tool 6, and then finished and polished by the finishing polishing tool 7.
詳しく説明すると、粗研摩用ツール６は、平面用として
は、ボリネッ；・サンダ等を装着したディスク型の相研
摩ブラシ６ａ，曲面用としては、砥粒を付着させたナイ
ロン繊維を放射状に植設したホイール型の粗研摩ブラシ
６ｂ（第ｌ図参ｕク｛）が用いられる。一方、仕上げ研
摩用ツール７としてはソーメンブラシが用いられ、平面
用の仕上げ研摩ブラシ７ａと、曲面用の仕上げ研摩ブラ
シ７ ｂのサイズの異なる二種が用意されている。To explain in detail, the rough polishing tool 6 is a disc-shaped phase polishing brush 6a equipped with a borine, sander, etc. for flat surfaces, and a radially implanted nylon fiber with abrasive grains attached for curved surfaces. A wheel-shaped rough polishing brush 6b (see Fig. 1) is used. On the other hand, a Somen brush is used as the finishing polishing tool 7, and there are two types of finishing polishing brushes 7a for flat surfaces and finishing polishing brushes 7b for curved surfaces with different sizes.
これら各研摩ブラシ６ａ，６ｂ，７ａ，７ｂを交換可能
に取付ける研摩用ツールユニッ１・８は、第ｌ図に示す
ように、駆動源としてのエアモータ１０と、その出力軸
１０ａに取付けられたチャック１１、および回転数検出
手段１２等を有し、研摩ロボッＩ−４．５のアーム１４
．１５に装着されている。As shown in FIG. 1, the polishing tool units 1 and 8 to which these polishing brushes 6a, 6b, 7a, and 7b are attached in a replaceable manner are equipped with an air motor 10 as a driving source and a chuck attached to its output shaft 10a. 11, rotation speed detection means 12, etc., and the arm 14 of the polishing robot I-4.5.
．． It is installed on 15.
エアモータ１０の出力軸１０ａに取付けられるチャノク
１１には、例えば３つ爪の油圧チャック等の強力な把持
力を有し、かつ各研摩ブラシ６ａ，６ｂ，７ａ，７ｂの
軸を着脱自在に装着できる構造のものが採用され、サー
ボコントローラ１６からの指令により、研摩ロボット４
，５が、適宜研摩ブラシを選択して着脱できるように構
戒される。The handle 11 attached to the output shaft 10a of the air motor 10 has a strong gripping force, such as a three-jaw hydraulic chuck, and can detachably attach the shafts of the polishing brushes 6a, 6b, 7a, and 7b. According to commands from the servo controller 16, the polishing robot 4
, 5 are designed so that the polishing brush can be selected and removed as appropriate.
回転数検出千段１２はパルス信号を用いた電子計数式の
もので、エアモータ１０に内蔵され、検出した信号をサ
ーボコントローラ１Ｇに送出し、研摩ブラシ６（７）が
研摩対象物に対して所定の押付圧力を発揮できるように
、アーム１４．１５の動作を調整して、研摩ブラシ６（
７）の回転数が一定となるようなフィードバック制御が
おこなわれる。The rotation speed detection stage 12 is of an electronic counting type using pulse signals, and is built into the air motor 10, and sends the detected signal to the servo controller 1G, and the polishing brush 6 (7) is set to a specified position on the object to be polished. The operation of the arms 14 and 15 is adjusted so that the pressing pressure of the polishing brush 6 (
7) Feedback control is performed so that the rotational speed is constant.
