KR102181040B1 - Grinding system for grinding sides and corners of sink doors - Google Patents

Abstract

The present invention relates to a grinding system for grinding sides and corners of sink and furniture doors, which can automatically grind and then discharge sides and corners of sink and furniture doors. The grinding system comprises: a supply conveyor to which a plurality of sink and furniture doors are stacked and supplied; a transport unit for gripping and transporting the sink and furniture doors stacked on the supply conveyor one at a time; a grinding unit for grinding sides and corner portions of the sink and furniture doors transported by the transport unit; and a discharge conveyor for discharging the sink and furniture doors ground by the grinding unit when the sink and furniture doors are sequentially stacked by the transport unit.

Description

Grinding system for grinding sides and corners of sink doors.

The present invention relates to a polishing system for polishing the sides and corners of a sink and a furniture door, and more particularly, to separate the sides and corners of a sink and a furniture door for polishing the corners by individually transferring a plurality of sinks and furniture doors. It relates to a polishing system for polishing.

In general, a sink is used to wash things while flowing water, or to store and store various kitchen utensils, tools, or tableware, and is mainly used by installing a sink on the wall of a kitchen.

Conventionally, when manufacturing a door with a three-dimensional effect, prefab sinks and furniture doors were manufactured mainly using solid wood as a material, and the kitchen space was beautifully decorated with natural patterns and colors of solid wood by sculpting the wood board.

However, the wood-processed lumber is more expensive than the MDF plywood, so that the surface of the MDF plywood is coated with a solid wood pattern and is widely used.

In addition, by attaching one shape of solid wood-patterned coated paper to the MDF plywood, or by adhering the coated papers of different shapes horizontally or vertically to the corners of the door or at a predetermined location to complete the sink and furniture door Manufactures sinks and furniture doors.

However, in order to bond such coated paper, it is necessary to polish the surface after processing the sink and furniture door to a certain size, and since the upper and lower surfaces have a large area, the polishing machine could automatically perform polishing. In the case of corners and edges, it is difficult to polish through such a polishing device, so that the operator must manually perform the polishing operation.

At this time, the worker polishes the sides and corners of the sink and furniture door using a manual grinder attached with sandpaper, but there is a problem that the polishing quality is not uniform according to the skill of the worker.

In addition, since the polished wood is scattered into the air while the worker performs polishing, health and environmental problems of the worker are frequently occurring.

Korean Patent Registration No. 10-1451671

An object of the present invention for solving the above problems is a sink and furniture that can be discharged after automatically polishing the sides and corners of each sink and furniture door by stacking and inserting a single set of sinks and furniture doors. It is to provide a polishing system for polishing the sides and edges of the door.

Another object of the present invention is to provide a polishing system for polishing the sides and corners of a sink and a furniture door that can be transferred one by one by determining the size and position of the stacked sink and furniture door.

In addition, another object of the present invention is to provide a polishing system for polishing the sides and corners of a sink and a furniture door that can be automatically replaced when a polishing pad for polishing a sink and a furniture door is worn, enabling continuous operation.

The polishing system for polishing the sides and corners of the sink and the furniture door of the present invention for solving the above problem includes a supply conveyor in which a plurality of sinks and furniture doors are stacked on each other, and the sink and furniture stacked on the supply conveyor. A transfer unit that grips and transfers the doors one by one, a polishing unit that polishes the sides and corners of the sink and furniture door transferred by the transfer unit, and the sink and furniture door polished by the polishing unit are sequentially arranged by the transfer unit. It characterized in that it comprises a discharge conveyor to discharge it when stacked.

In addition, the transfer unit of the polishing system for polishing the sides and corners of the sink and furniture door of the present invention has a transfer gripper formed to pressurize and grip both sides of the sink and furniture door, and is coupled to the transfer gripper and multi-axis Consisting of a transfer robot that is formed to transfer the transfer gripper in multiple directions, and is formed under the transfer robot and transfers the transfer robot toward the supply conveyor, the polishing part, and the discharge conveyor by power It characterized in that it comprises a base.

In addition, the transfer unit of the polishing system for polishing the sides and corners of the sink and furniture door of the present invention detects the position of the sink and the furniture door located at the top of the sink and furniture door stacked on the supply conveyor. The detection unit further includes a unit, wherein the detection unit sequentially irradiates light on the edge slopes of the sink and the furniture door, photographs it, analyzes the shadow generated by the light, and analyzes the outer size of the sink and the furniture door located at the top. And detecting the location.

