• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A system for grinding surfaces, in particular car bodies, has a program-controlled robot with an eccentric grinding head (2) on a robot arm (1). To replace the grinding discs (4) equipped with openings (6 ') for the suction, a detachment station (9) is provided. A slide (20) engages with a knife edge (22) in a Velcro connection between the grinding wheel (4) and a receiving plate (3) also provided with openings on the eccentric grinding head (2). The slide (20) is tilted and clamps the grinding wheel (4), so that the eccentric grinding head (2) can be pulled back empty. A following station (10) has stop strips (26) and sensors (28, 29) for aligning the receiving plate (3) in a basic position, wherein the eccentricity and the rotational position of the hole pattern then with the position of the grinding wheels (4) a grinding wheel magazine (8) match. When the eccentric grinding head (2) moves into this loading station (13), pressing the receiving plate (3) located in the corresponding basic position against the rear side of the foremost grinding wheel (4) produces the hook and loop connection whose holding force is greater than the retaining force of the retaining fingers (FIG. 37).
    公开号:AT512464A1
    申请号:T1662012
    申请日:2012-02-07
    公开日:2013-08-15
    发明作者:Egon Gillinger
    申请人:Sps Holding Gmbh；
    IPC主号:
    专利说明:

    ψ * * * * · 9 ·. · # · «Ft * · · * * V ·« · · · • I * * * · II · ♦ · · · * * * · · · ·
    X
    The invention relates to a system for grinding surfaces, in particular car bodies or body parts, with a program-controlled robot and at least one robot arm, which carries an eccentric grinding head with an eccentrically driven receiving plate with Velcro connection for a grinding wheel, in particular sandpaper, wherein in the plate surface the receiving plate and in the grinding wheel openings are provided for sucking sanding dust.
    In the context of the completion of products, for example in the automotive industry, the wood industry or the ceramic industry, it is necessary that surfaces before a surface finishing, such as by painting, galvanizing or glazing, are ground. For this purpose, mostly compressed air-operated grinding machines are used, which are based on the principle of oscillating or. Eccentric grinding work. Grinding robots have program-controlled robot arms that carry an eccentric grinding head. On a receiving plate of the eccentric grinding head, which usually has an intermediate layer of sponge rubber or the like, a grinding wheel is interchangeably arranged as a consumable. A Velcro connection to the grinding wheel on the one hand ensures the safe transmission of the torques (shearing forces) required for grinding on the part of the drive and on the other hand ensures removal of the grinding wheel (on train). Since it is crucial for the quality of the grinding result to remove the grinding dust from the immediate working area, suction devices are provided. The extraction takes place via channels in the receiving plate and through openings in the exchangeable grinding wheel. The hole pattern (for example, each 6 openings in two concentric circles) must be in the receiving plate and the grinding wheels congruent. When replacing the grinding wheel, for example when changing grinding wheels, attention must be paid to this positioning.
    The aim of the invention is to enable automation of the grinding wheel changing process. This is achieved in a system with a grinding robot of the type described above in that for changing the grinding wheels one of the 2
    Robotic arm to be approached removal station for the used grinding wheels, a station for aligning the receiving plate in the rotational position and a loading station with a grinding wheel magazine for applying a new grinding wheel is provided on the receiving plate with congruent openings. It thus takes place in the context of the changing process, an alignment of the rotational position of the receiving plate with respect to its hole pattern in a basic position, which coincides with the rotational position of the grinding wheels in the grinding wheel magazine with respect to the openings. Thus, after removing the used grinding wheel a new commercial grinding wheel can be applied fully automatically and congruent. So there are no grinding wheels required, which have a mark custom-made. According to the invention, the detaching station has a table for supporting the eccentric sanding head together with a grinding wheel adhering to the mounting plate and a slide which can be moved parallel or obliquely to the support surface of the table at a predetermined distance into the support area with a front edge of the knife. The frontal knife edge of the slider can be pushed between the grinding wheel and the receiving plate, ie in the hook and loop fastener in order to break the holding force of the hook and loop fastener. To ensure that when a withdrawal of the Exzenterschleifköpfes by the robot, the used grinding wheel is detached from the receiving plate down, it is useful if the slide against the plane of the table designed tiltable and the slide in its advanced position in the tilted position with the knife edge clamping on Rests back of the grinding wheel and preferably that in the support surface of the table a recess, in particular groove below the advanced knife edge for receiving the same is provided in the tilted position of the slider. Thus, the slider is not only advanced, but also pressed against the used grinding wheel. By tilting the slider assembly, the knife edge presses against the grinding wheel with increased force, so that a secure hold on the table is achieved. If then a recess in the table allows a positive fit, so the knife edge presses the grinding wheel locally into the recess, then the used grinding wheel remains with certainty on the table when the robot the Exzen- · ♦ · * · # · «t »♦ · · · · · · · · · · · 0 9 0 9 00 3 retract the sanding head with a force greater than that of the hook and loop fastener. It is useful if the table for ejecting the grinding wheel after retraction of the slider (20) is arranged tiltably. The used grinding wheel slides from the table into a special waste bin.
