JPH06218671A - Painted film polishing and device therefor - Google Patents
Painted film polishing and device thereforInfo
- Publication number
- JPH06218671A JPH06218671A JP771293A JP771293A JPH06218671A JP H06218671 A JPH06218671 A JP H06218671A JP 771293 A JP771293 A JP 771293A JP 771293 A JP771293 A JP 771293A JP H06218671 A JPH06218671 A JP H06218671A
- Authority
- JP
- Japan
- Prior art keywords
- pressing force
- fluid pressure
- pressure cylinder
- polishing
- polishing tool
- 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.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本願発明は、例えば自動車のボデ
ィ外板の上塗り塗装前に、外板塗装面のレベリングおよ
び上塗り塗料の密着性向上のために外板塗装面を研磨す
る塗膜研磨方法およびその装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for polishing a coating film, for example, before coating the outer coating of a vehicle body outer panel, to level the coating surface of the outer coating and to improve the adhesion of the top coating composition. And its device.
【０００２】[0002]
【従来の技術】従来、自動車のボディ外板塗装面を研磨
ロボットを用いて研磨する方法はよく知られている。例
えば、特開昭６０ー２０８４９号公報に開示されている
ように、ティーチング・プレイバック型産業用ロボット
の手首に研磨材を取り付け、手首の位置、姿勢の記憶情
報により研磨材の被研磨面に対する押し付け力が一定に
なるように制御するものが既に提案されている。2. Description of the Related Art Conventionally, a method of polishing a coated surface of a body outer panel of an automobile using a polishing robot is well known. For example, as disclosed in Japanese Patent Application Laid-Open No. 60-20849, an abrasive is attached to the wrist of a teaching / playback type industrial robot, and the surface of the abrasive to be abraded by the memory information of the position and posture of the wrist. A device that controls the pressing force to be constant has already been proposed.
【０００３】[0003]
【発明が解決しようとする課題】上記公知例におけるよ
うに、ロボットの手首の位置、姿勢の記憶情報により研
磨材の被研磨面に対する押し付け力が一定になるように
制御する場合、制御のために要する情報量および演算量
が多くならざるを得ず、コストアップ、大型化等をまぬ
がれがたいという不具合がある。As in the above-mentioned known example, when controlling so that the pressing force of the polishing material against the surface to be polished becomes constant by the memory information of the position and orientation of the wrist of the robot, the control is performed. There is a problem that the amount of information and the amount of calculation required are large, and it is difficult to avoid cost increase and size increase.
【０００４】ところで、外板塗装面は曲面および平面か
らなる自由曲面となっており、このような塗装面を研磨
する場合、ロボットハンドに持たせた研磨ツールを被研
磨面に対して直交状に押し付けて行う必要がある。とこ
ろが、研磨姿勢の変化により研磨ツールが鉛直方向に向
かない場合が生じる。すると、研磨ツールの全重量が被
研磨面に作用しない(即ち、研磨ツールの重量の鉛直方
向成分が生じる)場合ができ、研磨ツールに対して押圧
力を付与する流体圧シリンダーの実効負荷が変わってし
まうことがある。その場合、流体圧シリンダーの力バラ
ンスにもずれが生じて、安定した押圧力が得られなくな
り、研磨不良等を引き起こすおそれがある。By the way, the coated surface of the outer plate is a free curved surface consisting of a curved surface and a flat surface. When polishing such a coated surface, the polishing tool held by the robot hand is made orthogonal to the surface to be polished. It needs to be pressed. However, there are cases where the polishing tool does not face the vertical direction due to a change in the polishing posture. Then, the total weight of the polishing tool may not act on the surface to be polished (that is, a vertical component of the weight of the polishing tool may be generated), and the effective load of the fluid pressure cylinder that applies the pressing force to the polishing tool changes. It may happen. In that case, the force balance of the fluid pressure cylinder may be deviated, and stable pressing force may not be obtained, which may cause polishing failure or the like.
【０００５】本願発明は、上記の点に鑑みてなされたも
ので、極めて簡易な手法により研磨ツールの押圧力を安
定させ得るようにすることを目的とするものである。The present invention has been made in view of the above points, and an object thereof is to make it possible to stabilize the pressing force of a polishing tool by an extremely simple method.