In addition, the polishing unit of the polishing system for polishing the sides and corners of the sink and furniture door of the present invention includes a polishing gripper formed to detachably attach a polishing pad for polishing the sides and corners of the sink and furniture door, and the polishing It is combined with a gripper and consists of a multi-axis, so that the polishing robot that transfers the polishing gripper to the sides and corners of the sink and the furniture door, and the sink and the furniture door transferred by the transfer unit are formed to be mounted, and are aligned with a plurality of It is characterized in that it consists of a polishing jig for aligning and fixing by pressing the edges of the sink and the furniture door through the unit.

In addition, the alignment unit of the polishing system for polishing the sides and corners of the sink and the furniture door of the present invention is formed so that the position can be changed according to the size of the sink and the furniture door. When any one portion is polished, the alignment unit of the portion to be polished is lowered to provide a space.

In addition, the polishing unit of the polishing system for polishing the sides and corners of the sink and furniture door of the present invention further includes a replacement unit capable of automatically replacing the polishing pad, wherein the replacement unit polishes the worn polishing pad. A sensor detects the worn polishing pad separated after being separated from the gripper, the polishing gripper is lowered and attached to the non-worn polishing pad in which a plurality of pieces are placed thereon, and then the presence or absence of adhesion is checked through the sensor.

As described above, according to the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention, the side and corners of each sink and furniture door are stacked and put into a single set of sinks and furniture doors. There is an effect that can be discharged after polishing automatically.

In addition, according to the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention, it is possible to determine the size and position of the stacked sink and furniture door and transfer them one by one.

In addition, according to the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention, when the polishing pad for polishing the sink and the furniture door is worn, there is an effect that it can be replaced automatically and continuous operation is possible.

1 is a perspective view showing the overall configuration of a polishing system for polishing the sides and corners of a sink and furniture door according to the present invention.
2 is a plan view showing the overall configuration of a polishing system for polishing the sides and corners of the sink and furniture door according to the present invention.
3 is a perspective view showing a state in which the transfer unit of the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention detects the sink and the furniture door.
Figure 4 is a perspective view showing a detection unit formed in the transfer portion of the polishing system for polishing the side and corners of the sink and furniture door according to the present invention.
Figure 5 is a bottom perspective view showing a transfer gripper formed in the transfer portion of the polishing system for polishing the side and corners of the sink and furniture door according to the present invention.
6 is a perspective view showing a polishing unit of a polishing system for polishing the sides and corners of the sink and furniture door according to the present invention.
7 and 8 are exemplary views showing a state in which a polishing jig of a polishing system for polishing sides and corners of a sink and a furniture door according to the present invention is operated.
9 and 10 are exemplary views showing a state in which the polishing pad is replaced by the replacement unit of the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention.

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, when it is determined that a detailed description of functions and configurations related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description will be omitted.

The present invention relates to a polishing system for polishing the sides and corners of a sink and a furniture door, and more particularly, to separate the sides and corners of a sink and a furniture door for polishing the corners by individually transferring a plurality of sinks and furniture doors. It relates to a polishing system for polishing.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing the overall configuration of a polishing system for polishing the side and corners of a sink and a furniture door according to the present invention, and FIG. 2 is a polishing system for polishing the side and corners of a sink and a furniture door according to the present invention It is a plan view showing the overall configuration of.

1 and 2, the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention is a supply conveyor 20 in which a plurality of sinks and furniture doors 1 are stacked on each other. Wow, the transfer unit 100 for grasping and transferring the sink and furniture door 1 stacked on the supply conveyor 20 one by one, and the sides and corners of the sink and furniture door 1 transferred by the transfer unit 100 It characterized in that it comprises a polishing unit 200 for polishing, and a discharge conveyor 30 for discharging the sink and furniture door 1 polished by the polishing unit 200 are sequentially stacked by the transfer unit 100. .

In addition, it is formed at the edges of the supply conveyor 20, the transfer unit 100, the polishing unit 200, and the discharge conveyor 30 to prevent people from entering the interior and prevents the dust scattered through polishing from leaking to the outside. It characterized in that it further comprises a frame (10).

The frame 10 is located at the edge of the supply conveyor 20, the transfer unit 100, the polishing unit 200, and the discharge conveyor 30, and after a plurality of profiles are connected to each other, the outer surface is covered with a transparent material such as glass or acrylic. It prevents people from entering from the outside and prevents foreign substances generated during polishing from leaking to the outside.