    A concrete embodiment of the system is characterized in that the station for aligning the receiving plate has V-shaped diverging stop strips, against which the receiving plate with its border for rotating the same in a central center position is mobile. The empty receiving plate performs circular or elliptical movements approximately in the grinding plane, wherein the central axis of the receiving plate emigrates for example, 5 mm from the central axis of the eccentric grinding head. To reset this eccentricity, the receiving plate is moved with the drive off by the robot to the side against the guide or stop surfaces, whereby the receiving plate assumes a basic position, its rotational position is still undefined. In order to bring the rotational position while maintaining the central center position in a defined basic position, the system is characterized in that the station for aligning the receiving plate a parallel mating surface to the end face of the receiving plate with preferably two stationary sensors, in particular laser reflection probes, for the detection of the hole pattern having the openings in the receiving plate and that the eccentric grinding head on the robot arm is rotatable about the central axis until the sensors detect openings in the receiving plate congruent and a motor for rotational position adjustment of the eccentric grinding head relative to the robot arm via a signal of the sensors can be switched off. The rotation of the entire eccentric grinding head was in this embodiment on the 6th axis of the robot arm.
    The eccentric grinding head with its centered and aligned in hole pattern basic position receiving plate is controlled in the transfer position to the grinding magazine, there to take over a new grinding wheel. The grinding wheels are always in this hole pattern basic position and with the Velcro • • * * * t
    »» · * M «B · · · · ·« · · «♦ * · · 4 · outward in the transfer position. It is useful if the grinding wheel magazine has a holder for receiving the perforated grinding wheels in the same predetermined rotational position, in particular as a support guide rod for threading the grinding wheels and that a feed device, in particular a compressed air cylinder with retractable punch, for aligning and Nachschieben the grinding wheels in the transfer position and are provided in this edge-positioned retaining fingers. The Velcro connection is made by attaching the receiving plate to the grinding wheel located completely outside in the magazine. Their holding force is large enough to pull the new grinding wheel edge over the retaining fingers of the grinding wheel magazine when returning the eccentric sanding head.
    The program control has completed the change process and now continues with the grinding. The operation of the grinding wheel change can be timed or controlled depending on the wear of the grinding wheel in use.
    An embodiment of a system according to the invention will be explained below with reference to Figures 1 to 5.
    1 shows the plant in its overall structure,
    2 is a view of a detachment station,
    Fig. 3 is a view of a station for aligning the
    Receiving plate, the station having been rotated in the image plane with respect to the robot arm shown in side view,
    Fig. 4 is a grinding wheel magazine in cross section during loading and compacting of the grinding wheels and
    Fig. 5, the grinding wheel magazine just before the acquisition of a grinding wheel by the Exzenterschleifköpf. • · · «« * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ·· * 5
    1, a grinding robot with a multi-joint robot arm 1 is provided, which carries an eccentric grinding head 2.
