US20200114484A1 - Polishing device - Google Patents
Polishing device Download PDFInfo
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- US20200114484A1 US20200114484A1 US16/595,678 US201916595678A US2020114484A1 US 20200114484 A1 US20200114484 A1 US 20200114484A1 US 201916595678 A US201916595678 A US 201916595678A US 2020114484 A1 US2020114484 A1 US 2020114484A1
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- polishing
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- polished
- polishing device
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- 230000007246 mechanism Effects 0.000 claims abstract description 95
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- 230000037431 insertion Effects 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 5
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- 238000006073 displacement reaction Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000000470 constituent Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
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- GUIJLPKNGJMXKV-AZUAARDMSA-N rod-188 Chemical compound C1=CC(C)=CC=C1S(=O)(=O)N1[C@@H]([C@H]2OC(=O)CC2)C2=CC=CC=C2CC1 GUIJLPKNGJMXKV-AZUAARDMSA-N 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/06—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving members with limited contact area pressing the belt against the work, e.g. shoes sweeping across the whole area to be ground
- B24B21/08—Pressure shoes; Pressure members, e.g. backing belts
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Definitions
- the present invention relates to a polishing device that polishes an object-to-be-polished by a polishing body.
- a polishing body for polishing an object-to-be-polished is usually configured as a disk-shaped rotating body as exemplified in Japanese Laid-Open Patent Publication No. 2004-009189.
- a flat surface it is possible for a flat surface to be polished, it is not easy for an irregular surface where undulations are present to be uniformly polished.
- an elastic body for example, a sponge
- the elastic body is crushed when polishing a projection of the object-to-be-polished, whereas the crushed elastic body attempts to return to its original shape when polishing a recess of the object-to-be-polished.
- the irregular surface since a shape following ability is manifested in the polishing body by the elastic body, it is conceivably made possible for the irregular surface to be comparatively easily polished.
- the shape following ability of the elastic body is not particularly favorable. Therefore, in the case where, for example, regarding a region-to-be-polished having a complex shape of the kind where a projection and a recess are alternately aligned, it is attempted to polish the projection of the region-to-be-polished, the elastic body may sometimes be insufficiently crushed. When such a situation occurs, a polishing amount with respect to the projection will be larger than a design value.
- a main object of the present invention is to provide a polishing device capable of performing automatic and favorable polishing, even in such a case as when a region-to-be-polished has a complex shape.
- a polishing device that polishes an object-to-be-polished by an expandable or contractible polishing body, the polishing device comprising:
- the advancing or retracting section configuring the pressing force applying mechanism that applies the pressing force to the polishing body advances or retracts, or the swinging section swings. Due to the advancing or retracting section and the swinging section operating in this way, the polishing body makes sliding contact with a region-to-be-polished, while suitably expanding/contracting and applying an appropriate and substantially uniform surface pressure to the region-to-be-polished. It therefore becomes possible for automatic and favorable polishing to be implemented.
- the polishing device is preferably provided with an eccentric rotation unit configured to eccentrically rotate the supporting body.
- the pressing force applying mechanism supported by the supporting body also eccentrically rotates. Therefore, a polishing force transmitted to the object-to-be-polished via the polishing body becomes wide-ranging, so a polishable region becomes wide-ranging.
- the polishing device is preferably provided with a tension applying unit configured to apply a tension to the polishing body.
- a tension applying unit configured to apply a tension to the polishing body.
- the advancing or retracting section advances or retracts, or the swinging section swings, according to a shape of the region-to-be-polished, for example. Due to the advancing or retracting section and the swinging section operating in this way, automatic and favorable polishing can be implemented, even when the region-to-be-polished has a complex shape.
- the polishing device preferably comprises a robot configured to hold the supporting body.
- a robot configured to hold the supporting body.
- polishing can be continuously and automatically implemented on a more wide-ranging region-to-be-polished than the polishing body.
- polishing mechanism can be moved following a shape of the object-to-be-polished even when the object-to-be-polished has a complex shape, polishing can be performed and completed in a short time.
- the advancing or retracting section can be configured from an air cylinder having a rod, for example.
- a configuration of the advancing or retracting section can be simplified, and compactification and weight-lightening can be achieved.
- the polishing body can be configured from an endless belt configured to turn.
- a driving force applying unit configured to apply, to the endless belt, a driving force for turning may be provided. Since an unspecific place of the endless belt thereby makes sliding contact with the region-to-be-polished, it can be avoided that a specific place of the endless belt is worn down early.
- a sheet body hooked to the supporting body may be adopted as the polishing body.
- the polishing mechanism can be simplified.
- a polishing start point is a movement start point of the polishing mechanism
- a polishing end point is a movement end point of the polishing mechanism. Therefore, at the polishing start point and the polishing end point, a sliding contact force of the polishing body when making sliding contact with the region-to-be-polished is reduced. Accordingly, it is preferable that by control of the control section, the propelling force applied to the advancing or retracting section at the polishing start point and the polishing end point for the object-to-be-polished is set larger than the propelling force applied to the advancing or retracting section at another region-to-be-polished. Due to configuring in this way, a polishing amount will be sufficient even at the polishing start point and the polishing end point. As a result, polishing unevenness can be avoided.
- the pressing force applying mechanism for applying the pressing force to the polishing body is configured to include the advancing or retracting section that advances or retracts, and the swinging section provided in a swingable manner to the tip facing the polishing body of the advancing or retracting section.
- the advancing or retracting section advances or retracts, or the swinging section swings, whereby the polishing body suitably expands/contracts.
- the polishing body makes sliding contact with the region-to-be-polished while applying an appropriate and substantially uniform surface pressure to the region-to-be-polished. This makes it possible for automatic and favorable polishing to be implemented.
- FIG. 1 is a schematic overall side view of a polishing device according to a first embodiment of the present invention
- FIG. 2 is a schematic side view of a polishing mechanism configuring the polishing device
- FIG. 3 is a schematic plan view of the polishing mechanism
- FIG. 4 is a schematic front view of the polishing mechanism
- FIG. 5 is a schematic cross-sectional front view of a pressing force applying mechanism
- FIG. 6 is a schematic explanatory drawing showing a movement locus of the polishing mechanism on a workpiece being an object-to-be-polished;
- FIG. 7 is a schematic plan view showing one example of an attitude of the pressing force applying mechanism when a recess is present in a region-to-be-polished;
- FIG. 8 is a schematic plan view showing one example of the attitude of the pressing force applying mechanism when a projection is present in the region-to-be-polished;
- FIG. 9 is a schematic plan view of a polishing mechanism configuring a polishing device according to a second embodiment of the present invention.
- FIG. 10 is a schematic cross-sectional front view of a pressing force applying mechanism.
- FIG. 11 is a schematic plan view of the polishing mechanism when an advancing or retracting section has advanced.
- FIG. 1 is a schematic overall side view of a polishing device 10 according to a first embodiment.
- This polishing device 10 comprises: an articulated robot 12 ; a polishing mechanism 16 provided to a tip arm 14 configuring the articulated robot 12 ; and a control section 20 that controls the articulated robot 12 and the polishing mechanism 16 .
- the reference symbol 22 in FIG. 1 indicates a workpiece being an object-to-be-polished.
- An automobile body may be cited as a specific example of the workpiece 22 .
- the articulated robot 12 includes a rotatable pedestal 24 and a plurality of shaft sections 26 , hence is capable of moving the polishing mechanism 16 to a certain place of the workpiece 22 , and displacing the polishing mechanism 16 along a region-to-be-polished of the workpiece 22 .
- the polishing mechanism 16 is coupled to the tip arm 14 via a coupling plate 30 .
- a gear holding plate 32 of narrower width and smaller area compared to the coupling plate 30 is close to the coupling plate 30 .
- This gear holding plate 32 is provided with a gear train.