At this time, one side of the frame 10 is formed with a door through which a person can enter the interior so that errors or problems can be solved, and the upper part of the frame 10 so that foreign substances scattered into the air can be sucked and discharged to the outside. It is preferable that the suction port is formed and the inside of the frame 10 is formed with negative pressure.

In addition, it is preferable that an exhaust port is formed on the upper part of the polishing part 200 to suck foreign substances scattered during polishing, and each device is maintained in a state covered with a cover to prevent malfunction due to foreign substances. It is desirable.

The supply conveyor 20 is for supplying a plurality of sinks and furniture doors 1 made of one set to the position where the transfer unit 100 is formed when a plurality of sinks and furniture doors 1 are stacked from the outside, and the frame 10 on which the supply conveyor 20 is formed One side of the sink is opened so that the stacked sink and furniture door 1 can be inserted into the interior.

The supply conveyor 20 is also formed outside the frame 10, so when it is stacked on the supply conveyor 20 located outside by a separate supply unit or operator, it moves to the supply conveyor 20 located inside the frame 10 And is transferred to the polishing unit 200 one by one by the transfer unit 100.

The transfer unit 100 uses a multi-axis robot to detect the size and position of the top of the sink and furniture door 1 among a plurality of sinks and furniture doors 1 stacked on the supply conveyor 20, and then It is to be transferred to the polishing unit 200 and the discharge conveyor 30 by gripping.

To this end, the transfer unit 100 is formed to be moved toward the supply conveyor 20, the polishing unit 200, and the discharge conveyor 30, and the supply conveyor 20 grips one of the sink and the furniture door 1 They are moved to the polishing unit 200, and the polished sink and furniture door 1 are gripped by the polishing unit 200 and stacked on the discharge conveyor 30 one by one.

A method of holding the stacked sink and furniture door 1 one by one will be described later with reference to the accompanying drawings.

The polishing unit 200 is for mounting the sink and the furniture door 1 transferred by the transfer unit 100, aligning and fixing by pressing the edges, and then polishing the sides and corners using a multi-axis robot.

At this time, the polishing unit 200 sequentially polishes four surfaces and corners along the sides of the sink and the furniture door 1, and at this time, if a groove is formed on the upper surface of the sink and the furniture door 1 according to the model The edges formed in the grooves can also be polished together.

The discharge conveyor 30 is formed so that the polished sink and furniture door 1 can be stacked one by one by the transfer unit 100, and when all the sink and furniture doors 1 of one set are stacked, the discharge conveyor 30 is operated and transferred to the discharge conveyor 30 located outside the frame 10, so that the sink and the furniture door 1 polished by a separate discharge unit or an operator can be recovered from the outside.

In addition, the supply conveyor 20, the polishing unit 200, and the discharge conveyor 30 are respectively located on both sides of the transfer unit 100 and are formed to supply, polish, and discharge the sink and furniture door 1, respectively, The conveying unit 100 supplies the sink and the furniture door 1 to the other polishing unit 200 while polishing is in progress at one of the polishing units 200 so that polishing can be performed simultaneously in both lines, thereby increasing productivity. You will be able to.

3 is a perspective view showing a state in which the transfer unit 100 of the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention detects the sink and the furniture door 1, and FIG. 4 is It is a perspective view showing the detection unit 140 formed in the transfer unit 100 of the polishing system for polishing the side and corners of the sink and furniture door. 5 is a bottom perspective view showing the transfer gripper 130 formed in the transfer unit 100 of the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention.

3 to 5, the transfer unit 100 of the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention can be gripped by pressing both sides of the sink and the furniture door 1 The transfer gripper 130 and the transfer gripper 130 are combined with the transfer gripper 130 and consist of multiple axes, so that the transfer robot 120 and the transfer robot 120 are formed to transfer the transfer gripper 130 in multiple directions. It is formed at the bottom and characterized in that it comprises a transfer base 110 for transferring the transfer robot 120 toward the supply conveyor 20, the polishing unit 200, and the discharge conveyor 30 by power.

In addition, the transfer unit 100 further includes a detection unit 140 for detecting the position of the sink and furniture door 1 located at the top of the sink and furniture door 1 stacked on the supply conveyor 20, and The unit 140 sequentially irradiates light on the edge slopes of the sink and the furniture door 1, photographs it, analyzes the shadow generated by the light, and analyzes the outer size of the sink and the furniture door 1 located at the top. It is characterized by detecting the position.