【０００６】[0006]
【課題を解決するための手段】請求項１の方法では、上
記課題を解決するための手段として、被研磨面である塗
膜に対して流体圧シリンダーの押圧力によって直交状に
押し付けられる研磨ツールを用いて研磨作業を行うに当
たって、前記研磨ツールの姿勢変化に伴う前記流体圧シ
リンダーの実効負荷を圧力センサーにより検出し、該実
効負荷と鉛直姿勢時における流体圧シリンダーの基準負
荷との偏差に基づいて修正押圧力を演算し、該修正押圧
力に基づいて前記流体圧シリンダーの押圧力制御を行う
ようにしている。According to the method of claim 1, as means for solving the above-mentioned problems, a polishing tool for pressing a coating film, which is a surface to be polished, orthogonally by a pressing force of a fluid pressure cylinder. When performing a polishing operation using, the effective load of the fluid pressure cylinder due to the attitude change of the polishing tool is detected by a pressure sensor, and based on the deviation between the effective load and the reference load of the fluid pressure cylinder in the vertical attitude. Then, the correction pressing force is calculated, and the pressing force of the fluid pressure cylinder is controlled based on the correction pressing force.
【０００７】請求項２の装置では、上記課題を解決する
ための手段として、被研磨面である塗膜に対して直交状
に押し付けられる研磨ツールと、該研磨ツールに対して
押圧力を付与する流体圧シリンダーと、該流体圧シリン
ダーによる押圧力を制御する圧力調整機構とを備えた塗
膜研磨装置において、前記研磨ツールの姿勢変化に伴う
前記流体圧シリンダーの実効負荷を検出する圧力センサ
ーと、該実効負荷と鉛直姿勢時における流体圧シリンダ
ーの基準負荷との偏差に基づいて修正押圧力を演算する
演算手段と、該演算手段により求められた修正押圧力に
基づいて前記圧力制御機構にフィードバックして前記流
体圧シリンダーの押圧力制御を行う制御手段とを付設す
るようにしている。In the apparatus according to the second aspect, as means for solving the above problems, a polishing tool that is pressed orthogonally to a coating film that is a surface to be polished, and a pressing force is applied to the polishing tool. In a coating film polishing apparatus including a fluid pressure cylinder and a pressure adjusting mechanism that controls a pressing force by the fluid pressure cylinder, a pressure sensor that detects an effective load of the fluid pressure cylinder due to a change in posture of the polishing tool, Calculation means for calculating the corrected pressing force based on the deviation between the effective load and the reference load of the fluid pressure cylinder in the vertical posture, and feedback to the pressure control mechanism based on the corrected pressing force obtained by the calculating means. And a control means for controlling the pressing force of the fluid pressure cylinder.
【０００８】[0008]
【作用】請求項１の方法あるいは請求項２の装置では、
上記手段によって次のような作用が得られる。According to the method of claim 1 or the apparatus of claim 2,
The following actions are obtained by the above means.
【０００９】即ち、例えば、自動車のボディ外板のよう
な自由曲面を有する被研磨面を研磨する場合には、研磨
ツールは水平な被研磨面に押し付けられるとは限らず、
水平面に対して傾斜した被研磨面に押し付けられる場合
もある。ところが、研磨ツールは常に被研磨面に対して
直交する方向から押し付けられるため、研磨ツールが鉛
直方向に対して傾斜状態の姿勢をとらざるを得ない場合
が生ずることとなる。この場合、研磨ツールの全重量が
被研磨面に作用せず、鉛直方向成分が被研磨面へ作用し
ないこととなるが、上記したように、研磨ツールの姿勢
変化に伴う流体圧シリンダーの実効負荷を圧力センサー
により検出し、該実効負荷と鉛直姿勢時における流体圧
シリンダーの基準負荷との偏差に基づいて修正押圧力を
演算し、該修正押圧力に基づいて前記流体圧シリンダー
の押圧力制御を行うようにしたことにより、研磨ツール
は常に安定した押圧力で被研磨面に押し付けられること
となる。That is, for example, when polishing a surface to be polished having a free curved surface such as a car body outer plate, the polishing tool is not always pressed against a horizontal surface to be polished.