    The grinding robot works in the example as a machining center with six axes, wherein on the axis six of the entire eccentric grinding head 2 relative to the robot arm 1 in the rotational position is adjustable. The eccentric grinding head 2 has a compressed air drive for a receiving plate 3. This can be equipped with a layer of sponge rubber to allow a soft adjustment of a grinding wheel 4 on the grinding object - here a car body 5 -. The grinding wheel 4 adheres to the receiving plate 3 (or its sponge rubber surface) by means of a hook and loop fastener. This ensures the transmission of the eccentric torque in the parallel plane to the grinding plane and counteracts a tensile force during detachment and grinding wheel exchange.
    The receiving plate 3 has channels and end openings 6 (FIG. 5) for extracting grinding dust, as shown by a suction fan 7 in FIG. These openings 6 are distributed evenly over the entire surface of the receiving plate 3 (for example, 4 openings each on two concentric circles -see Fig. 3). This results in a hole pattern for the receiving plate 3, which is congruent with the openings 6 'of the grinding wheels 4 on this again, so that an extraction is possible directly at the place of origin of the grinding dust.
    In an automatic grinding wheel change (due to wear or transition to another grain), the detachment of the used grinding wheels 4 and the match of the hole patterns in their rotational position of receiving plate 3 (openings 6) and a new grinding wheel 4 (openings 6 ') from a grinding wheel magazine. 8 (Fig. 4, 5), the robot arm 1 moves with the eccentric grinding head 2 in a detachment station 9, after the detachment of a worn grinding wheel 4 in a station 10 for aligning the receiving plate 3 with respect to eccentricity (arrow 11) and rotational position ( Arrow 12) and subsequently in a loading station 13. A program control 14 of the robot starts the grinding wheel change operation, and controls the robot arm 1 in the aforementioned positions, monitors the processes and sets after grinding wheel change the programmed grinding of the respective industrial product, here a body. 5 , continued.
    The detachment station 9 is shown schematically in FIG. It has a table 15 which can be folded up in the direction of the arrow 16. On the table 15, a support plate 17 is also tiltably articulated (arrow 18), A compressed air cylinder 19 on the support plate 17 moves a slider 20 which is itself adjustable by a further compressed air cylinder 21 perpendicular to the thrust direction of the air cylinder 19. The slider 20 carries a cantilevered wedge-shaped blade with a front edge knife edge 22nd
    This arrangement is preceded by a support surface 23 for the used grinding wheel 4 on the receiving plate 3 of the eccentric grinding head 2 on the table 15. Once the eccentric sanding head 2 is in the detachment station and the used grinding wheel 4 rests on the support surface 23, the slider 20 is advanced by the compressed air cylinder 19, so that the blade of the slider 20 with the cutting edge 22 in the hook and loop between receiving plate 3 and grinding wheel 4th The slider 20 is now pressed by the pneumatic cylinder 21. The slider 20 presses the grinding wheel 4 against the contact surface 23. The eccentric grinding head 2 could be withdrawn, the grinding wheel 4 being retained by the slider 20. In order to prevent it from pulling out of the clamp, the slide 20 is pressed by tilting the support plate 17 (dashed lines) with its knife edge 22 by line contact even more firmly against the back of the grinding wheel 4, wherein a groove 24 in the support surface 23 for a reinforced If the eccentric c Grinding head 2 withdrawn, then the grinding wheel 4 remains with certainty on the support surface 23 back. Then the entire detachment station is tilted (table 15 in the direction of arrow 16). It slides the used grinding wheel 4 from the table 15 in a collecting container.
