TWI741562B - Processing apparatus disposed on a manipulating device - Google Patents

Abstract

A processing device mounted on a manipulating device is disclosed. The processing device is configured to perform a surface processing, and includes an axial force control unit, a first quick-release component, and a second quick-release component. The axial force control unit has a first end configured to be coupled to the transfer device and a second end opposite to the first end. The first and the second quick-release components are disposed at the first and the second ends respectively, wherein: the first quick-release component is coupled to the manipulating device, and the second quick-release component is configured to carry a surface processing tool.

Description

Processing device installed on transfer device

The present invention relates to a processing device installed on a transfer device, in particular to a processing device installed on a transfer device and configured to perform a contact type surface processing.

In the automated manufacturing process, the surface contact processing procedures often require meticulous force control. When the geometric contours of the workpieces are complex and there are a small number of diverse surface processing modes, the general automated processing is difficult to cope with such complex processing steps. Therefore, although many large-scale automobile manufacturing plants widely use industrial robots to perform product welding, assembly or painting, the final surface processing such as grinding, polishing, and waxing before leaving the factory often needs to rely on manpower to complete.

A small number of diverse automated production lines will also often face the additional labor and downtime required for production line switching, resulting in high production costs. Take the above-mentioned grinding and polishing procedure as an example. In the steps from rough grinding to fine grinding, it is necessary to replace sandpaper or grinding wheels of different particle sizes, and then change the same processing part to soft material for polishing. During the process, it is necessary to replace the surface processing equipment. Frequent times.

In addition, when it is necessary to arrange objects with complex contours for surface processing, the general robot arm cannot cope with the process of changing angles and needs to maintain a stable force. This is also part of the need to rely on manpower.

Therefore, how to avoid the above-mentioned shortcomings is a technical problem that needs to be solved.

In order to overcome the difficulty of surface processing for objects with complex contours, and to allow a small number of diverse production lines to flexibly perform surface processing operations, the present invention proposes a transfer device that is installed on a transfer device and configured to perform a contact surface Processing equipment for processing.

According to an embodiment of the present invention, a processing device installed on a transfer device is provided. The processing device is configured to perform a contact surface processing, and includes an axial force control unit, a first quick release assembly, and a second Two quick release components. The axial force control unit has a first end configured to be coupled to the transfer device, and a second end opposite to the first end, the first quick release assembly is disposed at the first end, and the first end Two quick-release components are arranged at the second end, wherein: the first quick-release component is coupled to the transfer device, and the second quick-release component is configured to carry a surface processing tool.

According to another embodiment of the present invention, a processing device installed on a transfer device is provided, which includes an axial force control unit and an angle control unit. The axial force control unit has a first end and a second end opposite to the first end, wherein the first end is configured to be coupled to the transfer device, and the second end is used to configure a processing Tool for processing a workpiece. The angle control unit is arranged between the first end and the transfer device, and is combined with the transfer device to maintain the processing tool to process the workpiece at a specific angle.

The processing device provided in the present invention installed on a transfer device and configured to perform a contact type surface processing enables a small number of diverse production lines to fully obtain the effect of flexible switching tools, and conforms to the surface of complex contours with stable force. Therefore, it is industrially usable.

1: Processing device

10: Transfer device

20: Angle control unit

30/50/100/200: Quick release components

32/34/52/54/110/120/210/220: Quick release components

40: Axial force control unit

42: first end

44: second end

60: Surface processing tools

70: Workpiece

112/212: protrusion

114A/114B: positioning slot

116: lead angle

122/222: recessed part

124: buckle part

126: buckle element

128: Spring

212A: Front end surface

224: Adsorption device

224A: Vacuum suction hole

θ ₁ /θ ₂ : Angle

X/Y/Z: direction axis

This case can be explained in detail by the following drawings for a more in-depth understanding: Figure 1 is a schematic diagram of an embodiment of the processing device installed in the transfer device of the present invention; Figure 2A is a cross-section of an embodiment of the quick release assembly of the present invention Schematic diagram; FIG. 2B is a schematic bottom view of a quick release component in the embodiment shown in FIG. 2A; FIG. 3A is a cross-sectional schematic diagram of another embodiment of the quick release assembly of the present invention; FIG. 3B is in the embodiment shown in FIG. 3A A schematic top view of a quick release component.

The present invention will be fully understood by the following examples, so that those skilled in the art can complete it. However, the implementation of the present invention is not limited by the following examples.

Please refer to FIG. 1, which shows an embodiment of a processing device installed on a transfer device according to the present invention. The transfer device 10 in the figure can generally move along at least two of the X/Y/Z axes in the space. The embodiment of the transfer device 10 includes a traditional robotic arm or a hanging carrier configured in the production area. For the convenience of description, the transfer device 10 in FIG. 1 basically moves along the X axis and in the direction of the dashed arrow. , And the processing device 1 disposed thereon is gradually moved from the position shown by the solid line on the left side of the figure to the position shown by the dotted line on the right side, and the workpiece 70 is surface processed at the same time during the movement. For ease of processing, the transfer device 10 can also be moved along the Z-axis direction as needed.

