KR850003863A - 연마용 로보트 - Google Patents

연마용 로보트 Download PDF

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Publication number
KR850003863A
KR850003863A KR1019840007047A KR840007047A KR850003863A KR 850003863 A KR850003863 A KR 850003863A KR 1019840007047 A KR1019840007047 A KR 1019840007047A KR 840007047 A KR840007047 A KR 840007047A KR 850003863 A KR850003863 A KR 850003863A
Authority
KR
South Korea
Prior art keywords
tool
playback
arm
polishing
auxiliary area
Prior art date
Application number
KR1019840007047A
Other languages
English (en)
Other versions
KR880002337B1 (ko
Inventor
이사무 고마쓰 (외 1)
Original Assignee
아이다 게이노스께
아이다 엔지니아링구 가부시기 가이샤
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP21466183A external-priority patent/JPS60108262A/ja
Priority claimed from JP24597383A external-priority patent/JPS60141473A/ja
Priority claimed from JP24644383A external-priority patent/JPS60146691A/ja
Application filed by 아이다 게이노스께, 아이다 엔지니아링구 가부시기 가이샤 filed Critical 아이다 게이노스께
Publication of KR850003863A publication Critical patent/KR850003863A/ko
Application granted granted Critical
Publication of KR880002337B1 publication Critical patent/KR880002337B1/ko

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/421—Teaching successive positions by mechanical means, e.g. by mechanically-coupled handwheels to position tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/20—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding dies
    • 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
    • B24B27/00—Other grinding machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34365—After interrupt of operation, do other task and go on - resume operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36498—Main and secondary program for repeating same operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45161—Grinding machine
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

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

Abstract

내용 없음

Description

연마용 로보트
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제 1 도는 본발명 실시예의 일부단면 정면도.
제 2 도는 그 일부 단면 우측면도.
제 3 도는 평면도.
* 도면의 주요부분에 대한 부호의 설명
1 : 공구구동장치 2 : 테이블장치
7 : 제 1 아암 8, 8s : 제 2 아암
8a : 제 2 아암의 앞쪽끝 9 : 연마공구
10 : 종축 39s : 유체(流體)실린더
48 : 테이블 68 : 구동장치
76 : 위치 테이블

Claims (5)

  1. 플레이백 방식의 연마공구 구동장치(1)와 이것에 인접하여서 설치된 테이블장치(2)로 구성되는 연마용 로보트에 있어서, 축부의 둘레에 요동하는 제 1 아암(7)과, 그 제 1 아암의 앞쪽 끝부분에 연결되어서 요동되는 제 2 아암(8)과, 그 제 2 아암의 앞쪽끝의 종축(10)에 설치한 연마공구(9)를 보유하는 것을 특징으로 하는 연마용 로보트.
  2. 제 1 항에 있어서, 테이블(48)을 수평에서 수직까지 경사시키는 구동장치(68)를 설치한 테이블 장치(2)를 보유하는 것을 특징으로 하는 연마용 로보트.
  3. 제 1 항에 있어서, 제2아암(8s)의 앞쪽끝(8a)에 유체실린더(39s)를 설치하고, 그 아래쪽끝에 연마공구(9)를 승강이 자유자재하게 부착한 것을 특징으로 하는 연마용 로보트.
  4. 제 3 항에 있어서, 플레이백 작업중에 긴급검사할때 플레이백 작업강제정지, 공구상승, 공구의 수동퇴피, 퇴피할때에 공구의통과궤적을 기억, 긴급검사 작업후 공구의 퇴피궤적을 플레이백하여서 복귀, 공구하강, 플레이백 작업재개시의 순서로 작용하는 연마공구(9)의 긴급퇴피장치를 보유하는 것을 특징으로 하는 연마용 로보트.
  5. 제 4 항에 있어서, 플레이백 제어계의 위치 테이블(76)에 보조에리어를 준비함과 아울러, 전기한 보조에리어의어드레스를n+1번지의 방향으로 새로 바꾸게 하면서 위치 데이터를 그 보조에리어에 기입하는 수단과, 전기한 보조에리어의 어드레스를 전기한 n+1번지의 방향과 반대방향으로 새로바꾸게하면서 그 보조에리어에서 위치데이터를 판독하는 수단을 구비하는 연마공구 긴급 퇴피장치의 제어장치를 보유하는 것을 특징으로 하는 연마용 로보트.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019840007047A 1983-11-15 1984-11-10 연마용 로보트 KR880002337B1 (ko)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP???58-214661 1983-11-15
JP21466183A JPS60108262A (ja) 1983-11-15 1983-11-15 研磨用ロボット
JP???58-245973 1983-12-28
JP24597383A JPS60141473A (ja) 1983-12-28 1983-12-28 研磨用ロボツトのテ−ブル装置
JP24644383A JPS60146691A (ja) 1983-12-31 1983-12-31 プレ−バツクロボツトのア−ム退避装置
JP???58-246443 1983-12-31