The transfer gripper 130 is formed to pressurize and grip both sides of the sink and furniture door 1 located above the supply conveyor 20, and a housing 131 formed in a square shape so that various members can be mounted. And, a transfer platform 132 formed on both lower ends of the housing 131 and formed to be horizontally moved toward the center of the housing 131, and a transfer platform 132 formed on the upper portion of the transfer platform 132 It consists of a pressing block 133 for pressing the side of the sink and the furniture door (1).

The transfer bracket 132 formed on the transfer gripper 130 can be changed in size according to various models of the sink and the furniture door 1. When it is located above the supply conveyor 20, it is located at both ends of the housing 131. If the size and location of the sink and furniture door 1 are determined by the detection unit 140 after being positioned, the transfer platform 132 located at both ends of the housing 131 is lowered by the transfer robot 120 As it moves in the direction of the center of the housing 131, the sink and the furniture door 1 can be gripped.

The transfer robot 120 is formed to be moved and rotated in multiple axes, and a transfer gripper 130 is mounted at the end of the transfer robot 120 to the sink and furniture door 1 located on the supply conveyor 20. You can adjust the position to fit.

At this time, the transfer robot 120 extends from the supply conveyor 20 to the discharge conveyor 30 at the lower part of the transfer robot 120 so that the transfer robot 120 can be moved to the position where the polishing part 200 and the discharge conveyor 30 are formed. The transfer base 110 is formed, and the transfer robot 120 coupled to the transfer base 110 can be moved along the transfer base 110.

The detection unit 140 is for detecting the size and position of the sink and furniture door 1 located at the top of the sink and furniture door 1 in which a plurality of units are loaded, and the light on the edge of the sink and furniture door 1 It consists of a number of detection lights that irradiate the light, and a vision camera that reads the shadows generated by the light.

At this time, the detection light of the detection unit 140 has a first detection light 141 and a second detection light 142 formed at both ends of the transfer gripper 130, and the frame of FIG. 1 formed on the supply conveyor 20 ( The third detection light 143 and the third detection light 143 are formed on both sides of 10).

In addition, the vision camera is formed on the transfer gripper 130 to take pictures of the sink and furniture door 1 located under the transfer gripper 130, and a vision camera is installed in the frame 10 of FIG. It's okay.

The first detection light 141, the second detection light 142, the third detection light 143, and the fourth detection light 144 are the front, rear, one side and the other side of the sink and furniture door 1, respectively. It is formed to irradiate light, and each light is sequentially irradiated to form a shadow on the sink and the furniture door (1).

The vision camera is able to detect the outer size and outer line of the sink and furniture door 1 using the shadow generated by the light irradiated from each detection light, and the detected size is inputted in advance to the sink and After finding the same size by comparing the size of the furniture door 1, the polishing information for the same is transmitted to the polishing unit 200.

In other words, it is possible to detect the outline and size by analyzing the shadow generated by sequentially irradiating light on the front, rear, one side, and the other side of the sink and furniture door 1 located at the top through the vision camera. do.

In addition, since sinks and furniture doors 1 of different sizes exist in one model, it is preferable to input the sizes of the sinks and furniture doors 1 according to each model in advance, and through the supply conveyor 20 When the input model is selected, grinding information and size are determined after comparing and determining the same or similar size within the model.

At this time, in the model information input in advance, not only the size, but also information on the location and shape to be polished are also input, so that the door with the groove formed on the upper surface is automatically polished to the edge of the groove by the polishing unit 200. It is desirable to do.

In addition, since the size and position of the sink and furniture door 1 located at the top of the top were detected through the vision camera, the transfer robot 120 rotates the transfer gripper 130 according to the current position of the sink and furniture door 1 After being transferred and aligned, the sink and the furniture door 1 positioned at the top are gripped and transferred to the polishing unit 200 after descending.

At this time, a detection sensor is formed on the lower surface of the transfer gripper 130 to detect the sink and furniture door 1 located at the top, and access to the sink and furniture door 1 located at the top through the detection sensor. It is preferable to hold after.

When the sink and the furniture door 1 are gripped by the transfer gripper 130, the transfer robot 120 slides by the transfer base 110 and moves to the position where the polishing part 200 is formed, and the polishing part 200 After mounting the sink and the furniture door 1 on the polishing jig 230 of FIG. 6 formed in, the operation range of the polishing unit 200 is returned to the initial position or the transfer gripper 130 is moved to the top of the transfer base 110 Do not get in the way.

