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
  • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
• • 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
  • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
  • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
  • B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
  • B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
  • B24B9/10—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass
• • 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
  • B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer 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
  • B24B41/00—Component parts such as frames, beds, carriages, headstocks
  • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
• • 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
  • B24B41/04—Headstocks; Working-spindles; Features relating thereto
  • B24B41/047—Grinding heads for working on plane surfaces
  • B24B41/053—Grinding heads for working on plane surfaces for grinding or polishing glass
• • 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
  • B24B41/06—Work supports, e.g. adjustable steadies
  • B24B41/068—Table-like supports for panels, sheets or the like
• • 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
  • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
  • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
  • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
  • B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
  • B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
  • B24B9/10—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass
  • B24B9/102—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass for travelling sheets

Definitions

• the invention relates to a device for processing panels, in particular for edging glass panes, with a grinding head which comprises a rotary drive and a grinding means which can be driven in rotation about an axis of rotation and which is rotatably mounted with respect to a carrier, the grinding head for processing a panel is displaceable with a robot guide along plate edges and on a system with such a device.
• EP 3254804 A2 discloses a face grinder whose grinding surface is mounted in the grinding head with a linear motor so that it can be adjusted perpendicularly to the grinding surface. A grinding head is pressed against the edge of a glass sheet with a defined pressure force via a linear motor. A connection to a robot arm is not disclosed.
• DE 102006056179 A1 discloses a grinding head for use on an industrial robot for surface treatment of plastic parts.
• the invention is therefore based on the object of specifying a device suitable for a dry grinding method and a simplified method suitable for this.
• the invention solves the problem set by an arrangement on a multi-axis robotic arm, with the grinding means being a dry face grinder, the grinding surface of which is mounted in the grinding head with a linear motor so that it can be adjusted perpendicularly to the grinding surface, with the grinding surface being adjustable within a control range along the axis of rotation with a constant actuating force and a robot control for guiding the grinding head being provided, which robot control guides the grinding head over the plate in such a way that the control range is maintained, in particular a central position between two control end points is controlled.
• the grinding means being a dry face grinder, the grinding surface of which is mounted in the grinding head with a linear motor so that it can be adjusted perpendicularly to the grinding surface, with the grinding surface being adjustable within a control range along the axis of rotation with a constant actuating force and a robot control for guiding the grinding head being provided, which robot control guides the grinding head over the plate in such a way that the control range is maintained, in particular a central position between two control
• the processing of the plate, here in particular the glass plates takes place in the dry-seam process using robot technology with servo-linearly controlled drive and pressing technology.
• the advantages of the new technology are the low maintenance and service costs, the low operating and disposal costs, the low operating resource costs and the simple operation.
• the robot system seams all glass edges in a vertical position fully automatically - without the use of water - in a dry process.
• the abrasive used is applied precisely to the edge of the glass.
• the pressure regulation in the grinding head according to the invention distributes the contact pressure evenly over the edge of the glass and over the entire length of the glass pane, regardless of the course and quality of the broken glass.
• the grinding surface of the dry face grinder is pressed with a force against the surface or edge to be ground, which on the one hand avoids burning out of the plates or excessive wear of the grinding tool.
• the grinding surface can be formed by a grinding sheet, which is releasably attached to a grinding plate of the dry face grinder, for example by means of a Velcro fastener or the like. This means that a worn sanding sheet can be changed quickly or a grit can be changed quickly if necessary.
• the system works in a dry process, which means that the complex treatment systems for disposing of sludge are not necessary.
• the grinding head according to the invention is arranged on a multi-axis robot arm, which means that even more complicated panel geometries can be machined equally well.
• a robot control is provided for guiding the grinding head, the robot control guiding the grinding head over the plate in such a way that the control range is maintained, in particular a central position between two control end points is controlled.
• a position sensor measuring the axial position of the grinding means, in particular with respect to the carrier, is preferably assigned to the linear motor. In this way, together with a corresponding controller, in particular of the robot, it can be ensured that the control range is not left during grinding.
• the abrasive is used in a suction hood which is open towards the grinding surface and is brought forward into the vicinity of a grinding plane, which hood is mounted with the abrasive so that it can be adjusted within the control range along the axis of rotation.
• the suction can also be carried out using a sanding sheet with appropriate perforations and a sanding disc equipped with the appropriate suction channels.
• a plate sensor arranged on the grinding head and directed towards a plane spanned by the grinding surface can be arranged alongside the dry face grinder for detecting the presence of a plate in a grinding area.
