JPS60108262A - Grinding robot - Google Patents

Grinding robot

Info

Publication number
JPS60108262A
JPS60108262A JP21466183A JP21466183A JPS60108262A JP S60108262 A JPS60108262 A JP S60108262A JP 21466183 A JP21466183 A JP 21466183A JP 21466183 A JP21466183 A JP 21466183A JP S60108262 A JPS60108262 A JP S60108262A
Authority
JP
Japan
Prior art keywords
arm
shaft
polishing
grinding
handle
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
Application number
JP21466183A
Other languages
Japanese (ja)
Other versions
JPH059226B2 (en
Inventor
Isamu Komatsu
勇 小松
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.)
Aida Engineering Ltd
Original Assignee
Aida Engineering Ltd
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 Aida Engineering Ltd filed Critical Aida Engineering Ltd
Priority to JP21466183A priority Critical patent/JPS60108262A/en
Priority to EP84112680A priority patent/EP0142072A3/en
Priority to US06/663,700 priority patent/US4603511A/en
Priority to AU34782/84A priority patent/AU3478284A/en
Priority to CA000467171A priority patent/CA1256701A/en
Priority to KR1019840007047A priority patent/KR880002337B1/en
Publication of JPS60108262A publication Critical patent/JPS60108262A/en
Publication of JPH059226B2 publication Critical patent/JPH059226B2/ja
Granted legal-status Critical Current

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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • 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
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/20—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding dies
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/421—Teaching successive positions by mechanical means, e.g. by mechanically-coupled handwheels to position tool head or end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34365—After interrupt of operation, do other task and go on - resume operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36498—Main and secondary program for repeating same operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45161—Grinding machine

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

PURPOSE:To have effective grinding work for a curvature with complicated configuration by pivoting No.2 arm with possibility of swinging oscillation at the tip of No.1 arm, which swings oscillatively round the shaft, and by furnishing a grinding tool at the foremost shaft of said No.2 arm. CONSTITUTION:A work 58 is mounted on a table 48, and a tiltable handle 57 is titled to allow the surface to be ground to confront the grinding tool 9, and a revolution is made by a rotary handle 51 for the purpose of location. Motors 15, 16 are put in operation till respective specified rotational angles while signals while signals from rotary encoders 19, 20 are fed back, so as to rotate No.1, No.2 arms 7, 8 to their specified angles. Thus the grinding tool 9 can be oriented as intended and operated in the intended direction in automatic linkage, so that grinding of as well plane part as a complicated curvature can be performed effectively.

Description

【発明の詳細な説明】 本発明は金型などの曲面部を容易に研磨することのでき
る研磨用ロボットに関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a polishing robot that can easily polish curved surfaces such as molds.

従来、金型などの複雑な形状の曲面部を研磨する場合は
、適切な研磨装置がなかったので手作業で行なわざるを
えず、多くの工数を必要とし、かつ作業が煩雑で細心の
注意を必要とするので作業者の疲労が甚だしく、作業能
率が悪いなどの欠点があった。Conventionally, when polishing complex-shaped curved surfaces such as molds, there was no suitable polishing equipment, so it had to be done manually, requiring a large number of man-hours, and the work was complicated and required careful attention. However, this method has disadvantages such as severe worker fatigue and poor work efficiency.

本発明の目的はこれらの欠点を除き、研磨工具を所要の
向きに自動的に自在に運動させることができ、複雑な形
状の曲面部の研磨作業を効率的に行なうことのできる研
磨用ロボットを提供することにある。以下本発明の実施
例について図面を参照して説明する。The purpose of the present invention is to eliminate these drawbacks, to provide a polishing robot that can automatically and freely move a polishing tool in a desired direction, and that can efficiently perform polishing work on curved surfaces with complex shapes. It is about providing. Embodiments of the present invention will be described below with reference to the drawings.

第１図、第２図及び第３図において、研磨用ロボットを
示している。In FIGS. 1, 2, and 3, a polishing robot is shown.

ＧＪｆ　ｍ用ロボットは工具駆動装置（１）とこれに隣
接して設けたテーブル装置（２）とから構成されている
。The GJf m robot consists of a tool drive device (1) and a table device (2) provided adjacent to the tool drive device (1).

工具駆動装置（１）のベッド（３）にはテーブル装置＋
２１に向けて進退可能な移動台（４）が設けられている
。The bed (3) of the tool drive device (1) has a table device +
A moving platform (4) that can move forward and backward toward 21 is provided.