6 is a perspective view showing a polishing unit 200 of a polishing system for polishing the sides and corners of a sink and a furniture door according to the present invention, and FIGS. 7 and 8 are side and corners of a sink and a furniture door according to the present invention. It is an exemplary diagram showing a state in which the polishing jig 230 of the polishing system for polishing is operated.

6 to 8 is a polishing unit 200 of the polishing system for polishing the side and corners of the sink and furniture door according to the present invention, a polishing pad 221 for polishing the side and corners of the sink and furniture door 1 ), a polishing gripper 220 formed to be detachable, and a polishing robot that is combined with the polishing gripper 220 and is made of multi-axis to transport the polishing gripper 220 to the sides and corners of the sink and furniture door 1 210 and the sink and furniture door 1 transferred by the transfer unit 100 are formed to be mounted, and aligned by pressing the edges of the sink and furniture door 1 through a plurality of alignment units 240 It characterized in that it consists of a polishing jig 230 to be fixed.

The polishing robot 210 is made of multi-axis and can be moved and rotated, and a polishing gripper 220 with a polishing pad 221 attached to the end of the polishing robot 210 is mounted, so that the position of the polishing gripper 220 It is possible to polish the sides and corners of the sink and furniture door 1 mounted on the polishing jig 230 while being variable.

At this time, the polishing gripper 220 has a means for generating vibration therein, so that when the polishing pad 221 is moved along the sides and corners of the sink and furniture door 1, vibration is generated and the polishing pad 221 ) Will polish the sides and corners of the sink and furniture door 1.

In addition, on one surface of the polishing gripper 220 to which the polishing pad 221 is attached, a cylinder capable of buffering or a driving shaft with a spring is formed, so that the polishing pad 221 is located at the sides and corners of the sink and furniture door 1. It is desirable to be able to mitigate the impact when it comes into contact with.

In addition, Velcro is formed on one side of the polishing gripper 220 so that the polishing pad 221 can be attached, and the polishing pad 221 is formed of a material that can be attached to Velcro, and is attached and separated by Velcro. Can be.

In order to polish the sink and the furniture door 1, the polishing unit 200 inputs a location and a path for polishing according to each model and size in advance, and the sink and the furniture door ( When 1) is detected which size of which model is transmitted, the information is transmitted and then controlled to perform an operation suitable for the data input to the polishing jig 230 and the polishing robot 210.

The polishing jig 230 is for mounting, aligning, and fixing the sink and furniture door 1 when the sink and the furniture door 1 are transferred by the transfer unit 100 of FIG. 3, and the center of the sink and furniture door 1 has an H-shape at the center. Supports 231 are formed, and alignment units 240 are formed at the front, rear, one side, and the other side, respectively, around the support 231 to support the lower edge of the sink and the furniture door 1 .

At this time, a mounting sensor is formed in the center of the support 231 so that the sink and furniture door 1 transported by the transfer unit 100 of FIG. 3 can be checked to be located above the support 231, and the presence or absence of the mounting is confirmed. After that, the alignment unit 240 is operated to align the sink and the furniture door 1.

At this time, the alignment unit 240 is formed so that the position can be changed according to the size of the sink and the furniture door 1, a variable cradle 241 formed to mount the sink and the furniture door 1, and a variable cradle ( It is formed in the lower rear of the sink 241 and when the sink and the furniture door 1 are mounted, the lifting block 242 protrudes upward and formed on the upper part of the lifting block 242, and the sides of the sink and the furniture door 1 It is characterized by consisting of an alignment block 243 protruding toward the sink and pressurizing the furniture door (1).

The variable cradle 241 is formed to support the lower portion of the sink and the furniture door 1, has the same height as the support stand 231, and is transferred to the center or outer surface of the polishing jig 230 by external power. Thus, the location can be changed according to the outer size of the sink and the furniture door 1.

That is, the variable cradle 241 can flexibly respond to the sink and furniture door 1 having various sizes for each model, and the position of the variable cradle 241 is changed based on the information detected from the detection unit 140 of FIG. The furniture door 1 can be mounted on the polishing jig 230.

The lifting block 242 is formed to be spaced apart from the rear of the variable cradle 241 and can be transported along the variable cradle 241, and an alignment block protruding to the outer surface on one surface of the lifting block located in the direction of the variable cradle 241 ( 243) is formed.

At this time, the lifting block 242 is maintained in a lowered state when the sink and the furniture door 1 is transferred by the transfer unit 100, and the sink and the furniture door 1 are supported by the support 231 and the variable cradle 241. When mounted in the lifting block 242 is raised, the alignment block 243 formed on one surface protrudes to press the sink and the furniture door 1.

