KR101637034B1 - Industrial surface flapwheel sanding and dust collecting robot - Google Patents

Industrial surface flapwheel sanding and dust collecting robot Download PDF

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Publication number
KR101637034B1
KR101637034B1 KR1020160015199A KR20160015199A KR101637034B1 KR 101637034 B1 KR101637034 B1 KR 101637034B1 KR 1020160015199 A KR1020160015199 A KR 1020160015199A KR 20160015199 A KR20160015199 A KR 20160015199A KR 101637034 B1 KR101637034 B1 KR 101637034B1
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KR
South Korea
Prior art keywords
dust
polishing
dust collecting
wheel
grinding wheel
Prior art date
Application number
KR1020160015199A
Other languages
Korean (ko)
Inventor
고재평
Original Assignee
지티앤피주식회사
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Priority to KR1020160015199A priority Critical patent/KR101637034B1/en
Application granted granted Critical
Publication of KR101637034B1 publication Critical patent/KR101637034B1/en

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    • 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
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
    • B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/04—Protective covers for the grinding wheel
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/04—Protective covers for the grinding wheel
    • B24B55/05—Protective covers for the grinding wheel specially designed for portable grinding machines
    • B24B55/052—Protective covers for the grinding wheel specially designed for portable grinding machines with rotating tools
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B24B55/10—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided
    • B24B55/102—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided with rotating tools

Abstract

The present invention relates to an industrial robot to grind a surface and collect dust. The industrial robot to grind a surface and collect dust comprises: a drive unit (10) including a power supply device (11), an electronic clutch (12) to control a connection to a drive wheel to control drive of the wheel when power is applied and freely move when power is not applied, a left/right motor (13), a gear unit, and the drive wheel (14); a grinding unit (20) including a grinding wheel (21) in a flap wheel form, a cover frame (22), a grinding wheel cover (23), and a brush (25); a grinding adjustment unit (30) including a motor (31) to vertically move the grinding wheel, four grinding wheel support parts (32) connected to an upper portion of the grinding wheel cover (23), a plate (33) supported by the grinding wheel support parts (32) penetrating four corners thereof, and a shaft (34) of a screw type whose upper end is connected to the motor (31) to vertically move the grinding wheel whose lower end is fixated on an upper portion of the plate (33); a dust collection unit including a suction unit on an upper end surface and a lower end surface of the grinding unit, a dust collection box (41), a first cyclone (42) for dust collection, a second cyclone (43) for dust collection, a dust collection filter, a ring blower (46), and a discharge filter; and an integrated control unit which includes a user interface unit (60) to provide an LCD display which allows use of a setting value suitable for various work environments, or provides a user with a variety of information of a grinding robot, and collects information of various sensors of the grinding robot to control an overall operation and straight driving.

Description

Technical Field [0001] The present invention relates to an industrial surface polishing and dust collecting robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface grinding machine, and more particularly, to an industrial surface grinding and dust collecting robot that assures uniformity of surface grinding work and improves grinding efficiency and dust collecting performance.

The painting work of the ship is an important work which is called the life of the ship. In order to do such painting work, the polishing work is essential to prevent the seizure before the work, and the life of the ship is usually 15 to 20 years. Because it affects the life span, it is painted several times.

Previously, these grinding operations were manually performed. However, as the working environment rapidly increased due to the increase in drying of very large-sized ships and high-value-added special ships, the demand for the efficiency of the grinding operation and the uniformity of the grinding operation quality increased have.

There is a need for a robot that completely solves polishing and dust collection as a solution to the problem of health protection and safety improvement of workers due to the generation of complaints of environmental pollution due to generation of noise and dust in the polishing work and poor working environment Is emerging.

A conventional robot type surface grinding machine of Korean Patent Publication No. 1369948 shown in FIG. 8 has a structure in which the height of the polishing part 210 is manually adjusted by turning it with a knob, so that the vertical movement control can be automatically performed using a motor In this document, the grinding wheel 211 for polishing and the dust collecting cover 213 for collecting dust are integrally formed, and as a whole moves vertically, the lifetime due to wear of the grinding wheel due to structural problems The dust collecting efficiency is low and dust collecting is not performed. Therefore, it is required to improve the worker's health protection .

In addition, the surface polishing condition varies depending on the working environment. Accordingly, it is necessary to be able to easily operate the polishing wheel type, the polishing depth, and the like. However, since the polishing pad is composed of a switch and a lamp, have.

The structural problem of the robot-type genuine polishing machine of the above patent document is to investigate in detail, it is necessary to vertically move the polishing part according to the degree of abrasion of the polishing wheel 211 in the shape of a flap wheel to work until the wear is completed, When the cover 213 of the dust collecting part is brought into contact with the floor, the polishing wheel can not be further lowered to a certain height or less, and the polishing wheel is replaced sooner than the actual life of the polishing wheel And a brush for air flow is disposed under the cover for collecting dust. At the beginning, the brush 213 covers the four sides of the cover 213 in a long shape, There is an outgoing problem. On the other hand, since the dust collecting filter for collecting dust directly receives the scattered dust after polishing, a large amount of dust is introduced, and when the filter is clean in the initial state, the dust collecting efficiency is good, but dust is accumulated in the dust collecting filter due to the continuous polishing operation There is a problem that the dust collection efficiency is lowered and the dust collection is not performed.