移動台（４）には２本のガイド棒（５）が立設され、こ
のガイド棒（５１に案内されて昇降自在な昇降ケース（
６）が設けられている。昇降ケース（６）には先端が２
つになったコの字状の第１アーム（７）が上下方向を軸
部として回転自在に支持されている。第１アーム（７）
の上下２つになった先端部の間にはそこから水平に張り
出した第２アーム（８）が水平面内に回転自在に設けら
れている。第２アーム（８）の先端部には研磨工具（９
）を取９つけたたて軸（１０１が回転自在に設けられて
いる。第１アーム（７）の軸部の上方にはたて軸（１０
）を９０”往復回動可能とするための工具用モータ（ｌ
ｌ］が昇降ケース（６）の上面に立てた支柱（１２＋上
に設けられている。アーム部の構造の詳細は後述する。Two guide rods (5) are erected on the movable table (4), and a lifting case (which can be raised and lowered) guided by the guide rods (51)
6) is provided. The lifting case (6) has two tips.
A U-shaped first arm (7) is rotatably supported with its shaft extending in the vertical direction. 1st arm (7)
A second arm (8) extending horizontally between the upper and lower ends of the arm is rotatably provided in a horizontal plane. A polishing tool (9) is attached to the tip of the second arm (8).
) 9 is attached to the vertical shaft (101) is rotatably provided. Above the shaft of the first arm (7) is the vertical shaft (101).
) to be able to reciprocate by 90"
l] is provided on a support column (12+) erected on the upper surface of the elevating case (6). Details of the structure of the arm portion will be described later.

第１アーム（７）の昇降ケース（６）内に伸びた軸部に
は第１アーム（７）全回動させるプーリ０３）と第２ア
ーム（８）全回転させるだめのプーリ０滲とが設けられ
ている。昇降ケース（６）上面には第１アーム（７＋、
ｍ動用のモータ（１５）と第２アーム（８）駆動用のモ
ータ０６）とが出力軸を下向にして取りつけられ、夫々
の出力軸にはブーＩＪ（１７）１１８１が回定されてい
る。The shaft part of the first arm (7) extending into the lifting case (6) has a pulley 03 for fully rotating the first arm (7) and a pulley for fully rotating the second arm (8). It is provided. The first arm (7+,
The motor (15) for m-motion and the motor 06) for driving the second arm (8) are installed with their output shafts facing downward, and a boolean IJ (17) 1181 is rotated on each output shaft. .

またモータ（１５）、（Ｉ６）の出力軸には夫々ロータ
リエンｊ　−タ（１９１、（２０）が連結されテイル。Furthermore, rotary encoders (191, (20)) are connected to the output shafts of the motors (15), (I6), respectively.

モータ（１５１、（１６１に対応させて昇降ケース（６
）に設けた夫々の中間軸にはプーリ（１３＋１７１間に
プーリ（２１１（２２１、プーリ（１０００ｇ＋間にブ
ー’Ｊ　（２３］、（２１０を設けて夫々を歯付ベルト
で連結している。昇降ケース（６）の昇降は移動台（４
）に設けた第３図に示す昇降ハンドル（２５）によって
行ない、昇降ハンドル（２５ｊ軸のウオームと螺合する
第１図に示ずウオームホイール（２６）のめねじと螺合
するねじ棒（２７）の昇降による。The lifting case (6) corresponds to the motor (151, (161)
), a pulley (211 (221) is provided between the pulley (13+171), and a Boo'J (23) and (210) are provided between the pulley (1000g+) and are connected to each other by a toothed belt. The case (6) can be raised and lowered using the moving platform (4).
This is done by the lifting handle (25) shown in FIG. 3 provided on the lifting handle (25 ) by lifting and lowering.

第４図において、第１アーム（７）及び第２アーム（８
）の構造を示している。昇降ケース（６）には第１アー
ム（７）の軸部（７ａ）が回転自在に支持されている。In FIG. 4, the first arm (7) and the second arm (8
) shows the structure of A shaft portion (7a) of a first arm (7) is rotatably supported by the elevating case (6).

軸部（７ａ）に第１アーム（７）を回動させるためのブ
ーＩＪ　（＋３１が固定されている。軸部（７ａ）と同
心に回転自在に内装された軸（２８）には第２アーム（
８）を回動するためのグーＩＪ（１４１が固定されてい
る。A boo IJ (+31) for rotating the first arm (7) is fixed to the shaft (7a).A second arm(
8) is fixed with a goo IJ (141) for rotating it.