Alignment unit 240 is located in each of the four directions centering on the support 231, and after each lifting block 242 is raised, the alignment block 243 protrudes toward the edge of the sink and furniture door (1) Therefore, the sink and the furniture door 1 can be aligned and fixed at the center of the polishing jig 230 while being pressed by the alignment block 243.

In addition, the alignment unit 240 is formed so that the position can be changed according to the size of the sink and the furniture door 1, and the alignment unit of the area to be polished when any one area of the sink and furniture door 1 is polished by lifting and lowering. It is characterized in that (240) is lowered to provide a space.

In order to polish the sides and corners of the sink and furniture door 1, the polishing gripper 220 with a polishing pad 221 attached is transferred to the side of the sink and furniture door 1, and at this time, The alignment unit 240 provides a space so that the alignment block 243 is returned to the original position and the lifting block 242 is lowered so that the polishing pad 221 and the polishing gripper 220 can polish on the polishing part 200. do.

Accordingly, the three surfaces of the sink and the furniture door 1 are maintained in a fixed state by the alignment unit 240, and the surface on which the polishing is progressed is applied to the pressing force generated when the polishing gripper 220 and the polishing pad 221 are in contact. Can be fixed by

In addition, when the polishing operation of the part where the polishing was performed is completed, the alignment unit 240 of the corresponding part raises the lifting block 242 and protrudes the alignment block 243 to press the outer surface of the sink and the furniture door 1. , The alignment unit 240 of the area performing the next polishing operation is to provide a space by placing the alignment block 243 in its original position and lowering the lifting block 242.

The polishing operation is performed through a series of these processes, and when polishing of the sides and corners is completed, the alignment blocks 243 formed on all alignment units 240 are in their original positions, and the lifting blocks 242 are lowered to the transfer unit of FIG. 100) can be gripped and transferred to the discharge conveyor 30.

In addition, the polishing jig 230 has a rotation shaft in the center so that it can be rotated around the rotation axis, and in a state in which the alignment unit 240 aligns the sink and the furniture door 1, the polishing part is a polishing robot ( 210) and is rotated to be located close to it.

That is, the polishing jig 230 reduces the movable range of the polishing robot 210 by rotating the polishing part of the sink and the furniture door 1 to be located in the vicinity of the polishing robot 210, and the polishing part 221) can be induced to be polished.

9 and 10 are exemplary views showing a state in which the polishing pad 221 is replaced by the replacement unit 250 of the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention.

9 and 10, the polishing unit 200 of the polishing system for polishing the sides and corners of the sink and furniture door according to the present invention is a replacement unit capable of automatically replacing the polishing pad 221 It further includes 250, and the replacement unit 250 detects the worn polishing pad 221 separated after separating the worn polishing pad 221 from the polishing gripper 220 with a sensor, and a plurality of The polishing gripper 220 is lowered and attached to the non-worn polishing pad 221, and then the presence or absence of attachment is checked through a sensor.

When the polishing pad 221 attached to the polishing gripper 220 is worn, the replacement unit 250 is to automatically replace the polishing pad 221 so that the operation can be continuously performed.

At this time, the replacement unit 250 is formed on the opposite side of the fixed gripper 251 and is formed on the opposite side of the fixed gripper 251 and separated by a fixed gripper 251 that grips the worn polishing pad 221 and separates it from the polishing gripper 220 A detection sensor 253 for detecting the worn and worn polishing pads 221, and a plurality of polishing pads 221 are formed to be stacked on the upper side, and a buffer hole 255 is formed at the lower part of the polishing gripper 220. A stacking table 254 that alleviates the impact when it is in close contact with the polishing pad 221, and a loading sensor 256 that is formed on the side of the stacking table 254 and detects the amount of stacking of the stacked polishing pads 221; It is formed on the upper side of the mounting table 254 and characterized in that it consists of a verification sensor 257 that checks whether the polishing pad 221 is attached to the polishing gripper 220.

The fixed gripper 251 grips and fixes one end of the worn polishing pad 221 attached to the polishing gripper 220, and when the polishing gripper 220 is raised, the worn polishing pad 221 is removed from the polishing gripper 220. It is to be separated.

To this end, the fixed gripper 251 is made in the form of tongs operated by external power, and is fixed by pressing one end of the upper and lower surfaces of the polishing pad 221 by rotation.

At this time, it is preferable that the fixed gripper 251 is formed of a synthetic resin material such as rubber, urethane, and silicone on the contact portion to impart friction to the upper and lower surfaces of the polishing pad 221 to prevent slipping.