In addition, although the vibration motor 233 is installed to remove the dust accumulated in the dust filter, it does not show a great effect in practice.

Further, in the structure of the above-mentioned patent reference, since the moving wheels are tilted backward in the structure of the vacuum cleaner, there is a phenomenon that the tilting or tilting of the tilted wheels easily occurs at the time of the movement of the power source, There is a problem that it is warped and it is difficult to press the entire surface of the grinding wheel with a uniform force.

Although the driving unit 240 of the above-mentioned patent document is not shown and described in general specifications, in reality, two driving motors are operated individually in the left and right sides during the polishing operation, so that the driving unit 240 is slid according to the state of the floor, There arises a problem that a phenomenon in which the straight running of the polishing machine is hard to occur, such as a tilting operation to one side according to a speed error, remains.

Korean Registered Patent No. 1369948

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-mentioned problems of the prior art, and it is an object of the present invention to provide a robotic frame structure, a surface polishing method and a polishing apparatus, which can improve a polishing efficiency and a dust collecting performance And a dust collecting robot.

Another object of the present invention is to provide a structure for informing the timing of replacement of a polishing wheel after a lapse of a predetermined time and conveniently replacing it.

Another object of the present invention is to provide a structure for replacing the dust filter in order to improve clogging of the dust filter due to the polishing operation.

In order to achieve the above object, an industrial surface polishing and dust collecting robot according to an embodiment of the present invention includes a power supply unit, a wheel drive control at the time of power application, and a connection between the drive wheel and the drive wheel for free movement A drive unit including an electromagnetic clutch, a left / right motor, a gear unit, and a drive wheel; A grinding portion composed of a grinding wheel in the form of a flap wheel, a cover frame, a grinding wheel cover, and a brush; A grinding wheel support vertically connected to the upper portion of the grinding wheel cover, a plate through which the grinding wheel support is pierced at four corners, and an upper end connected to the motor for vertical movement of the grinding wheel, A polishing adjusting unit fixed to an upper portion of the plate and including a shaft in the form of a screw; A dust collecting part including a suction part on the upper and lower surfaces of the polishing part, a dust collecting box, a first dust collecting cyclone, a second dust collecting cyclone, a dust collecting filter, a ring blower, and a discharge filter; And a user interface unit for providing an LCD display that makes use of set values suitable for various working environments or provides various information of the polishing robot to the user, and collects various kinds of sensor information of the polishing robot, And an integrated control unit for control.

Preferably, the polishing portion may further include a corrugated bellows having an upper portion attached to a lower end portion of the polishing wheel cover and a lower portion attached to the brush.

Preferably, the polishing wheel cover may further include a curved surface portion extending from the inside of the cover to a curved surface toward the rotating direction of the polishing wheel.

Preferably, the grinding wheel may be bolted to the grinding wheel cover.

According to an embodiment of the present invention, the grinding wheel vertical movement motor further includes an encoder for sensing a vertical movement height of the grinding wheel, The type, the load current, and the height information of the polishing portion are set differently.

According to an embodiment of the present invention, the dust scattered from the polishing unit is primarily caught on the upper surface due to the rapid wind of the rotation of the polishing wheel, and secondarily the dust placed on the floor is absorbed by the suction The collected dust is primarily separated through the first dust collecting cyclone, secondarily through the second dust collecting cyclone, the separated dust is dropped into the dust collecting box, and the dust is separated The air passes through an inlet and an outlet of the ring blower through a replaceable dust collecting filter, and air finally purified through the air filter is discharged to the outside of the dust collecting robot.

Preferably, the dust collection box further includes a dust collection box, a load cell plate, and a load cell in a box-shaped dust collection container.

According to an embodiment of the present invention, the user interface unit includes a polishing operation mode, a moving mode, a polishing wheel / dust filter replacement mode, and a control parameter setting mode according to a menu of an HMI screen provided on an LCD display.

Preferably, the surface polishing and dust collecting robot further comprises: a motion sensor positioned on the upper surface of the driving unit; And an ultrasonic sensor, a human body sensor, and a camera positioned on a front surface of the driving unit.

Preferably, the integrated control unit processes the information collected through the motion sensor to control the speed of each wheel of the driving unit of the polishing robot so as to detect the surface polishing and the deviation of the dust collecting robot from the straight running during the polishing operation, do.

INDUSTRIAL APPLICABILITY As described above, according to the present invention, it is possible to provide a surface polishing and dust collecting robot which has a stable robot frame structure, a shift direction, a straight running control, It is also possible to replace the grinding wheel with a new one easily, and it is also possible to improve the clogging of the dust filter and to replace the filter, .

1 is a cross-sectional perspective view of a surface polishing and dust collecting robot according to an embodiment of the present invention.
Figs. 2 (a) and 2 (b) are perspective views of the surface polishing and dust collecting robot of Fig. 1. Fig.
3 (a) and 3 (b) are an enlarged view and a cross-sectional perspective view of the polishing unit showing the configuration of the polishing unit according to the embodiment of the present invention.
4 is a perspective view showing a polishing wheel replacement structure of a polishing unit according to an embodiment of the present invention.
5 is an exploded perspective view showing the structure of a dust collection box according to an embodiment of the present invention.
6 is a perspective view illustrating an integrated controller HMI screen according to an embodiment of the present invention.
7 is a block diagram showing a control configuration of the surface polishing and dust collecting robot according to the present invention.
8 is a cross-sectional perspective view showing a surface grinder of the prior art.

