KR102643596B1 - Polishing tool for robot with adjustable compression force - Google Patents

Abstract

The polishing tool 90 for a robot capable of adjusting compression force according to the present invention is configured as follows.
A base 100 formed to be mounted on a robot arm, an actuator 200 fixed to the base 100 and mounted with a reciprocating rod 220 facing downward, and fixed to the base 100 and the rod ( A guide shaft 300 extending downward in parallel with 220, a plate-shaped upper flange 400 through which the guide shaft 300 passes and fixed to the lower end of the rod 220, and the upper flange 400 A guide pin 500 fixed to the lower surface and extending downward, a compression spring 600 accommodating the guide pin 500, and disposed at the lower part of the upper flange 400, the guide shaft 300 and a guide pin 500 penetrates, a plate-shaped lower flange 700 connected to the compression spring 600, disposed at the lower part of the lower flange 700, and fixed to the lower end of the guide shaft 300. A ring 800, a driving unit 900 that passes below the ring 800 and is mounted on the lower surface of the lower flange 700 and rotates the tip 920 by receiving power, and the base 100. A first detection unit 1100 mounted on the upper flange 400 to detect the reciprocating displacement of the rod 220, and a second detection unit 1200 installed on the upper flange 400 to detect the length of the compression spring 600. Includes.
Therefore, there are the following effects.
When the robot arm (R) brings the “robot polishing tool (90) capable of adjusting compressive force” into close contact with the workpiece (M), the compressive force generated can be controlled to be within the normal range, resulting in uniform surface processing. This is possible.

Description

Polishing tool for robot with adjustable compression force}

The present invention relates to a 'polishing tool for a robot capable of adjusting compression force'. More specifically, it is capable of processing the surface of a workpiece with a set compression force, and corrects in real time the variation in compression force that occurs depending on whether the surface protrudes. Therefore, it relates to a 'polishing tool for a robot capable of adjusting compression force', which is configured to uniformly process the surface and prevent damage.

Figure 1 represents the state of use of a polishing tool for a robot according to background technology. (a) is a state diagram showing buffing the surface of a vehicle to make it shiny, and (b) is a state diagram showing the use of a polishing tool for a robot that can be used to paint the surface of a tank. As a state of use diagram showing grinding processing of the surface, a general polishing tool 10 for a robot is as follows.

Today, due to the decline in the workforce and the avoidance of the 3D industry, the trend is that people are being replaced by robots in the workplace. This phenomenon is no exception to polishing operations that polish or peel the surface of a workpiece.

The polishing operation is performed by mounting the robot polishing tool 10 on the robot arm 1 and then operating the robot arm 1 so that the robot polishing tool 10 is compressed on the workpiece M. This is the work of processing the surface of (M).

The polishing tool 10 for a robot has a built-in driving unit such as a motor, so that the tip rotates, and a friction material 15 for processing the surface of the workpiece M is attached to the tip. The friction material 15 may be made of leather or fabric as a buffing material for gloss, or may be made of a whetstone to peel the surface.

Therefore, it is possible to rotate the friction material 15 with the drive unit to polish the surface of the vehicle as shown in FIG. 1, and to peel the surface to paint the surface of the tank as shown in FIG. 2.

However, this polishing tool 10 for a robot had the following problems.

There was a problem in that the robot arm 1 could not control the compressive force generated when the robot polishing tool 10 was brought into close contact with the workpiece M, making uniform surface processing difficult. In other words, when the robot arm (1) moves laterally in close contact with the robot polishing tool (10) and processes the surface, the compression force increases on the protruding portion of the surface and the compression force decreases on the concave portion, thereby adjusting the compression force. There was this inconvenient problem. Therefore, in the case of buffing, areas where the compressive force is relatively large are well-polished, and areas where the compressive force is relatively small are not well-glossed, causing a problem in that stains occur on the surface of the workpiece (M). These problems result in serious claims, especially when processing vehicle surfaces.

