Method for the automated application of a polishing compound to a polishing pad

Abstract

Method for the automated application of a polishing agent (3) to a polishing pad (4), comprising the following steps: - Providing a polishing agent dispensing device (1) comprising a container (5) for receiving polishing agent (3), a lever device (6), a pump actuator (7) operable by means of the lever device (6) and an outlet opening (9), - Providing a robot (2) which has a polishing agent pickup section (8) with a polishing pad (4), - Actuating the lever device (6) by means of the robot (2), so that polishing compound (3) is conveyed to the outlet opening (9) by means of the pump actuator (7) and exits from the outlet opening (9), and - Picking up the emerging polishing compound (3) by the polishing compound pickup section (8) of the robot (2).

Description

[0001] A method for the automated application of a polishing agent to a polishing pad is specified.

[0002] It is known in the art to perform fully automated polishing of components using robots. For example, a polishing device can be attached to a lightweight robot.

[0003] The polishing agent is usually supplied to the polishing station or to the polishing device or polishing tool via lines attached to the robot arm. It is also possible for the polishing tool to be soaked in a tank of polishing agent.

[0004] The document DE 10 2013 021 389 A1 describes, for example, a method for polishing a component in which a polishing device is attached to a lightweight robot.

[0005] The document DE 10 2016 106 141 A1 shows a device for automatically removing a grinding wheel from a robot-assisted grinding device with a grinding machine.

[0006] The document DE 103 19 512 A1 describes an automatic cleaning system with an external charging device.

[0007] The document DE 600 17 501 T2 shows a method and a device for supplying coolant to a grinding machine.

[0008] The document US 2003 / 0 073 391 A1 describes a method and a system for cleaning conditioning devices used in chemical-mechanical polishing systems.

[0009] A disadvantage of the prior art solutions is that supplying the polishing paste via lines on the robot arm negatively impacts the robot's collision protection and freedom of movement. Furthermore, these solutions require additional mounting options for the lines or additional trays to hold the polishing compound. Furthermore, the trays do not allow for particularly precise dosing of the polishing compound.

[0010] It is an object to be achieved in at least some embodiments to provide a method for the automated application of a polishing agent by which at least one of the aforementioned disadvantages can be avoided.

[0011] This object is achieved by an object according to the independent patent claim. Advantageous embodiments and further developments of the object are further apparent from the dependent patent claims, the following description, and the drawings.

[0012] In the method described here for the automated application of a polishing agent to a polishing pad, a polishing agent dispenser and a robot are provided. The polishing agent dispenser has a container for holding polishing agent, a lever device, a pump actuator actuatable by means of the lever device, and an outlet opening. The polishing agent dispenser is designed such that polishing agent arranged in the container can be conveyed or pumped to the outlet opening by actuating the lever device using the pump actuator.

[0013] The robot has a polishing agent receiving section, which preferably includes a polishing pad. The robot can be, for example, a so-called lightweight robot. The robot or lightweight robot preferably has one or more force and / or torque sensors.

[0014] In the method, the lever device is actuated by the robot such that polishing agent arranged in the container is conveyed to the outlet opening by means of the pump actuator and exits from the outlet opening. The polishing agent exiting the outlet opening is received by the polishing agent receiving section of the robot. For this purpose, for example, the polishing agent receiving section can be positioned relative to the outlet opening such that the exiting polishing agent reaches the polishing pad of the polishing agent receiving section immediately after exiting. This arrangement of the polishing agent receiving section relative to the outlet opening can occur in particular immediately before the robot actuates the lever device. After exiting the outlet opening, the polishing agent can reach the polishing pad arranged directly below the outlet opening, for example due to gravity.The polishing agent can in particular be a polishing paste.

[0015] According to a further embodiment, the robot has a lever actuation section, wherein the lever device is actuated by the lever actuation section of the robot. The lever actuation section can, for example, be a component of the manipulator or robot arm of the robot.

[0016] According to a further embodiment, the polishing agent receiving section and the lever actuation section are formed on a robot arm of the robot. Preferably, the polishing agent receiving section and the lever actuation section are formed on the same robot arm of the robot. In other words, the robot can be configured such that, in the method described here, it both actuates the lever device and receives the emerging polishing agent with one and the same robot arm.