研摩ロボット４，５を制御動作させるサーボコントロー
ラｌ６には、その研摩ロボット４，５に施された教示内
容を記憶するティーチングボッツクス１７が接続される
とともに、研摩ステーション１に搬入された車体２の車
種情報を提供するホストコンピュータ１８が接続されて
おり、研摩ロボット４ ５が、前述したように、車種に
対応してプレイバック動作できるようになっている。そ
のプレイバック動作は、基本的には、第２図のフローチ
ャートに示すように、粗研摩から仕上げ研摩まで、ツー
ルの交換作業をおこないつつ、自動的に連続しておこな
われる。すなわち、まず、搬送ライン３の両側に配置さ
れている各収納棚９の所定の位置に収納されている曲面
用の粗研摩ブラシ６ｂを各研摩ロボット４，５の研摩用
ツールユニット８に把持させ、車体２のルーフ２ａおよ
び側面２ｂの曲面を粗研摩する（ステップ１、以下３１
などという）。各粗研摩ブラシ６ｂは曲面の法線方向に
所定の押付圧力で付勢されて回転駆動され、その曲面の
接線方向に移動しつつ粗研摩をおこなう。曲面の粗研摩
が終了すると、その粗研摩ブラシ６ｂを各収納位置９の
所定箇所に戻した後、各研摩ロボット４．５に平面用の
粗研摩ブラシ６ａを把持させ、ルーフ２ａおよび側面２
ｂの平面の粗研摩をおこなう（Ｓ２）。平面の粗研摩が
終了すると、その粗研摩ブラシ６ａを収納位置９にもど
し、研摩用ツールユニット８に曲面用の仕上げ研摩ブラ
シ７ｂを把持させ、曲面の仕上げ研摩をおこなう（Ｓ３
）。曲面の仕上げ研摩が終了すると、同様にツール交換
をおこない、平面用の仕上げ研摩ブラシ７ａにより、平
面の仕上げ研摩をおこなう（Ｓ４）。このように、本発
明の方法によれば、単一の研摩ステーションｌで、ツー
ル交換をおこない、粗研摩と仕上げ研摩とを一連の作業
として自動的におこなうことにより、より少ない作業ス
ペースで、能率よく高い精度の研摩をおこなうができる
。A teaching box 17 that stores the teaching content given to the polishing robots 4 and 5 is connected to the servo controller l6 that controls the polishing robots 4 and 5. A host computer 18 that provides vehicle type information is connected, so that the polishing robot 45 can perform playback operations in accordance with the vehicle type, as described above. Basically, the playback operation is automatically and continuously carried out from rough polishing to final polishing while exchanging tools, as shown in the flowchart of FIG. That is, first, the polishing tool unit 8 of each polishing robot 4, 5 is made to grip the rough polishing brush 6b for curved surfaces stored in a predetermined position of each storage shelf 9 arranged on both sides of the conveyance line 3. , the curved surfaces of the roof 2a and side surfaces 2b of the vehicle body 2 are roughly polished (step 1, hereinafter 31).
etc.) Each rough polishing brush 6b is rotated by a predetermined pressing pressure in the normal direction of the curved surface, and performs rough polishing while moving in the tangential direction of the curved surface. When the rough polishing of the curved surface is completed, the rough polishing brush 6b is returned to a predetermined location in each storage position 9, and then each polishing robot 4.5 is made to grip the rough polishing brush 6a for the flat surface, and
Rough polishing is performed on the plane b (S2). When the rough polishing of the flat surface is completed, the rough polishing brush 6a is returned to the storage position 9, the polishing tool unit 8 is made to grip the finish polishing brush 7b for curved surfaces, and the final polishing of the curved surfaces is performed (S3
). When finishing polishing of the curved surface is completed, the tool is replaced in the same way, and finishing polishing of the flat surface is performed using the finishing polishing brush 7a for flat surfaces (S4). As described above, according to the method of the present invention, tools are exchanged at a single polishing station l, and rough polishing and finish polishing are automatically performed as a series of operations, thereby reducing work space and improving efficiency. Can perform highly accurate polishing.