- the gear train includes: a driving gear 38 provided to a driving shaft for eccentricity 36 of a motor for eccentric rotation 34 (an eccentric rotation unit); a first driven gear 40 engaged with the driving gear 38 ; and a second driven gear 42 engaged with the first driven gear 40 .
- the second driven gear 42 is provided with a driven shaft for eccentricity 44 .
- the driving shaft for eccentricity 36 and the driven shaft for eccentricity 44 are passed through shaft insertion holes (not illustrated) respectively formed in the gear holding plate 32 and the coupling plate 30 .
- a first rotating shaft for eccentricity 48 and a second rotating shaft for eccentricity 50 are respectively coupled, via eccentric joints 46 , to tips of the driving shaft for eccentricity 36 and the driven shaft for eccentricity 44 , the tips being on a side facing the polishing mechanism 16 and projecting from the coupling plate 30 .
- An eccentric rotation mechanism 52 for eccentrically rotating the polishing mechanism 16 is configured as above. Note that an unillustrated bearing is inserted between the shaft insertion hole and the driving shaft for eccentricity 36 or driven shaft for eccentricity 44 .
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are coupled to a supporting body 60 configuring the polishing mechanism 16 .
- the supporting body 60 is configured by combining: a motor holding wall section 62 whose height is greatest; a first side wall section 64 that supports a rear surface of the motor holding wall section 62 and has a region that inclines downwardly as the first side wall section 64 is separated from the motor holding wall section 62 ; a second side wall section 66 whose height is substantially half that of the motor holding wall section 62 ; and a mechanism holding wall section 68 bridged between the first side wall section 64 and the second side wall section 66 .
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are coupled to the upper side of the motor holding wall section 62 among these wall sections.
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are arranged along a longitudinal direction of the motor holding wall section 62 .
- the tip arm 14 of the articulated robot 12 holds the supporting body 60 configuring the polishing mechanism 16 , via the coupling plate 30 and the eccentric rotation mechanism 52 .
- the first side wall section 64 and the second side wall section 66 have their one ends coupled to the motor holding wall section 62 and have their other ends coupled to the mechanism holding wall section 68 .
- the mechanism holding wall section 68 is separated by a predetermined distance from the motor holding wall section 62 , by the first side wall section 64 and the second side wall section 66 interposed between the mechanism holding wall section 68 and the motor holding wall section 62 .
- a motor for turning 72 (a driving force applying unit), which applies a driving force for turning an endless belt 70 serving as a polishing body configuring the polishing mechanism 16 , is attached to the motor holding wall section 62 at a position not interfering with the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 .
- a long columnar driving pulley 76 is fitted over a driving shaft for turning 74 of the motor for turning 72 .
- the driving pulley 76 drives the endless belt 70 .
- the supporting body 60 is provided with three bearing sections not illustrated. As shown in FIG. 3 , the bearing sections each axially support in a rotatable manner a supporting shaft 80 provided to a long columnar driven pulley 78 . Each of side peripheral walls of the driven pulleys 78 also drive the endless belt 70 . Due to the driving pulley 76 and the three driven pulleys 78 , the endless belt 70 is stretched so as to have a rectangular shape in planar view.
- the endless belt 70 is formed of a stacked body of an inner peripheral belt 82 and an outer peripheral belt 84 .
- the inner peripheral belt 82 is made of a material excelling in wear resistance
- the outer peripheral belt 84 is made of a material excelling in polishing performance. Due to the inner peripheral belt 82 being driven by the driving pulley 76 and the driven pulleys 78 , the outer peripheral belt 84 turns integrally with the inner peripheral belt 82 .
- the outer peripheral belt 84 makes sliding contact with the region-to-be-polished of the workpiece 22 .
- An exterior tensioner 86 (a tension applying unit) makes sliding contact with the outer peripheral belt 84 .
- the exterior tensioner 86 presses the outer peripheral belt 84 toward the inner peripheral belt 82 side, and thereby applies a tension to the endless belt 70 .
- the mechanism holding wall section 68 supports a plurality of pressing force applying mechanisms 90 that press the endless belt 70 from the inner peripheral belt 82 side. Next, this pressing force applying mechanism 90 will be described.
- FIG. 5 is a schematic cross-sectional front view showing one pressing force applying mechanism 90 along the longitudinal direction thereof.
- the pressing force applying mechanism 90 includes: an air cylinder 92 configuring an advancing or retracting section; and a swinging section 94 .
- the air cylinder 92 includes a cylinder tube 98 to which a supply/discharge tube 96 is coupled.
- the cylinder tube 98 is held by the mechanism holding wall section 68 , whereby the pressing force applying mechanism 90 is supported by the mechanism holding wall section 68 .
- An unillustrated piston is housed in the cylinder tube 98 , and a pressing rod 100 that is displaced integrally with the piston is exposed on an outside of the cylinder tube 98 . Furthermore, the mechanism holding wall section 68 is integrally attached to tips of all of the cylinder tubes 98 .
- the mechanism holding wall section 68 has a plurality of rod insertion holes 102 (refer to FIG. 3 ), and the pressing rods 100 are passed through the rod insertion holes 102 .
- a tip of the pressing rod 100 is provided with a ball joint 104 . That is, as shown in FIG. 5 , a screw-shaped shaft section 106 of the ball joint 104 is screwed into a screw hole provided in the tip of the pressing rod 100 . Moreover, an engaging shaft section 109 that projects from a ball section 108 joined to the screw-shaped shaft section 106 , is fitted into an unillustrated bearing hole being one region on an interior of a swinging cover 110 . The swinging cover 110 swings around the ball section 108 as the ball section 108 rolls relatively to the bearing hole. An end surface (a pressing surface 114 ), on a side facing the inner peripheral belt 82 , of the swinging cover 110 is configured as a flat surface having a substantially square shape.
- the swinging cover 110 includes two inclined sections 116 that are joined to end sections of the pressing surface 114 and are inclined so as to approach the pressing rod 100 . Therefore, an external appearance of the swinging cover 110 is configured in a substantially isosceles triangle shape.
- a predetermined number of the pressing force applying mechanisms 90 configured in this way are aligned so as to form a plurality of rows and a plurality of columns. That is, the plurality of pressing force applying mechanisms 90 are aligned not only in a surface direction of FIG. 2 , but also in a direction orthogonal to a paper surface.
- control section 20 controls the motor for eccentric rotation 34 , the motor for turning 72 , the exterior tensioner 86 , and a supply/discharge mechanism (not illustrated) for performing supply/discharge of compressed air to/from the air cylinder 92 via the supply/discharge tube 96 .
- the polishing device 10 according to the first embodiment is basically configured as above, and the operational advantages thereof will be next described in relation to a control method (operation) of the polishing device 10 .
- teaching is performed beforehand in the articulated robot 12 so that each of the shaft sections 26 rotates or revolves by a predetermined angle.
- the control section 20 maintains the pressing rod 100 in a state where the pressing rod 100 is positioned at a backward end. This is achieved by not supplying compressed air to the cylinder tube 98 from the supply/discharge mechanism.
- the polishing mechanism 16 is displaced in order of a section-A 120 ⁇ a section-B 122 ⁇ a section-C 124 ⁇ a section-D 126 of the workpiece 22 , due to the articulated robot 12 operating according to the teaching. That is, the section-A 120 is the polishing start point, and the section-D 126 is the polishing end point.
- one column namely, a lowest column
- two columns namely, the lowest column and a column one above the lowest column
- three columns namely, the lowest column and columns one and two above the lowest column, fall outside the region-to-be-polished. That is, the lowest column does not overlap the region-to-be-polished from the polishing start point to the polishing end point.
- compressed air is not supplied to the air cylinders 92 of the pressing force applying mechanisms 90 forming the lowest column.
- the control section 20 When starting polishing, the control section 20 first controls the exterior tensioner 86 . Specifically, the exterior tensioner 86 is displaced so as to approach the endless belt 70 , and presses the endless belt 70 . Due to this pressing, the endless belt 70 is tensioned so that the tension thereof increases.