• the plate sensor can be, for example, a laser, a light barrier, an ultrasonic sensor, a short-range radar or the like. Improved Rule information can be obtained if the plate sensor is a camera.
• a system for hemming panels comprises an infeed part, an outfeed part, with a panel conveyor device, in particular with conveyor belts, and a grinding head according to the invention as described above, the infeed part and the outfeed part forming panel guide surfaces lying in a common conveying plane and being spaced apart in the conveying direction in such a way that the Funding level can be gripped behind with the grinding head. This means that the front and rear panel edges can be hemmed in the same way.
• the panel guide surfaces in the area of the conveying plane can be equipped with a plurality of air nozzles, which can be used for forming when conveying panels of an air cushion with compressed air and with plate processing to form a suction force with negative pressure.
• At least one light barrier directed towards the panel guide surface can be provided in the region of the end of the infeed part and/or the start of the outfeed part.
• FIG. 1 a view of a system according to the invention with a multi-axis robot
• FIG. 3 shows the grinding head from FIG. 2 in a front view
• FIG. 4 shows the grinding head from FIG. 2 in a rear view. Ways to carry out the invention
• a device for processing panels in particular for edging glass panes, has a grinding head 4, which includes a rotary drive and a grinding means 5, which can be driven in rotation about an axis of rotation D and is rotatably mounted with respect to a carrier, the grinding head 4 for processing a panel with a robot guide can be displaced along plate edges.
• the grinding head 4 is arranged on a multi-axis robot arm 3, with the grinding means 5 being a dry face grinder, the grinding surface of which is mounted in the grinding head 4 with a linear motor 6 so that it can be adjusted perpendicularly to the grinding surface, the grinding surface being adjustable within a control range along the axis of rotation D with a constant actuating force and
• a robot control for guiding the grinding head 4 is provided, which robot control guides the grinding head 4 over the plate in such a way that the control range is maintained, in particular a central position between two control end points is controlled.
• the grinding head 4 With the grinding head 4 according to the invention, it is possible to position a rotating grinding wheel 5, which in particular can reach a speed of up to 5000 rpm, with an adjustable pressure of, for example, up to 10N on a glass edge and to position it without overheating the glass edge line This process takes place without external cooling (water, oil).
• the grinding head 4 includes, among other things, a linear motor 6, a measuring system 7 and a servomotor 8, which drives the grinding wheel 5 here via a toothed belt drive and, in order to enable a position shift perpendicular to the grinding surface along a guide, a drive shaft that can be telescopic, for example.
• a direct drive is also possible.
• the linear motor is kept in a 0 position (0 point in FIG. 3), in particular by means of an associated servo controller, which is in particular between the two control end points Ro and Ru of the linear motor.
• the control range is R 0 + Ru.
• a plate sensor P arranged on the grinding head 4 and directed towards a plane E spanned by the grinding surface is associated and/or associated with the dry face grinder for detecting the presence of a plate in a grinding area.
• the disk sensor P can optionally also measure the distance between the grinding head 4 and the plane E.
• the built-in measuring system 7 regulates the actuating force, i.e. the contact pressure with which the grinding wheel is placed against a plate.
• the entire system (including the robot arm) is controlled in such a way that the O-point is approached again with the set force.
• This regulation works in the plus and minus direction, for example in a range of 30 mm.
• imprecisely cut panes of glass are also processed immediately. This advantage is particularly important for special shapes such as angled cuts, radii and the like.
• the robot 3 moves the grinding head 4 to the edge of the glass and dips it in approx. 5 mm with the adjusted force.
• the servomotor 8 rotates at a set speed and moves the grinding wheel 5.
• the front glass edges are hemmed first and the back ones afterwards.
• the grinding wheel 5 is not positioned at 45° to the edge of the glass, but is aligned and guided parallel to the plate surface.
• a specially designed suction device 9 is provided on the grinding head 4 , which is subjected to negative pressure in the area of the grinding head 4 .
• the machine was developed to seam and break edges of all types of cut glass panes
• the machine construction of a system according to the invention includes, among other things, an inlet part 1, an outlet part 2 and a robot 3.
• a grinding head 4 according to the invention is mounted on the robot.
• Rear walls form panel guide surfaces lying in a common conveying plane on the inlet 1 and on the outlet 2 and are equipped with air nozzles forming air cushions in order to support the glass pane during transport.
• the pleasure nozzles can create a vacuum and hold the glass pane against the back wall while hemming.
• Glass panes to be edged are placed manually or automatically on infeed 1.
• the positioning of the glass pane is supported by activating a light barrier, which is mounted at the end of infeed 1. This establishes the starting point for the grinding wheel and the grinding head 4 begins hemming the front edge of the glass pane.
• the robot 3 moves the grinding head 4 over the front glass edge until a light barrier arranged on the grinding head 4 no longer detects the glass pane. The back can then be hemmed.
• either the plate with the conveyor device can be moved past the grinding head or the grinding head can be moved over the stationary glass edge with the robot arm.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Ceramic Engineering (AREA)
• Inorganic Chemistry (AREA)
• Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
• Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=80780618

Family Applications (1)

Country Status (2)

Citations (7)

• 2021
  • 2021-03-11 AT AT600722021A patent/AT524760B1/de active
• 2022
  • 2022-03-09 WO PCT/AT2022/060065 patent/WO2022187880A1/de not_active Ceased

Patent Citations (7)

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