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings and specification, there are shown in the drawings and will not be described in detail, and only the technical features related to the present invention are shown or described only briefly. Respectively. The specific configurations and functions described in detail herein are not intended to be limiting, but merely as the basis for the claims and as a basis for teaching the ordinary skill in the art to which the present invention pertains in various ways.

FIG. 1 is a perspective view of a surface polishing and dust collecting robot according to an embodiment of the present invention, FIGS. 2 (a) and 2 (b) are perspective views of the surface polishing and dust collecting robot of FIG. 1, (b) is an enlarged view and a cross-sectional perspective view showing a configuration of a polishing unit according to an embodiment of the present invention, FIG. 4 is a perspective view showing a configuration of replacing a polishing wheel of a polishing unit according to an embodiment of the present invention, FIG. 5 is an exploded perspective view illustrating the structure of a dust collecting box according to an embodiment of the present invention, FIG. 6 is a perspective view illustrating an integrated controller HMI screen according to an embodiment of the present invention, FIG. Fig. 8 is a block diagram showing a control configuration of the surface polishing and dust collecting robot; Fig.

1 to 7, the industrial surface polishing and dust collecting robot 1 according to an embodiment of the present invention includes a power supply device 11, a wheel drive control during power application, and a free movement during non-power supply A drive part 10 composed of an electromagnetic clutch 12, a left / right motor 13, a gear part (not shown) and a drive wheel 14 for controlling the connection with the drive wheels; A polishing section 20 composed of a polishing wheel 21 in the form of a flap wheel, a cover frame 22, a polishing wheel cover 23, and a brush 25; Four grinding wheel supports 32 connected to the top of the grinding wheel cover 23 and a plate 33 through which the grinding wheel support 32 is supported at four corners, A polishing adjusting unit 30 including a shaft 34 having an upper end connected to the moving motor 31 and a lower end fixed to an upper portion of the plate 33; A dust collecting box 41, a first dust collecting cyclone 42, a second dust collecting cyclone 43, a replaceable dust collecting filter (not shown), a ring blower 46 and a discharge filter (not shown) A dust collecting part 40; And a user interface unit 60 that provides an LCD display that makes use of set values suitable for various working environments or provides various information of the polishing robot to the user, collects various sensor information of the polishing robot, And an integrated control unit for controlling the operation and the linear running control.

1, the surface polishing and dust collecting robot 1 according to the present invention includes a driving unit 10 composed of a front wheel and a rear wheel for robotic stability, and a polishing unit 20 is provided in a space between the front wheel and the rear wheel And has a stable frame 100 structure in which four grinding wheel supports are installed. The purpose of such a frame 100 structure is for the center-of-gravity dispersion of the various components (power supply, IPM or AC servomotor, motor for vertical movement of the grinding wheel, etc.) according to the present invention.

The surface polishing and dust collecting robot according to the present invention uses a front wheel drive system and a rear wheel is a passive wheel, and uses a urethane foam field wheel for slip prevention and load maintenance.

As shown in FIG. 1, a driving unit 10 provided at a front portion of a surface polishing and dust collecting robot according to the present invention includes a power supply unit 11, a wheel drive control unit 11, And includes an electromagnetic clutch 12, a left / right motor 13, a gear portion (not shown), and a drive wheel (front wheel) 14 for controlling connection with wheels.

Further, a front obstacle recognition sensor such as an ultrasonic wave or a human body sensor for detecting a protrusion such as a foreign object or a cable on a metal surface is installed on the front face of the surface polishing and collecting robot according to the present invention.

According to an embodiment of the present invention, three ultrasonic sensors and one human body sensor are mounted on the front surface of the robot to detect a front obstacle, but the present invention is not limited thereto. Preferably, in addition to these sensors, a camera may further be included. When a human body is detected in the front, a stop mode is performed in the vicinity of 50 to 70 cm, and when only an obstacle other than a human body is detected in front, a stop mode is performed in the vicinity of 30 cm. After the obstacle is removed, the original driving mode is continued again.

In addition, a motion sensor 16 for correcting the forward straight posture is provided on the upper surface of the driving part 10, and when the oblique running of the robot due to inclination of the bottom surface, wheel slip phenomenon, The posture can be corrected so that the robot travels straight by using the sensor 16. The attitude correction of this robot is corrected by controlling the left and right motor speed of the driving motor.

Referring to FIGS. 1, 2, and 3 (a) and 3 (b), the polishing unit 20 according to an embodiment of the present invention is provided between the front wheel 14 and the rear wheel 15 of the surface polishing and dust collecting robot The cover frame 22, the polishing wheel cover 23, the bellows 24, the brush 25, and the grinding wheel electric motor 26, which are provided at the lower portion of the frame 100 at the bottom of the frame 100, .