第２アーム（８）の軸部（８ａ）は第１アーム（７）の
下側先端部に回転自在に支持されている。軸（２８）と
軸部（８ａ）には等径のブーＩＪ　（２９）（２９＋が
夫々固定され歯伺ベルト（３０）で連結されている。第
１アーム（７）には軸（２８）の上方に同心に軸ｆ３１
）が回転自在に設けられ前述の工具用モータ旧）の出力
軸と直結されている。第２アーム（８）には軸部（８ａ
）と同心に回転自在に軸（３２１の一端を支持している
。軸（３カの他端は第１アーム（７）の上側先端部に回
転自在に支持されている。軸（３υ（３２１には等径の
グー１月署が夫々固定され歯イ」ベルト（３（１）で連
結されている。第２アーム（８）の先端には円筒軸に伺
が回転自在に設けられ、円筒軸（３５）と軸（３カには
等径のブー’）　（３［ｉ）が夫々固定され歯付ベルＨ
７）で連結されている。The shaft portion (8a) of the second arm (8) is rotatably supported by the lower end portion of the first arm (7). Boo IJs (29) (29+) of equal diameter are fixed to the shaft (28) and the shaft portion (8a), respectively, and are connected by a toothed belt (30).A shaft (28) is attached to the first arm (7). axis f31 concentrically above
) is rotatably provided and directly connected to the output shaft of the aforementioned tool motor (old). The second arm (8) has a shaft portion (8a
One end of the shaft (321) is supported concentrically with the shaft (321).The other end of the shaft (321 is rotatably supported at the upper tip of the first arm (7). 1 and 2 are fixed to each other and are connected by a toothed belt (3 (1)). At the tip of the second arm (8), a cylindrical shaft is rotatably provided, and the cylindrical The shaft (35) and the shaft (3 shafts have equal diameters) (3 [i) are fixed respectively and the toothed bell H
7).

円筒軸（ト）の内径部にはすべりキー開で回シ止めされ
たたで軸００）が昇降自在知下限を規制されて設けられ
ている。だて軸（１０）には上端面に開口するシリンダ
（３９）を設け、これに適合するピストン（４［１）を
同筒軸（３艶の上端に固定している。ピストン（４ｏ）
の中心穴には圧縮エアの給排口（４１）が設けられ、ロ
ークリジョインｌ−（図示せず）付の配管がされている
。圧縮エアを給排口（４１）から供給するとたて軸αω
に下向の付勢力を加えることができる。A vertical shaft 00) is provided on the inner diameter portion of the cylindrical shaft (T), which is locked when the sliding key is opened and whose lower limit is regulated. The extending shaft (10) is provided with a cylinder (39) that opens on the upper end surface, and a piston (4 [1) that fits the cylinder (39) is fixed to the upper end of the cylinder shaft (39).Piston (4o)
A compressed air supply/discharge port (41) is provided in the center hole, and piping is provided with a low join L- (not shown). When compressed air is supplied from the supply/discharge port (41), the vertical axis αω
A downward biasing force can be applied to the