The polishing gripper 220 can be set to automatically replace the polishing pad 221 when a set working time is exceeded or a set work amount is exceeded after replacing the polishing pad 221, and polishing to replace the polishing pad 221 The gripper 220 is transferred by the polishing robot 210 of FIG. 6 so that the side of the fixed gripper 251 is positioned as shown in FIG. 9-A, and one end of the worn polishing pad 221 is attached to the fixed gripper 251. It moves horizontally toward the fixed gripper 251 so that it can be inserted.

Thereafter, as shown in FIG. 9-B, the polishing gripper 220 is rotated in a clockwise direction and then transferred in an upper direction as shown in FIG. 9-C to separate the worn polishing pad 221, at this time, the worn polishing pad 221 Is attached by Velcro, so it can be easily separated.

When the separation of the worn polishing pad 221 is complete, the polishing pad 221 is struck by gravity on the other side of the fixed gripper 251 as shown in FIG. 9-C, and is located on the opposite side of the fixed gripper 251. The detected sensor 253 detects the worn polishing pad 221 fixed to the fixed gripper 251 and checks whether the separation is complete.

At this time, the detection sensor 253 is preferably formed to be inclined in the direction of 25 to 65 degrees so as to easily detect the worn polishing pad 221 hit by gravity, and if it is less than 25 degrees, the worn polishing pad ( 221) is difficult to detect, and if it exceeds 65 degrees, there is a possibility that detection may not be possible depending on the sagging angle of the worn polishing pad 221.

When the separation is completed through the detection sensor 253 as shown in FIG. 10-B, the fixed gripper 251 separates the worn polishing pad 221 while being opened by external power, and the worn polishing pad 221 is gravity It can be loaded by falling into the collection box 252 formed at the bottom.

When it is confirmed that the separation is completed through the detection sensor 253 as shown in FIG. 10-A, the polishing gripper 220 is transferred to the top of the stacking table 254 in which a plurality of polishing pads 221 are stacked, and then descends to the polishing pad ( In close contact with the 221, the polishing pad 221 is attached to the polishing gripper 220.

At this time, so that the polishing pad 221 can be more reliably attached, the polishing gripper 220 is rotated shortly to the left and right in close contact with the upper portion of the polishing pad 221 so that the polishing pad 221 can be attached to the Velcro. Induced.

In addition, a buffer hole 255 that can be raised and lowered by a cylinder or a spring is formed at the bottom of the stacking table 254, so that the stacking table 254 can be maintained at a constant height, and a polishing gripper to attach the polishing pad 221 It is possible to reduce the impact force when 220 is lowered and to improve the adhesion between the polishing pad 221 and the polishing gripper 220.

In addition, a loading sensor 256 for checking the loading amount of the polishing pad 221 is formed so that the state of the polishing pad 221 can be checked, and the buffer hole 255 is lowered or the buffer hole 255 is lowered according to the loading amount of the polishing pad 221 It is elevated so that the polishing gripper 220 is always lowered to the same position, and then the polishing pad 221 can be attached.

In addition, as shown in FIG. 10-B, a verification sensor 257 for checking whether the polishing pad 221 is attached to the polishing gripper 220 is formed on the top of the stacking table 254, and the polishing gripper 220 is The protruding portion of the polishing pad 221 attached to the polishing gripper 220 is lowered to the polishing pad 221 mounted on the 254, and then raised and rotated 45 to 75 degrees toward the verification sensor 257. Let it be detected at (257).

Since the polishing pad 221 attached to the polishing gripper 220 is formed larger than the size of the polishing gripper 220, it has a shape that protrudes larger than the width of the polishing gripper 220, and the protruding part is identified by the verification sensor 257. ) The polishing gripper 220 is rotated 45 to 90 degrees so that it can be detected.

In this case, if the angle is less than 45 degrees, the polishing gripper 220 may be detected by the sensor, and if it is more than 90 degrees, the area in which the polishing pad 221 is sensed is narrowed due to excessive rotation.

When it is confirmed that the polishing pad 221 is attached to the polishing gripper 220 through the verification sensor 257, the polishing gripper 220 is moved to the working position so that the polishing operation can be performed.

As described above, according to the polishing system for polishing the sides and corners of the sink and the furniture door according to the present invention, the side and corners of each sink and furniture door are stacked and put into a single set of sinks and furniture doors. It can be automatically polished and then discharged, and can be transferred one by one by judging the size and position of the stacked sink and furniture doors. When the polishing pad for polishing the sink and furniture door is worn, it is automatically replaced and continuous work is possible. It works.