Publications (2)

Publication Number Publication Date
KR850003863A true KR850003863A (ko) 1985-06-29
KR880002337B1 KR880002337B1 (ko) 1988-10-26

Family

ID=27329643

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019840007047A KR880002337B1 (ko) 1983-11-15 1984-11-10 연마용 로보트

Country Status (5)

Country Link
US (1) US4603511A (ko)
EP (1) EP0142072A3 (ko)
KR (1) KR880002337B1 (ko)
AU (1) AU3478284A (ko)
CA (1) CA1256701A (ko)

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US4984390A (en) * 1989-11-09 1991-01-15 Nippei Toyama Corporation Grinding disc dressing apparatus
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JP3779523B2 (ja) * 2000-04-07 2006-05-31 株式会社コヤマ 位置教示方法
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US20090099688A1 (en) * 2005-11-10 2009-04-16 Hugo Salamanca Integral robot system and method for the dislodging process and/or anode handling from casting wheels
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US8418830B2 (en) * 2005-11-10 2013-04-16 Mi Robotic Solutions (Mirs) Robot system and method for removing sticks and/or foreign elements from conveyor belts
US20090101179A1 (en) * 2005-11-10 2009-04-23 Hugo Salamanca Robot system and method for molybdenum roasting furnaces cleaning procedures
CN102371590A (zh) * 2010-08-25 2012-03-14 鸿富锦精密工业（深圳）有限公司 机器人的臂结构
TWI480141B (zh) * 2010-08-31 2015-04-11 Hon Hai Prec Ind Co Ltd 機器人之臂結構
RU2475347C1 (ru) * 2011-08-23 2013-02-20 Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран Устройство для механической обработки изделий сложной пространственной формы
BR102012006723A2 (pt) * 2012-03-26 2015-08-11 Lucas Möller Sistema de recapagem de pneus constituído por braço robotizado com movimentos de interpolação angular
US20200247076A1 (en) * 2012-03-26 2020-08-06 Lucas MÖLLER Tire-buffing system constituted by a robotized arm with angular interpolation movements
CN105196148B (zh) * 2015-09-25 2017-08-08 广东省自动化研究所 一种具有智能上下料功能的自适应抛光打磨系统
RU2629419C1 (ru) * 2016-02-25 2017-08-29 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Способ финишной обработки лопатки газотурбинного двигателя и устройство для его осуществления
CN111546191A (zh) * 2020-06-12 2020-08-18 常熟市标准件厂有限公司 一种深孔一体冷镦螺栓模具的自动研磨机
CN113649909B (zh) * 2021-08-31 2023-01-17 天津大学 一种基于复杂曲面特征划分的模具自动打磨方法
CN114029818B (zh) * 2021-11-03 2022-10-11 武汉行芝达自动化科技有限公司 基于机器视觉的工业机器人柔性打磨设备

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Also Published As

Publication number Publication date
EP0142072A3 (en) 1986-12-30
US4603511A (en) 1986-08-05
KR880002337B1 (ko) 1988-10-26
CA1256701A (en) 1989-07-04
AU3478284A (en) 1985-05-23
EP0142072A2 (en) 1985-05-22

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