WO2022107206A1 - Automatic polishing member replacement device and automatic polishing member replacement system provided with same - Google Patents

Automatic polishing member replacement device and automatic polishing member replacement system provided with same Download PDF

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Publication number
WO2022107206A1
WO2022107206A1 PCT/JP2020/042804 JP2020042804W WO2022107206A1 WO 2022107206 A1 WO2022107206 A1 WO 2022107206A1 JP 2020042804 W JP2020042804 W JP 2020042804W WO 2022107206 A1 WO2022107206 A1 WO 2022107206A1
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WO
WIPO (PCT)
Prior art keywords
polishing
sheet
abrasive
peeling
shaped
Prior art date
Application number
PCT/JP2020/042804
Other languages
French (fr)
Japanese (ja)
Inventor
東義雄
林慶一
鈴木浩之
Original Assignee
株式会社大気社
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Publication date
Application filed by 株式会社大気社 filed Critical 株式会社大気社
Priority to PCT/JP2020/042804 priority Critical patent/WO2022107206A1/en
Priority to CN202080006021.8A priority patent/CN114829067A/en
Priority to JP2020565999A priority patent/JP6884292B1/en
Publication of WO2022107206A1 publication Critical patent/WO2022107206A1/en

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Classifications

    • 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
    • B24B45/00—Means for securing grinding wheels on rotary arbors
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • 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
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D11/00—Constructional features of flexible abrasive materials; Special features in the manufacture of such materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D13/00—Wheels having flexibly-acting working parts, e.g. buffing wheels; Mountings therefor
    • B24D13/20—Mountings for the wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D9/00—Wheels or drums supporting in exchangeable arrangement a layer of flexible abrasive material, e.g. sandpaper
    • B24D9/08—Circular back-plates for carrying flexible material

Definitions

  • the present invention relates to an automatic polishing material exchange device that automatically replaces a sheet-shaped polishing material that is detachably attached to a polishing tool.
  • polishing equipped with a polishing tool such as an electric sander is provided. Automatic polishing processing by a robot is carried out.
  • a sheet-shaped polishing material is attached to the tip of the polishing tool, and the polishing process is performed by rotating the polishing tool in a state where the sheet-shaped polishing material is in contact with the object to be polished. Since the sheet-shaped abrasive material gradually wears due to the polishing process, it is necessary to replace it with a new one on a regular basis.
  • the worn sheet-like abrasive is peeled off from the abrasive by grasping or pinching the end of the sheet-like abrasive with the arm provided in the device.
  • Another sheet-shaped abrasive is attached to the tip of the polishing tool.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the cost of the sheet-shaped abrasive and to reduce the cost of the sheet-shaped abrasive even when polishing under high load conditions such as high rotation speed and high pressing pressure. It is an object of the present invention to provide an automatic abrasive exchange device capable of easily peeling off the abrasive material.
  • the feature of the abrasive material automatic exchange device is in the abrasive material automatic exchange device that automatically exchanges the sheet-shaped abrasive material that is detachably attached to the tip portion of the abrasive tool.
  • Abrasive peeling portion for peeling the sheet-shaped polishing material from the tip portion of the polishing tool
  • a polishing material supply unit for attaching another sheet-shaped polishing material to the tip portion of the polishing tool from which the sheet-shaped polishing material has been peeled off, and an abrasive material supply unit, and
  • a control unit for controlling the operation of the polishing tool, the polishing material peeling unit, and the polishing material supply unit is provided.
  • the abrasive peeling portion includes a suction portion that sucks the sheet-shaped abrasive material and a peeling plate that enters between the polishing tool and the sheet-shaped abrasive material, and the sheet-shaped abrasive material is sucked by the suction portion. At the same time, the sheet-like abrasive is peeled from the polishing tool by the peeling plate.
  • the sheet-shaped abrasive material to be attached to the polishing tool is sucked by the suction portion, and the release plate is inserted between the tip portion of the polishing tool and the sheet-shaped polishing material from the polishing tool.
  • the sheet-shaped abrasive can be peeled off. Therefore, it is not necessary to prepare a sheet-shaped polishing material having an outer diameter larger than the outer diameter of the tip portion of the polishing tool, so that the cost can be reduced. Furthermore, even when polishing under high load conditions such as high rotation speed and high pressing pressure, the sheet-shaped abrasive can be easily peeled off by making adjustments to increase the suction force of the suction part as necessary. Can be done.
  • the suction portion is connected to a dust collector that collects polishing powder generated when polishing with the polishing tool.
  • the suction force of the dust collector that collects the polishing powder can be used as the suction force of the suction unit, so that it is not necessary to separately prepare a suction device, the configuration is simplified, and the cost is reduced. Will be done.
  • the abrasive material peeling portion includes a peeling detection sensor that detects the peeled sheet-like abrasive material.
  • the abrasive material peeling portion includes a shaft correction portion that corrects the position of the central axis of the tip portion of the abrasive tool so as to match the rotation axis of the abrasive tool. Is suitable.
  • the shaft correction unit can detect the eccentricity of the central axis of the tip portion of the polishing tool with respect to the rotation axis of the polishing tool and correct it.
  • the abrasive material supply unit includes a sticking detection sensor that detects the attached sheet-shaped abrasive material.
  • a non-sticking portion is formed on the outer peripheral edge portion of the tip portion of the polishing tool.
  • a non-adhesive portion is formed on the outer peripheral edge portion of the tip portion of the polishing tool, and the outer peripheral edge portion of the sheet-shaped abrasive is not sufficiently attached to the non-adhesive portion. .. Therefore, when the sheet-shaped abrasive is peeled off, the outer peripheral edge of the sheet-shaped abrasive is easily sucked by the suction portion. Therefore, the release plate can easily enter between the tip portion of the polishing tool and the sheet-shaped abrasive, and the sheet-shaped abrasive can be peeled off more efficiently.
  • the automatic polishing material exchange system 100 in the present embodiment has an automatic polishing material exchange device 1, a polishing robot holding the polishing tool 4 (not shown), and when polishing with the polishing tool 4.
  • a dust collecting device 5 for collecting the generated abrasive powder is provided.
  • the polishing tool 4 in this embodiment for example, a known electric sander 4 can be used.
  • the tip portion 40 of the electric sander 4 is provided with, for example, a disc pad having rigidity and transmitting the rotational force of the electric sander 4, and an intermediate pad that can be deformed according to the unevenness of the surface to be polished of the object to be processed. There is. Then, the sheet-shaped abrasive P1 is detachably attached to the fastener surface 41 (see FIG. 11) of the tip portion 40 of the electric sander 4.
  • the tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1 in the present embodiment are both disk-shaped, and their respective diameters are substantially the same. Further, as the sheet-shaped abrasive, a known one can be used.
  • a known dust collector 5 may be used as the dust collector 5 in this embodiment.
  • the dust collector 5 in the present embodiment is connected not only to the polishing tool but also to the polishing material automatic changing device 1.
  • the suction pipe 6 is provided by branching from the dust collector 5 to the polishing tool 4 and the abrasive material automatic exchange device 1, and the switching valve V is provided in each of the branched suction pipes 6. Is provided.
  • the abrasive material automatic exchange device 1 in the present embodiment peels off the abrasive material peeling portion 10 and the sheet-shaped abrasive material P1 for peeling off the sheet-shaped abrasive material P1 from the tip portion 40 of the electric sander 4.
  • the abrasive material supply unit 30 for attaching another sheet-like abrasive material P2 to the tip portion 40 of the electric sander 4, and the electric sander 4, the abrasive material peeling unit 10, and the abrasive material supply unit 30.
  • a control unit (not shown) for controlling each operation is provided.