As described above, the present invention has been described with a focus on preferred embodiments, but a person having ordinary knowledge in the technical field to which the present invention pertains can variously modify the present invention within the scope not departing from the technical spirit and scope described in the claims of the present invention. It can be modified or modified accordingly. Accordingly, the scope of the invention should be construed by the claims set forth to include examples of such many variations.

1: sink and furniture door 10: frame
20: supply conveyor 30: discharge conveyor
100: transfer unit 110: transfer base
120: transfer robot 130: transfer gripper
131: housing 132: transfer
133: pressure block 140: detection unit
141: first detection light 142: second detection light
143: 3rd detection light 144: 4th detection light
200: polishing unit 210: polishing robot
220: polishing gripper 221: polishing pad
230: polishing jig 231: support
240: alignment unit 241: variable cradle
242: lifting block 243: alignment block
250: replacement unit 251: fixed gripper
252: collection box 253: detection sensor
254: stacking table 255: buffer hole
256: loading sensor 257: verification sensor

Claims (6)

A supply conveyor in which a plurality of sinks and furniture doors are stacked and inputted;
A transfer unit for gripping and transferring the sink and furniture doors stacked on the supply conveyor one by one;
A polishing unit for polishing side surfaces and corners of the sink and furniture door transferred by the transfer unit;
Includes; a discharge conveyor for discharging the sink and the furniture door polished by the polishing unit is sequentially stacked by the transfer unit,
The polishing part
A polishing gripper formed such that polishing pads for polishing side surfaces and corners of the sink and the furniture door are detachable;
A polishing robot that is coupled to the polishing gripper and is made of multi-axis to transfer the polishing gripper to the side and corners of the sink and furniture door;
It consists of a polishing jig that is formed so that the sink and the furniture door transferred by the transfer unit can be mounted and that presses the edges of the sink and the furniture door through a plurality of alignment units to align and fix the sink and furniture door.
The alignment unit
It is formed so that the position can be changed according to the size of the sink and the furniture door, and when any one portion of the sink and the furniture door is polished by lifting and lowering, the alignment unit of the polished portion is lowered to provide a space.
Polishing system for polishing the sides and corners of sinks and furniture doors.
The method of claim 1,
The transfer unit
A transfer gripper formed to pressurize and grip both sides of the sink and the furniture door;
A transfer robot coupled to the transfer gripper and configured of multi-axis to transfer the transfer gripper in multiple directions;
And a transfer base formed under the transfer robot and transferring the transfer robot toward the supply conveyor, the polishing part, and the discharge conveyor by power.
Polishing system for polishing the sides and corners of sinks and furniture doors.

The method of claim 1,
The transfer unit further includes a detection unit for detecting a position of the sink and furniture door positioned at the top of the sink and furniture door stacked on the supply conveyor, and
The detection unit sequentially irradiates light on the edge slopes of the sink and the furniture door, photographs it, analyzes the shadow generated by the light, and detects the outer size and position of the sink and furniture door located at the top. Characterized
Polishing system for polishing the sides and corners of sinks and furniture doors.
delete delete A supply conveyor in which a plurality of sinks and furniture doors are stacked and inputted;
A transfer unit for gripping and transferring the sink and furniture doors stacked on the supply conveyor one by one;
A polishing unit for polishing side surfaces and corners of the sink and furniture door transferred by the transfer unit;
Includes; a discharge conveyor for discharging the sink and the furniture door polished by the polishing unit is sequentially stacked by the transfer unit,
The polishing part
A polishing gripper formed such that polishing pads for polishing side surfaces and corners of the sink and the furniture door are detachable;
A polishing robot that is coupled to the polishing gripper and is made of multi-axis to transfer the polishing gripper to the side and corners of the sink and furniture door;
It consists of a polishing jig that is formed so that the sink and the furniture door transferred by the transfer unit can be mounted and that presses the edges of the sink and the furniture door through a plurality of alignment units to align and fix the sink and furniture door.
The polishing unit further includes a replacement unit capable of automatically replacing the polishing pad,
The replacement unit separates the worn polishing pad from the polishing gripper and then detects the separated worn polishing pad with a sensor,
The polishing gripper is lowered and attached to a non-abrasive polishing pad in which a plurality of pieces are placed, and then the presence or absence of attachment is checked through a sensor.
Polishing system for polishing the sides and corners of sinks and furniture doors.

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