    Fig. 3 shows the station for aligning the receiving plate 3. The eccentric movement thereof is indicated by the dashed lines. The station 10 has an opposite to the end face of the receiving plate 3 counter-surface 25, which are bounded by V-shaped diverging stop strips 26. The receiving plate 3 is pushed in its last occupied position in the context of the dashed lines against the stop strips 26 and rotated relative to the eccentric grinding head 2 and centered. The circle 27 indicates the centered position of the receiving plate 3. In order now to bring the hole pattern (openings 6) of the receiving plate 3 in a basic position, the station has sensors 28, 29 which are located in a desired position of the openings 6. The eccentric grinding head 2 is pushed over this measuring position and turned relative to the robot arm 1 until the hole pattern of the receiving plate 3 coincides with the position of the sensors 28 and 29. Of course, more than two sensors 28, 29 may be provided and the hole image shown in simplified form may have much more openings 6. In Fig. 3, the electrical connection of the sensors 28, 29 is shown with a controller 30 for a servomotor 31 (sixth axis of the grinding machining center). When the sensors 28, 29 are covered, the controller 30 sends a turn-on signal to the servomotor 31. At a recent signal due to congruent with the sensors 28, 29 openings 6 of the servomotor 31 is turned off. Thus, the openings 6 are in the receiving plate 3 in a basic position.
    In Fig. 4, the grinding wheel magazine 8 is shown after loading by new grinding wheels 4. The above basic position corresponds to the rotational position of the grinding wheels 4 in the magazine 8. This is fixed by a guide rod 32, the interior of the magazine housing 8 passes through in the longitudinal direction, on which the grinding wheels 4 are threaded. The cylinders 33 and 34 actuate punches 35 and 36, which compress the package of grinding wheels 4 and thus straighten. The grinding wheels 4 are aligned in Figs. 4 and 5 so that the hook and loop fastener faces to the left. A grinding wheel 4 is shown in dashed lines in the image plane and can be seen their openings 6 '. I «· · 8
    Fig. 5 shows the grinding wheel magazine 8 in the loading station 13 after filling and pressing the grinding wheels 4, ready for removal of a new grinding wheel 4 on the left side. There are on the edge side of the magazine housing 8 retaining fingers 37, which prevent the grinding wheels 4 despite a constant pressure by the cylinder 34 and the punch 36 from falling out of the removal opening. Only the approached eccentric grinding head 2, the receiving plate 3 lays against the hook and loop fastener side of the foremost grinding wheel 4 and produces a firm bond, pulls the return wheel, the grinding wheel 4 on the peripheral retaining fingers 37 and thus removes this grinding wheel 4 from the grinding wheel magazine 8. The openings 6 of If the guide rod 32, the grinding wheel ready 4 ready in the magazine 8 slightly surmounted and possibly sharpened or rounded, this contributes to the alignment or temporary retention of the receiving plate 3, as this supernatant the guide rod 32 engages in one of the openings 6 of the receiving plate 3.
    Vienna, February 7, 2012
    权利要求:
    Claims (7)
    [1]
    Dr. Müllner Dipl.-Ing. K * aist; hinka *;) E, G: * Patent Attorney's Office Weihburggasse 9; Pg $ lfaph ^ 5¾. Austria Telephone: (+43 (1) 512 24 81 / Vax: * ä + 43 * (1) *% 13 * 76 81 / E-Mail: & repatent@aon.at Account (PSK): 1480 708 BLZ 60000 BIC: OPSKATWW IBAN: AT19 6000 0000 0148 07081 480 708 14 / Ö 45481 SPS Holding GmbH 4300 St. Valentin (AT) Claims: 1. Plant for grinding surfaces, in particular car bodies or body parts, with a program-controlled robot and at least a robot arm, which carries an eccentric grinding head with an eccentrically driven receiving plate with Velcro connection for a grinding wheel, in particular made of sandpaper, wherein in the plate surface of the receiving plate and in the grinding wheel openings are provided for sucking sanding dust, characterized in that for changing the grinding wheels (4 ) a to be approached by the robot arm (1) removal station (9) for the used grinding wheels (4), a station (10) for aligning the receiving plate (3) in the rotational position and a loading station (13) a grinding wheel magazine (8) for applying a new grinding wheel (4) on the receiving plate (3) with congruent openings (6, 6 ') is provided.
    [2]
    2. Installation according to claim 1, characterized in that the detaching station a table (15) for supporting the eccentric grinding head (2) together with a on the receiving plate (3) adherent grinding wheel (3) and a parallel or oblique to the support surface of the table (15 ) at a predetermined distance in the support area movable slide (20) having an end-side knife edge (22).