In the polishing section 20, the polishing wheel 21 having a surface formed with a polishing brush or the like for machining a metal surface is driven by the power transmitted by the polishing wheel motor 26. The grinding wheel 21 is surrounded by the grinding wheel cover 23 so that external exposure such as dust generated during grinding of the metal surface is suppressed as much as possible. The dust hose 28 is connected through the upper surface of the grinding wheel cover 23 to dust and foreign matter generated by the polishing of the metal surface and is transferred to the dust collecting part 40 through the dust hose 28. In addition, the polishing portion may have a suction portion (not shown) contacting the bottom surface for allowing the heavy dust particles remaining on the floor surface to be sucked in the inside of the polishing wheel cover, And is sent to the dust collecting section. The collected dust occurs at an upper end portion and a lower end portion, and the hose that combines the collected hose is transferred to the dust collecting portion.

Alternatively, the structure of the abrasive wheel cover 23 can be configured in two forms, one of which can be moved independently and the other of which can be configured to move in combination with the polishing section 20 at the same time.

If the polishing unit 20 and the polishing wheel cover 23 are independently provided, it is possible to use the polishing wheel to a minimum working length, and various sizes of the outer diameter can be provided depending on the working environment and the material of the polishing wheel Thus, there is an advantage that it can be easily applied in a customized manner.

It is also possible to integrate the polishing unit 20 and the polishing wheel cover 23, and there is no limitation to the use of the polishing wheel having various outer diameter sizes, but the basic polishing operation itself can be applied equally without any problems.

Meanwhile, the grinding wheel cover 23 is provided with a brush 25 for the purpose of allowing outside air to flow in order to facilitate dust collection and preventing the scattered dust from flowing out to the outside, and the length of the brush 25 The length of the brush 25 is preferably set to be within a minimum length of 10 mm, because the scattered dust may leak out to the outside.

In consideration of this point, in consideration of the fact that the abrasive wheel cover 23 must have a constant height in consideration of wear of the abrasive wheel 21 and must be moved vertically down continuously according to the polishing operation, the abrasive wheel cover 23 ) Is further provided with a bellows (24) capable of contracting and expanding in a corrugated form in which the upper portion is attached to the cover (23) and the lower portion is attached to the brush (25).

The grinding wheel 21 and the cover 22 are always kept at the uppermost point so that the bellows 24 and the brush 25 also rise together The bellows 24 and the brush 25 prevent the scattered dust from leaking out due to the polishing, so that the dust collecting part 24 is formed on the bottom surface So that there is no problem.

According to an embodiment of the present invention, in the interior of the abrasive wheel cover 23 on which the abrasive wheel 21 is installed, a curved surface is formed on the inner surface of the cover 23 toward the rotation direction of the abrasive wheel 21 By further providing the curved surface portion 27 to be extended, the dust collecting efficiency to the dust collecting portion 40 can be maximized.

Preferably, the grinding wheel 21 of the present invention is fixed to the grinding wheel cover 23 by bolts or the like.

The abrasive wheel of the abrasive part is replaced several times a day according to the working environment conditions. In this case, even if the grinding wheel is informed of the replacement time, it is difficult or difficult to replace the grinding wheel. Hereinafter, with reference to Fig. 4, the replacement of the abrasive wheel, which is consumable in the present invention, will be described.

When the polishing wheel is to be replaced, the status indicator lamp shown in FIG. 6 is blinked to notify the user of the replacement. At the same time, a message is displayed on the user interface screen to replace the corresponding polishing wheel. In this situation, when the user performs the grinding wheel replacement mode on the integrated controller HMI screen, the grinding portion which has been waiting at the top point is stopped and moved to a certain position at the lower end which is a position where replacement is easy, When the grinding wheel is replaced, it grasps the grinding wheel so that it grasps the grinding wheel in the process of aligning the grinding wheel with the shaft fixing pin connected to the motor rotating shaft while sandwiching the grinding wheel on the shaft. In this case, Make it possible to work.

When the bumper and the cover (not shown) on the side of the robot body are removed and the bolts fixing the grinding wheel to the side of the grinding part are loosened, the grinding wheel 21 can escape. The grinding wheel can be removed, replaced with a new grinding wheel, and bolted again, so that the grinding wheel can be easily replaced.

As described above, the polishing unit according to the embodiment of the present invention separates the polishing unit 20 into the polishing wheel 21 and the polishing wheel cover 23, so that the polishing wheel 21 is vertically The movement of the grinding wheel 21 can be conveniently performed on the side of the robot and the grinding wheel can be increased to a width of 350 mm and a circumference of 250 mm in order to improve work performance.

1 and 2, a polishing adjusting unit 30 provided on the upper part of the frame intermediate portion of the surface polishing and dust collecting robot according to the present invention includes a motor for vertically moving the polishing wheel 21 31, four grinding wheel supports 32 connected to the top of the grinding wheel cover 22, a plate 33 through which the four grinding wheel supports 32 penetrate at four corners, (31) and a lower end fixed to the top of the plate (33) and including a shaft (34) in the form of a screw.