- the control section 20 supplies compressed air from the supply/discharge mechanism to the air cylinders 92 configuring the pressing force applying mechanisms 90 other than the pressing force applying mechanisms 90 of the lowest column. The compressed air is introduced into the cylinder tube 98 via the supply/discharge tube 96 , and presses the piston. As a result, the pressing rod 100 advances to a forward end, and the flat pressing surface 114 of the swinging cover 110 presses the endless belt 70 from the inner peripheral belt 82 side.
- the shaft sections 26 of the articulated robot 12 each suitably operate, and the endless belt 70 abuts on the section-A 120 .
- the pressing force of the air cylinder 92 (the pressing rod 100 ) facing the projection 130 may be reduced, if required. This is achieved by discharging a small amount of compressed air from the cylinder tube 98 via the supply/discharge tube 96 .
- the section-A 120 can be evenly polished.
- the control section 20 drives the motor for eccentric rotation 34 and the motor for turning 72 .
- the driving gear 38 rotates, and the first driven gear 40 (refer to FIGS. 2 and 4 ) engaged with the driving gear 38 and the second driven gear 42 engaged with the first driven gear 40 , rotate.
- the driven shaft for eccentricity 44 also rotates.
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are respectively coupled, via the eccentric joints 46 , to the driving shaft for eccentricity 36 and the driven shaft for eccentricity 44 .
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 move with loci of circles centered on respective rotation centers of the driving shaft for eccentricity 36 and the driven shaft for eccentricity 44 .
- the polishing mechanism 16 in which the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are coupled to the supporting body 60 , eccentrically rotates.
- the endless belt 70 pulled by the driving pulley 76 begins to turn.
- Turning of the endless belt 70 is assisted by the three driven pulleys 78 . That is, in this case, the endless belt 70 turns due to the driving pulley 76 and the three driven pulleys 78 , while being applied with tension by the exterior tensioner 86 and being pressed by the pressing rod 100 from the inner peripheral belt 82 side.
- polishing of the section-A 120 is started. That is, the endless belt 70 makes sliding contact with the section-A 120 , thereby polishing the section-A 120 .
- the endless belt 70 is applied with tension by being pressed from the exterior tensioner 86 , hence the pressing force on the region-to-be-polished decreases.
- the pressing rod 100 configuring the pressing force applying mechanism 90 advances, whereby the endless belt 70 is pressed to the region-to-be-polished side. In other words, the endless belt 70 is pressed against the section-A 120 .
- the endless belt 70 makes sliding contact with the section-A 120 with sufficient surface pressure, while eccentrically rotating, so the section-A 120 is favorably polished.
- the control section 20 operates each of the shaft sections 26 of the articulated robot 12 in such a manner that the polishing mechanism 16 moves to the section-D 126 through the section-B 122 and the section-C 124 .
- the control section 20 performs supply/discharge of compressed air in such a manner that the pressing rod 100 advances or retracts according to the shape of the region-to-be-polished of the workpiece 22 .
- the pressing rod 100 advances or retracts. Furthermore, it is possible for the swinging cover 110 to swing. This is because, as described above, the engaging shaft section 109 of the ball joint 104 is fitted into the bearing hole of the swinging cover 110 . In this way, by a combination of advancement or retraction of the pressing rod 100 and swinging of the swinging cover 110 , a position of the pressing surface 114 of the swinging cover 110 changes according to the shape of the region-to-be-polished.
- FIG. 7 shows one example of the position of the pressing surface 114 or attitude of the swinging cover 110 when a recess 132 is present in the region-to-be-polished.
- the pressing rod 100 of the air cylinder 92 positioned in an intermediate column advances more than the pressing rod 100 of the air cylinder 92 positioned below or above the intermediate column. It is therefore possible for the endless belt 70 to make sliding contact with a bottom section of the recess 132 .
- FIG. 8 shows an example of the case where all of the pressing force applying mechanisms 90 enter the region-to-be-polished.
- the surface pressure of the endless belt 70 when the endless belt 70 makes sliding contact with the region-to-be-polished is appropriately regulated by the control section 20 suitably advancing or retracting the pressing rods 100 .
- the control section 20 suitably advancing or retracting the pressing rods 100 .
- the endless belt 70 deforms according to the shape of the region-to-be-polished, the swinging cover 110 swings. Therefore, deformation (expansion/contraction) of the endless belt 70 is never hindered.
- the region-to-be-polished can be favorably polished, regardless of the shape of the region-to-be-polished. Note that, even within the region-to-be-polished, when a place not requiring polishing is passed, it is also possible to cause the pressing rods 100 facing the place not requiring polishing to be retracted to the backward end.
- the control section 20 stops both the motor for eccentric rotation 34 and the motor for turning 72 , whereby eccentric rotation of the polishing mechanism 16 and turning of the endless belt 70 are stopped.
- the control section 20 further supplies compressed air to the cylinder tubes 98 other than the cylinder tubes 98 of a total of three columns, namely, the lowest column and the columns one and two above the lowest column, and maintains the pressing rods 100 in a forward end position.
- a configuration is adopted such that by increasing a propelling force of the air cylinder 92 at the polishing start point (section-A 120 ) and the polishing end point (section-D 126 ) regardless of the shape of the region-to-be-polished, the region-to-be-polished is applied with a larger surface pressure compared to another region-to-be-polished. As a result, insufficient polishing at the polishing start point and the polishing end point is avoided. Moreover, since polishing can be performed automatically by the polishing device 10 , a burden of an operator is reduced.
- the endless belt 70 is turning, so an unspecific place of the outer peripheral belt 84 makes sliding contact with the region-to-be-polished.
- a specific place alone of the outer peripheral belt 84 is involved in polishing. Therefore, the outer peripheral belt 84 is not easily worn down.
- the same outer peripheral belt 84 can be employed over a long time. Note that when the outer peripheral belt 84 has worn down due to repeated polishing over a long time, and polishing accuracy has thereby lowered, the outer peripheral belt 84 may be replaced with a new one.
- the polishing device includes a polishing mechanism 150 shown in FIG. 9 .
- a supporting body 152 configuring the polishing mechanism 150 includes a coupling wall section 154 and a guide plate section 156 .
- a coupling cylinder 157 is bridged between the guide plate section 156 and the coupling wall section 154 .
- the guide plate section 156 is provided with an insertion hole 158 through which the pressing rod 100 of the air cylinder 92 configuring a pressing force applying mechanism 159 is passed, and a fixture 160 provided to a tip of the cylinder tube 98 is housed in the insertion hole 158 .
- the fixture 160 prevents the guide plate section 156 from falling off.
- a plurality of (for example, two) guide holes 162 are formed in the guide plate section 156 at positions surrounding the pressing rod 100 .
- Bushes 164 are respectively housed in the guide holes 162 , and guiding rods 166 are passed through the bushes 164 .
- a tip, of the guiding rod 166 provided with a screw section is passed through a through-hole 170 formed in a displacement plate 168 , and then a nut 172 is screwed onto the tip.
- a tip of the pressing rod 100 is attached to the displacement plate 168 .
- the displacement plate 168 is displaced, and the guiding rod 166 extends/contracts.
- a stepped holder 174 having a step section is attached to the displacement plate 168 .
- a screw hole is formed in a tip of the stepped holder 174 , and the screw-shaped shaft section 106 of the ball joint 104 is screwed into the screw hole.
- a separable swinging cover 180 is screwed onto and thereby attached to two engaging shaft sections 109 projecting from the ball section 108 of the ball joint 104 .
- a first holding rod 184 that holds a first roller 182 in a rotatable manner, and a second holding rod 188 that holds a second roller 186 in a rotatable manner are coupled to the supporting body 152 .