    [3]
    3. Installation according to claim 2, characterized in that the slide (20) relative to the plane of the table (15) formed tiltable and the slide (20) in its advanced position in the tilted position with the knife edge (22) clamping the back of the grinding wheel (4) and preferably, that in the support surface of the table (15) has a recess, in particular groove (24) below the advanced knife edge (22} for receiving the same in the tilting position of the slider (20) is provided.
    [4]
    4. Plant according to claims 2 or 3, characterized in that the table (15) for ejecting the grinding wheel (4) after retraction of the slide (20) is arranged tiltably.
    [5]
    5. Installation according to one of claims 1 to 4, characterized in that the station (10) for aligning the receiving plate (3) has V-shaped diverging stop strips (26), against which the receiving plate (3) with its border for twisting the same in a centric central position is mobile.
    [6]
    6. Installation according to one of claims 1 to 5, characterized in that the station (10) for aligning the receiving plate (3) has a parallel mating surface (25) to the end face of the receiving plate (3) with preferably two stationary sensors (28, 29) , in particular laser reflection probes, for detecting the hole pattern of the openings (6) in the receiving plate (3) and in that the eccentric grinding head (2) on the robot arm (1) is rotatable about the central axis until the sensors (28, 29) have openings (6 ) in the receiving plate (3) detect congruent and a servomotor (31) for rotational position adjustment of the eccentric grinding head (2) relative to the robot arm (1) via a signal of the sensors (28, 29) can be switched off.
    [7]
    7. Installation according to one of claims 1 to 6, characterized in that the grinding wheel magazine (8) has a holder for receiving the perforated grinding wheels (4) in each case the same predetermined rotational position, in particular as a holder guide rod (32) for threading the grinding wheels (4 ) on one of the openings (6 ') and that a feed device, in particular a compressed air cylinder (34) with extendable punch (36), judge 3 and to Nachschieben the grinding wheels (4) in the transfer position and in this edge positioned retaining fingers (37) are provided. Vienna, February 7, 2012
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    同族专利:
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    AT512464B1|2014-01-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0172400A2|1984-08-22|1986-02-26|Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3|Installation for automatically sanding curved surfaces|
    EP0565953A1|1992-04-13|1993-10-20|Minnesota Mining And Manufacturing Company|Automated random orbital abrading system and method|
    US6264534B1|1999-03-25|2001-07-24|Ford Global Technologies, Inc.|Method and tooling for automated wet or dry sanding of a vehicle surface|
    US20010041650A1|1999-09-07|2001-11-15|Nikon Corporation|Polishing device and polishing pad component exchange device and method|
    FR2942735A1|2009-03-03|2010-09-10|Abb France|Abrasive disc mounting assembly for rotary spindle of sandpapering device, has sets of magnetic attraction units permitting mapping of aspiration openings with holes of disc by mutual attraction when units are brought closer to each other|DE202014006506U1|2013-09-03|2014-09-01|Asis Gmbh|Grinding plant for replacing a grinding wheel|
    DE102013221319A1|2013-10-21|2015-04-23|Volkswagen Aktiengesellschaft|Automatic change of grinding / polishing wheels for the treatment of body components|
    DE102017209944A1|2017-06-13|2018-12-13|Bayerische Motoren Werke Aktiengesellschaft|End effector for a robot, robot with end effector and method for grinding and polishing a component|
    WO2021008837A1|2019-07-15|2021-01-21|Ferrobotics Compliant Robot Technology Gmbh|Device and method for automatically removing grinding wheels|
    FI20195131A1|2019-02-20|2020-08-21|Mirka Ltd|A device for changing abrading products|
    法律状态:
    2020-10-15| MM01| Lapse because of not paying annual fees|Effective date: 20200207 |
    优先权:
    申请号 | 申请日 | 专利标题
    AT1662012A|AT512464B1|2012-02-07|2012-02-07|APPENDIX FOR GRINDING SURFACES|AT1662012A| AT512464B1|2012-02-07|2012-02-07|APPENDIX FOR GRINDING SURFACES|
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