In particular, in the case of peeling work, cutting was excessive in areas with high compressive force, causing perforations, resulting in defects, and cutting was not done properly in areas with low compressive force, causing the inconvenience of having to process it again. Therefore, when robots are used in polishing processing, the defect rate increases, which is a problem that does not correspond to the reality of labor shortage.

In addition, in the case of peeling work, a large amount of chips and dust are generated from the surface of the workpiece, contaminating the site, harming the health of workers, and penetrating into nearby machines, causing malfunctions.

Korean Patent Publication No. 10-2013-0100685 (Publication Date: September 11, 2013)

The problems to be solved through the 'robot polishing tool capable of adjusting compression force' according to the present invention are as follows.

We aim to solve the problem of making uniform surface processing difficult because the robot arm cannot control the compression force that occurs when the robot polishing tool is brought into close contact with the workpiece. In other words, the set compression force allows the workpiece to be uniformly pressed throughout the work, thereby enabling uniform surface processing. In addition, when the robot arm moves laterally in close contact with the robot polishing tool and processes the surface, the compressive force increases on the protruding part of the surface and the compressive force decreases on the concave part, which solves the problem of inconvenient adjustment of the compressive force at each time. I want to solve it. In other words, even if the compression force varies depending on the condition of the surface, it can be corrected in real time.

In addition, it is possible to solve the problem of polluting the working environment with a large amount of dust and chips generated from the surface of the workpiece during peeling work, which harms the health of workers and causes malfunctions by penetrating into machines placed around them.

The “polishing tool for a robot capable of adjusting compression force” according to the present invention includes the following items to solve the above problems.

A base formed to be mounted on a robot arm, an actuator fixed to the base and mounted so that a reciprocating rod faces downward, a guide shaft fixed to the base and extending downward in parallel with the rod, and the guide shaft penetrating. A plate-shaped upper flange fixed to the lower end of the rod, a guide pin fixed to the lower surface of the upper flange and extending downward, a compression spring for receiving the guide pin, and disposed at the lower part of the upper flange, A guide shaft and a guide pin pass through, a plate-shaped lower flange connected to the compression spring, a ring disposed below the lower flange and fixed to the lower end of the guide shaft, and a ring passing below the ring to connect the lower flange. A driving part that is mounted on the lower side of the device and whose tip rotates when supplied with power, a first sensing part that is mounted on the base and detects the reciprocating displacement of the rod, and a first sensing part that is mounted on the upper flange and detects the length of the compression spring. Includes a second detection unit.

In addition, it includes a control unit that controls the actuator in connection with the first detection unit and the second detection unit, wherein the control unit receives a signal from the second detection unit and operates the compressor spring when the length of the compression spring is within a set range. Without driving the actuator, if the length of the compression spring is outside the set range, the actuator is driven to keep the length of the compression spring within the set range.

In addition, the first sensing part is, for example, a linear scale mounted on the base and the rod is fixed to the upper flange, and the second sensing part is, for example, fixed to the upper surface of the upper flange and the rod penetrates the upper flange to It is a linear scale that touches the upper surface of the lower flange.

In addition, a cover detachable from the outer surface of the ring, formed along the circumference of the ring, extending downward and in the shape of an inverted hopper, an outlet formed in the cover, a hose connected to the outlet, and a suction connected to the hose. It may further include a pump.

Additionally, it may further include a plurality of brush bristles connected to the bottom of the cover.

The effects that can be achieved through the “robot polishing tool capable of adjusting compression force” according to the present invention are as follows.

First, through claims 1 to 5, when the robot arm brings the “robot polishing tool capable of adjusting compression force” into close contact with the workpiece, the compression force generated can be controlled to be within the normal range, Uniform surface processing is possible. For example, when buffing to shine the surface of a vehicle, the phenomenon of uneven gloss can be prevented. This effect is similarly exhibited in peeling operations. In other words, when removing rust or oil from the surface before painting, the surface is peeled off evenly, enabling smooth painting.