It may be pressed against the surface to be polished that is inclined with respect to the horizontal plane. However, since the polishing tool is always pressed from the direction orthogonal to the surface to be polished, there is a case where the polishing tool has to take a posture of being inclined with respect to the vertical direction. In this case, the total weight of the polishing tool does not act on the surface to be polished, and the vertical component does not act on the surface to be polished.However, as described above, the effective load of the fluid pressure cylinder due to the posture change of the polishing tool. Is detected by a pressure sensor, a corrected pressing force is calculated based on the deviation between the effective load and the reference load of the fluid pressure cylinder in the vertical posture, and the pressing force of the fluid pressure cylinder is controlled based on the corrected pressing force. By doing so, the polishing tool is always pressed against the surface to be polished with a stable pressing force.
【００１０】[0010]
【発明の効果】請求項１の方法あるいは請求項２の装置
によれば、被研磨面である塗膜に対して流体圧シリンダ
ーの押圧力によって直交状に押し付けられる研磨ツール
を用いて研磨作業を行うに当たって、前記研磨ツールの
姿勢変化に伴う流体圧シリンダーの実効負荷を圧力セン
サーにより検出し、該実効負荷と鉛直姿勢時における流
体圧シリンダーの基準負荷との偏差に基づいて修正押圧
力を演算し、該修正押圧力に基づいて前記流体圧シリン
ダーの押圧力制御を行うようにしているので、研磨ツー
ルは常に安定した押圧力で被研磨面に押し付けられるこ
ととなり、極めて簡易な手段により自由曲面の被研磨面
に対する確実かつ正確な研磨を行うことができるという
優れた効果がある。According to the method of the first aspect or the apparatus of the second aspect, the polishing work is performed by using the polishing tool that is pressed orthogonally to the coating film as the surface to be polished by the pressing force of the fluid pressure cylinder. In doing so, the effective load of the fluid pressure cylinder due to the posture change of the polishing tool is detected by the pressure sensor, and the corrected pressing force is calculated based on the deviation between the effective load and the reference load of the fluid pressure cylinder in the vertical posture. Since the pressing force of the fluid pressure cylinder is controlled on the basis of the corrected pressing force, the polishing tool is always pressed against the surface to be polished with a stable pressing force, and the free-form surface of the free-form surface is extremely simple. There is an excellent effect that the surface to be polished can be surely and accurately polished.
【００１１】[0011]
【実施例】以下、添付の図面を参照して、本願発明の好
適な実施例を説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
【００１２】本実施例の塗膜研磨装置は、図１に示すよ
うに、汎用ロボット(図示省略)のロボットハンド１に取
り付けられるものであって、被研磨面Ｆである塗膜に対
して直交状に押し付けられる研磨ツール２と、該研磨ツ
ール２に対して押圧力を付与する流体圧シリンダー３
と、該流体圧シリンダー３による押圧力を制御する圧力
調整機構４とを備えて構成されている。As shown in FIG. 1, the coating film polishing apparatus of this embodiment is attached to a robot hand 1 of a general-purpose robot (not shown), and is orthogonal to a coating film which is a surface F to be polished. Polishing tool 2 pressed in a circular shape, and a fluid pressure cylinder 3 for applying a pressing force to the polishing tool 2.
And a pressure adjusting mechanism 4 for controlling the pressing force of the fluid pressure cylinder 3.
【００１３】前記研磨ツール２は、先端に設けられた研
磨パッド５を被研磨面Ｆに押し付けた状態で内蔵するモ
ータ(図示省略)により回転駆動させることにより被研磨
面Ｆを研磨するように構成されており、ロボットによる
動作制御により被研磨面Ｆに対して常に直交状に押し付
けられることとなっている。The polishing tool 2 is configured to polish the surface F to be polished by rotating the polishing pad 5 provided at the tip against the surface F to be polished by a built-in motor (not shown). Therefore, the robot is always pressed against the surface F to be polished orthogonally by the operation control by the robot.