- a first coil spring 192 and a second coil spring 194 as a tension applying unit are hooked on hook sections 190 provided to the coupling wall section 154 . Furthermore, a sheet body 196 , which is a polishing body, is hooked on the first coil spring 192 and the second coil spring 194 to be held thereby. A predetermined tension acts on the sheet body 196 due to the first coil spring 192 and the second coil spring 194 contracting and due to the flat pressing surface 114 of the swinging cover 180 abutting on the sheet body 196 .
- the polishing device according to the second embodiment is basically configured so as to comprise: the polishing mechanism 150 configured as above; and the eccentric rotation mechanism 52 configured similarly to that of the polishing device 10 according to the first embodiment. Next, operation of the polishing device will be described.
- the control section 20 supplies the air cylinder 92 with compressed air from the supply/discharge mechanism.
- the compressed air is introduced into the cylinder tube 98 via the supply/discharge tube 96 , and presses the piston.
- the pressing rod 100 advances to the forward end, and the flat pressing surface 114 of the swinging cover 180 presses the sheet body 196 , as shown in FIG. 11 . Consequently, the sheet body 196 extends while being aided by making sliding movement relatively to the first roller 182 and the second roller 186 .
- the first coil spring 192 and the second coil spring 194 extend, whereby a predetermined tension is applied to the sheet body 196 .
- the shaft sections 26 of the articulated robot 12 each suitably operate, and the sheet body 196 abuts on the polishing start point (section-A 120 in FIG. 6 ).
- the pressing force of the air cylinder 92 (the pressing rod 100 ) facing the projection 130 may be reduced, if required. This is achieved by discharging a small amount of compressed air from the cylinder tube 98 via the supply/discharge tube 96 .
- the control section 20 drives the motor for eccentric rotation 34 (refer to FIGS. 2 and 3 ).
- the driving gear 38 rotates, and the first driven gear 40 (refer to FIGS. 2 and 4 ) engaged with the driving gear 38 and the second driven gear 42 engaged with the first driven gear 40 , rotate.
- the driven shaft for eccentricity 44 also rotates.
- the first rotating shaft for eccentricity 48 and the second rotating shaft for eccentricity 50 are driven to rotate, whereby the polishing mechanism 150 eccentrically rotates.
- the sheet body 196 makes sliding contact with the section-A 120 . Since the sheet body 196 makes sliding contact with the section-A 120 with sufficient surface pressure, while eccentrically rotating, the section-A 120 is favorably polished.
- the control section 20 operates each of the shaft sections 26 of the articulated robot 12 , and moves the polishing mechanism 150 .
- the air cylinder 92 undergoes supply/discharge of compressed air, and the pressing rod 100 advances or retracts.
- the swinging cover 180 swings, and a position of the pressing surface 114 thereof changes according to the shape of the region-to-be-polished.
- an appropriate surface pressure is applied to the region-to-be-polished from the sheet body 196 . Therefore, the region-to-be-polished can be accurately polished, regardless of the shape of the region-to-be-polished.
- the air cylinder 92 outside the region-to-be-polished between the polishing start point and the polishing end point may not undergo supply/discharge of compressed air.
- the control section 20 stops the motor for eccentric rotation 34 , and stops eccentric rotation of the polishing mechanism 150 and turning of the endless belt 70 .
- the control section 20 further supplies compressed air to the cylinder tubes 98 other than the cylinder tubes 98 of a total of three columns, namely, the lowest column and the columns one and two above the lowest column, and maintains the pressing rods 100 in a forward end position.
- polishing mechanism 150 there is no need to turn the sheet body 196 , so the motor for turning, pulleys, and so on, are rendered unnecessary. As a result, a simpler configuration may be adopted for the polishing mechanism 150 .
- the present invention is not particularly limited to the above-described first embodiment and second embodiment, and may be variously modified in a range not departing from the spirit of the present invention.
- the first coil spring 192 and the second coil spring 194 are adopted as the tension applying unit.
- a cylinder may be adopted instead.
- the polishing mechanism 150 may be arranged in the endless belt 70 to configure the polishing device 10 .
- polishing may be performed similarly to above except that the motor for eccentric rotation 34 is not operated (in other words, except that the polishing mechanism 16 is not eccentrically rotated). Also in this case, sufficient polishing is performed.
- the eccentric rotation unit such as the motor for eccentric rotation 34 , is not indispensable.
- adjacent pressing force applying mechanisms 90 may be supported by the supporting body 60 (or the supporting body 152 ) in such a manner that the phases of the swinging covers 110 (or swinging covers 180 ) differ by 90°.
- the pressing force applying mechanisms 90 may be arranged in a so-called zigzag manner.
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Abstract
Description
- This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2018-194182 filed on Oct. 15, 2018, the contents of which are incorporated herein by reference.
- The present invention relates to a polishing device that polishes an object-to-be-polished by a polishing body.
- A polishing body for polishing an object-to-be-polished is usually configured as a disk-shaped rotating body as exemplified in Japanese Laid-Open Patent Publication No. 2004-009189. However, in this case, although it is possible for a flat surface to be polished, it is not easy for an irregular surface where undulations are present to be uniformly polished.
- Accordingly, providing the polishing body with an elastic body (a cushion), for example, a sponge, is envisioned. This is because in this case, the elastic body is crushed when polishing a projection of the object-to-be-polished, whereas the crushed elastic body attempts to return to its original shape when polishing a recess of the object-to-be-polished. Thus, since a shape following ability is manifested in the polishing body by the elastic body, it is conceivably made possible for the irregular surface to be comparatively easily polished.
- In fact, the shape following ability of the elastic body is not particularly favorable. Therefore, in the case where, for example, regarding a region-to-be-polished having a complex shape of the kind where a projection and a recess are alternately aligned, it is attempted to polish the projection of the region-to-be-polished, the elastic body may sometimes be insufficiently crushed. When such a situation occurs, a polishing amount with respect to the projection will be larger than a design value.
- In order to avoid this, often, when the region-to-be-polished has a complex shape, polishing is performed manually by an operator. However, this case is troublesome and a burden for the operator.
- A main object of the present invention is to provide a polishing device capable of performing automatic and favorable polishing, even in such a case as when a region-to-be-polished has a complex shape.
- Due to an embodiment of the present invention, there is provided a polishing device that polishes an object-to-be-polished by an expandable or contractible polishing body, the polishing device comprising:
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- a pressing force applying mechanism configured to apply a pressing force to the polishing body; and
- a supporting body configured to support the pressing force applying mechanism,
- the pressing force applying mechanism including an advancing or retracting section configured to advance or retract, and a swinging section provided in a swingable manner to a tip of the advancing or retracting section, the tip facing the polishing body,
- the polishing device further comprising a control section configured to control a propelling force applied to the advancing or retracting section.
- In the present invention, when the supporting body eccentrically rotates so that the polishing body makes sliding contact with (performs polishing of) the object-to-be-polished, the advancing or retracting section configuring the pressing force applying mechanism that applies the pressing force to the polishing body advances or retracts, or the swinging section swings. Due to the advancing or retracting section and the swinging section operating in this way, the polishing body makes sliding contact with a region-to-be-polished, while suitably expanding/contracting and applying an appropriate and substantially uniform surface pressure to the region-to-be-polished. It therefore becomes possible for automatic and favorable polishing to be implemented.
- The polishing device is preferably provided with an eccentric rotation unit configured to eccentrically rotate the supporting body. When the supporting body is eccentrically rotated, the pressing force applying mechanism supported by the supporting body also eccentrically rotates. Therefore, a polishing force transmitted to the object-to-be-polished via the polishing body becomes wide-ranging, so a polishable region becomes wide-ranging.
- In addition, the polishing device is preferably provided with a tension applying unit configured to apply a tension to the polishing body. By using the tension applying unit to regulate the tension applied to the polishing body, the surface pressure on the region-to-be-polished of the polishing body can be suitably changed.
- In the pressing force applying mechanism, the advancing or retracting section advances or retracts, or the swinging section swings, according to a shape of the region-to-be-polished, for example. Due to the advancing or retracting section and the swinging section operating in this way, automatic and favorable polishing can be implemented, even when the region-to-be-polished has a complex shape.