第１図、第２図、第３図及び第５図において、テーブル
装置（２）のベッドＫｌ”ｔ：基軸（４２）が立設され
、基軸（４２）に約９０”回転可能に車輪付の旋回台（
４）が設けられている。旋回台（４３）はロックハンド
ル（４４）にょ９固定できる。旋回台ｆ４３　Ｋは水平
軸ｊ４！ｌｉ）が回転自在に設けられ、これに平行に固
定した２本の耳付すンク（４６１（４６１を設け、葦だ
水平軸（４５）と平行な軸回シに旋回台（４３１に枢着
された１本のリンク（４７）を設けこれらのリンクの他
端部にテーブル（４８）を回転自在に設けたハウジング
（４９）が枢着されている。テーブル（４８）の軸に固
定したウメームホイール（５０）とかみ合うウオームを
イ１する回転ハンドル（５１）か設けられている０耳伺
リンク（４Ｇ）の耳部には第５図に示すようにねじ棒（
５２）の二又部が枢着され、ねじ棒（５２）に螺合する
めねじを中心部に有するベベルギヤ（５３）が設けられ
ている。ベベルギヤ（５３）は水平軸（４つと平行にそ
の軸を旋回台（４３）に支持きれた揺動板（５４）に回
転自在に保持されている。揺動板（５（１）の一方の支
持軸′５５）は揺動板（５４）に対しても回転自在とし
、ベベルギヤ（５３）にかみ合うベベルギヤ（５Ｇ）を
その一端に固定し、他端には可傾ハンドル（５７）が固
定されている。可傾ハンドル（５７）ｆ：回すと、支持
軸（５５１、ベベルギヤ（園ヲ介してベベルギヤ（５３
）を回し、ねじ棒畷を昇降させて耳打リンク（４６）を
揺動させ、リンク（４７）と協働してハウジング（４９
）とテーブル（４８）を第２図に示すように水平から垂
直まで回動させることができる。In FIGS. 1, 2, 3, and 5, the bed Kl"t of the table device (2): the base shaft (42) is erected, and the base shaft (42) is equipped with wheels that can rotate approximately 90". The swivel base (
4) is provided. The swivel base (43) can be fixed to the lock handle (44). Swivel base f43 K has horizontal axis j4! li) is rotatably provided, and two ears (461) are fixed parallel to this, and a swivel base (431) is pivotally mounted on a shaft parallel to the reed horizontal axis (45). A housing (49) with a rotatably provided table (48) is pivotally connected to the other end of these links. As shown in Figure 5, the ears of the 0-lug link (4G) are equipped with a rotating handle (51) that rotates the worm that engages with the wheel (50).
A bevel gear (53) is provided, to which the forked portion of the bevel gear (52) is pivotally connected and has a female thread in the center that is screwed into the threaded rod (52). The bevel gear (53) is rotatably held by a rocking plate (54) whose axis is fully supported by the swivel table (43) parallel to the four horizontal shafts. One of the rocking plates (5 (1) The support shaft '55) is also rotatable with respect to the rocking plate (54), and a bevel gear (5G) that meshes with the bevel gear (53) is fixed to one end thereof, and a tilting handle (57) is fixed to the other end. Tilting handle (57) f: When turned, the support shaft (551) and the bevel gear (53
) to move the threaded rod up and down to swing the lug link (46), which works with the link (47) to move the housing (49) up and down.
) and the table (48) can be rotated from horizontal to vertical as shown in FIG.

次に作用について述べる。テーブル（４８）上にワーク
（５８）を取９つける。所要の研磨面を研磨工具（９）
に対向させるために可傾ハンドル（５７）　Ｋよシテー
ブル（４８）を傾斜させると共に、回転ハンドル（５１
）によりテーブルに＋８＋を旋回させて位置決めする。Next, we will discuss the effect. Place 9 workpieces (58) on the table (48). Polishing tool (9) for desired polishing surface
The tiltable handle (57) and the table (48) are tilted to face the rotary handle (51).
) to rotate the table +8+ and position it.

必要に応じて旋回台旧を回しテーブル（４８）の傾斜方
向を変える。次に第１、第２アーム（７）、（８）を同
時又は個々に夫々一定の角度回転させる為にモータ０５
）、０６）に夫々所要の回転角度を与えて駆動し、アー
ム（７）、（８）の夫々の回転角をロータリーエンコー
ダ（１９＋、（２０＋によって制御装置にフィードバッ
クし、モータ回転角と比較制御する。If necessary, turn the swivel base to change the direction of inclination of the table (48). Next, the motor 05 is used to rotate the first and second arms (7) and (8) simultaneously or individually by a certain angle.
), 06) are given the required rotation angles and driven, and the respective rotation angles of arms (7) and (8) are fed back to the control device by rotary encoders (19+, (20+), and compared with the motor rotation angle for control. do.

アーム（７）、（８１の回転角度を夫々最大約１２ｏ°
とすることによって第３図に（Ａ＋で示す範囲内に研磨
工具（９）を自在に動かすことができる。ワーク（５榎
の所要の研磨面の大きさに応じてモータ（１５）、ｏ６
）へ送ル回転角データを変える。モータ０５）、α６）
を同時に起動すると設定し／こ角度範囲でモータ０５）
αＧ）は正逆転が切シ換えて制御され、第１、第２アー
ム（７１（８１は所要の角度範囲を往復回動しワーク（
５８）は研磨される。第４図に示す給排口（４陳所要圧
力のエアを供給することにより研磨工具（９）をワーク
（５８）に所要の圧力でイτＪ勢しながら研磨できる。Maximum rotation angle of arms (7) and (81) is approximately 12o°.
By doing so, it is possible to freely move the polishing tool (9) within the range indicated by A+ in Fig. 3.
) to change the feed rotation angle data. Motor 05), α6)
If you start the motor at the same time, set the motor in this angle range (05).
αG) is controlled by switching between forward and reverse directions, and the first and second arms (71 (81) rotate reciprocatingly within the required angle range to rotate the workpiece (
58) is polished. By supplying air at the required pressure to the supply/discharge port shown in FIG. 4, the polishing tool (9) can polish the workpiece (58) while applying force to the workpiece (58) at the required pressure.