【００１４】前記流体圧シリンダー３としては、例えば
エアシリンダーが採用され、そのピストンロッド３a先
端に前記研磨ツール２が取り付けられている。An air cylinder, for example, is adopted as the fluid pressure cylinder 3, and the polishing tool 2 is attached to the tip of the piston rod 3a.
【００１５】前記圧力調整機構４は、流体圧シリンダー
３の作動圧を調整するものであり、流体圧シリンダー３
の二つの圧力室に通ずる作動流体供給路６,７の途中に
介設された電磁比例弁８,９により構成されている。符
号１０は作動流体供給用ポンプ(本実施例の場合、エア
ポンプ)である。The pressure adjusting mechanism 4 is for adjusting the operating pressure of the fluid pressure cylinder 3, and the fluid pressure cylinder 3
The electromagnetic proportional valves 8 and 9 are provided in the middle of the working fluid supply paths 6 and 7 communicating with the two pressure chambers. Reference numeral 10 is a working fluid supply pump (in the present embodiment, an air pump).
【００１６】研磨ツール２とピストンロッド３aとの連
結部には、前記研磨ツール２の姿勢変化に伴う前記流体
圧シリンダー３の実効負荷Ｗを検出する圧力センサー１
１が付設されている。該圧力センサー１１は、研磨ツー
ル２を被研磨面Ｆに押し付けた時の反力を検出するもの
とされており、例えば歪センサーが用いられる。At the connecting portion between the polishing tool 2 and the piston rod 3a, a pressure sensor 1 for detecting an effective load W of the fluid pressure cylinder 3 due to a change in posture of the polishing tool 2.
1 is attached. The pressure sensor 11 detects a reaction force when the polishing tool 2 is pressed against the surface F to be polished, and for example, a strain sensor is used.
【００１７】しかして、前記塗膜研磨装置には、前記圧
力センサー１１により検出された実効負荷Ｗに基づいて
前記圧力調整機構４(具体的には、電磁比例弁８,９)を
制御するコントローラ１２が付設されている。Therefore, the coating film polishing apparatus includes a controller for controlling the pressure adjusting mechanism 4 (specifically, the electromagnetic proportional valves 8 and 9) based on the effective load W detected by the pressure sensor 11. 12 is attached.
【００１８】該コントローラ１２は、前記圧力センサー
１１により検出された検出信号を実効負荷Ｗに変換する
信号変換手段１２１と、該信号変換手段１２１により得
られた実効負荷Ｗと鉛直姿勢時における流体圧シリンダ
ー３の基準負荷Ｗ0との偏差に基づいて修正押圧力を演
算する演算手段１２２と、該演算手段１２２により求め
られた修正押圧力に基づいて前記圧力制御機構４にフィ
ードバックして前記流体圧シリンダー３の押圧力制御を
行う制御手段１２３とを備えて構成されている。The controller 12 converts the detection signal detected by the pressure sensor 11 into an effective load W, a signal converting means 121, an effective load W obtained by the signal converting means 121 and a fluid pressure in a vertical posture. The calculating means 122 for calculating the corrected pressing force based on the deviation from the reference load W 0 of the cylinder 3, and the fluid pressure by feeding back to the pressure control mechanism 4 based on the corrected pressing force obtained by the calculating means 122. The control means 123 for controlling the pressing force of the cylinder 3 is provided.
【００１９】ついで、図３に示すフローチャートを参照
して本実施例の塗膜研磨装置を用いた塗膜研磨方法を説
明する。Next, a coating film polishing method using the coating film polishing apparatus of this embodiment will be described with reference to the flow chart shown in FIG.
【００２０】例えば、自動車のボディ外板のような自由
曲面を有する被研磨面Ｆを研磨する場合には、研磨ツー
ル２は、図２に示すような水平な被研磨面Ｆに押し付け
られるとは限らず、図３に示すように水平面に対して傾
斜した被研磨面Ｆに押し付けられる場合もある。ところ
が、研磨ツール２は常に被研磨面Ｆに対して直交する方
向から押し付けられるため、研磨ツール２が鉛直方向に
対して傾斜状態の姿勢をとらざるを得ない場合が生ずる
こととなる。この場合、研磨ツール２の全重量が被研磨
面Ｆに作用せず、鉛直方向成分Ｗ′が被研磨面Ｆへ作用
しないこととなる。For example, when polishing a surface F to be polished having a free-form surface such as a car body outer plate, the polishing tool 2 is not pressed against a horizontal surface F to be polished as shown in FIG. Without being limited thereto, it may be pressed against the surface F to be polished which is inclined with respect to the horizontal plane as shown in FIG. However, since the polishing tool 2 is always pressed from the direction orthogonal to the surface F to be polished, there may be a case where the polishing tool 2 is forced to take a posture inclined with respect to the vertical direction. In this case, the total weight of the polishing tool 2 does not act on the surface F to be polished, and the vertical component W ′ does not act on the surface F to be polished.