- The polishing device preferably comprises a robot configured to hold the supporting body. In this case, by storing in the robot (teaching the robot) a locus of movement of a polishing mechanism, polishing can be continuously and automatically implemented on a more wide-ranging region-to-be-polished than the polishing body. Furthermore, as well as it being possible for the polishing mechanism to be moved following a shape of the object-to-be-polished even when the object-to-be-polished has a complex shape, polishing can be performed and completed in a short time.
- The advancing or retracting section can be configured from an air cylinder having a rod, for example. In this case, a configuration of the advancing or retracting section can be simplified, and compactification and weight-lightening can be achieved.
- Moreover, the polishing body can be configured from an endless belt configured to turn. In this case, a driving force applying unit configured to apply, to the endless belt, a driving force for turning may be provided. Since an unspecific place of the endless belt thereby makes sliding contact with the region-to-be-polished, it can be avoided that a specific place of the endless belt is worn down early.
- Alternatively, a sheet body hooked to the supporting body may be adopted as the polishing body. In this case, there is no specific need to provide a driving force applying unit for turning the sheet body, so the polishing mechanism can be simplified.
- A polishing start point is a movement start point of the polishing mechanism, and a polishing end point is a movement end point of the polishing mechanism. Therefore, at the polishing start point and the polishing end point, a sliding contact force of the polishing body when making sliding contact with the region-to-be-polished is reduced. Accordingly, it is preferable that by control of the control section, the propelling force applied to the advancing or retracting section at the polishing start point and the polishing end point for the object-to-be-polished is set larger than the propelling force applied to the advancing or retracting section at another region-to-be-polished. Due to configuring in this way, a polishing amount will be sufficient even at the polishing start point and the polishing end point. As a result, polishing unevenness can be avoided.
- Due to the present invention, it is arranged that the pressing force applying mechanism for applying the pressing force to the polishing body is configured to include the advancing or retracting section that advances or retracts, and the swinging section provided in a swingable manner to the tip facing the polishing body of the advancing or retracting section. The advancing or retracting section advances or retracts, or the swinging section swings, whereby the polishing body suitably expands/contracts. Hence, the polishing body makes sliding contact with the region-to-be-polished while applying an appropriate and substantially uniform surface pressure to the region-to-be-polished. This makes it possible for automatic and favorable polishing to be implemented.
- The above and other objects, features, and advantages of the present invention will become more apparent from the following description when taken in conjunction with the accompanying drawings, in which preferred embodiments of the present invention are shown by way of illustrative example.
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FIG. 1 is a schematic overall side view of a polishing device according to a first embodiment of the present invention; -
FIG. 2 is a schematic side view of a polishing mechanism configuring the polishing device; -
FIG. 3 is a schematic plan view of the polishing mechanism; -
FIG. 4 is a schematic front view of the polishing mechanism; -
FIG. 5 is a schematic cross-sectional front view of a pressing force applying mechanism; -
FIG. 6 is a schematic explanatory drawing showing a movement locus of the polishing mechanism on a workpiece being an object-to-be-polished; -
FIG. 7 is a schematic plan view showing one example of an attitude of the pressing force applying mechanism when a recess is present in a region-to-be-polished; -
FIG. 8 is a schematic plan view showing one example of the attitude of the pressing force applying mechanism when a projection is present in the region-to-be-polished; -
FIG. 9 is a schematic plan view of a polishing mechanism configuring a polishing device according to a second embodiment of the present invention; -
FIG. 10 is a schematic cross-sectional front view of a pressing force applying mechanism; and -
FIG. 11 is a schematic plan view of the polishing mechanism when an advancing or retracting section has advanced. - Preferred embodiments of a polishing device according to the present invention will be presented and described in detail below with reference to the accompanying drawings.
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FIG. 1 is a schematic overall side view of a polishingdevice 10 according to a first embodiment. This polishingdevice 10 comprises: an articulatedrobot 12; apolishing mechanism 16 provided to atip arm 14 configuring the articulatedrobot 12; and acontrol section 20 that controls the articulatedrobot 12 and thepolishing mechanism 16. Note that thereference symbol 22 inFIG. 1 indicates a workpiece being an object-to-be-polished. An automobile body may be cited as a specific example of theworkpiece 22. - The articulated
robot 12 includes arotatable pedestal 24 and a plurality ofshaft sections 26, hence is capable of moving thepolishing mechanism 16 to a certain place of theworkpiece 22, and displacing thepolishing mechanism 16 along a region-to-be-polished of theworkpiece 22. - As shown in
FIGS. 2 and 4 , thepolishing mechanism 16 is coupled to thetip arm 14 via acoupling plate 30. Agear holding plate 32 of narrower width and smaller area compared to thecoupling plate 30 is close to thecoupling plate 30. Thisgear holding plate 32 is provided with a gear train. Specifically, the gear train includes: a drivinggear 38 provided to a driving shaft foreccentricity 36 of a motor for eccentric rotation 34 (an eccentric rotation unit); a first drivengear 40 engaged with thedriving gear 38; and a second drivengear 42 engaged with the first drivengear 40. The second drivengear 42 is provided with a driven shaft foreccentricity 44. - The driving shaft for
eccentricity 36 and the driven shaft foreccentricity 44 are passed through shaft insertion holes (not illustrated) respectively formed in thegear holding plate 32 and thecoupling plate 30. A first rotating shaft foreccentricity 48 and a second rotating shaft foreccentricity 50 are respectively coupled, viaeccentric joints 46, to tips of the driving shaft foreccentricity 36 and the driven shaft foreccentricity 44, the tips being on a side facing thepolishing mechanism 16 and projecting from thecoupling plate 30. Aneccentric rotation mechanism 52 for eccentrically rotating thepolishing mechanism 16 is configured as above. Note that an unillustrated bearing is inserted between the shaft insertion hole and the driving shaft foreccentricity 36 or driven shaft foreccentricity 44. - The first rotating shaft for
eccentricity 48 and the second rotating shaft foreccentricity 50 are coupled to a supportingbody 60 configuring thepolishing mechanism 16. Specifically, as shown inFIGS. 2 and 4 , the supportingbody 60 is configured by combining: a motor holdingwall section 62 whose height is greatest; a firstside wall section 64 that supports a rear surface of the motor holdingwall section 62 and has a region that inclines downwardly as the firstside wall section 64 is separated from the motor holdingwall section 62; a secondside wall section 66 whose height is substantially half that of the motor holdingwall section 62; and a mechanism holdingwall section 68 bridged between the firstside wall section 64 and the secondside wall section 66. The first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50 are coupled to the upper side of the motor holdingwall section 62 among these wall sections. In this case, the first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50 are arranged along a longitudinal direction of the motor holdingwall section 62. - In this way, the
tip arm 14 of the articulatedrobot 12 holds the supportingbody 60 configuring thepolishing mechanism 16, via thecoupling plate 30 and theeccentric rotation mechanism 52. Note that as may be understood from the above, the firstside wall section 64 and the secondside wall section 66 have their one ends coupled to the motor holdingwall section 62 and have their other ends coupled to the mechanism holdingwall section 68. The mechanism holdingwall section 68 is separated by a predetermined distance from the motor holdingwall section 62, by the firstside wall section 64 and the secondside wall section 66 interposed between the mechanism holdingwall section 68 and the motor holdingwall section 62. - As shown in