  • the abrasive material peeling portion 10 includes an abrasive material peeling table 11 and a collection box 17 for collecting the used sheet-shaped abrasive material P1 after peeling.
  • a standby plate 12 On the upper surface of the abrasive peeling table 11, a standby plate 12, a suction plate 21, and a peeling plate 13 are arranged in order along the longitudinal direction thereof.
  • the standby plate 12 is arranged on the end side of the upper surface of the abrasive peeling table 11.
  • the electric sander 4 can be made to stand by the standby plate 12 in a state where the entire surface of the sheet-shaped abrasive P1 is in contact with the standby plate 12.
  • the suction plate 21 has a porous semicircular portion. Below the semicircular portion, an opening of a suction hose 22 connected to the suction pipe 6 is provided. It is desirable that the radius of curvature of the semicircular portion is set to be substantially the same as the radius of curvature of the sheet-shaped abrasive P1 or slightly larger than the radius of curvature of the sheet-shaped abrasive P1.
  • the release plate 13 is arranged on the other end side different from the side of the standby plate 12 on the upper surface of the abrasive release table 11.
  • the peeling plate 13 in the present embodiment includes a corner portion 14 that becomes wider toward the other end side of the upper surface of the abrasive peeling table 11, and the tip portion of the corner portion 14 is substantially the center of the semicircular portion of the suction plate 21 in the width direction. It is provided so as to be located in the part.
  • a shaft correction unit 15 is provided on the upper surface of the end portion of the release plate 13 on a side different from the corner portion 14. In the shaft correction unit 15, the position of the central axis of the tip portion 40 of the electric sander 4 is corrected so as to coincide with the rotation axis of the electric sander 4.
  • the shaft correction unit 15 is provided with an arcuate recess 16 capable of accommodating a part of the tip portion 40 of the electric sander 4.
  • the suction plate 21 is provided at a position lower than either the standby plate 12 or the release plate 13, and the sheet-shaped abrasive P1 is located between the release plate 13 and the suction plate 21.
  • a gap G larger than the thickness of is formed.
  • the standby plate 12 is provided at a position slightly lower than the height position of the release plate 13.
  • the suction unit 20 for sucking the sheet-shaped abrasive P1 is configured to include a suction plate 21 and a suction hose 22. Further, by horizontally moving the electric sander 4 to the side of the release plate 13, the release plate 13 (an example of the release plate) enters between the tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1. It is configured. That is, the sheet-shaped abrasive P1 is sucked into the suction plate 21 by the suction force from the suction hose 22, and the release plate 13 is inserted between the tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1 to be electrically operated. The sheet-shaped abrasive P1 can be peeled off from the sander 4.
  • a guide member 23 (see FIG. 7) for guiding the peeled sheet-shaped abrasive P1 to the recovery box 17 is provided below the peeling plate 13 of the abrasive peeling table 11.
  • a peeling detection sensor (not shown) for detecting the peeled sheet-like abrasive P1 is provided below each of the standby plate 12 and the peeling plate 13 of the abrasive peeling table 11.
  • Examples of the peeling detection sensor applicable to this embodiment include known non-contact photoelectric sensors.
  • the polishing material supply unit 30 in the present embodiment includes a pneumatic rodless cylinder structure 31 and a sticking detection sensor 35 that detects sticking of another new sheet-shaped polishing material P2 (see FIG. 8).
  • the rodless cylinder structure 31 has a plurality of circular columns 32 that are erected so as to form an annular shape in a plan view, and a circular elevating table 33 is arranged inside these circular columns 32.
  • the elevating table 33 is configured to elevate along the circular column 32 by air pressure.
  • Another new sheet-shaped abrasive P2 for replacement is loaded on the elevating table 33.
  • annular member 34 for preventing double-sheet removal of the sheet-shaped abrasive P2 is provided at the upper end portion of the rodless cylinder structure 31.
  • the annular member 34 in the present embodiment is a conductive sponge member, and prevents static electricity from being generated due to peeling charge.
  • the sticking detection sensor 35 is provided laterally outside near the upper end portion of the rodless cylinder structure 31, and is another new sheet-shaped abrasive P2 stuck to the tip portion 40 of the electric sander 4? Detect whether or not.
  • Examples of the sticking detection sensor 35 applicable to the present embodiment include known image sensors and color sensors.
  • the polishing robot is controlled by the control unit to move the electric sander 4 to stand by at the peeling operation standby position A at a predetermined height on the standby plate 12 of the abrasive peeling table 11.
  • the polishing robot is controlled by the control unit to lower the electric sander 4 until the sheet-shaped abrasive P1 comes into contact with the standby plate 12, and the electric sander 4 is moved to the peeling operation start position B. Let me. Next, the dust collector 5 is activated to perform suction in the suction unit 20.
  • the polishing robot is controlled by the control unit, and the electric sander 4 is horizontally moved toward the suction plate 21 of the suction unit 20 at a predetermined speed without changing the height, in a plan view.
  • the electric sander 4 is moved to the abrasive material suction position C where the sheet-shaped abrasive material P1 and the suction plate 21 overlap.
  • the tip portion 40 of the electric sander 4 and the sheet-like polishing are performed.
  • the release plate 13 further enters between the material P1 and the material P1. Then, as shown in FIG. 7, the sheet-shaped abrasive P1 completely peels off from the tip portion 40 of the electric sander 4 and falls along the guide member 23, and the collection box provided under the peeling plate 13 is provided. Collected in 17.
  • the polishing robot is controlled by the control unit to move the electric sander 4 to the peeling operation end position D, and then stop the dust collector 5. At this time, the tip portion 40 of the electric sander 4 is housed in the arcuate recess 16 of the shaft correction portion 15.
  • the shaft correction unit 15 detects and corrects the eccentricity of the central axis of the tip portion 40 of the electric sander 4 by physically contacting the tip portion 40 of the electric sander 4.
  • a peeling detection sensor (not shown) detects the presence or absence of peeling of the sheet-shaped abrasive P1, and the control unit determines whether the peeling operation is good or bad.
  • the sheet-shaped abrasive P1 is normally peeled off
  • another new sheet-shaped abrasive P2 is attached to the tip portion 40 of the electric sander 4 from which the sheet-shaped abrasive P1 has been peeled off. Shift to supply operation.
  • the electric sander 4 is moved to the peeling operation standby position A described above, and the peeling operation is performed again.
  • the polishing robot is controlled by the control unit to move the electric sander 4 to move the electric sander 4 to a predetermined height above the abrasive supply unit 30. It is made to stand by at the supply operation standby position E.
  • the polishing robot is controlled by the control unit, and the tip portion 40 of the electric sander 4 is the first of another new sheet-shaped abrasive P2 loaded inside the rodless cylinder structure 31.
  • the electric sander 4 is lowered until it comes into contact with the upper sheet-shaped abrasive P2, and the electric sander 4 is moved to the abrasive mounting position F.
  • the distance from the upper surface of the annular member 34 to the bottom surface of the tip portion 40 of the electric sander 4 is a distance that can be detected by the sticking detection sensor 35.
  • control unit simultaneously activates the pressing operation by lowering the electric sander 4 by the polishing robot and the pressing operation by raising the elevating table 33 in the rodless cylinder structure 31, and performs the pressing operation from both the upper and lower directions for a predetermined time. do.
  • the control unit performs a pressing operation by both the electric sander 4 and the elevating table 33 against the sheet-shaped abrasive P2 for a predetermined time, and then stops the pressing operation. Then, the polishing robot is controlled to raise the electric sander 4 and move it to the supply operation end position G.
  • the supply operation end position G may be set to the same position as the above-mentioned supply operation standby position E.