【００２１】本実施例の場合、ステップＳ1においてロ
ボットにより研磨位置が水平な被研磨面(図２の位置)か
ら傾斜状態の被研磨面(図３の位置)に移動せしめられる
と、流体圧シリンダー３の押し付け力により研磨ツール
２が傾斜状態で被研磨面Ｆに押し付けられ、その状態で
の押し付け方向の荷重が圧力センサー１１により検出さ
れ、圧力センサー１１により検出された荷重信号が信号
変換手段１２１によって実効負荷Ｗに変換されて読み取
られる(ステップＳ2)。この時の実効負荷Ｗは、鉛直姿
勢時における流体圧シリンダー３の基準負荷Ｗ0から鉛
直方向成分Ｗ′を差し引いたものとなっている。In the case of the present embodiment, when the robot moves the polishing position from the horizontal surface to be polished (position in FIG. 2) to the inclined surface to be polished (position in FIG. 3) in step S 1 , the fluid pressure is increased. The polishing tool 2 is pressed against the surface F to be polished in an inclined state by the pressing force of the cylinder 3, the load in the pressing direction in that state is detected by the pressure sensor 11, and the load signal detected by the pressure sensor 11 is a signal conversion means. It is converted into an effective load W by 121 and read (step S 2 ). The effective load W at this time is obtained by subtracting the vertical component W ′ from the reference load W 0 of the fluid pressure cylinder 3 in the vertical posture.
【００２２】従って、ステップＳ3において前記実効負
荷Ｗと基準負荷Ｗ0との偏差(換言すれば、補正値)が演
算され、該補正値に基づいて修正押圧力が演算され、該
修正押圧力に基づいて前記流体圧シリンダー３の押圧力
制御されるのであるが、実際には、制御手段１２３から
の指令により圧力調整機構４(具体的には、電磁比例弁
８,９)を制御して、流体圧シリンダー３から前記補正値
に相当する押圧力(即ち、荷重補正量)を出力し(ステッ
プＳ4)、流体圧シリンダー３をバランシング状態となし
(ステップＳ5)、その後必要な研磨押圧力を流体圧シリ
ンダー３が出力し得るように圧力調整機構４の制御を行
う(ステップＳ6)。Therefore, in step S 3 , a deviation (in other words, a correction value) between the effective load W and the reference load W 0 is calculated, a correction pressing force is calculated based on the correction value, and the correction pressing force is calculated. Although the pressing force of the fluid pressure cylinder 3 is controlled based on the above, in reality, the pressure adjusting mechanism 4 (specifically, the solenoid proportional valves 8 and 9) is controlled by a command from the control means 123. , A pressing force (that is, a load correction amount) corresponding to the correction value is output from the fluid pressure cylinder 3 (step S 4 ), and the fluid pressure cylinder 3 is brought into a balancing state.
(Step S 5), controls the pressure adjusting mechanism 4 so as thereafter required polishing pressure can output fluid pressure cylinder 3 (step S 6).
【００２３】上記制御は、ステップＳ7において全研磨
必要部位の研磨が終了した判定されるまで繰り返され
る。The above control is repeated until it is determined in step S 7 that the polishing of all the required polishing portions has been completed.