FIG. 2 , a motor for turning 72 (a driving force applying unit), which applies a driving force for turning anendless belt 70 serving as a polishing body configuring thepolishing mechanism 16, is attached to the motor holdingwall section 62 at a position not interfering with the first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50. A longcolumnar driving pulley 76 is fitted over a driving shaft for turning 74 of the motor for turning 72. The drivingpulley 76 drives theendless belt 70. - The supporting
body 60 is provided with three bearing sections not illustrated. As shown inFIG. 3 , the bearing sections each axially support in a rotatable manner a supportingshaft 80 provided to a long columnar drivenpulley 78. Each of side peripheral walls of the drivenpulleys 78 also drive theendless belt 70. Due to the drivingpulley 76 and the three drivenpulleys 78, theendless belt 70 is stretched so as to have a rectangular shape in planar view. - The
endless belt 70 is formed of a stacked body of an innerperipheral belt 82 and an outerperipheral belt 84. The innerperipheral belt 82 is made of a material excelling in wear resistance, and the outerperipheral belt 84 is made of a material excelling in polishing performance. Due to the innerperipheral belt 82 being driven by the drivingpulley 76 and the drivenpulleys 78, the outerperipheral belt 84 turns integrally with the innerperipheral belt 82. The outerperipheral belt 84 makes sliding contact with the region-to-be-polished of theworkpiece 22. - An exterior tensioner 86 (a tension applying unit) makes sliding contact with the outer
peripheral belt 84. Theexterior tensioner 86 presses the outerperipheral belt 84 toward the innerperipheral belt 82 side, and thereby applies a tension to theendless belt 70. The larger the pressing force is, the more theendless belt 70 is tensioned, and, as a result, the larger the tension applied to theendless belt 70 becomes. Conversely, when the pressing force is small, the tension applied to theendless belt 70 is reduced. - The mechanism holding
wall section 68 supports a plurality of pressingforce applying mechanisms 90 that press theendless belt 70 from the innerperipheral belt 82 side. Next, this pressingforce applying mechanism 90 will be described. -
FIG. 5 is a schematic cross-sectional front view showing one pressingforce applying mechanism 90 along the longitudinal direction thereof. The pressingforce applying mechanism 90 includes: anair cylinder 92 configuring an advancing or retracting section; and a swingingsection 94. - The
air cylinder 92 includes acylinder tube 98 to which a supply/discharge tube 96 is coupled. Thecylinder tube 98 is held by the mechanism holdingwall section 68, whereby the pressingforce applying mechanism 90 is supported by the mechanism holdingwall section 68. - An unillustrated piston is housed in the
cylinder tube 98, and apressing rod 100 that is displaced integrally with the piston is exposed on an outside of thecylinder tube 98. Furthermore, the mechanism holdingwall section 68 is integrally attached to tips of all of thecylinder tubes 98. The mechanism holdingwall section 68 has a plurality of rod insertion holes 102 (refer toFIG. 3 ), and thepressing rods 100 are passed through the rod insertion holes 102. - A tip of the
pressing rod 100 is provided with a ball joint 104. That is, as shown inFIG. 5 , a screw-shapedshaft section 106 of the ball joint 104 is screwed into a screw hole provided in the tip of thepressing rod 100. Moreover, an engagingshaft section 109 that projects from aball section 108 joined to the screw-shapedshaft section 106, is fitted into an unillustrated bearing hole being one region on an interior of a swingingcover 110. The swingingcover 110 swings around theball section 108 as theball section 108 rolls relatively to the bearing hole. An end surface (a pressing surface 114), on a side facing the innerperipheral belt 82, of the swingingcover 110 is configured as a flat surface having a substantially square shape. - In addition, the swinging
cover 110 includes twoinclined sections 116 that are joined to end sections of thepressing surface 114 and are inclined so as to approach thepressing rod 100. Therefore, an external appearance of the swingingcover 110 is configured in a substantially isosceles triangle shape. - A predetermined number of the pressing
force applying mechanisms 90 configured in this way are aligned so as to form a plurality of rows and a plurality of columns. That is, the plurality of pressingforce applying mechanisms 90 are aligned not only in a surface direction ofFIG. 2 , but also in a direction orthogonal to a paper surface. - Note that the
control section 20 controls the motor foreccentric rotation 34, the motor for turning 72, theexterior tensioner 86, and a supply/discharge mechanism (not illustrated) for performing supply/discharge of compressed air to/from theair cylinder 92 via the supply/discharge tube 96. - The polishing
device 10 according to the first embodiment is basically configured as above, and the operational advantages thereof will be next described in relation to a control method (operation) of the polishingdevice 10. - In order to move the
endless belt 70 along the region-to-be-polished in a state where theendless belt 70 has been abutted on the polishing start point of theworkpiece 22, teaching is performed beforehand in the articulatedrobot 12 so that each of theshaft sections 26 rotates or revolves by a predetermined angle. In addition, among the plurality of pressingforce applying mechanisms 90, regarding a pressingforce applying mechanism 90 that, as a result of the teaching, has been determined not to enter the region-to-be-polished, thecontrol section 20 maintains thepressing rod 100 in a state where thepressing rod 100 is positioned at a backward end. This is achieved by not supplying compressed air to thecylinder tube 98 from the supply/discharge mechanism. - For example, when implementing polishing on the
workpiece 22 shown inFIG. 6 , thepolishing mechanism 16 is displaced in order of a section-A 120→a section-B 122→a section-C 124→a section-D 126 of theworkpiece 22, due to the articulatedrobot 12 operating according to the teaching. That is, the section-A 120 is the polishing start point, and the section-D 126 is the polishing end point. In this case, in the section-A 120, one column, namely, a lowest column, in the section-B 122 and the section-C 124, two columns, namely, the lowest column and a column one above the lowest column, and in the section-D 126, three columns, namely, the lowest column and columns one and two above the lowest column, fall outside the region-to-be-polished. That is, the lowest column does not overlap the region-to-be-polished from the polishing start point to the polishing end point. Hence, in this case, compressed air is not supplied to theair cylinders 92 of the pressingforce applying mechanisms 90 forming the lowest column. - When starting polishing, the
control section 20 first controls theexterior tensioner 86. Specifically, theexterior tensioner 86 is displaced so as to approach theendless belt 70, and presses theendless belt 70. Due to this pressing, theendless belt 70 is tensioned so that the tension thereof increases. In addition, thecontrol section 20 supplies compressed air from the supply/discharge mechanism to theair cylinders 92 configuring the pressingforce applying mechanisms 90 other than the pressingforce applying mechanisms 90 of the lowest column. The compressed air is introduced into thecylinder tube 98 via the supply/discharge tube 96, and presses the piston. As a result, thepressing rod 100 advances to a forward end, and the flatpressing surface 114 of the swingingcover 110 presses theendless belt 70 from the innerperipheral belt 82 side. - The
shaft sections 26 of the articulatedrobot 12 each suitably operate, and theendless belt 70 abuts on the section-A 120. In the case where aprojection 130 due to undulations or curvature is present in the section-A 120, the pressing force of the air cylinder 92 (the pressing rod 100) facing theprojection 130 may be reduced, if required. This is achieved by discharging a small amount of compressed air from thecylinder tube 98 via the supply/discharge tube 96. By thus regulating (correcting) the pressing force from thepressing rod 100 according to the projection 130 (refer toFIG. 8 ) of the section-A 120, the section-A 120 can be evenly polished. - Next, the
control section 20 drives the motor foreccentric rotation 34 and the motor for turning 72. In association with the rotation of the driving shaft foreccentricity 36 of the motor foreccentric rotation 34, thedriving gear 38 rotates, and the first driven gear 40 (refer toFIGS. 2 and 4 ) engaged with thedriving gear 38 and the second drivengear 42 engaged with the first drivengear 40, rotate. Following this, the driven shaft foreccentricity 44 also rotates. - As described above, the first rotating shaft for