The polishing adjustment unit 30 uses the information of the rotation speed and the load current of the polishing wheel 21 from the polishing wheel motor 26 to calculate the polishing speed of the polishing unit 20 through the grinding wheel vertical movement motor 31 and the speed reducer. Control the height. The shaft 34 is vertically moved by the vertically moving motor 31 so that the four grinding wheel supports 32 supported on the plate 33 are moved up and down so that the grinding wheel support 32 The grinding wheel 21 is moved up and down vertically together with the wheel cover 22. This eliminates the problem that the grinding wheel can uniformly press the entire grinding work surface during the grinding operation and can be stably vertically moved and bent.

An encoder is installed in the motor 31 for vertical movement of the polishing wheel to detect the vertical moving height of the polishing unit 20 and the vertical moving height information can be obtained so that the height of the polishing unit can be confirmed through the encoder, Since the height suitable for the wear can be set, it is possible to perform the operation until the abrasive portion is vertically moved according to the degree of abrasion of the abrasive wheel of the flap wheel type, until the abrasion is completed. The height information and the load current information can be used to set and manage different types of grinding wheels, load currents, and height information of the grinding part according to the working environment. Also, information on the grinding part height and load current value It is possible to uniformly polish the surface, thereby ensuring uniform polishing quality.

As described above, the polishing adjustment section according to the embodiment of the present invention can automatically control the height of the polishing section and the uniform pressing force instead of manually grasping the degree of wear of the polishing wheel and adjusting the manual height .

2, the dust collecting part 40 installed at the rear part of the surface polishing and dust collecting robot according to the present invention includes a dust collecting box 41, a first dust collecting cyclone 42, A second dust collecting cyclone 43, a dust collecting filter (not shown), a ring blower 46, and a discharge filter (not shown).

Preferably, the ring blower 46 is a vacuum-tight motor having a strong suction force and may be in the form of a high-pressure blower.

The configuration of the dust collecting part 40 according to an embodiment of the present invention will be described in detail.

The dust collecting section 40 of the present invention includes two first and second dust collecting cyclones 42 and 43 of different sizes, a dust collecting filter and a ring blower 46. In one embodiment of the present invention, preferably, the first dust collecting cyclone 42 has a larger dimension than the second dust collecting cyclone 43. The dust sucked through the dust collecting hose 28 of the polishing unit 20 is separated primarily through the first dust collecting cyclone 42 and second dust collecting dust collecting cyclone 43, The dust is dropped into the dust box 41. The dust-separated air passes through the dust collecting filter, the suction port and the discharge port of the ring blower (dust collecting vacuum motor) 46, and the finally purified air is collected through the air filter And is discharged to the outside of the robot.

In addition, the dust sucked through the polishing unit 20 passes through the first and second cyclones 42 and 43 in two stages, and the heavy or large particles are mostly separated from the air and collected in the dust box 41. The dust box 41 is easily separated from the box and is capable of discarding the collected dust.

5, the dust collecting box 41 according to the present invention includes a dust box 51, a load cell plate 52, and a load cell 53 in a box-shaped dust collecting box 50, 41 are provided on the outside of the hinges.

When the dust box 51 is filled with dust, information is obtained through a sensor such as the load cell 53. When the condition is exceeded, the user is informed that the dust box 51 is full and the user can empty the dust box 41, Supports smooth operation.

As described above, the dust collecting part according to an embodiment of the present invention includes two dust collecting devices according to the working area according to the increase of the width of the grinding wheel of the grinding part, thereby improving the dust collecting performance, The dust box can be easily emptied.

This is because the dust collecting filter for collecting dust of the existing dust collecting equipments directly receives scattered dust after polishing, so that a large amount of dust is introduced, and when the filter is clean in the initial state, the dust collecting efficiency is good. However, However, the dust collecting section 40 of the present invention is capable of solving such a problem. The cyclone separates dust and air using the principle of strong centrifugal force, In the present invention, in order to increase the efficiency of filtering dust, 80% -90% of the efficiency of filtering the fine dust is used. However, in the present invention, The cyclones 42 and 43 are continuously installed to improve the dust collecting efficiency. Me most is filtered through a dust filter back to the rest of the dust collection efficiency can be improved and performance.

In addition, as the size of the cyclone becomes smaller, centrifugal force becomes stronger and dust collecting efficiency is improved. In the case of filtering dust that has been directly polished by using a dust collecting filter, it has been difficult to replace it with a fixed structure. The dust filter of the dust collecting part 40 of the dust collecting part 40 has a function of catching the finer dust of the residual dust that has passed through the cyclone, so that there is no dust finally discharged out through the dust collecting filter.

In addition, since the dust filter is blocked after a certain period of time, it is required to replace it according to a predetermined time. Therefore, it is necessary to use the information according to the use time of the dust filter for the replacement time, It is possible to inform the replacement time of the dust filter by installing a pressure sensor or the like, and it is possible to make it compact so that it can be easily exchanged, so that the polishing wheel can be replaced and the dust filter can be replaced at the same time. As described above, when the dust filter is to be replaced, the status indicator shown in FIG. 6 is flickered to notify the user of the replacement. At the same time, the user interface screen displays a message to replace the corresponding dust filter. Accordingly, when the worker presses the replacement completion button on the screen after replacing the dust collecting filter, the screen is switched back to the normal polishing work screen and the normal work can be continued.

Referring to FIGS. 1, 6 and 7, it is possible to utilize appropriate setting values in accordance with various working environments of the polishing and dust collecting robots in the upper surface rear portion of the surface polishing dust collector according to the present invention, And a user interface unit 60 including an LCD display for providing the LCD display to the user.