  • the sticking detection sensor 35 detects the presence or absence of sticking of another new sheet-shaped abrasive P2 to the tip portion 40 of the electric sander 4, and the control unit determines whether the supply operation is good or bad.
  • the sheet-shaped abrasive P2 is normally attached, the replacement of the sheet-shaped abrasive is completed.
  • the electric sander 4 is moved to the above-mentioned abrasive mounting position F, and the supply operation is performed again.
  • the abrasive material automatic exchange device according to the present invention can be particularly suitably used in the technical field of polishing an entire body or various parts constituting the entire body in, for example, an automobile, a railroad vehicle, an aircraft, a ship, and the like.
  • Abrasive automatic exchange system 1 Abrasive automatic exchange device 10 Abrasive peeling part 11 Abrasive peeling table 12 Standby plate 13 Abrasive plate (example of peeling plate) 14 Square part 15 Axis correction part 16 Arc-shaped recess 17 Collection box 20 Suction part 21 Suction plate 22 Suction hose 23 Guide member 30 Abrasive material supply part 31 Rodless cylinder structure 32 Circular support 33 Lifting table 34 Circular member 35 Adhesion detection Sensor 4 Electric sander (an example of polishing tool) 40 Tip part 41 Fastener surface 42 Non-sticking part 5 Dust collector 6 Suction pipe V Switching valve P1 Sheet-shaped abrasive P2 New another sheet-shaped abrasive G Gap A Peeling operation standby position B Peeling operation start position C Polishing Material suction position D Peeling operation end position E Supply operation standby position F Abrasive mounting position G Supply operation end position

Abstract

Provided is an automatic polishing member replacement device that enables cost reduction for a sheet type polishing member and can peel off a sheet type polishing member easily even after polishing under high load condition such as high rotation speed and high pressing pressure. The present invention is characterized by being provided with a polishing member peeling part 10 for peeling off a sheet type polishing member P1 from an end portion of a polishing tool, a polishing member supplying part 30 for adhering another sheet type polishing member to the end portion 40 of the polishing tool 4 from which the sheet type polishing member P1 has been peeled off, and a control unit for controlling the operation of the polishing tool 4, polishing member peeling part 10, and polishing member supplying part 30, and is characterized in that: the polishing member peeling part 10 is provided with a suction part 20 for sucking the sheet type polishing member P1 and a peeling plate 13 that enters between the polishing tool 4 and the sheet type polishing member P1; and while the sheet type polishing member P1 is being sucked by the suction part 20, the peeling plate 13 peels off the sheet type polishing member P1 from the polishing tool 4.

Description

研磨材自動交換装置、及びそれを備える研磨材自動交換システムAbrasive material automatic exchange device and abrasive material automatic exchange system equipped with it
　本発明は、研磨具に対して着脱可能に貼着されるシート状研磨材を、自動で交換する研磨材自動交換装置に関する。 The present invention relates to an automatic polishing material exchange device that automatically replaces a sheet-shaped polishing material that is detachably attached to a polishing tool.
　例えば自動車、鉄道車両、航空機、船舶などにおけるボディ全体又はこれを構成する種々のパーツといった研磨処理対象物について研磨処理を実施する際、省力化を図るために、電動サンダーなどの研磨具を備える研磨ロボットによる自動研磨処理が実施されている。 For example, in order to save labor when polishing an object to be polished such as the entire body of an automobile, a railroad vehicle, an aircraft, a ship, or various parts constituting the body, polishing equipped with a polishing tool such as an electric sander is provided. Automatic polishing processing by a robot is carried out.
　研磨具の先端部分にシート状研磨材が貼着されており、シート状研磨材を研磨処理対象物に接触させた状態で、研磨具を回転駆動させることによって研磨処理が行われる。シート状研磨材は研磨処理を行うことによって次第に摩耗していくため、定期的に新しいものと交換する必要がある。 A sheet-shaped polishing material is attached to the tip of the polishing tool, and the polishing process is performed by rotating the polishing tool in a state where the sheet-shaped polishing material is in contact with the object to be polished. Since the sheet-shaped abrasive material gradually wears due to the polishing process, it is necessary to replace it with a new one on a regular basis.
　従来の一般的な研磨材自動交換装置では、当該装置に備えられたアームによってシート状研磨材の端部を掴むか、もしくは挟むことによって、摩耗したシート状研磨材を研磨具から引き剥がした後、別のシート状研磨材を、研磨具の先端部分に貼着する。 In a conventional general automatic abrasive exchange device, the worn sheet-like abrasive is peeled off from the abrasive by grasping or pinching the end of the sheet-like abrasive with the arm provided in the device. , Another sheet-shaped abrasive is attached to the tip of the polishing tool.
　尚、このような従来の研磨材自動交換装置については、広く一般に知られているものであるが適当な文献がないため、先行技術文献を開示しない。 Although such a conventional automatic abrasive exchange device is widely known, the prior art document is not disclosed because there is no suitable document.
　シート状研磨材を交換する際、従来の研磨材自動交換装置では、そのアームによってシート状研磨材の端部を掴むか、もしくは挟む必要があるため、当該シート状研磨材の外径が、研磨具の先端部分の外径よりも大きくなければならない。そのため、使用するシート状研磨材は、研磨処理にはほとんど寄与しない部分を含む特注サイズのものを使用する必要があり、コスト高となっている。 When exchanging the sheet-shaped abrasive material, in the conventional automatic abrasive material exchange device, it is necessary to grasp or pinch the end portion of the sheet-shaped abrasive material by the arm, so that the outer diameter of the sheet-shaped abrasive material is polished. Must be larger than the outer diameter of the tip of the tool. Therefore, it is necessary to use a custom-sized sheet-shaped abrasive that includes a portion that hardly contributes to the polishing process, resulting in high cost.
　また、研磨ロボットによって、高回転数や高押付圧といった高負荷条件で研磨した場合、研磨具の先端部分とシート状研磨材との密着性が高まってしまい、掴む、もしくは挟むといった方法でシート状研磨材を剥がすことが困難な場合が出てくる。 In addition, when polishing with a polishing robot under high load conditions such as high rotation speed and high pressing pressure, the adhesion between the tip of the polishing tool and the sheet-shaped abrasive material increases, and the sheet-like shape is grasped or pinched. Sometimes it is difficult to remove the abrasive.
　本発明は上記実情に鑑みてなされたものであって、その目的は、シート状研磨材のコスト低減を図りながら、高回転数や高押付圧といった高負荷条件で研磨した場合でもシート状研磨材を容易に剥離させることができる研磨材自動交換装置を提供することにある。 The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the cost of the sheet-shaped abrasive and to reduce the cost of the sheet-shaped abrasive even when polishing under high load conditions such as high rotation speed and high pressing pressure. It is an object of the present invention to provide an automatic abrasive exchange device capable of easily peeling off the abrasive material.
　本発明に係る研磨材自動交換装置の特徴は、研磨具の先端部分に対して着脱可能に貼着されるシート状研磨材を、自動で交換する研磨材自動交換装置において、
　前記研磨具の先端部分から前記シート状研磨材を剥離するための研磨材剥離部、
　前記シート状研磨材を剥離した前記研磨具の先端部分に対して、別の前記シート状研磨材を貼着するための研磨材供給部、並びに、
　前記研磨具、前記研磨材剥離部、及び前記研磨材供給部のそれぞれの動作を制御する制御部を備え、
　前記研磨材剥離部が、前記シート状研磨材を吸引する吸引部、及び前記研磨具と前記シート状研磨材との間に進入する剥離板を備え、前記吸引部によって前記シート状研磨材を吸引しつつ、前記剥離板によって前記研磨具から前記シート状研磨材を剥離する点にある。 The feature of the abrasive material automatic exchange device according to the present invention is in the abrasive material automatic exchange device that automatically exchanges the sheet-shaped abrasive material that is detachably attached to the tip portion of the abrasive tool.