【００２４】上記したように、本実施例においては、被
研磨面Ｆに対して流体圧シリンダー３の押圧力によって
直交状に押し付けられる研磨ツール２を用いて研磨作業
を行うに当たって、前記研磨ツール２の姿勢変化に伴う
流体圧シリンダー３の実効負荷Ｗを圧力センサー１１に
より検出し、該実効負荷Ｗと鉛直姿勢時における流体圧
シリンダー３の基準負荷Ｗ0との偏差に基づいて修正押
圧力を演算し、該修正押圧力に基づいて前記流体圧シリ
ンダー３の押圧力制御を行うようにしているため、研磨
ツール２は常に安定した押圧力で被研磨面Ｆに押し付け
られることとなり、極めて簡易な手段により自由曲面の
被研磨面Ｆに対する確実かつ正確な研磨を行うことがで
きるのである。As described above, in this embodiment, when performing the polishing operation using the polishing tool 2 which is pressed orthogonally to the surface F to be polished by the pressing force of the fluid pressure cylinder 3, the polishing tool 2 is used. The effective load W of the fluid pressure cylinder 3 due to the posture change is detected by the pressure sensor 11, and the corrected pressing force is calculated based on the deviation between the effective load W and the reference load W 0 of the fluid pressure cylinder 3 in the vertical posture. However, since the pressing force of the fluid pressure cylinder 3 is controlled based on the corrected pressing force, the polishing tool 2 is always pressed against the surface F to be polished with a stable pressing force, which is an extremely simple means. Thus, the free-form surface to be polished F can be surely and accurately polished.
【００２５】本願発明は、上記実施例の構成に限定され
るものではなく、発明の要旨を逸脱しない範囲において
適宜設計変更可能なことは勿論である。The invention of the present application is not limited to the configuration of the above-mentioned embodiment, and it goes without saying that the design can be appropriately changed without departing from the scope of the invention.
【図１】本願発明の実施例にかかる塗膜研磨装置の概略
構成図である。FIG. 1 is a schematic configuration diagram of a coating film polishing apparatus according to an embodiment of the present invention.
【図２】本願発明の実施例にかかる塗膜研磨装置におけ
る研磨ツールの鉛直姿勢時の状態を示す側面図である。FIG. 2 is a side view showing a state of the polishing tool in the vertical posture in the coating film polishing apparatus according to the embodiment of the present invention.
【図３】本願発明の実施例にかかる塗膜研磨装置におけ
る研磨ツールの傾斜姿勢時の状態を示す側面図である。FIG. 3 is a side view showing a state of the polishing tool in a tilted posture in the coating film polishing apparatus according to the embodiment of the present invention.
【図４】本願発明の実施例にかかる塗膜研磨装置による
塗膜研磨方法を説明するためのフローチャートである。FIG. 4 is a flowchart for explaining a coating film polishing method by the coating film polishing apparatus according to the embodiment of the present invention.
２は研磨ツール、３は流体圧シリンダー、４は圧力調整
機構、５は研磨パッド、６,７は作動流体供給路、８,９
は電磁比例弁、１１は圧力センサー、１２はコントロー
ラ、１２１は信号変換手段、１２２は演算手段、１２３
は制御手段、Ｆは被研磨面、Ｗは実効負荷、Ｗ0は基準
負荷。2 is a polishing tool, 3 is a fluid pressure cylinder, 4 is a pressure adjusting mechanism, 5 is a polishing pad, 6 and 7 are working fluid supply paths, and 8 and 9
Is an electromagnetic proportional valve, 11 is a pressure sensor, 12 is a controller, 121 is a signal converting means, 122 is a computing means, 123
Is a control means, F is a surface to be polished, W is an effective load, and W 0 is a reference load.
Claims (2)
ンダーの押圧力によって直交状に押し付けられる研磨ツ
ールを用いて研磨作業を行うに当たって、前記研磨ツー
ルの姿勢変化に伴う前記流体圧シリンダーの実効負荷を
圧力センサーにより検出し、該実効負荷と鉛直姿勢時に
おける流体圧シリンダーの基準負荷との偏差に基づいて
修正押圧力を演算し、該修正押圧力に基づいて前記流体
圧シリンダーの押圧力制御を行うようにしたことを特徴
とする塗膜研磨方法。1. A fluid pressure cylinder according to a change in posture of the polishing tool when performing a polishing operation using a polishing tool that is pressed orthogonally to a coating film to be polished by a pressing force of a fluid pressure cylinder. The effective load of the fluid pressure cylinder is detected by a pressure sensor, the corrected pressing force is calculated based on the deviation between the effective load and the reference load of the fluid pressure cylinder in the vertical posture, and the pressing force of the fluid pressure cylinder is calculated based on the corrected pressing force. A method for polishing a coating film, wherein pressure control is performed.