The user interface unit 60 having an LCD display also accepts touch information so that a desired operation can be easily performed on the screen. According to the menu of the HMI screen provided on the LCD, it provides a user-friendly operation such as a polishing operation mode, a moving mode, a polishing wheel / dust filter replacement mode, and a control parameter setting mode.

The polishing and collecting robot integrated control unit according to an embodiment of the present invention performs sensor processing for detecting an obstacle and includes a sensor capable of detecting a human body and an object so as to determine whether to stop and continue a work according to an obstacle detection, Is possible.

Preferably, a streamlined remote control may be connected to allow operation to be easily switched or moved in a state in which power is applied, or a remote wireless adjustment is possible so that remote operation can be performed wirelessly by placing a remote wireless adjustment unit.

Preferably, the integrated control unit can remotely monitor the operation status or remotely control the wireless Internet access unit to access the Internet wirelessly.

In addition, it also serves to control the wheel speed of the driving unit of the polishing robot so as to process the information collected through the motion sensor, detect the deviation from the straight running during the polishing operation, and correct the deviation.

As described above, the user interface unit and the control unit according to the embodiment of the present invention can check the control and state of the polishing robot by mounting an LCD screen, recognize the state of the polishing apparatus and the dust collecting apparatus, It can be displayed on the device, and it is possible to improve the basic function of the robot such as straight running and movement control for changing the movement / working direction.

Hereinafter, the operation of the surface polishing and dust collecting robot according to the present invention will be described in detail.

First, when the operation button is touched on the HMI screen, the polishing and dust collection operation is started.

* The operation procedure of grinding and collecting operation is as follows.

1. Check the initial position of the grinding wheel: If the initial position of the grinding wheel is not the top limit (TOP LIMIT switch), move the grinding part to the top dead center

2. Driving motor for vertical movement of the grinding wheel to move the grinding part down to the polishing surface

3. Starting to drive the grinding wheel motor (IPM or AC servo motor) of the polishing part

4. Sensing to the abrasive surface is detected through the displacement sensor (encoder, etc.) and by the load current through the drive of the grinding wheel motor.

5. Ring blower dust collecting motor ON

6. Clutch ON

7. When the polishing section moves to the polishing surface, turn the traveling motor ON

8. Perform driving, grinding and dust collecting operations continuously.

* The stop mode during polishing operation is performed when the stop button is pressed on the HMI screen,

1. Move the grinding unit from the polishing surface to the top dead center by driving the motor for vertical movement of the grinding wheel

2. The polishing section stops at the top dead center, and the grinding wheel motor (IPM motor or AC servo motor)

3. Ring blower dust collector OFF

* Emergency stop mode during polishing operation is performed when the emergency stop button or the emergency stop button is pressed on the HMI screen,

1. All drive motor OFF

2. Clutch OFF

Next, the dust collecting operation will be described.

A strong vacuum suction force of the ring blower is transmitted through the cyclone while the dust which is swept by the rotating force of the polishing wheel flows along the curved surface portion of the polishing portion and flows from the upper portion to the vicinity of the dust collecting hose And the bottom surface sucks the dust around the dust collection hose through the sucking part touching the bottom surface. The two incoming dusts are combined again through one hose and sucked into the cyclone, and the heavy dust moves downward according to the centrifugal force Collected in the dust box. The air separated from the dust through the cyclone still contains fine dust, and a dust filter is placed in order to collect the dust again. The clean air passing through the dust filter is discharged through the ring blower, It is discharged through the silencer.

The software constituting the control unit of the polishing and dust collecting robot according to the present invention,

- Sensors for detecting obstacles (persons or objects)

- Floor displacement sensor and front obstacle sensor

- Motion control (gyroscope, etc.)

- Beeping through weight detection of house dustbin

- Control and status check through TFT-LCD

- Polishing mode, moving mode, operating mode

- Check the condition of grinding and collecting

- Check time of dust filter, alarm indicator, and when to replace

- Check the grinding wheel usage time, alarm indicator, etc.

- Controlling the height of the polishing part and controlling the moving speed of the driving part

- Provides a user interface to easily select and apply the type of grinding wheel and the degree of grinding according to the grinding environment.

The power supply for power supply and control is a 380V (440V) three-phase power supply, and a transformer is provided to enable AC 380V (440V) and AC 220V. AC 220V or DC 24V or power supply And provide them.

Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other forms, and various omissions, substitutions, and alterations can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention described in claims and their equivalents.