eccentricity 48 and the second rotating shaft foreccentricity 50 are respectively coupled, via theeccentric joints 46, to the driving shaft foreccentricity 36 and the driven shaft foreccentricity 44. Hence, the first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50 move with loci of circles centered on respective rotation centers of the driving shaft foreccentricity 36 and the driven shaft foreccentricity 44. As a result, thepolishing mechanism 16, in which the first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50 are coupled to the supportingbody 60, eccentrically rotates. - Moreover, when the motor for turning 72 is driven, the driving shaft for turning 74 and the driving pulley 76 (refer to
FIG. 4 ) rotate. Therefore, theendless belt 70 pulled by the drivingpulley 76 begins to turn. Turning of theendless belt 70 is assisted by the three drivenpulleys 78. That is, in this case, theendless belt 70 turns due to the drivingpulley 76 and the three drivenpulleys 78, while being applied with tension by theexterior tensioner 86 and being pressed by thepressing rod 100 from the innerperipheral belt 82 side. - Due to the above eccentric rotation of the
polishing mechanism 16 and turning of theendless belt 70, polishing of the section-A 120 is started. That is, theendless belt 70 makes sliding contact with the section-A 120, thereby polishing the section-A 120. Theendless belt 70 is applied with tension by being pressed from theexterior tensioner 86, hence the pressing force on the region-to-be-polished decreases. However, in the first embodiment, thepressing rod 100 configuring the pressingforce applying mechanism 90 advances, whereby theendless belt 70 is pressed to the region-to-be-polished side. In other words, theendless belt 70 is pressed against the section-A 120. As a result, theendless belt 70 makes sliding contact with the section-A 120 with sufficient surface pressure, while eccentrically rotating, so the section-A 120 is favorably polished. - In this state, the
control section 20 operates each of theshaft sections 26 of the articulatedrobot 12 in such a manner that thepolishing mechanism 16 moves to the section-D 126 through the section-B 122 and the section-C 124. In the course of this, when the pressingforce applying mechanism 90 has moved to the section-B 122 side by one row, thecontrol section 20 performs supply/discharge of compressed air in such a manner that thepressing rod 100 advances or retracts according to the shape of the region-to-be-polished of theworkpiece 22. However, theair cylinders 92 forming the lowest column, which is outside the region-to-be-polished, do not undergo supply/discharge of compressed air. - By supply/discharge of compressed air to/from the
air cylinder 92, thepressing rod 100 advances or retracts. Furthermore, it is possible for the swingingcover 110 to swing. This is because, as described above, the engagingshaft section 109 of the ball joint 104 is fitted into the bearing hole of the swingingcover 110. In this way, by a combination of advancement or retraction of thepressing rod 100 and swinging of the swingingcover 110, a position of thepressing surface 114 of the swingingcover 110 changes according to the shape of the region-to-be-polished. -
FIG. 7 shows one example of the position of thepressing surface 114 or attitude of the swingingcover 110 when arecess 132 is present in the region-to-be-polished. In this case, thepressing rod 100 of theair cylinder 92 positioned in an intermediate column advances more than thepressing rod 100 of theair cylinder 92 positioned below or above the intermediate column. It is therefore possible for theendless belt 70 to make sliding contact with a bottom section of therecess 132. - Contrarily, when the
projection 130 is present in the region-to-be-polished, theendless belt 70 undergoes pressing from theprojection 130, so theendless belt 70 is applied with further tension. Accordingly, thecontrol section 20 performs supply/discharge of compressed air in such a manner that, as shown inFIG. 8 , thepressing rod 100 of theair cylinder 92 positioned in the intermediate column retracts more than thepressing rod 100 of theair cylinder 92 positioned below or above the intermediate column. Therefore, tension acting on theendless belt 70 is relieved. Hence, an appropriate surface pressure is applied to the region-to-be-polished. As a result, the region-to-be-polished is prevented from being excessively polished. Note that in order to facilitate understanding regarding differences in advancement/retraction amount of thepressing rods 100 or differences in attitude of the swinging covers 110,FIG. 8 shows an example of the case where all of the pressingforce applying mechanisms 90 enter the region-to-be-polished. - As described above, the surface pressure of the
endless belt 70 when theendless belt 70 makes sliding contact with the region-to-be-polished is appropriately regulated by thecontrol section 20 suitably advancing or retracting thepressing rods 100. Moreover, when theendless belt 70 deforms according to the shape of the region-to-be-polished, the swingingcover 110 swings. Therefore, deformation (expansion/contraction) of theendless belt 70 is never hindered. Hence, the region-to-be-polished can be favorably polished, regardless of the shape of the region-to-be-polished. Note that, even within the region-to-be-polished, when a place not requiring polishing is passed, it is also possible to cause thepressing rods 100 facing the place not requiring polishing to be retracted to the backward end. - When the
polishing mechanism 16 reaches the section-D 126, rotation or revolution of each of theshaft sections 26 of the articulatedrobot 12 stops, and movement of thepolishing mechanism 16 ends. At this time, thecontrol section 20 stops both the motor foreccentric rotation 34 and the motor for turning 72, whereby eccentric rotation of thepolishing mechanism 16 and turning of theendless belt 70 are stopped. Thecontrol section 20 further supplies compressed air to thecylinder tubes 98 other than thecylinder tubes 98 of a total of three columns, namely, the lowest column and the columns one and two above the lowest column, and maintains thepressing rods 100 in a forward end position. - As described above, in the first embodiment, a configuration is adopted such that by increasing a propelling force of the
air cylinder 92 at the polishing start point (section-A 120) and the polishing end point (section-D 126) regardless of the shape of the region-to-be-polished, the region-to-be-polished is applied with a larger surface pressure compared to another region-to-be-polished. As a result, insufficient polishing at the polishing start point and the polishing end point is avoided. Moreover, since polishing can be performed automatically by the polishingdevice 10, a burden of an operator is reduced. - In this case, the
endless belt 70 is turning, so an unspecific place of the outerperipheral belt 84 makes sliding contact with the region-to-be-polished. In other words, it is avoided that a specific place alone of the outerperipheral belt 84 is involved in polishing. Therefore, the outerperipheral belt 84 is not easily worn down. Hence, the same outerperipheral belt 84 can be employed over a long time. Note that when the outerperipheral belt 84 has worn down due to repeated polishing over a long time, and polishing accuracy has thereby lowered, the outerperipheral belt 84 may be replaced with a new one. - Next, a polishing device according to a second embodiment will be described. Note that constituent elements the same as constituent elements configuring the polishing
device 10 according to the first embodiment will be assigned with the same reference symbols as those assigned in the first embodiment, and illustrations or detailed descriptions thereof will be omitted. - The polishing device includes a
polishing mechanism 150 shown inFIG. 9 . A supportingbody 152 configuring thepolishing mechanism 150 includes acoupling wall section 154 and aguide plate section 156. Acoupling cylinder 157 is bridged between theguide plate section 156 and thecoupling wall section 154. Moreover, as shown in detail inFIG. 10 , theguide plate section 156 is provided with aninsertion hole 158 through which thepressing rod 100 of theair cylinder 92 configuring a pressingforce applying mechanism 159 is passed, and afixture 160 provided to a tip of thecylinder tube 98 is housed in theinsertion hole 158. Thefixture 160 prevents theguide plate section 156 from falling off. - A plurality of (for example, two) guide holes 162 are formed in the
guide plate section 156 at positions surrounding thepressing rod 100.Bushes 164 are respectively housed in the guide holes 162, and guidingrods 166 are passed through thebushes 164. A tip, of the guidingrod 166, provided with a screw section is passed through a through-hole 170 formed in adisplacement plate 168, and then anut 172 is screwed onto the tip. In addition, a tip of thepressing rod 100 is attached to thedisplacement plate 168. Hence, due to extension/contraction of thepressing rod 100, thedisplacement plate 168 is displaced, and the guidingrod 166 extends/contracts. - A stepped