Abrasive peeling portion for peeling the sheet-shaped polishing material from the tip portion of the polishing tool,
A polishing material supply unit for attaching another sheet-shaped polishing material to the tip portion of the polishing tool from which the sheet-shaped polishing material has been peeled off, and an abrasive material supply unit, and
A control unit for controlling the operation of the polishing tool, the polishing material peeling unit, and the polishing material supply unit is provided.
The abrasive peeling portion includes a suction portion that sucks the sheet-shaped abrasive material and a peeling plate that enters between the polishing tool and the sheet-shaped abrasive material, and the sheet-shaped abrasive material is sucked by the suction portion. At the same time, the sheet-like abrasive is peeled from the polishing tool by the peeling plate.
　本構成によれば、研磨具に貼着されるシート状研磨材を、吸引部によって吸引しつつ、研磨具の先端部分とシート状研磨材との間に剥離板を進入させることによって研磨具からシート状研磨材を剥離することができる。従って、研磨具の先端部分の外径よりも大きな外径を有するシート状研磨材を用意する必要がないため、コストの低減を図ることができる。さらに、高回転数や高押付圧といった高負荷条件で研磨した場合でも、必要に応じて、吸引部の吸引力をより高めるような調節等を行うことによってシート状研磨材を容易に剥離させることができる。 According to this configuration, the sheet-shaped abrasive material to be attached to the polishing tool is sucked by the suction portion, and the release plate is inserted between the tip portion of the polishing tool and the sheet-shaped polishing material from the polishing tool. The sheet-shaped abrasive can be peeled off. Therefore, it is not necessary to prepare a sheet-shaped polishing material having an outer diameter larger than the outer diameter of the tip portion of the polishing tool, so that the cost can be reduced. Furthermore, even when polishing under high load conditions such as high rotation speed and high pressing pressure, the sheet-shaped abrasive can be easily peeled off by making adjustments to increase the suction force of the suction part as necessary. Can be done.
　本発明に係る研磨材自動交換装置においては、前記研磨具で研磨したときに発生する研磨粉を回収する集塵装置に、前記吸引部が接続されていると好適である。 In the abrasive material automatic exchange device according to the present invention, it is preferable that the suction portion is connected to a dust collector that collects polishing powder generated when polishing with the polishing tool.
　本構成によれば、研磨粉を回収する集塵装置の吸引力を、吸引部の吸引力として使用することができるため、吸引装置を別途用意する必要がなく構成が簡素化されてコストも削減される。 According to this configuration, the suction force of the dust collector that collects the polishing powder can be used as the suction force of the suction unit, so that it is not necessary to separately prepare a suction device, the configuration is simplified, and the cost is reduced. Will be done.
　本発明に係る研磨材自動交換装置においては、前記研磨材剥離部が、剥離した前記シート状研磨材を検出する剥離検出センサーを備えると好適である。 In the abrasive material automatic exchange device according to the present invention, it is preferable that the abrasive material peeling portion includes a peeling detection sensor that detects the peeled sheet-like abrasive material.
　本構成によれば、シート状研磨材が研磨具の先端部分からきちんと剥離したか否かを、剥離検出センサーによって容易に確認することができる。 According to this configuration, it can be easily confirmed by the peeling detection sensor whether or not the sheet-shaped abrasive is properly peeled from the tip portion of the polishing tool.
　本発明に係る研磨材自動交換装置においては、前記研磨材剥離部は、前記研磨具の先端部分の中心軸の位置を、前記研磨具の回転軸に一致するように補正する軸補正部を備えると好適である。 In the abrasive material automatic exchange device according to the present invention, the abrasive material peeling portion includes a shaft correction portion that corrects the position of the central axis of the tip portion of the abrasive tool so as to match the rotation axis of the abrasive tool. Is suitable.
　本構成によれば、研磨具の回転軸に対する研磨具の先端部分の中心軸の偏心を、軸補正部が検出して、これを矯正することができる。 According to this configuration, the shaft correction unit can detect the eccentricity of the central axis of the tip portion of the polishing tool with respect to the rotation axis of the polishing tool and correct it.
　本発明に係る研磨材自動交換装置においては、前記研磨材供給部が、貼着した前記シート状研磨材を検出する貼着検出センサーを備えると好適である。 In the abrasive material automatic exchange device according to the present invention, it is preferable that the abrasive material supply unit includes a sticking detection sensor that detects the attached sheet-shaped abrasive material.
　本構成によれば、シート状研磨材が研磨具の先端部分にきちんと貼着したか否かを、貼着検出センサーによって容易に確認することができる。 According to this configuration, it is possible to easily confirm whether or not the sheet-shaped abrasive is properly attached to the tip of the polishing tool by the attachment detection sensor.
　本発明に係る研磨材自動交換装置においては、前記研磨具の先端部分の外周縁部分に、非貼着部分が形成されていると好適である。 In the abrasive material automatic exchange device according to the present invention, it is preferable that a non-sticking portion is formed on the outer peripheral edge portion of the tip portion of the polishing tool.
　本構成によれば、研磨具の先端部分の外周縁部分に非貼着部分が形成されており、当該非貼着部分においては、シート状研磨材の外周縁部分が十分に貼着されていない。そのため、シート状研磨材を剥離させる際、当該シート状研磨材の外周縁は吸引部によって吸引され易い。従って、研磨具の先端部分とシート状研磨材との間に剥離板が進入し易くなり、シート状研磨材をより効率良く剥離することができる。 According to this configuration, a non-adhesive portion is formed on the outer peripheral edge portion of the tip portion of the polishing tool, and the outer peripheral edge portion of the sheet-shaped abrasive is not sufficiently attached to the non-adhesive portion. .. Therefore, when the sheet-shaped abrasive is peeled off, the outer peripheral edge of the sheet-shaped abrasive is easily sucked by the suction portion. Therefore, the release plate can easily enter between the tip portion of the polishing tool and the sheet-shaped abrasive, and the sheet-shaped abrasive can be peeled off more efficiently.
研磨材自動交換システムの概略的な構成図である。It is a schematic block diagram of the abrasive material automatic exchange system. 研磨材自動交換装置の外観斜視図である。It is external perspective view of the abrasive material automatic exchange apparatus. 研磨具が剥離動作待機位置にあるときの縦断側面図である。It is a vertical sectional side view when the polishing tool is in the peeling operation standby position. 研磨具が剥離動作開始位置にあるときの縦断側面図である。It is a vertical sectional side view when the polishing tool is in the peeling operation start position. 研磨具が研磨材吸引位置にあるときの縦断側面図である。It is a vertical sectional side view when the polishing tool is in the abrasive suction position. 図５の一部を拡大した図である。It is an enlarged view of a part of FIG. 研磨具が剥離動作終了位置にあるときの縦断側面図である。It is a vertical sectional side view when the polishing tool is in the peeling operation end position. 研磨具が供給動作待機位置にあるときの斜視図である。It is a perspective view when the polishing tool is in a supply operation standby position. 研磨具が研磨材装着位置にあるときの斜視図である。It is a perspective view when the polishing tool is in the polishing material mounting position. 研磨具が供給動作終了位置にあるときの斜視図である。It is a perspective view when the polishing tool is in the supply operation end position. 研磨具の先端部分におけるシート状研磨材の貼着面の平面図である。It is a top view of the sticking surface of a sheet-like abrasive in the tip part of a polishing tool.