し付けられる研磨ツールと、該研磨ツールに対して押圧
力を付与する流体圧シリンダーと、該流体圧シリンダー
による押圧力を制御する圧力調整機構とを備えた塗膜研
磨装置であって、前記研磨ツールの姿勢変化に伴う前記
流体圧シリンダーの実効負荷を検出する圧力センサー
と、該実効負荷と鉛直姿勢時における流体圧シリンダー
の基準負荷との偏差に基づいて修正押圧力を演算する演
算手段と、該演算手段により求められた修正押圧力に基
づいて前記圧力制御機構にフィードバックして前記流体
圧シリンダーの押圧力制御を行う制御手段とを付設した
ことを特徴とする塗膜研磨装置。2. A polishing tool that is pressed perpendicularly to a coating film that is a surface to be polished, a fluid pressure cylinder that applies a pressing force to the polishing tool, and a pressing force by the fluid pressure cylinder is controlled. A coating film polishing apparatus comprising a pressure adjusting mechanism, wherein a pressure sensor for detecting an effective load of the fluid pressure cylinder due to a change in posture of the polishing tool, and a reference of the effective pressure and the fluid pressure cylinder in a vertical posture. Calculation means for calculating the corrected pressing force based on the deviation from the load, and control means for feeding back to the pressure control mechanism based on the corrected pressing force obtained by the calculating means to control the pressing force of the fluid pressure cylinder. A coating film polishing device characterized by being provided with and.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP771293A JPH06218671A (en) | 1993-01-20 | 1993-01-20 | Painted film polishing and device therefor |
| US08/149,814 US5509848A (en) | 1992-11-10 | 1993-11-10 | Method of and apparatus for polishing painted surfaces |
| KR1019930023785A KR100312437B1 (en) | 1992-11-10 | 1993-11-10 | Method and apparatus for applying coating film |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP771293A JPH06218671A (en) | 1993-01-20 | 1993-01-20 | Painted film polishing and device therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06218671A true JPH06218671A (en) | 1994-08-09 |
Family
ID=11673362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP771293A Pending JPH06218671A (en) | 1992-11-10 | 1993-01-20 | Painted film polishing and device therefor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06218671A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2352417B (en) * | 1999-03-25 | 2003-09-17 | Ford Global Tech Inc | Method and tooling for automated wet or dry sanding of a vehicle surface |
| US7585558B2 (en) | 2003-01-30 | 2009-09-08 | Toho Tenax Co., Ltd. | Carbon fiber-reinforced resin composite materials |
| JP2011041992A (en) * | 2009-08-19 | 2011-03-03 | Fanuc Ltd | Machining robot system |
| JP2018153898A (en) * | 2017-03-19 | 2018-10-04 | 学校法人早稲田大学 | Contact force adjusting end effector |
| CN109454653A (en) * | 2019-01-19 | 2019-03-12 | 嘉兴市宏丰机械有限公司 | A kind of control system and control method with flexible wrist joint robot |
-
1993
- 1993-01-20 JP JP771293A patent/JPH06218671A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2352417B (en) * | 1999-03-25 | 2003-09-17 | Ford Global Tech Inc | Method and tooling for automated wet or dry sanding of a vehicle surface |
| US7585558B2 (en) | 2003-01-30 | 2009-09-08 | Toho Tenax Co., Ltd. | Carbon fiber-reinforced resin composite materials |
| JP2011041992A (en) * | 2009-08-19 | 2011-03-03 | Fanuc Ltd | Machining robot system |
| JP2018153898A (en) * | 2017-03-19 | 2018-10-04 | 学校法人早稲田大学 | Contact force adjusting end effector |
| CN109454653A (en) * | 2019-01-19 | 2019-03-12 | 嘉兴市宏丰机械有限公司 | A kind of control system and control method with flexible wrist joint robot |
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