According to an embodiment of the present invention, the processing device 1 has an axial force control unit 40. The axial force control unit 40 is in the shape of a long tube and can be controlled in real time through electronic signals. The first end 42 of the axial force control unit 40 is coupled to the transfer device 10, and the second end 44 carries a surface processing tool 60 for surface processing the workpiece 70. A set of quick-release components 30 are arranged between the transfer device 10 and the axial force control unit 40, which are composed of a quick-release component 34 and a quick-release component 32 with matching configurations. axis Another set of quick-release components 50 can also be arranged between the force control unit 40 and the surface processing tool 60, which is also composed of a quick-release component 52 and a quick-release component 54 with matching configurations.

As can be understood from the example in FIG. 1, since the surface profile of the workpiece 70 is very complicated, if the force application direction of the surface processing is to be maintained perpendicular to the surface of the workpiece 70, the processing device 1 needs to continuously adjust the angle during the movement. According to an embodiment of the present invention, the processing device 1 may be provided with an angle control unit 20 at a position adjacent to the transfer device 10, and the angle θ _{1 between the axial force control unit 40 and the transfer device 10 can be adjusted in real time through the angle control unit 20} /θ ₂ to maintain the processing angle of the surface processing tool 60 to the surface of the workpiece 70. The angle control unit 20 is a joint device that can be electronically and digitally controlled. It is matched with the movement mode of the transfer device 10 and the axial force control unit 40. The three can synchronize the movement of the device through the application software to maintain the processing tool 60 against the workpiece 70. Constant force processing of the surface. For processing procedures that require delicate surfaces, this configuration is sufficient to replace manual construction, so that the production line can continue to operate without being restricted by human resources.

The angle control unit 20 in the above embodiment can be selectively matched with the quick-release assembly 30 or the quick-release assembly 50 at the same time, so that the processing device 1 can have various different implementations. So to put it simply, the processing device 1 can be combined with the transfer device 10 to be collectively regarded as a set of operating systems. Through appropriate real-time electronic signal manipulation (not shown), it can be used to perform surface processing of any unknown and complex workpiece. . The software program used to control the operating system in real time can be deployed on a remote computer, or the near-end electronic device can be equipped with application software (APP) to command each device in the entire operating system that can be controlled by electronic signals. The electronic signals used to control these devices can be transmitted wirelessly or wiredly.

The quick release components 30/50 in FIG. 1 can be the same component or different types of components. Both ends of the axial force control unit 40 can be fixedly configured with quick-release components 34 and quick-release components 54. Surface processing tools 60 of different specifications (such as grinding wheels and polishing equipment of different thicknesses) can be respectively configured on the quick-release components 52 that can be matched with the quick-release components 54. When the surface-processing tools 60 need to be replaced during the production process, it can be The tool can be changed quickly in a very short time; the production line can also be equipped with multiple axial force control units 40 suitable for different force ranges. When the line needs to be changed, for example, after the manufacture of wooden workpieces is completed, the next batch will produce metal When working with a workpiece, the combination of quick-release elements 32/34 can be used to quickly replace the axial force control unit 40 in a very short time. In this way, the production line only needs to rely on a set of traditional transfer device 10 in conjunction with the processing device 1 of the present invention to achieve the purpose of rapid line change.

Please refer to FIG. 2A, which shows an embodiment of the quick release assembly according to the present invention. As shown in the figure, the quick-release assembly 100 is composed of a quick-release element 110 and a quick-release element 120 with matching configurations. Based on the matching of the two configurations, a simple combination can be effectively combined into one. The size and shape of the protruding portion 112 of the quick release element 110 and the concave portion 122 of the quick release element 120 can be matched. According to an embodiment, the front end of the protruding portion 112 has a chamfer 116, so that the protruding portion 112 of the quick-release component 110 can be easily guided into the recessed portion 122 of the quick-release component 120 during assembly. According to an embodiment, in order to strengthen the combination of the two, the principle of mechanical springs can be used. For example, at least one positioning groove 114A/114B is arranged on the protruding portion 112 of the quick release element 110, and the concave portion 122 of the quick release element 120 The corresponding position of the side wall is equipped with the buckle part 124 of the buckle element 126 and the spring 128. When the quick release element 110 and the quick release element 120 are combined into one positioning, the buckle element 126 can be pushed into the positioning groove by the spring 128. 114A or 114B, to achieve the effect of rapid combination. It is worth mentioning that the positions of the positioning grooves 114A/114B and the buckle portion 124 can be interchanged, that is, the quick release component 120 has the positioning groove 114A/114B and the quick release component 110 has the buckle portion 124, which still does not depart from the present invention. Range.

Refer to FIG. 2B, which shows a bottom view of the quick release element 110 shown in FIG. 2A. In the picture The positioning grooves 114A/114B are configured as grooves disposed at a relative angle of 180 degrees, which can be used to define the relative angle of the quick-release element 110 and the quick-release element 120 after being combined. According to another embodiment, the positioning groove 114A/114B can also be designed as an annular groove surrounding the protrusion 112, so that the relative angle of the combination is not limited, and the effect of flexible combination is achieved.