Second, through claims 4 and 5, foreign matter such as a large number of chips and dust generated during peeling processing can be collected through the discharge port by the suction pump without being leaked to the outside by the cover, so that the chips and Dust can pollute the working environment, harming the health of workers, and prevent chips from entering nearby machines and causing breakdowns.

Figure 1 represents the state of use of a polishing tool for a robot according to background technology. (a) is a state diagram showing buffing the surface of a vehicle to make it shiny, and (b) is a state diagram showing the use of a polishing tool for a robot that can be used to paint the surface of a tank. A use state diagram showing grinding processing of the surface.
Figure 2 is a perspective view showing a polishing tool for a robot capable of adjusting compression force according to the present invention.
Figure 3 is a front view showing a polishing tool for a robot capable of adjusting compression force according to the present invention.
FIG. 4 is a cross-sectional view taken along line L-L' of FIG. 3, showing the first and second sensing units omitted.
Figure 5 is a cross-sectional view showing the grinder protruding outside the lower flange due to the operation of the actuator in the state of Figure 4.
Figure 6 is a cross-sectional view showing a state in which a friction material is attached to the bottom of the grinder in the state of Figure 4 and then the actuator is operated so that the friction material is in close contact with the workpiece and rotates.
Figure 7 is a block diagram showing the control process of a robot polishing tool capable of adjusting compression force according to the present invention to help understand.
Figure 8 is a partial cross-sectional view showing a cover attached to the lower flange in the state of Figure 3.
Figure 9 is a partial cross-sectional view locally showing the process of machining with the friction material in close contact with the workpiece in the state of Figure 8.

Hereinafter, various embodiments of this document are described with reference to the attached drawings. However, this is not intended to limit the technology described in this document to specific embodiments, and should be understood to include various modifications, equivalents, and/or alternatives to the embodiments of this document. In connection with the description of the drawings, similar reference numbers may be used for similar components.

Additionally, expressions such as “first,” “second,” etc. used in this document may modify various components regardless of order and/or importance, and may be used to distinguish one component from another component. It is only used and does not limit the corresponding components. For example, 'first part' and 'second part' may refer to different parts, regardless of order or importance. For example, a first component may be renamed a second component without departing from the scope of rights described in this document, and similarly, the second component may also be renamed to the first component.

Additionally, the terms used in this document are merely used to describe specific embodiments and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions, unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by a person of ordinary skill in the technical field described in this document. Among the terms used in this document, terms defined in general dictionaries may be interpreted to have the same or similar meaning as the meaning they have in the context of related technology, and unless clearly defined in this document, have an ideal or excessively formal meaning. It is not interpreted as In some cases, even terms defined in this document cannot be interpreted to exclude embodiments of this document.

Hereinafter, detailed embodiments of the polishing tool 90 for a robot capable of adjusting compression force according to the present invention for solving the above problems will be described along with the accompanying drawings.

Figure 2 is a perspective view showing a polishing tool for a robot capable of adjusting compression force according to the present invention, Figure 3 is a front view showing a polishing tool for a robot capable of adjusting compression force according to the present invention, and Figure 4 is a view of Figure 3. It is a cross-sectional view taken along the line L-L', and is explained together as a cross-sectional view showing the first and second sensing units omitted.