〔実施形態〕
　以下、本発明の実施の形態を説明する。
〔研磨材自動交換システム〕
　図１に示すように、本実施形態における研磨材自動交換システム１００は、研磨材自動交換装置１、研磨具４を保持する研磨ロボット（図示せず）、及び、研磨具４で研磨したときに発生する研磨粉を回収する集塵装置５を備える。 [Embodiment]
Hereinafter, embodiments of the present invention will be described.
[Abrasive automatic replacement system]
As shown in FIG. 1, the automatic polishing material exchange system 100 in the present embodiment has an automatic polishing material exchange device 1, a polishing robot holding the polishing tool 4 (not shown), and when polishing with the polishing tool 4. A dust collecting device 5 for collecting the generated abrasive powder is provided.
　本実施形態における研磨具４としては、例えば、公知の電動サンダー４を使用することができる。電動サンダー４の先端部分４０には、例えば、剛性があり電動サンダー４の回転力を伝達するディスクパッドと、処理対象物の被研磨面の凹凸に合わせて変形可能な中間パッドなどが設けられている。そして、シート状研磨材Ｐ１が、電動サンダー４の先端部分４０のファスナ面４１（図１１参照）に対して着脱可能に貼着されている。 As the polishing tool 4 in this embodiment, for example, a known electric sander 4 can be used. The tip portion 40 of the electric sander 4 is provided with, for example, a disc pad having rigidity and transmitting the rotational force of the electric sander 4, and an intermediate pad that can be deformed according to the unevenness of the surface to be polished of the object to be processed. There is. Then, the sheet-shaped abrasive P1 is detachably attached to the fastener surface 41 (see FIG. 11) of the tip portion 40 of the electric sander 4.
　本実施形態における電動サンダー４の先端部分４０及びシート状研磨材Ｐ１はいずれもディスク状であって、それぞれの直径は略同じ大きさとなっている。また、シート状研磨材は、公知のものを使用することができる。 The tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1 in the present embodiment are both disk-shaped, and their respective diameters are substantially the same. Further, as the sheet-shaped abrasive, a known one can be used.
　本実施形態における集塵装置５は、公知の集塵装置５を使用して良い。本実施形態における集塵装置５は、研磨具だけでなく、研磨材自動交換装置１にも接続されている。具体的には、吸引用配管６が、集塵装置５から、研磨具４と研磨材自動交換装置１とに分岐して設けられており、分岐したそれぞれの吸引用配管６には切替バルブＶが設けられている。 As the dust collector 5 in this embodiment, a known dust collector 5 may be used. The dust collector 5 in the present embodiment is connected not only to the polishing tool but also to the polishing material automatic changing device 1. Specifically, the suction pipe 6 is provided by branching from the dust collector 5 to the polishing tool 4 and the abrasive material automatic exchange device 1, and the switching valve V is provided in each of the branched suction pipes 6. Is provided.
〔研磨材自動交換装置〕
　図２に示すように、本実施形態における研磨材自動交換装置１は、電動サンダー４の先端部分４０からシート状研磨材Ｐ１を剥離するための研磨材剥離部１０、シート状研磨材Ｐ１を剥離した電動サンダー４の先端部分４０に対して、別のシート状研磨材Ｐ２を貼着するための研磨材供給部３０、並びに、電動サンダー４、研磨材剥離部１０、及び研磨材供給部３０のそれぞれの動作を制御する図示しない制御部を備える。 [Abrasive automatic changer]
As shown in FIG. 2, the abrasive material automatic exchange device 1 in the present embodiment peels off the abrasive material peeling portion 10 and the sheet-shaped abrasive material P1 for peeling off the sheet-shaped abrasive material P1 from the tip portion 40 of the electric sander 4. The abrasive material supply unit 30 for attaching another sheet-like abrasive material P2 to the tip portion 40 of the electric sander 4, and the electric sander 4, the abrasive material peeling unit 10, and the abrasive material supply unit 30. A control unit (not shown) for controlling each operation is provided.
　研磨材剥離部１０は、研磨材剥離台１１、及び剥離後の使用済みシート状研磨材Ｐ１を回収する回収箱１７を備える。 The abrasive material peeling portion 10 includes an abrasive material peeling table 11 and a collection box 17 for collecting the used sheet-shaped abrasive material P1 after peeling.
　研磨材剥離台１１の上面には、その長手方向に沿って、待機用プレート１２、吸引プレート２１、剥離プレート１３が順に並んで配置されている。 On the upper surface of the abrasive peeling table 11, a standby plate 12, a suction plate 21, and a peeling plate 13 are arranged in order along the longitudinal direction thereof.
　待機用プレート１２は、研磨材剥離台１１の上面の端部側に配置されている。待機用プレート１２には、シート状研磨材Ｐ１の全面を接触させた状態で電動サンダー４を待機させることができる。 The standby plate 12 is arranged on the end side of the upper surface of the abrasive peeling table 11. The electric sander 4 can be made to stand by the standby plate 12 in a state where the entire surface of the sheet-shaped abrasive P1 is in contact with the standby plate 12.
　吸引プレート２１は多孔の半円部分を備える。半円部分の下方には、吸引用配管６に接続される吸引ホース２２の開口部が設けられている。尚、半円部分の曲率半径は、シート状研磨材Ｐ１の曲率半径と略同じか、もしくはシート状研磨材Ｐ１の曲率半径よりも若干大きめに設定することが望ましい。 The suction plate 21 has a porous semicircular portion. Below the semicircular portion, an opening of a suction hose 22 connected to the suction pipe 6 is provided. It is desirable that the radius of curvature of the semicircular portion is set to be substantially the same as the radius of curvature of the sheet-shaped abrasive P1 or slightly larger than the radius of curvature of the sheet-shaped abrasive P1.
　剥離プレート１３は、研磨材剥離台１１の上面の待機用プレート１２の側とは異なる他端部側に配置されている。本実施形態における剥離プレート１３は、研磨材剥離台１１の上面の他端部側ほど幅広くなる角部１４を備え、角部１４の先端部分が吸引プレート２１の半円部分の幅方向の略中心部分に位置するように設けられている。 The release plate 13 is arranged on the other end side different from the side of the standby plate 12 on the upper surface of the abrasive release table 11. The peeling plate 13 in the present embodiment includes a corner portion 14 that becomes wider toward the other end side of the upper surface of the abrasive peeling table 11, and the tip portion of the corner portion 14 is substantially the center of the semicircular portion of the suction plate 21 in the width direction. It is provided so as to be located in the part.
　剥離プレート１３の角部１４とは異なる側の端部の上面には、軸補正部１５が設けられている。軸補正部１５では、電動サンダー４の先端部分４０の中心軸の位置が、電動サンダー４の回転軸と一致するように補正される。軸補正部１５には、電動サンダー４の先端部分４０の一部を収容可能な円弧状凹部１６が設けられている。 A shaft correction unit 15 is provided on the upper surface of the end portion of the release plate 13 on a side different from the corner portion 14. In the shaft correction unit 15, the position of the central axis of the tip portion 40 of the electric sander 4 is corrected so as to coincide with the rotation axis of the electric sander 4. The shaft correction unit 15 is provided with an arcuate recess 16 capable of accommodating a part of the tip portion 40 of the electric sander 4.
　図６に示すように、吸引プレート２１は、待機用プレート１２及び剥離プレート１３のいずれよりも低い位置に設けられており、剥離プレート１３と吸引プレート２１との間には、シート状研磨材Ｐ１の厚みよりも大きな隙間Ｇが形成されている。 As shown in FIG. 6, the suction plate 21 is provided at a position lower than either the standby plate 12 or the release plate 13, and the sheet-shaped abrasive P1 is located between the release plate 13 and the suction plate 21. A gap G larger than the thickness of is formed.