Please refer to FIG. 3A, which shows another embodiment of the quick release assembly according to the present invention. As shown in the figure, the quick release assembly 200 is composed of a quick release element 210 and a quick release element 220 with matching configurations. Based on the matching of the two configurations, a simple combination can be effectively combined into one. The size and shape of the protruding portion 212 of the quick release element 210 and the concave portion 222 of the quick release element 220 can be matched. The bottom of the quick release element 220 adjacent to the recess 222 is provided with a suction device 224, which can be controlled to generate suction force on the front end surface 212A of the protruding portion 212 of the quick release element 210. In this embodiment, the protrusions 212 and the recesses 222 are loosely fitted, so no matter the combination or disassembly, it can be easily performed. According to an embodiment, the protrusion 212 contains a ferromagnetic material and the adsorption device 224 includes an electromagnet, which can attract the front end surface 212A of the protrusion 212 through magnetic force. When the current supplied to the electromagnet is interrupted, the magnetic force disappears immediately, and the quick-release element 210 and the quick-release element 220 can be quickly disassembled.

Refer to FIG. 3B, which shows a top view of an embodiment of the quick release element 220 in FIG. 3A. As shown in the figure, the suction device 224 at the bottom of the concave portion 222 has a plurality of vacuum suction holes 224A, which can be controlled to suck the front end surface 212A of the protruding portion 212 by vacuuming, thereby achieving the effect of rapid combination. When the suction force of the vacuum suction hole 224A is released, the quick-release component 210 and the quick-release component 220 can be quickly disassembled.

It is worth mentioning that the embodiments shown in FIGS. 2A/2B and 3A/3B can be applied to the quick-release assembly 30/50 in FIG. 1, in other words, the quick-release assembly 30/50 can be selected as shown in FIG. 2A /2B and any of the embodiments shown in FIGS. 3A/3B and their combinations are implemented.

For ease of description, the embodiments shown in FIGS. 2A/2B and 3A/3B simply take cylindrical configuration matching as an example, and those skilled in the art should be able to conceive other simple geometric configuration matching (such as Square, triangle, polygon or even star), still does not exceed the concept of the present invention.

Through the above-mentioned implementations, the processing device installed in the transfer device proposed by the present invention enables the original automatic assembly line to be upgraded to a one-stop multi-tasking production center, which is suitable for small quantities, diversified and fast The flexible production requirement of changing the line can be said to be a major innovation in technology.

Although this case is disclosed as above in a preferred embodiment, it is not intended to limit the scope of the case. Anyone who is familiar with this technique and makes changes and modifications without departing from the spirit and scope of the case should fall within the scope of the case.

1: Processing device

10: Transfer device

20: Angle control unit

30/50: Quick release components

32/34/52/54: Quick release components

40: Axial force control unit

42: first end

44: second end

60: Surface processing tools

70: Workpiece

θ ₁ /θ ₂ : Angle

X/Y/Z: direction axis

Claims (10)

A processing device installed on a transfer device, the processing device is configured to perform a contact type surface processing, and includes: an axial force control unit configured to be coupled to a first end of the transfer device, and A second end relative to the first end; a first quick release assembly disposed at the first end; and a second quick release assembly disposed at the second end, wherein: the first quick release assembly or The second quick release component further has a suction device, and the first quick release component is sucked and coupled to the transfer device through the suction device, or the second quick release component is sucked and carried by the suction device Surface processing tools. The processing device according to claim 1, further comprising: an angle control unit disposed between the first quick release assembly and the transfer device to connect the first quick release assembly and the transfer device. The processing device according to claim 1 or 2, wherein at least one of the first quick-release component and the second quick-release component is formed by a first quick-release component and a second quick-release component with matching configurations. composition. The processing device according to claim 3, wherein the first quick release element is connected to the axial force control unit. The processing device according to claim 3, wherein the second quick release element is connected to the surface processing tool. A processing device installed on a transfer device, comprising: an axial force control unit having a first end and a second end opposite to the first end, wherein the first end is configured to be coupled to the Transfer device, and the second end is used to configure a processing Tool for processing a workpiece; and an angle control unit, arranged between the first end and the transfer device, and combined with the transfer device, to maintain the processing tool at a specific angle The workpiece is processed, wherein the first end or the second end further has an adsorption device, and the first end passes through the adsorption device to adsorb the transfer device, or the second end passes through the adsorption device to adsorb the Processing tools. The processing device according to claim 6, further comprising: a first quick-release assembly arranged between the first end and the angle control unit; and a second quick-release assembly arranged between the second end and the angle control unit; Between surface processing tools, wherein the suction device is arranged in the first quick-release assembly or the second quick-release assembly. The processing device according to claim 7, wherein at least one of the first quick-release component and the second quick-release component is composed of a first quick-release component and a second quick-release component with matching configurations. The processing device according to claim 8, wherein the first quick release element is connected to the axial force control unit. The processing device according to claim 8, wherein the second quick release element is connected to the surface processing tool.

Images