holder 174 having a step section is attached to thedisplacement plate 168. A screw hole is formed in a tip of the steppedholder 174, and the screw-shapedshaft section 106 of the ball joint 104 is screwed into the screw hole. Moreover, a separable swingingcover 180 is screwed onto and thereby attached to two engagingshaft sections 109 projecting from theball section 108 of the ball joint 104. - A
first holding rod 184 that holds afirst roller 182 in a rotatable manner, and asecond holding rod 188 that holds asecond roller 186 in a rotatable manner are coupled to the supportingbody 152. - A
first coil spring 192 and asecond coil spring 194 as a tension applying unit are hooked onhook sections 190 provided to thecoupling wall section 154. Furthermore, asheet body 196, which is a polishing body, is hooked on thefirst coil spring 192 and thesecond coil spring 194 to be held thereby. A predetermined tension acts on thesheet body 196 due to thefirst coil spring 192 and thesecond coil spring 194 contracting and due to the flatpressing surface 114 of the swingingcover 180 abutting on thesheet body 196. - The polishing device according to the second embodiment is basically configured so as to comprise: the polishing
mechanism 150 configured as above; and theeccentric rotation mechanism 52 configured similarly to that of the polishingdevice 10 according to the first embodiment. Next, operation of the polishing device will be described. - In order to move the
sheet body 196 along the region-to-be-polished in a state where thesheet body 196 has been abutted on the polishing start point of theworkpiece 22, teaching is performed beforehand in the articulatedrobot 12 so that each of theshaft sections 26 rotates or revolves by a predetermined angle. - When starting polishing, the
control section 20 supplies theair cylinder 92 with compressed air from the supply/discharge mechanism. The compressed air is introduced into thecylinder tube 98 via the supply/discharge tube 96, and presses the piston. As a result, thepressing rod 100 advances to the forward end, and the flatpressing surface 114 of the swingingcover 180 presses thesheet body 196, as shown inFIG. 11 . Consequently, thesheet body 196 extends while being aided by making sliding movement relatively to thefirst roller 182 and thesecond roller 186. In addition, thefirst coil spring 192 and thesecond coil spring 194 extend, whereby a predetermined tension is applied to thesheet body 196. - The
shaft sections 26 of the articulatedrobot 12 each suitably operate, and thesheet body 196 abuts on the polishing start point (section-A 120 inFIG. 6 ). Similarly to above, in the case where aprojection 130 due to undulations or curvature is present in the section-A 120, the pressing force of the air cylinder 92 (the pressing rod 100) facing theprojection 130 may be reduced, if required. This is achieved by discharging a small amount of compressed air from thecylinder tube 98 via the supply/discharge tube 96. By thus regulating (correcting) the pressing force from thepressing rod 100 according to theprojection 130 of the section-A 120, the section-A 120 can be evenly polished. - Next, the
control section 20 drives the motor for eccentric rotation 34 (refer toFIGS. 2 and 3 ). In association with the rotation of the driving shaft foreccentricity 36 of the motor foreccentric rotation 34, thedriving gear 38 rotates, and the first driven gear 40 (refer toFIGS. 2 and 4 ) engaged with thedriving gear 38 and the second drivengear 42 engaged with the first drivengear 40, rotate. Following this, the driven shaft foreccentricity 44 also rotates. Furthermore, the first rotating shaft foreccentricity 48 and the second rotating shaft foreccentricity 50 are driven to rotate, whereby thepolishing mechanism 150 eccentrically rotates. - Due to the
polishing mechanism 150 eccentrically rotating in this way, thesheet body 196 makes sliding contact with the section-A 120. Since thesheet body 196 makes sliding contact with the section-A 120 with sufficient surface pressure, while eccentrically rotating, the section-A 120 is favorably polished. - In this state, the
control section 20 operates each of theshaft sections 26 of the articulatedrobot 12, and moves thepolishing mechanism 150. In the course of this, theair cylinder 92 undergoes supply/discharge of compressed air, and thepressing rod 100 advances or retracts. Furthermore, the swingingcover 180 swings, and a position of thepressing surface 114 thereof changes according to the shape of the region-to-be-polished. Hence, even when therecess 132 or theprojection 130 is present in the region-to-be-polished, an appropriate surface pressure is applied to the region-to-be-polished from thesheet body 196. Therefore, the region-to-be-polished can be accurately polished, regardless of the shape of the region-to-be-polished. - Note that, similarly to the polishing
device 10 according to the first embodiment, theair cylinder 92 outside the region-to-be-polished between the polishing start point and the polishing end point may not undergo supply/discharge of compressed air. - When the
polishing mechanism 150 reaches the polishing end point, rotation or revolution of each of theshaft sections 26 of the articulatedrobot 12 stops, and movement of thepolishing mechanism 150 ends. At this time, thecontrol section 20 stops the motor foreccentric rotation 34, and stops eccentric rotation of thepolishing mechanism 150 and turning of theendless belt 70. Thecontrol section 20 further supplies compressed air to thecylinder tubes 98 other than thecylinder tubes 98 of a total of three columns, namely, the lowest column and the columns one and two above the lowest column, and maintains thepressing rods 100 in a forward end position. - Thus, operational advantages similar to those of the first embodiment are obtained also in the second embodiment.
- Moreover, in the
polishing mechanism 150, there is no need to turn thesheet body 196, so the motor for turning, pulleys, and so on, are rendered unnecessary. As a result, a simpler configuration may be adopted for thepolishing mechanism 150. - The present invention is not particularly limited to the above-described first embodiment and second embodiment, and may be variously modified in a range not departing from the spirit of the present invention.
- For example, in the second embodiment, the
first coil spring 192 and thesecond coil spring 194 are adopted as the tension applying unit. However, a cylinder may be adopted instead. - Moreover, instead of the
polishing mechanism 16, thepolishing mechanism 150 may be arranged in theendless belt 70 to configure the polishingdevice 10. - Furthermore, polishing may be performed similarly to above except that the motor for
eccentric rotation 34 is not operated (in other words, except that thepolishing mechanism 16 is not eccentrically rotated). Also in this case, sufficient polishing is performed. As may be understood from this, the eccentric rotation unit, such as the motor foreccentric rotation 34, is not indispensable. - Further still, adjacent pressing force applying mechanisms 90 (or pressing force applying mechanisms 159) may be supported by the supporting body 60 (or the supporting body 152) in such a manner that the phases of the swinging covers 110 (or swinging covers 180) differ by 90°.
- Moreover, the pressing
force applying mechanisms 90 may be arranged in a so-called zigzag manner.
Claims (11)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018194182A JP6852034B2 (en) | 2018-10-15 | 2018-10-15 | Polishing equipment |
JP2018-194182 | 2018-10-15 |
Publications (1)
Publication Number | Publication Date |
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US20200114484A1 true US20200114484A1 (en) | 2020-04-16 |
Family
ID=70162340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/595,678 Abandoned US20200114484A1 (en) | 2018-10-15 | 2019-10-08 | Polishing device |
Country Status (3)
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US (1) | US20200114484A1 (en) |
JP (1) | JP6852034B2 (en) |
CN (1) | CN111037429B (en) |
Cited By (6)
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CN112873007A (en) * | 2021-02-26 | 2021-06-01 | 深圳市琳琳祥实业有限公司 | High laminating degree's jar body centre gripping and jar mouth equipment of polishing |
CN113370040A (en) * | 2021-06-21 | 2021-09-10 | 杭州职业技术学院 | Automatic precision grinding device for end face of airplane blade |
CN116638419A (en) * | 2023-07-19 | 2023-08-25 | 成都吉豪汽车部件有限公司 | Automobile part polishing device |
CN117206353A (en) * | 2023-11-07 | 2023-12-12 | 江苏鑫瑞崚新材料科技有限公司 | Chain type drawing machine |
US11883961B2 (en) * | 2022-05-27 | 2024-01-30 | GrayMatter Robotics Inc. | Method for autonomously dimensional accuracy of a workpiece via three-dimensional sanding |
US11938632B2 (en) * | 2020-07-31 | 2024-03-26 | GrayMatter Robotics Inc. | Method for autonomously detecting and repairing defects in a workpiece in surface finishing applications |
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Also Published As
Publication number | Publication date |
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JP6852034B2 (en) | 2021-03-31 |
JP2020062693A (en) | 2020-04-23 |
CN111037429A (en) | 2020-04-21 |
CN111037429B (en) | 2022-04-19 |
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