[0017] Because the robot is preferably designed as a lightweight robot, precise dosing of the polishing agent is possible, particularly since the robot can exert a precisely defined force on the lever device thanks to the force and torque sensors. Furthermore, a subsequent polishing process can advantageously be carried out autonomously using the lightweight robot, allowing a component to be polished fully automatically without manual intervention.

[0018] According to a further embodiment, the amount of dispensed polishing agent is metered by controlling the distance traveled by the lever actuation section. For example, in the described method, the path or trajectory to be traveled by the lever actuation section can be precisely specified. Since the robot can sensitively detect resistance, it can also be determined whether the pumping movement was smooth and / or continuous, thus determining whether the process was OK ("OK") or NOK ("NOK").

[0019] According to a further embodiment, the force to be applied when actuating the lever device is measured by means of one or more force and / or torque sensors, and a residual amount of polishing agent remaining in the container is determined based on the measured force. Since the mechanical resistance when actuating the lever device is lower when the container is empty or almost empty than when it is completely or almost completely filled with polishing agent, the lightweight robot can detect how much polishing agent is still in the container. Furthermore, with the method described here, the robot can provide an indication if the residual amount falls below a predefined level. The indication can be visual, acoustic and / or haptic, for example.

[0020] According to a further embodiment, in the method, polishing agent is conveyed from the container to the outlet opening via a polishing agent supply, wherein the polishing agent supply has a compressed air supply connection. A compressed air source can be connected to the compressed air supply connection. For example, in the method described here, the outlet opening can be freed of polishing agent residues using compressed air before and / or after the emerging polishing agent is received by the polishing agent receiving section. This advantageously prevents the polishing agent from sticking to the outlet opening.

[0021] According to a further embodiment, after the polishing agent has been picked up, a surface of a component is polished by the robot. The polishing of the component surface can, in particular, be fully automated.

[0022] According to a further embodiment, after the polishing process, the lever device is actuated once again by the robot, so that polishing agent is conveyed to the outlet opening by the pump actuator and exits from the outlet opening. The exiting polishing agent is in turn collected by the polishing agent receiving section or the polishing pad of the polishing agent receiving section of the robot. This process can be repeated as often as desired.

[0023] The method described here is advantageously characterized by the fact that the polishing agent or polishing paste can be automatically dispensed onto the polishing agent receiving section or the polishing pad of the robot. This particularly utilizes the sensitivity of the robot, which is preferably designed as a lightweight robot.

[0024] Further advantages and advantageous embodiments of the method described here will become apparent from the following in connection with the Fig. 1 and Fig. 2 described embodiments. They show: Fig. 1 is a schematic representation of a polishing agent dispensing device according to an embodiment, and Fig. 2 a schematic representation of a lightweight robot according to another embodiment.

[0025] In the exemplary embodiments and figures, identical or similarly functioning components may be provided with the same reference numerals. The illustrated elements and their relative sizes are generally not to scale. Rather, individual elements may be exaggeratedly thick or oversized for clarity and / or clarity.

[0026] The Fig. 1 shows a schematic representation of a polishing agent dispensing device 1 according to an exemplary embodiment. The polishing agent dispensing device 1 has a container 5 for holding polishing agent 3. The polishing agent 3 is, for example, a polishing paste. Furthermore, the polishing agent dispensing device 1 has a lever device 6 and a pump actuator 7 that can be actuated by means of the lever device 6. In addition, the polishing agent dispensing device 1 comprises a compressed air supply connection 11, which is connected to a compressed air source (not shown), as well as an outlet opening 9 and a polishing agent feed 14, via which polishing agent 3 can pass from the container 5 to the outlet opening 9. The outlet opening 9 can have a plurality of outlet nozzles.

[0027] The polishing agent dispenser 1 is attached to a holding device and / or a stationary wall by means of a plurality of fastening means 13. The lever device 6 comprises a lever that can be pivoted via a rotational axis 12 or a pivot joint, thereby actuating the pump actuator 7.