丑だ研磨工具（９）は第１図に示ず工具用モータｕＤを
回すことによりだて軸（１０）’ｔ　９０”方向変換が
できるのでアーム（７）（８）による研磨工具（９）の
移動方向に応じて最適の方向に向けることができる。な
お研磨工具（９）は曲面部の研磨に適したもの、平面の
研磨に適したもの各種を用いれば研磨効率は向上できる
。The polishing tool (9) is not shown in Fig. 1, but the direction of the polishing shaft (10)'t90'' can be changed by turning the tool motor uD, so the polishing tool (9) can be used with the arms (7) and (8). The polishing efficiency can be improved by using various polishing tools (9) suitable for polishing curved surfaces and flat surfaces.

以上の説明から明らかなように本発明によれば、ω［磨
工具を所要の向きに向け、かつ所要の方向に自動的に運
動させることができるので平面部は勿論、複雑な形状の
面曲部の研磨作業を効率的に行なうことができる。なお
ワークを取９つけるテーブルを任意に旋回及び傾斜でき
るのでこの研磨効果が一層増大されるなど、実用上の効
果と利点は大きい。As is clear from the above description, according to the present invention, it is possible to orient the polishing tool in a desired direction and automatically move it in the desired direction. Polishing work can be done efficiently. Furthermore, since the table on which the workpiece is placed can be rotated and tilted arbitrarily, the polishing effect is further increased, and the practical effects and advantages are great.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は実施例の一部断面の正面図、 第２図はその一部断面の右側面図、 第３図は平面図、 第４図はアーム部要部の縦断面図、 第５図はテーブル傾斜駆動部の一部縦断面図である。 １は工具駆動装置、２はテーブル装置、３はベッド、４
は移動台、５はガイド棒、６は昇降ケース、７は第１ア
ーム、８は第２アーム、９は研磨工具、１０はたて軸、
１１は工具用モータ、１２は支柱、１３はプーリ、１４
はプーリ、１５はモータ、１６はモータ、１７はプーリ
、１８はプーリ、１９はロータリエンコーダ、２０はロ
ータリエンコーダ、２１はプーリ、２２はプーリ、２３
はプーリ、２４はプーリ、２５は昇降ハンドル、２６は
ウオームホイール、２７はねし棒、２８は軸、２９はプ
ーリ、３０は歯付ベルト、３１は軸、３２は軸、３３は
プーリ、３４は歯刊ベルト、３５は円筒軸、３６はプー
リ、３７は歯付ベルト、３８ハスヘリキー、３９はシリ
ンダ、４０はピストン、４１は給排口、４２は基軸、４
３は旋回台、４４はロックハンドル、４５は水平軸、４
６は耳打リンク、４７はリンク、４８はテーブル、４９
はハウジング、５０はウオームホイール、５１は回転ハ
ンドル、５２はねじ棒、５３はベベルギヤ、５４は揺動
板、５５は支持軸、５６はベベルギヤ、５７は可傾ハン
ドル、５８はワーク である。 特許出願人　アイダエンジニアリング株式会社代表者　
会　１）啓之助Fig. 1 is a partially sectional front view of the embodiment, Fig. 2 is a partially sectional right side view, Fig. 3 is a plan view, Fig. 4 is a vertical sectional view of the main part of the arm, and Fig. 5. FIG. 2 is a partial vertical cross-sectional view of the table tilt drive section. 1 is a tool drive device, 2 is a table device, 3 is a bed, 4
is a moving table, 5 is a guide rod, 6 is a lifting case, 7 is a first arm, 8 is a second arm, 9 is a polishing tool, 10 is a vertical shaft,
11 is a tool motor, 12 is a support column, 13 is a pulley, 14
is a pulley, 15 is a motor, 16 is a motor, 17 is a pulley, 18 is a pulley, 19 is a rotary encoder, 20 is a rotary encoder, 21 is a pulley, 22 is a pulley, 23
is a pulley, 24 is a pulley, 25 is a lifting handle, 26 is a worm wheel, 27 is a spring bar, 28 is a shaft, 29 is a pulley, 30 is a toothed belt, 31 is a shaft, 32 is a shaft, 33 is a pulley, 34 35 is a toothed belt, 35 is a cylindrical shaft, 36 is a pulley, 37 is a toothed belt, 38 is a heli key, 39 is a cylinder, 40 is a piston, 41 is a supply/discharge port, 42 is a base shaft, 4
3 is a rotating base, 44 is a lock handle, 45 is a horizontal axis, 4
6 is the ear link, 47 is the link, 48 is the table, 49
50 is a housing, 50 is a worm wheel, 51 is a rotating handle, 52 is a threaded rod, 53 is a bevel gear, 54 is a rocking plate, 55 is a support shaft, 56 is a bevel gear, 57 is a tilting handle, and 58 is a workpiece. Patent applicant Representative of AIDA ENGINEERING Co., Ltd.
Meeting 1) Keinosuke