A base 100 is configured to be mounted on a robot arm, and an actuator 200 is configured so that a rod 220 that is fixed to the base 100 and reciprocates is directed downward. In addition, a guide shaft 300 is fixed to the base 100 and extends downward in parallel with the rod 220, and the guide shaft 300 penetrates and is fixed to the lower end of the rod 220. A plate-shaped upper flange 400 is formed. In addition, a guide pin 500 is fixed to the lower surface of the upper flange 400 and extends downward, and a compression spring 600 is provided to accommodate the guide pin 500. In addition, a plate-shaped lower flange 700 is formed below the upper flange 400, through which the guide shaft 300 and the guide pin 500 pass, and connected to the compression spring 600. In addition, a ring 800 is disposed below the lower flange 700 and fixed to the lower end of the guide shaft 300. In addition, a drive unit 900 that passes under the ring 800 and is mounted on the lower surface of the lower flange 700, which receives power and rotates the distal end 920, is configured. In addition, a first sensing unit 1100 is mounted on the base 100 to detect the reciprocating displacement of the rod 220, and is mounted on the upper flange 400 to measure the length of the compression spring 600. A second detection unit 1200 is configured to detect. In addition, a control unit 1300 is configured to control the actuator 200 in connection with the first detection unit 1100 and the second detection unit 1200, and the control unit 1300 controls the second detection unit 1200. ), and if the length of the compression spring 600 is within the set range, the actuator 200 is not driven. If the length of the compression spring 600 is outside the set range, the actuator 200 is not driven. It is programmed to drive and control the length of the compression spring 600 to be within a set range.

The base 100 is composed of a top flange 110 with a bolt hole (not shown) drilled so as to be mounted on the robot arm, extends downward from the top flange 110, and has a narrower width than the top flange 110. The neck 120 is extended. Therefore, it is configured to be fastened to the robot arm by inserting a bolt (not shown) into the bolt hole (not shown). In addition, the container shape is connected to the lower side of the neck 120 and is open downward. The housing 130 is composed of a plurality of sockets 140 on the outer surface of the housing 130, so that power is supplied to the actuator 200, the first detection unit 1100, and the second detection unit 1200. It is configured to supply.

The actuator 200, the first sensing unit 1100, and the guide shaft 300 are fixed to the inner upper surface of the housing 130. In addition, since the tubular corrugated cover (not shown) is connected to the housing 130 and the lower flange 700 to cover the space between the housing 130 and the lower flange 700, foreign substances enter and cause a failure. It is configured to prevent this.

As an example, the actuator 200 may be configured as a linear motor that can adjust the reciprocating displacement of the rod 220 by an electric signal.

As an example, the first detection unit 1100 is a linear scale mounted on the base 100, that is, the inner upper surface of the housing 130, and the rod 1110 is fixed to the upper flange 400, and the second detection unit As an example, the unit 1200 is a linear scale fixed to the upper surface of the upper flange 400 and the rod 1210 penetrates the upper flange 400 and touches the upper surface of the lower flange 700.

The driving unit 900 is a general one that receives air or electricity to rotate the tip 920, and is configured to process the surface of the workpiece M by mounting a friction material T on the tip 920. As an example, the friction material T may be made of leather or fabric paper when buffing to achieve gloss, and may be made of a whetstone or sandpaper when peeling. Since the driving unit 900 and the friction material T are known to anyone skilled in the art, detailed descriptions thereof are omitted for ease of understanding of the present specification.

Hereinafter, the operation process of the “robot polishing tool 90 capable of adjusting compression force” will be described with the accompanying drawings.

Figure 5 is a cross-sectional view showing the grinder protruding outside the lower flange due to the operation of the actuator in the state of Figure 4. Figure 6 is a cross-sectional view showing a state in which a friction material is attached to the bottom of the grinder in the state of Figure 4 and then the actuator is operated to rotate the friction material in close contact with the workpiece, and Figure 7 is a robot capable of adjusting compression force according to the present invention. It is explained as a block diagram to help you understand the control process of the polishing tool.

For convenience, if the present invention is described in an upright position as shown in FIG. 5, when an electric signal is input to the actuator 200, the rod 220 can be lowered (advance) as shown in FIG. 5. At this time, the upper flange 400, lower flange 700, and driving unit 900 also descend accordingly. Conversely, when the rod 220 is raised (backward), the upper flange 400, lower flange 700, and drive unit 900 also rise accordingly. This reciprocating displacement occurs along the guide shaft 300.