　尚、待機用プレート１２は、剥離プレート１３の高さ位置よりも若干低い位置に設けられていることが望ましい。 It is desirable that the standby plate 12 is provided at a position slightly lower than the height position of the release plate 13.
　シート状研磨材Ｐ１を吸引する吸引部２０は、吸引プレート２１と吸引ホース２２とを備えて構成されている。また、電動サンダー４を剥離プレート１３の側に水平移動させることによって、剥離プレート１３（剥離板の一例）が、電動サンダー４の先端部分４０とシート状研磨材Ｐ１との間に進入するように構成されている。即ち、吸引ホース２２からの吸引力によってシート状研磨材Ｐ１を吸引プレート２１に吸引しつつ、電動サンダー４の先端部分４０とシート状研磨材Ｐ１との間に剥離プレート１３を進入させることによって電動サンダー４からシート状研磨材Ｐ１を剥離することができる。 The suction unit 20 for sucking the sheet-shaped abrasive P1 is configured to include a suction plate 21 and a suction hose 22. Further, by horizontally moving the electric sander 4 to the side of the release plate 13, the release plate 13 (an example of the release plate) enters between the tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1. It is configured. That is, the sheet-shaped abrasive P1 is sucked into the suction plate 21 by the suction force from the suction hose 22, and the release plate 13 is inserted between the tip portion 40 of the electric sander 4 and the sheet-shaped abrasive P1 to be electrically operated. The sheet-shaped abrasive P1 can be peeled off from the sander 4.
　図２に示すように、研磨材剥離台１１の剥離プレート１３の下方には、剥離したシート状研磨材Ｐ１を回収箱１７に案内するガイド部材２３（図７参照）が設けられている。 As shown in FIG. 2, a guide member 23 (see FIG. 7) for guiding the peeled sheet-shaped abrasive P1 to the recovery box 17 is provided below the peeling plate 13 of the abrasive peeling table 11.
　本実施形態では、研磨材剥離台１１の待機用プレート１２及び剥離プレート１３のそれぞれの下方に、剥離したシート状研磨材Ｐ１を検出する剥離検出センサー（図示せず）が備えられている。本実施形態に適用可能な剥離検出センサーとしては、例えば、公知の非接触式の光電センサーなどが挙げられる。 In the present embodiment, a peeling detection sensor (not shown) for detecting the peeled sheet-like abrasive P1 is provided below each of the standby plate 12 and the peeling plate 13 of the abrasive peeling table 11. Examples of the peeling detection sensor applicable to this embodiment include known non-contact photoelectric sensors.
　本実施形態における研磨材供給部３０は、空気圧式のロッドレスシリンダ構造３１と、新たな別のシート状研磨材Ｐ２（図８参照）の貼着を検出する貼着検出センサー３５とを備える。 The polishing material supply unit 30 in the present embodiment includes a pneumatic rodless cylinder structure 31 and a sticking detection sensor 35 that detects sticking of another new sheet-shaped polishing material P2 (see FIG. 8).
　ロッドレスシリンダ構造３１は、平面視で環状になるように立設される複数の円形支柱３２を有しており、これらの円形支柱３２の内側に円形の昇降用テーブル３３が配置される。昇降用テーブル３３は、空気圧によって円形支柱３２に沿って昇降するように構成されている。昇降用テーブル３３の上には、交換用の新たな別のシート状研磨材Ｐ２が積載される。 The rodless cylinder structure 31 has a plurality of circular columns 32 that are erected so as to form an annular shape in a plan view, and a circular elevating table 33 is arranged inside these circular columns 32. The elevating table 33 is configured to elevate along the circular column 32 by air pressure. Another new sheet-shaped abrasive P2 for replacement is loaded on the elevating table 33.
　本実施形態では、シート状研磨材Ｐ２の二枚取りを防止するための環状部材３４が、ロッドレスシリンダ構造３１の上端部に設けられている。本実施形態における環状部材３４は、導電性のスポンジ部材であり、剥離帯電による静電気が発生するのを防止する。 In the present embodiment, an annular member 34 for preventing double-sheet removal of the sheet-shaped abrasive P2 is provided at the upper end portion of the rodless cylinder structure 31. The annular member 34 in the present embodiment is a conductive sponge member, and prevents static electricity from being generated due to peeling charge.
　貼着検出センサー３５は、ロッドレスシリンダ構造３１の上端部付近の横外方に設けられており、電動サンダー４の先端部分４０に対して新たな別のシート状研磨材Ｐ２が貼着されたか否かを検出する。本実施形態に適用可能な貼着検出センサー３５としては、例えば、公知の画像センサーやカラーセンサーなどが挙げられる。 The sticking detection sensor 35 is provided laterally outside near the upper end portion of the rodless cylinder structure 31, and is another new sheet-shaped abrasive P2 stuck to the tip portion 40 of the electric sander 4? Detect whether or not. Examples of the sticking detection sensor 35 applicable to the present embodiment include known image sensors and color sensors.
〔シート状研磨材の交換方法〕
　次に、電動サンダー４の先端部分４０からシート状研磨材Ｐ１を剥離して、新たな別のシート状研磨材Ｐ２を貼着する方法を以下に説明する。 [How to replace the sheet-shaped abrasive]
Next, a method of peeling the sheet-shaped abrasive P1 from the tip portion 40 of the electric sander 4 and attaching another new sheet-shaped abrasive P2 will be described below.
　図３に示すように、制御部によって研磨ロボットを制御して電動サンダー４を移動させて、研磨材剥離台１１の待機用プレート１２上の所定の高さの剥離動作待機位置Ａに待機させる。 As shown in FIG. 3, the polishing robot is controlled by the control unit to move the electric sander 4 to stand by at the peeling operation standby position A at a predetermined height on the standby plate 12 of the abrasive peeling table 11.
　図４に示すように、制御部により研磨ロボットを制御して、シート状研磨材Ｐ１が待機用プレート１２に接触するまで電動サンダー４を降下させて、電動サンダー４を剥離動作開始位置Ｂに移動させる。次いで、集塵装置５を起動させて吸引部２０における吸引を行う。 As shown in FIG. 4, the polishing robot is controlled by the control unit to lower the electric sander 4 until the sheet-shaped abrasive P1 comes into contact with the standby plate 12, and the electric sander 4 is moved to the peeling operation start position B. Let me. Next, the dust collector 5 is activated to perform suction in the suction unit 20.
　図５に示すように、制御部により研磨ロボットを制御して、吸引部２０の吸引プレート２１の方に向けて電動サンダー４を所定の速度で高さを変えずに水平移動させて、平面視においてシート状研磨材Ｐ１と吸引プレート２１とが重なる研磨材吸引位置Ｃに電動サンダー４を移動させる。 As shown in FIG. 5, the polishing robot is controlled by the control unit, and the electric sander 4 is horizontally moved toward the suction plate 21 of the suction unit 20 at a predetermined speed without changing the height, in a plan view. In, the electric sander 4 is moved to the abrasive material suction position C where the sheet-shaped abrasive material P1 and the suction plate 21 overlap.
　このとき、図６に示すように、吸引プレート２１の上に到達したシート状研磨材Ｐ１の一部が、吸引部２０の吸引力によって、電動サンダー４の先端部分４０から剥離して吸引プレート２１に吸い寄せられるような状態となり、その剥離した部分に、剥離プレート１３の角部１４の先端部分が進入する。 At this time, as shown in FIG. 6, a part of the sheet-shaped abrasive P1 that has reached the top of the suction plate 21 is peeled off from the tip portion 40 of the electric sander 4 by the suction force of the suction portion 20, and the suction plate 21 The tip portion of the corner portion 14 of the peeling plate 13 enters the peeled portion.