Claims (1)

【特許請求の範囲】[Claims] 軸部の回りに揺動する第１アームと、該第１アームの先
端部に枢着されて揺動する第２アームと、該第２アーム
の先端の軸に設けた研磨工具とを有することを特徴とす
る研磨用ロボット。It has a first arm that swings around a shaft, a second arm that swings while being pivotally connected to the tip of the first arm, and a polishing tool provided on the shaft at the tip of the second arm. A polishing robot featuring:
JP21466183A 1983-11-15 1983-11-15 Grinding robot Granted JPS60108262A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP21466183A JPS60108262A (en) 1983-11-15 1983-11-15 Grinding robot
EP84112680A EP0142072A3 (en) 1983-11-15 1984-10-20 Grinding robot
US06/663,700 US4603511A (en) 1983-11-15 1984-10-22 Grinding robot
AU34782/84A AU3478284A (en) 1983-11-15 1984-10-29 Grinding robot
CA000467171A CA1256701A (en) 1983-11-15 1984-11-06 Grinding robot
KR1019840007047A KR880002337B1 (en) 1983-11-15 1984-11-10 Grinding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21466183A JPS60108262A (en) 1983-11-15 1983-11-15 Grinding robot

Publications (2)

Publication Number Publication Date
JPS60108262A true JPS60108262A (en) 1985-06-13
JPH059226B2 JPH059226B2 (en) 1993-02-04

Family

ID=16659463

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21466183A Granted JPS60108262A (en) 1983-11-15 1983-11-15 Grinding robot

Country Status (1)

Country Link
JP (1) JPS60108262A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6281555U (en) * 1985-11-07 1987-05-25
KR100404967B1 (en) * 2001-07-12 2003-11-07 이인영 Method for grinding nonferrous metal used in Grinding Machine
KR100406519B1 (en) * 2001-07-12 2003-11-21 이인영 Grinding Machine and Method for grinding metal used in the same
JP2009302503A (en) * 2008-06-10 2009-12-24 Semes Co Ltd Sheet-feed substrate treating apparatus, and substrate treating method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5864157A (en) * 1981-10-13 1983-04-16 Toyota Motor Corp Automatic water sanding method and apparatus therefor
JPS58102669A (en) * 1981-12-11 1983-06-18 Hitachi Ltd Robot for curved surface finishing

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5864157A (en) * 1981-10-13 1983-04-16 Toyota Motor Corp Automatic water sanding method and apparatus therefor
JPS58102669A (en) * 1981-12-11 1983-06-18 Hitachi Ltd Robot for curved surface finishing

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6281555U (en) * 1985-11-07 1987-05-25
JPH0232377Y2 (en) * 1985-11-07 1990-09-03
KR100404967B1 (en) * 2001-07-12 2003-11-07 이인영 Method for grinding nonferrous metal used in Grinding Machine
KR100406519B1 (en) * 2001-07-12 2003-11-21 이인영 Grinding Machine and Method for grinding metal used in the same
JP2009302503A (en) * 2008-06-10 2009-12-24 Semes Co Ltd Sheet-feed substrate treating apparatus, and substrate treating method
US8287333B2 (en) 2008-06-10 2012-10-16 Semes Co., Ltd Single type substrate treating apparatus and method

Also Published As

Publication number Publication date
JPH059226B2 (en) 1993-02-04

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