[0028] In the Fig. Figure 2 shows a schematic representation of a lightweight robot 2 according to an exemplary embodiment. The lightweight robot 2 has a robot arm 10 and a polishing agent receiving section 8 configured as an end effector. A polishing pad 4 is arranged on the polishing agent receiving section 8.

[0029] In the method described here, the lever of the lever device 6 is actuated by means of the robot 2 or by a lever actuating section of the robot 2, so that polishing agent is conveyed to the outlet opening 9 and exits from the outlet opening 9. The exiting polishing agent 3 is received by the polishing agent receiving section 8 of the robot 2 or by the polishing pad 4 of the robot.

[0030] The lever actuating section and the polishing agent receiving section 8 can be formed on the same robot arm 10 of the robot 2.

[0031] As part of an automated polishing process, the method described here enables the automatic refilling of the polishing agent 3 onto the polishing pad 4 attached to the robot arm 10. By using a highly sensitive robot 2, which presses the lever of the lever device 6 through the lever actuation section, the dosage of the polishing agent 3 can be controlled using this sensitivity by detecting the resistance when pressing the lever and by the pressure travel. The robot 2 can also advantageously detect when the container 5 is empty.

[0032] Alternatively or additionally, the embodiments shown in the figures may have further features according to the embodiments of the general description. List of reference symbols 1 polishing agent dispenser 2 robots 3 polishes 4 polishing pads 5 containers 6 Lever device 7 Pump actuator 8 Polishing agent receiving section 9 Exit opening 10 Robot arm 11 Compressed air supply connection 12 axis of rotation 13 Fasteners 14 Polishing agent feed

Claims

[1] Method for the automated application of a polishing agent (3) to a polishing pad (4), comprising the following steps: - Providing a polishing agent dispensing device (1) which has a container (5) for receiving polishing agent (3), a lever device (6), a pump actuator (7) which can be actuated by means of the lever device (6) and an outlet opening (9), - Providing a robot (2) having a polishing agent receiving section (8) with a polishing pad (4), - actuating the lever device (6) by means of the robot (2) so that polishing agent (3) is conveyed to the outlet opening (9) by means of the pump actuator (7) and exits from the outlet opening (9), and - Collecting the escaping polishing agent (3) by the polishing agent receiving section (8) of the robot (2). [2] Method according to claim 1, wherein the robot (2) is designed as a lightweight robot and has one or more force and / or moment sensors. [3] Method according to one of the preceding claims, wherein the robot (2) has a lever actuating section, and wherein the lever device (6) is actuated by the lever actuating section of the robot (2). [4] The method according to claim 3, wherein the polishing agent receiving portion (8) and the lever operating portion are formed on a robot arm (10) of the robot (2). [5] Method according to one of claims 3 or 4, wherein a dosage of the quantity of the emerging polishing agent (3) is carried out by regulating a distance to be covered by the lever actuating section. [6] Method according to one of the preceding claims, wherein the polishing agent (3) is guided to the outlet opening (9) via a polishing agent feed (14), wherein the polishing agent feed (14) has a compressed air supply connection (11). [7] Method according to claim 6, wherein before and / or after collecting the emerging polishing agent (3), the outlet opening (9) is freed of polishing agent residues by means of compressed air. [8] Method according to one of the preceding claims, wherein a force to be applied when actuating the lever device (6) is measured by means of one or more force and / or moment sensors and, depending on the measured force, a residual amount of polishing agent (3) remaining in the container (5) is determined. [9] Method according to claim 8, wherein an indication is given by the robot (2) when the remaining quantity falls below a predefined level. [10] Method according to one of the preceding claims, wherein after picking up the polishing agent (3) a surface of a component is polished by means of the robot (2). [11] Method according to claim 10, wherein after the polishing process, the lever device (6) is actuated once again by means of the robot (2) so that polishing agent (3) is conveyed to the outlet opening (9) by means of the pump actuator (7) and exits from the outlet opening (9), and the exiting polishing agent (3) is received by the polishing agent receiving section (8) of the robot (2).

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