Therefore, as shown in FIG. 6, a friction material (T) is attached to the distal end 920 of the driving unit 900, and the top flange 110 is mounted on the robot arm (R). Then, using the robot arm (R), the friction material (T) is directed to the workpiece (M), and then an electric signal is input to the actuator 200 to cause the rod 220 to advance toward the workpiece (M). Ensure that the friction material (T) touches the workpiece (M). Then, the first detection unit 1100 detects the amount of displacement of the rod 220 and transmits it to the control unit 1300. When the first sensing unit 1100 is a rod scale, the upper flange 400 descends and the rod 1110 also descends accordingly, making it possible to detect a variable amount.

In this way, while the friction material (T) is in contact with the workpiece (M), the rod 220 continues to advance so that the friction material (T) is compressed. Then, the driving unit 900 pushes the lower flange 700 upward, so the compression spring 600 is compressed and its length is shortened. Then, the second detection unit 1200 transmits the variable length of the compression spring 600 to the control unit 1300. If the second detection unit 1200 is a rod scale, the displacement of the compression spring 600 can be detected by detecting the variable amount that occurs when the lower flange 700 rises and pushes up the rod 1210.

At this time, the control unit 1300 does not vary the load 220 of the actuator 200 if the displacement amount transmitted from the second detection unit 1200, that is, the compressed length of the compression spring 600, is within a set range. and maintain the advanced length.

Alternatively, if the control unit 1300 detects that the compressed length of the compression spring 600 is below the setting range, that is, shorter than the allowable length, the displacement amount detected by the first detection unit 1100 is used as the basis. By operating the actuator 200, the rod 220 is raised and the upper flange 400 is raised. At this time, the variable amount of the compression spring 600 is received from the second detection unit 1200, and when it reaches the normal range, the operation of the actuator 200 is stopped.

Conversely, when the control unit 1300 detects that the compressed length of the compression spring 600 is greater than the setting range, that is, longer than the allowable length, the actuator 200 is operated to lower the rod 220. This causes the upper flange 400 to descend. At this time, the variable amount of the compression spring 600 is received from the second detection unit 1200, and when it reaches the normal range, the operation of the actuator 200 is stopped.

Through this operation, the length of the compression spring 600 is always within the specified range, and because of this, the compression force that the drive unit 900 applies to the workpiece (M) through the friction material (T) can be set to always be within the specified range. there is.

In this way, when the friction material (T) is pressed to the workpiece (M) and the drive unit (900) is operated to rotate the friction material (T) and the present invention is moved laterally by the robot arm (R), the friction material (T) is pressed to the workpiece (M). Depending on the material of (T), surface processing by buffing or peeling is possible. At this time, if there is a protrusion on the surface of the workpiece (M), the compressive force increases and the length of the compression spring 600 becomes shorter. However, due to the above operation, the compressive force remains in the normal range, and conversely, there is a concave portion on the surface, so the compressive force increases. When this is reduced and the length of the compression spring 600 becomes longer, the compression force can be corrected in real time to return to the normal range by the above operation.

In this way, when the robot arm (R) brings the “robot polishing tool (90) capable of adjusting compression force” into close contact with the workpiece (M), the compression force generated can be controlled to be within the normal range, so that uniform Surface processing is possible. For example, when buffing to polish the surface of a vehicle, the phenomenon of uneven gloss can be prevented. This effect is similarly exhibited in peeling work. In other words, when removing rust or oil from the surface before painting, the surface is peeled off evenly, enabling smooth painting.

Next, an example in which a cover 1400 is further configured in the “robot polishing tool 90 capable of adjusting compression force” is as follows.

Figure 8 is a partial cross-sectional view showing the cover attached to the lower flange in the state of Figure 3, and Figure 9 is a partial cross-sectional view locally showing the process of processing with the friction material in close contact with the workpiece in the state of Figure 8. Let's explain together.

A cover 1400 is formed along the circumference of the ring 800, extends downward, and has an inverted hopper shape, which is attached and detached to the outer surface of the ring 800. Additionally, an outlet 1410 is formed in the cover 1400, a hose 1420 is connected to the outlet 1410, and a suction pump (not shown) is connected to the hose 1420. For example, the suction pump may be fixed to the robot arm (R). Of course, a container (not shown) that can collect chips or dust discharged from the suction pump is connected.