10: driving part 11: power supply
12: electromagnetic clutch 13: motor
14, 15: drive wheel 16: motion sensor
20: polishing section 21: polishing wheel
22: cover frame 23: abrasive wheel cover
24: Bellows 25: Brush
27: curved portion 28: dust hose
30: polishing adjustment unit 31: motor for vertical movement of polishing wheel
32: Abrasive wheel support 33: Plate
34: shaft 40: dust collecting part
41: dust collecting box 42: first collecting cyclone
43: second collecting cyclone 46: ring blower
50: Bulk container 51: Dust box
52: load cell plate 53: load cell
60: User interface section

Claims (10)

A power supply 11, an electromagnetic clutch 12, a left / right motor 13, a gear portion, and a driving wheel (not shown) for controlling the connection between the driving wheels and the driving wheels 14, and a motion sensor 16 including a gyro sensor is mounted on the upper surface of the frame 100 to detect an oblique running of the robot due to inclination of the bottom surface, wheel slip phenomenon, and drive motor speed error during the polishing operation And a front obstacle recognition sensor composed of an ultrasonic sensor and a human body detection sensor is disposed on the front portion of the frame 100 so as to be able to perform a posture correction for the straight running of the robot, A driving unit 10 for detecting the driving force of the driving unit 10;
A grinding wheel 21 in the form of a flap wheel driven by a power transmitted by a grinding wheel electric motor 26, a cover frame 22, a grinding wheel 21 which is bolted to the grinding wheel 21, A brush 25 for preventing the scattered dust from flowing out to the outside while allowing the outside air to flow into the cover 23, an upper portion attached to the lower end portion of the grinding wheel cover 23, and a lower portion attached to the brush 25 A curved surface portion 27 extending in a curved shape toward the rotation direction of the grinding wheel 21 from the inside of the grinding wheel cover 23 and connected to one side of the upper surface of the grinding wheel cover 23; A dust collecting hose 28 connected to a suction surface contacting the bottom surface so as to allow dust and foreign matter generated by the metal surface polishing to pass therethrough while sucking heavy dust particles remaining on the inner bottom surface of the polishing wheel cover 23 A polishing unit 20 having a polishing pad 20;
Four grinding wheel supports 32 connected to the top of the grinding wheel cover 23, a plate 33 supported at four corners to support the grinding wheel support 32, And a lower end portion of which is fixed to the upper portion of the plate 33 and includes a shaft 34 in the form of a screw, and an encoder is provided in the motor 31 for vertical movement of the polishing wheel, 20 so as to set a height corresponding to the end use abrasive wheel wear, and the vertical movement height information of the polishing unit 20 and the vertical movement height information of the grinding wheel 21 The height of the polishing unit 20 is controlled through the grinding wheel vertical movement motor 31 and the speed reducer in accordance with the rotation speed and load current information of the grinding wheel 20 and the load current information, 21), load current and Abrasive adjuster 30 to the height information of the perch 20 is set to be different from and;
The dust and foreign matter generated on the upper surface of the polishing unit 20 is transferred to the dust collecting unit 40 through the dust collecting hose 28 while being formed on the lower surface of the polishing unit 20, A dust collecting box 41 for sucking heavy dust particles remaining on the bottom surface of the wheel cover 23 and being conveyed to the dust collecting part 40 through the dust collecting hose 28, The dust scattered from the polishing section 20, including the first dust collecting cyclone 42 and the second dust collecting cyclone 43, the replaceable dust collecting filter, the ring blower 46 and the discharge filter, So that the dust placed on the floor is collected at the suction portion of the lower end surface, and the collected dust is primarily collected by the first dust collecting cyclone 42 Secondary The separated dust is dropped into the dust box 41. The separated air passes through the dust filter and the suction port of the ring blower 46 and the discharge port of the ring blower 46 A dust cell plate 52, a load cell 53, a hinge structure 51, and a dust collecting box 51. The dust collecting box 50 includes a dust box 51, a load cell plate 52, a load cell 53, A state in which dust is filled in the dust box 51 is detected through the load cell 53 so that the user can be notified that the dust box 51 is full of dust, A dust collecting part (40) provided with a sensor and a pressure sensor so as to calculate a replacing time of the dust collecting filter;
Collects various sensor information of the polishing robot and controls the whole operation and the linear driving control, and processes the information collected through the motion sensor to detect that the surface polishing and dust collecting robot deviate from the straight running during the polishing operation, And the speed of the left / right motor 13 for controlling the speed of each driving wheel 14 of the frame 100 is controlled so that posture correction for the straight running of the robot is performed, A stop mode is performed in a first distance range that is shorter than the first distance range when only an obstacle other than a human body is detected in front of the frame 100 The air flow rate sensor installed in the dust filter, and the air flow rate sensor installed in the dust filter, Receiving the integration and control section to calculate a replacement time of the dust filter;
The integrated controller is provided with a polishing operation mode, a moving mode, a polishing wheel / dust filter replacement mode, and a control parameter setting mode according to the menu of the HMI screen provided on the LCD display, And an interface unit (60). The industrial surface polishing and dust collecting robot comprises: delete delete delete delete delete delete delete delete delete
KR1020160015199A 2016-02-05 2016-02-05 Industrial surface flapwheel sanding and dust collecting robot KR101637034B1 (en)