　制御部により研磨ロボットを制御して、剥離プレート１３の方に向けて電動サンダー４を所定の速度で高さを変えずにさらに水平移動させることにより、電動サンダー４の先端部分４０とシート状研磨材Ｐ１との間に剥離プレート１３がさらに進入してゆく。そして、図７に示すように、シート状研磨材Ｐ１が、電動サンダー４の先端部分４０から完全に剥離してガイド部材２３に沿って落下し、剥離プレート１３の下に備え付けられている回収箱１７の中に回収される。 By controlling the polishing robot by the control unit and further horizontally moving the electric sander 4 toward the release plate 13 at a predetermined speed without changing the height, the tip portion 40 of the electric sander 4 and the sheet-like polishing are performed. The release plate 13 further enters between the material P1 and the material P1. Then, as shown in FIG. 7, the sheet-shaped abrasive P1 completely peels off from the tip portion 40 of the electric sander 4 and falls along the guide member 23, and the collection box provided under the peeling plate 13 is provided. Collected in 17.
　図７に示すように、制御部により研磨ロボットを制御して、電動サンダー４を剥離動作終了位置Ｄに移動させた後、集塵装置５を停止させる。このとき、電動サンダー４の先端部分４０が軸補正部１５の円弧状凹部１６の中に収容される。 As shown in FIG. 7, the polishing robot is controlled by the control unit to move the electric sander 4 to the peeling operation end position D, and then stop the dust collector 5. At this time, the tip portion 40 of the electric sander 4 is housed in the arcuate recess 16 of the shaft correction portion 15.
　次いで、軸補正部１５において、電動サンダー４の先端部分４０の中心軸の位置が、電動サンダー４の回転軸と一致するように補正される。軸補正部１５では、電動サンダー４の先端部分４０を物理的に接触させることによって、電動サンダー４の先端部分４０の中心軸の偏心を検出してこれを矯正する。 Next, in the shaft correction unit 15, the position of the central axis of the tip portion 40 of the electric sander 4 is corrected so as to coincide with the rotation axis of the electric sander 4. The shaft correction unit 15 detects and corrects the eccentricity of the central axis of the tip portion 40 of the electric sander 4 by physically contacting the tip portion 40 of the electric sander 4.
　次いで、図示しない剥離検出センサーがシート状研磨材Ｐ１の剥離の有無を検出し、制御部が剥離動作の良否を判断する。シート状研磨材Ｐ１の剥離が正常に行われた場合は、シート状研磨材Ｐ１を剥離した電動サンダー４の先端部分４０に対して、新たな別のシート状研磨材Ｐ２を貼着するための供給動作に移行する。しかし、シート状研磨材Ｐ１の剥離が正常に行われず異常が検出された場合は、電動サンダー４を上述の剥離動作待機位置Ａに移動させて、剥離動作が再び実施される。 Next, a peeling detection sensor (not shown) detects the presence or absence of peeling of the sheet-shaped abrasive P1, and the control unit determines whether the peeling operation is good or bad. When the sheet-shaped abrasive P1 is normally peeled off, another new sheet-shaped abrasive P2 is attached to the tip portion 40 of the electric sander 4 from which the sheet-shaped abrasive P1 has been peeled off. Shift to supply operation. However, if the sheet-shaped abrasive P1 is not peeled normally and an abnormality is detected, the electric sander 4 is moved to the peeling operation standby position A described above, and the peeling operation is performed again.
　シート状研磨材Ｐ１の剥離が正常に行われた場合、図８に示すように、制御部によって研磨ロボットを制御して電動サンダー４を移動させて、研磨材供給部３０の上の所定の高さの供給動作待機位置Ｅに待機させる。 When the sheet-shaped abrasive P1 is normally peeled off, as shown in FIG. 8, the polishing robot is controlled by the control unit to move the electric sander 4 to move the electric sander 4 to a predetermined height above the abrasive supply unit 30. It is made to stand by at the supply operation standby position E.
　図９に示すように、制御部により研磨ロボットを制御して、電動サンダー４の先端部分４０が、ロッドレスシリンダ構造３１の内側に積載されている新たな別のシート状研磨材Ｐ２の一番上のシート状研磨材Ｐ２に接触するまで電動サンダー４を降下させて、電動サンダー４を研磨材装着位置Ｆに移動させる。このとき、環状部材３４の上面から電動サンダー４の先端部分４０の底面までの距離は、貼着検出センサー３５が検出可能な距離となる。次いで、制御部により、研磨ロボットによる電動サンダー４の下降による押し付け動作と、ロッドレスシリンダ構造３１における昇降用テーブル３３の上昇による押し付け動作とを同時に起動し、上下両方向からの押し付け動作を所定時間実施する。 As shown in FIG. 9, the polishing robot is controlled by the control unit, and the tip portion 40 of the electric sander 4 is the first of another new sheet-shaped abrasive P2 loaded inside the rodless cylinder structure 31. The electric sander 4 is lowered until it comes into contact with the upper sheet-shaped abrasive P2, and the electric sander 4 is moved to the abrasive mounting position F. At this time, the distance from the upper surface of the annular member 34 to the bottom surface of the tip portion 40 of the electric sander 4 is a distance that can be detected by the sticking detection sensor 35. Next, the control unit simultaneously activates the pressing operation by lowering the electric sander 4 by the polishing robot and the pressing operation by raising the elevating table 33 in the rodless cylinder structure 31, and performs the pressing operation from both the upper and lower directions for a predetermined time. do.
　図１０に示すように、制御部は、シート状研磨材Ｐ２に対する、電動サンダー４と昇降用テーブル３３の両者による押し付け動作を所定時間行った後、これを停止させる。そして、研磨ロボットを制御して電動サンダー４を上昇させて供給動作終了位置Ｇに移動させる。尚、供給動作終了位置Ｇは、上述の供給動作待機位置Ｅと同じ位置に設定して良い。 As shown in FIG. 10, the control unit performs a pressing operation by both the electric sander 4 and the elevating table 33 against the sheet-shaped abrasive P2 for a predetermined time, and then stops the pressing operation. Then, the polishing robot is controlled to raise the electric sander 4 and move it to the supply operation end position G. The supply operation end position G may be set to the same position as the above-mentioned supply operation standby position E.
　次いで、貼着検出センサー３５が、電動サンダー４の先端部分４０に対する新たな別のシート状研磨材Ｐ２の貼着の有無を検出し、制御部が供給動作の良否を判断する。シート状研磨材Ｐ２の貼着が正常に行われた場合は、シート状研磨材の交換を終了する。しかし、シート状研磨材Ｐ２の貼着が正常に行われず異常が検出された場合は、電動サンダー４を上述の研磨材装着位置Ｆに移動させて、供給動作が再び実施される。 Next, the sticking detection sensor 35 detects the presence or absence of sticking of another new sheet-shaped abrasive P2 to the tip portion 40 of the electric sander 4, and the control unit determines whether the supply operation is good or bad. When the sheet-shaped abrasive P2 is normally attached, the replacement of the sheet-shaped abrasive is completed. However, if the sheet-shaped abrasive P2 is not normally attached and an abnormality is detected, the electric sander 4 is moved to the above-mentioned abrasive mounting position F, and the supply operation is performed again.