なお、実施例では、エアを供給しつつ研摩をおこなうい
わゆる空研ぎを対象としているが、本発明は、研摩作業
の方式について特定するものではなく、水を供給しつつ
研摩をおこなう水研にも適用できることはいうまでもな
い。In addition, although the embodiment deals with so-called dry polishing in which polishing is performed while supplying air, the present invention does not specify a method of polishing work, and is applicable to water polishing in which polishing is performed while supplying water. Needless to say, it is applicable.
第Ｉ図は本発明の方法を実施する装置のブロック構戒図
、第２図は基本的な研摩方法の一例を示すフローチャー
ト、第３図は研摩ステーションの正面図である。
２・一研摩対象物（車体）、４，５一研摩ロボット、６
．６ａ，６ｂ−・一粗研摩用ツール（ブラシ）、７．７
ａ，７ｂ・・・仕上げ研摩用ツール（ブラシ）、８・一
研ＦＪ 用ツールユニット。FIG. 1 is a block diagram of an apparatus for carrying out the method of the present invention, FIG. 2 is a flowchart showing an example of a basic polishing method, and FIG. 3 is a front view of the polishing station. 2.1 Polishing object (vehicle body), 4,51 Polishing robot, 6
．． 6a, 6b--Rough polishing tool (brush), 7.7
a, 7b... Finish polishing tool (brush), 8. Tool unit for Ikken FJ.
Claims (1)
より研摩対象物を自動的に研摩するようにした研摩方法
において、 上記研摩用ツールユニットをツール交換可能に構成し、
粗研摩用ツールで粗研摩した後、仕上げ研摩用ツールに
交換して、仕上げ研摩をおこなうようにしたことを特徴
とする研摩方法。(1) In a polishing method in which an object to be polished is automatically polished by a polishing robot holding a polishing tool unit, the polishing tool unit is configured to be replaceable,
A polishing method characterized in that after rough polishing is performed with a rough polishing tool, the tool is replaced with a finish polishing tool to perform final polishing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1157005A JP2779211B2 (en) | 1989-06-20 | 1989-06-20 | Polishing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1157005A JP2779211B2 (en) | 1989-06-20 | 1989-06-20 | Polishing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0326458A true JPH0326458A (en) | 1991-02-05 |
| JP2779211B2 JP2779211B2 (en) | 1998-07-23 |
Family
ID=15640097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1157005A Expired - Lifetime JP2779211B2 (en) | 1989-06-20 | 1989-06-20 | Polishing method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2779211B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015858A1 (en) * | 1999-08-30 | 2001-03-08 | Technocoat Co., Ltd. | Handy polishing device |
| JP2021137917A (en) * | 2020-03-05 | 2021-09-16 | トヨタ自動車株式会社 | Automatic water polishing device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53148093A (en) * | 1977-05-31 | 1978-12-23 | Mitsui Eng & Shipbuild Co Ltd | Profiling method of griding machine and apparatus therefor |
| JPS5872393A (en) * | 1981-10-26 | 1983-04-30 | Toshiba Corp | Controlling method for brush urging amount |
| JPS61244450A (en) * | 1985-04-19 | 1986-10-30 | Sanyo Kiko Kk | Working robot device |
-
1989
- 1989-06-20 JP JP1157005A patent/JP2779211B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53148093A (en) * | 1977-05-31 | 1978-12-23 | Mitsui Eng & Shipbuild Co Ltd | Profiling method of griding machine and apparatus therefor |
| JPS5872393A (en) * | 1981-10-26 | 1983-04-30 | Toshiba Corp | Controlling method for brush urging amount |
| JPS61244450A (en) * | 1985-04-19 | 1986-10-30 | Sanyo Kiko Kk | Working robot device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015858A1 (en) * | 1999-08-30 | 2001-03-08 | Technocoat Co., Ltd. | Handy polishing device |
| JP2021137917A (en) * | 2020-03-05 | 2021-09-16 | トヨタ自動車株式会社 | Automatic water polishing device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2779211B2 (en) | 1998-07-23 |
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