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CN106736905A (en) * 2016-12-09 2017-05-31 芜湖新兴铸管有限责任公司 The polishing process of synchronized dust removal
CN107791137A (en) * 2017-11-16 2018-03-13 江门市兄弟机械制造有限公司 A kind of clutch shaft coupling polishing machine
KR20180066695A (en) * 2016-12-09 2018-06-19 주식회사 탑스 Handle Auto polishing machine
CN108581758A (en) * 2018-07-01 2018-09-28 德清县海昌汽车零配件有限公司 A kind of fight each other grinds the brake facing grinding device that bits are collected
KR101937092B1 (en) 2018-05-17 2019-01-09 (주) 옥당산업 Method and apparatus for monitoring the operation of radioactive concrete dust collector for nuclear power plant decommissioning
CN109623664A (en) * 2018-12-12 2019-04-16 扬州伟鹏机械有限公司 A kind of cross cutting is automatic to repair adhesive dispenser
CN109848801A (en) * 2019-01-15 2019-06-07 浙江齐嘉消防科技有限公司 A kind of wooden protective door molding grinding device
KR101997911B1 (en) * 2018-11-30 2019-07-08 윤홍식 Floor electric sweeper
CN110524346A (en) * 2019-08-27 2019-12-03 江苏三叶智能装备股份有限公司 A kind of books side grinder
KR20200065531A (en) * 2018-11-30 2020-06-09 주식회사 에이엠 특장 Floor electric sweeper
KR20200065525A (en) * 2018-11-30 2020-06-09 주식회사 에이엠 특장 Floor electric sweeper
KR102155812B1 (en) * 2020-02-14 2020-09-14 주식회사 태강테크 Dust Chip and Fume Collection Slab Grinding Robot
KR20210006096A (en) * 2019-07-08 2021-01-18 박서연 Polishing machine using twin-ended finisher with added safety function
CN112476245A (en) * 2020-11-20 2021-03-12 西安市康铖机械制造有限公司 Safety device is used in processing of aeronautical machinery spare part
CN112643519A (en) * 2020-12-23 2021-04-13 合肥诺必达信息技术有限责任公司 Artificial intelligence production system for sheet metal parts
WO2022142670A1 (en) * 2020-12-29 2022-07-07 广东博智林机器人有限公司 Dust suction device and floor grinding robot
CN116440570A (en) * 2023-06-19 2023-07-18 史丹利化肥（平原）有限公司 Fertilizer production filter equipment

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KR20180066695A (en) * 2016-12-09 2018-06-19 주식회사 탑스 Handle Auto polishing machine
CN106736905B (en) * 2016-12-09 2019-02-12 芜湖新兴铸管有限责任公司 The polishing process of synchronized dust removal
CN106736905A (en) * 2016-12-09 2017-05-31 芜湖新兴铸管有限责任公司 The polishing process of synchronized dust removal
KR101954667B1 (en) 2016-12-09 2019-05-17 정재훈 Handle Auto polishing machine
CN107791137A (en) * 2017-11-16 2018-03-13 江门市兄弟机械制造有限公司 A kind of clutch shaft coupling polishing machine
KR101937092B1 (en) 2018-05-17 2019-01-09 (주) 옥당산업 Method and apparatus for monitoring the operation of radioactive concrete dust collector for nuclear power plant decommissioning
CN108581758A (en) * 2018-07-01 2018-09-28 德清县海昌汽车零配件有限公司 A kind of fight each other grinds the brake facing grinding device that bits are collected
KR20200065531A (en) * 2018-11-30 2020-06-09 주식회사 에이엠 특장 Floor electric sweeper
KR102130710B1 (en) * 2018-11-30 2020-07-06 주식회사 에이엠 특장 Floor electric sweeper
KR101997911B1 (en) * 2018-11-30 2019-07-08 윤홍식 Floor electric sweeper
KR102130711B1 (en) * 2018-11-30 2020-07-06 주식회사 에이엠 특장 Floor electric sweeper
KR20200065525A (en) * 2018-11-30 2020-06-09 주식회사 에이엠 특장 Floor electric sweeper
CN109623664A (en) * 2018-12-12 2019-04-16 扬州伟鹏机械有限公司 A kind of cross cutting is automatic to repair adhesive dispenser
CN109848801B (en) * 2019-01-15 2020-02-14 浙江齐嘉消防科技有限公司 Wooden protective door shaping grinding device
CN109848801A (en) * 2019-01-15 2019-06-07 浙江齐嘉消防科技有限公司 A kind of wooden protective door molding grinding device
KR20210006096A (en) * 2019-07-08 2021-01-18 박서연 Polishing machine using twin-ended finisher with added safety function
KR102228703B1 (en) * 2019-07-08 2021-03-16 박서연 Polishing machine using twin-ended finisher with added safety function
CN110524346A (en) * 2019-08-27 2019-12-03 江苏三叶智能装备股份有限公司 A kind of books side grinder
KR102155812B1 (en) * 2020-02-14 2020-09-14 주식회사 태강테크 Dust Chip and Fume Collection Slab Grinding Robot
CN112476245A (en) * 2020-11-20 2021-03-12 西安市康铖机械制造有限公司 Safety device is used in processing of aeronautical machinery spare part
CN112643519A (en) * 2020-12-23 2021-04-13 合肥诺必达信息技术有限责任公司 Artificial intelligence production system for sheet metal parts
WO2022142670A1 (en) * 2020-12-29 2022-07-07 广东博智林机器人有限公司 Dust suction device and floor grinding robot
CN116440570A (en) * 2023-06-19 2023-07-18 史丹利化肥（平原）有限公司 Fertilizer production filter equipment
CN116440570B (en) * 2023-06-19 2023-09-26 史丹利化肥（平原）有限公司 Fertilizer production filter equipment

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