（その他の実施形態）
　１．上述の実施形態では、シート状研磨材が、電動サンダー４の先端部分４０のファスナ面４１の全体に対して貼着する構成が開示されているが、これに限定されるものでなく、例えば図１１に示すように、レーザー加工処理などを施すことによって、電動サンダー４の先端部分４０のファスナ面４１の外周縁部分に、シート状研磨材が貼着しない非貼着部分４２が形成されていても良い。 (Other embodiments)
1. 1. In the above-described embodiment, the configuration in which the sheet-shaped abrasive is attached to the entire fastener surface 41 of the tip portion 40 of the electric sander 4 is disclosed, but the present invention is not limited to this, and for example, FIG. As shown in 11, a non-sticking portion 42 to which the sheet-shaped abrasive is not stuck is formed on the outer peripheral edge portion of the fastener surface 41 of the tip portion 40 of the electric sander 4 by performing laser processing or the like. Is also good.
　尚、上述のように図面を参照しつつ本発明を説明したが、本発明は当該図面の構成に限定されるものではなく、本発明の要旨を逸脱しない範囲において様々な態様で実施することができることは言うまでもない。 Although the present invention has been described with reference to the drawings as described above, the present invention is not limited to the configuration of the drawings, and may be carried out in various embodiments without departing from the gist of the present invention. Needless to say, you can do it.
　本発明に係る研磨材自動交換装置は、例えば自動車、鉄道車両、航空機、船舶などにおけるボディ全体又はこれを構成する種々のパーツについて研磨処理を行う技術分野において特に好適に利用することができる。 The abrasive material automatic exchange device according to the present invention can be particularly suitably used in the technical field of polishing an entire body or various parts constituting the entire body in, for example, an automobile, a railroad vehicle, an aircraft, a ship, and the like.
１００　研磨材自動交換システム
１　研磨材自動交換装置
１０　研磨材剥離部
１１　研磨材剥離台
１２　待機用プレート
１３　剥離プレート（剥離板の一例）
１４　角部
１５　軸補正部
１６　円弧状凹部
１７　回収箱
２０　吸引部
２１　吸引プレート
２２　吸引ホース
２３　ガイド部材
３０　研磨材供給部
３１　ロッドレスシリンダ構造
３２　円形支柱
３３　昇降用テーブル
３４　環状部材
３５　貼着検出センサー
４　電動サンダー（研磨具の一例）
４０　先端部分
４１　ファスナ面
４２　非貼着部分
５　集塵装置
６　吸引用配管
Ｖ　切替バルブ
Ｐ１　シート状研磨材
Ｐ２　新たな別のシート状研磨材
Ｇ　隙間
Ａ　剥離動作待機位置
Ｂ　剥離動作開始位置
Ｃ　研磨材吸引位置
Ｄ　剥離動作終了位置
Ｅ　供給動作待機位置
Ｆ　研磨材装着位置
Ｇ　供給動作終了位置 100 Abrasive automatic exchange system 1 Abrasive automatic exchange device 10 Abrasive peeling part 11 Abrasive peeling table 12 Standby plate 13 Abrasive plate (example of peeling plate)
14 Square part 15 Axis correction part 16 Arc-shaped recess 17 Collection box 20 Suction part 21 Suction plate 22 Suction hose 23 Guide member 30 Abrasive material supply part 31 Rodless cylinder structure 32 Circular support 33 Lifting table 34 Circular member 35 Adhesion detection Sensor 4 Electric sander (an example of polishing tool)
40 Tip part 41 Fastener surface 42 Non-sticking part 5 Dust collector 6 Suction pipe V Switching valve P1 Sheet-shaped abrasive P2 New another sheet-shaped abrasive G Gap A Peeling operation standby position B Peeling operation start position C Polishing Material suction position D Peeling operation end position E Supply operation standby position F Abrasive mounting position G Supply operation end position

Claims (7)

  1. 　研磨具の先端部分に対して着脱可能に貼着されるシート状研磨材を、自動で交換する研磨材自動交換装置において、
    　前記研磨具の先端部分から前記シート状研磨材を剥離するための研磨材剥離部、
    　前記シート状研磨材を剥離した前記研磨具の先端部分に対して、別の前記シート状研磨材を貼着するための研磨材供給部、並びに、
    　前記研磨具、前記研磨材剥離部、及び前記研磨材供給部のそれぞれの動作を制御する制御部を備え、
    　前記研磨材剥離部が、前記シート状研磨材を吸引する吸引部、及び前記研磨具と前記シート状研磨材との間に進入する剥離板を備え、前記吸引部によって前記シート状研磨材を吸引しつつ、前記剥離板によって前記研磨具から前記シート状研磨材を剥離することを特徴とする研磨材自動交換装置。     In an automatic polishing material replacement device that automatically replaces a sheet-shaped polishing material that is detachably attached to the tip of the polishing tool.
    Abrasive peeling portion for peeling the sheet-shaped polishing material from the tip portion of the polishing tool,
    A polishing material supply unit for attaching another sheet-shaped polishing material to the tip portion of the polishing tool from which the sheet-shaped polishing material has been peeled off, and an abrasive material supply unit, and
    A control unit for controlling the operation of the polishing tool, the polishing material peeling unit, and the polishing material supply unit is provided.
    The abrasive peeling portion includes a suction portion that sucks the sheet-shaped abrasive material and a peeling plate that enters between the polishing tool and the sheet-shaped abrasive material, and the sheet-shaped abrasive material is sucked by the suction portion. An automatic abrasive exchange device, characterized in that the sheet-like abrasive is peeled from the abrasive by the release plate.
  2. 　前記研磨具で研磨したときに発生する研磨粉を回収する集塵装置に、前記吸引部が接続されていることを特徴とする請求項１に記載の研磨材自動交換装置。 The automatic polishing material exchange device according to claim 1, wherein the suction unit is connected to a dust collecting device that collects polishing powder generated when polishing with the polishing tool.
  3. 　前記研磨材剥離部が、剥離した前記シート状研磨材を検出する剥離検出センサーを備えることを特徴とする請求項１又は２に記載の研磨材自動交換装置。 The automatic polishing material exchange device according to claim 1 or 2, wherein the polishing material peeling portion includes a peeling detection sensor that detects the peeled sheet-shaped polishing material.
  4. 　前記研磨材剥離部は、前記研磨具の先端部分の中心軸の位置を、前記研磨具の回転軸に一致するように補正する軸補正部を備えることを特徴とする請求項１～３のいずれか一項に記載の研磨材自動交換装置。 Any of claims 1 to 3, wherein the abrasive peeling portion includes a shaft correction portion that corrects the position of the central axis of the tip portion of the polishing tool so as to match the rotation axis of the polishing tool. The automatic polishing material exchange device according to item 1.
  5. 　前記研磨材供給部が、貼着した前記シート状研磨材を検出する貼着検出センサーを備えることを特徴とする請求項１～４のいずれか一項に記載の研磨材自動交換装置。 The automatic polishing material exchange device according to any one of claims 1 to 4, wherein the polishing material supply unit includes a sticking detection sensor for detecting the pasted sheet-shaped polishing material.
  6. 　前記研磨具の先端部分の外周縁部分に、非貼着部分が形成されていることを特徴とする請求項１～５のいずれか一項に記載の研磨材自動交換装置。 The automatic polishing material exchange device according to any one of claims 1 to 5, wherein a non-adhesive portion is formed on the outer peripheral edge portion of the tip portion of the polishing tool.
  7. 　請求項１～６のいずれか一項に記載の研磨材自動交換装置、研磨具を保持する研磨ロボット、及び、研磨具で研磨したときに発生する研磨粉を回収する集塵装置を備える研磨材自動交換システム。 A polishing material provided with an automatic polishing material exchange device according to any one of claims 1 to 6, a polishing robot that holds the polishing tool, and a dust collecting device that collects polishing powder generated when polishing with the polishing tool. Automatic exchange system.
PCT/JP2020/042804 2020-11-17 2020-11-17 Automatic polishing member replacement device and automatic polishing member replacement system provided with same WO2022107206A1 (en)

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