In order for the cover 1400 to be detached from the ring 800, for example, a bolt (not shown) passes through the cover 1400 and is fastened to a tap hole (not shown) machined on the side of the ring 800. It is possible by

In addition, a plurality of brush bristles (1440) connected to the bottom of the cover (1400) are configured.

Therefore, when the present invention is compressed to the workpiece (M) by the robot arm (R), the brush bristles (1440) are bent and compressed. When peeling processing is performed in this state, foreign substances such as chips and dust are not leaked to the outside by the cover 1400 and can be collected through the discharge port 1410 by the suction pump.

As a result, the working environment is polluted by chips and dust generated during peeling processing, which harms the health of workers and prevents chips from entering nearby machines and causing breakdowns.

The research according to the present invention is supported by the 2021 Ministry of SMEs and Startups' Regulation-Free Special Zone Innovation Project "Demonstration of mobile collaborative robots for application to large product production processes (pressure tanks)" (P0016197).

90: Polishing tool for robot with adjustable compression force 100: Base
110: Top flange 120: Neck
130: housing 140: socket
200: actuator 220: load
300: Guide shaft 400: Upper flange
500: Guide pin 600: Compression spring
700: Lower flange 800: Ring
900: driving part 920: tip part
1100: first detection unit 1110: load
1200: second detection unit 1210: load
1300: Control unit 1400: Cover
1410: outlet 1420: hose
1440: Brush bristles

Claims (5)

A base 100 formed to be mounted on a robot arm,
An actuator 200 fixed to the base 100 and mounted with a reciprocating rod 220 facing downward,
a guide shaft (300) fixed to the base (100) and extending downward in parallel with the rod (220);
a plate-shaped upper flange 400 through which the guide shaft 300 passes and fixed to the lower end of the rod 220;
A guide pin 500 fixed to the lower surface of the upper flange 400 and extending downward,
A compression spring 600 that accommodates the guide pin 500,
A plate-shaped lower flange 700 disposed below the upper flange 400, through which the guide shaft 300 and the guide pin 500 pass, and connected to the compression spring 600,
A ring 800 disposed below the lower flange 700 and fixed to the lower end of the guide shaft 300,
A driving unit 900 that passes below the ring 800 and is mounted on the lower surface of the lower flange 700 and whose tip 920 rotates by receiving power,
A first sensing unit 1100 mounted on the base 100 to detect the reciprocating displacement of the rod 220,
It includes a second sensing unit 1200 mounted on the upper flange 400 to detect the length of the compression spring 600,
A cover 1400 that is detachable from the outer surface of the ring 800, is formed along the circumference of the ring 800, extends downward, and has an inverted hopper shape,
An outlet 1410 formed in the cover 1400,
A hose 1420 connected to the outlet 1410,
Includes a suction pump (not shown) connected to the hose 1420,
A polishing tool for a robot capable of adjusting compression force, comprising a plurality of brush bristles (1440) connected to the bottom of the cover (1400) .
According to paragraph 1,
It includes a control unit 1300 that controls the actuator 200 in connection with the first detection unit 1100 and the second detection unit 1200,
The control unit 1300 receives a signal from the second detection unit 1200 and does not drive the actuator 200 when the length of the compression spring 600 is within a set range, and the compression spring 600 A polishing tool for a robot capable of adjusting compression force, characterized in that it is programmed to drive the actuator (200) when the length is outside the set range so that the length of the compression spring (600) is within the set range.
According to claim 1 or 2,
The first sensing unit 1100 is a linear scale mounted on the base 100 and the rod 1110 is fixed to the upper flange 400,
The second sensing unit 1200 is fixed to the upper surface of the upper flange 400 and has a linear scale in which a rod 1210 penetrates the upper flange 400 and touches the upper surface of the lower flange 700. A polishing tool for robots that can adjust the compression force.
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