Polishing material separation device, control method of polishing material separation device, and program

Abstract

To provide a technology for separating a polishing material with high accuracy without damaging the polishing material.SOLUTION: A polishing material separation device includes: a separation member inserted to a part between an attachment part to which a polishing material is attached and the polishing material attached to the attachment part; and control means that moves the attachment part attached with the polishing material and the separation member relatively to each other to establish a state where the separation member is inserted to the part between the attachment part and the polishing material. The polishing material separation device includes a separation auxiliary member that is arranged on the opposite side of the attachment part with respect to the separation member and contacts the polishing material a part of which has been separated from the attachment part by the separation member.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an abrasive separating device, a method for controlling an abrasive separating device, and a program. [Background technology]

[0002] Patent document 1 discloses that the polishing pad (abrasive material) is clamped between two gripping mechanisms (clamping devices), and the end of the robot including the polishing pad mounting plate is moved away from the polishing pad, thereby removing the polishing pad from the polishing pad mounting plate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] German Patent Application Publication No. 102020122114 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technique described in Patent Document 1, the polishing pad is clamped with a strong force, which may result in damage to the polishing pad, making it difficult to reuse the polishing pad.

[0005] The present invention has been made to solve the above-mentioned problems, and has an object to provide a technique for separating abrasives such as polishing pads with high precision without damaging them. [Means for solving the problem]

[0006] An abrasive separating apparatus according to one aspect of the present invention that achieves the above object comprises: a separating member inserted between the mounting portion on which the abrasive is mounted and the abrasive mounted on the mounting portion; a control means for moving the attachment portion, on which the abrasive material is attached, and the separating member relative to each other, so that the separating member is inserted between the attachment portion and the abrasive material; An abrasive separating device comprising: The abrasive grinding machine is characterized in that it further comprises a separation auxiliary member that is disposed on the opposite side of the attachment portion with respect to the separating member and that comes into contact with the abrasive that has been partially separated from the attachment portion by the separating member. [Effects of the Invention]

[0007] According to the present invention, it is possible to separate the abrasive with high precision without damaging it. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing the overall configuration of an abrasive separating device according to an embodiment; [Figure 2] FIG. 2 is a diagram showing an example of the configuration of a control device according to an embodiment. [Figure 3] FIG. 2 is an explanatory view of an abrasive separation process according to an embodiment. [Figure 4] FIG. 10 is another explanatory view of the abrasive separation process according to the embodiment. [Figure 5] FIG. 2 is a diagram illustrating the operation of a detection unit (distance measurement sensor) according to an embodiment. [Figure 6] FIG. 10 is a diagram showing a specific example of a member according to an embodiment. [Figure 7] FIG. 3 is an explanatory diagram of the operation of a detection unit (photoelectric sensor) according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numerals are used to designate identical or similar components, and redundant descriptions will be omitted.

[0010] <Overall configuration of the abrasive separation device> First, the overall configuration of the abrasive separating device according to this embodiment will be described with reference to Fig. 1. The abrasive separating device 10 includes a robot 20, a control device 30, a separating member (first member) 40, a separation assisting member (second member) 50, and a detection unit 60.

[0011] The robot 20 is a polishing machine and includes a mounting unit 21 to which an abrasive 22 is attached. The mounting unit 21 is, for example, a polishing pad (disc pad). The abrasive 22 is, for example, a polishing sponge (buff). The robot 20 is operated to bring the abrasive 22 into contact with an object, thereby polishing the object. The abrasive 22 needs to be replaced with an appropriate abrasive depending on the type of polishing task. By removing and cleaning the abrasive 22 after a polishing task, the abrasive 22 can be reused for another polishing task.

[0012] The control device 30 controls the robot 20, and can move the mounting part 21 and the abrasive 22 to any position with the abrasive 22 attached to the mounting part 21. The control device 30 also acquires the detection result from the detection part 60 and executes processing according to the detection result.

[0013] The separating member 40 is a member for separating the mounting portion 21 and the abrasive 22. The separating member 40 is, for example, a plate. The separation auxiliary member 50 is a member disposed opposite the separating member 40 and for preventing the abrasive 22 from warping when the abrasive 22 is separated from the mounting portion 21. The separation auxiliary member 50 is, for example, a plate or a frame member. FIG. 6 is a diagram showing an example of the separating member 40 and the separation auxiliary member 50. In FIG. 6, the separating member 40 is a plate, and the separation auxiliary member 50 is a frame member. Intermediate members 61 and 62 are disposed between the separating member 40 (plate) and the separation auxiliary member 50 (frame member), and the separating member 40 (plate) and the separation auxiliary member 50 (frame member) are attached to the intermediate members 61 and 62. Alternatively, the positions of the separating member 40 (plate) and the separation auxiliary member 50 (frame member) may be fixed by other methods without providing the intermediate members 61 and 62.

[0014] The separation auxiliary member 50 may be disposed parallel to the separating member 40. The separation auxiliary member 50 is disposed at a position where it will come into contact with the abrasive 22 that has moved from the mounting portion 21 in the separation direction during the process of separating the abrasive 22 from the mounting portion 21. In other words, when the separating member 40 is inserted, the separation auxiliary member 50 is disposed on the opposite side of the mounting portion 21 with respect to the separating member 40, and comes into contact with the abrasive 22 that has been partially separated from the mounting portion 21 by the separating member 40. Note that the separation auxiliary member 50 is not limited to a plate or frame member, and may be a member of various shapes. For example, it may be a cylindrical or columnar member.

[0015] The detection unit 60 is, for example, a distance measurement sensor. As a distance measurement sensor, a lidar (Light Detection and Ranging), a radar, an ultrasonic sensor, or a stereo camera can be used. Alternatively, the detection unit 60 may be a photoelectric sensor. A photoelectric sensor includes a light-emitting unit that emits light and a light-receiving unit that receives the light. When the light emitted from the light-emitting unit is blocked by an obstruction, the amount of light that reaches the light-receiving unit changes. The light-receiving unit detects this change, converts it into an electrical signal, and outputs it.

[0016] <Control device configuration> Next, an example of the configuration of the control device according to this embodiment will be described with reference to Fig. 2. The control device 30 includes a control unit 301, a determination unit 302, and a notification unit 303. The operation of the control device 30 can be realized by one or more CPUs reading and executing one or more computer programs stored in one or more memories.

[0017] The control unit 301 can control the robot 20 to move the mounting unit 21 and the abrasive 22 to any position. The control unit 301 moves the mounting unit 21 and the abrasive 22 and inserts the separating member 40 between the mounting unit 21 and the abrasive 22, thereby separating the abrasive 22 from the mounting unit 21.

[0018] After the separation operation of the abrasive 22 is completed, the determination unit 302 determines whether the abrasive 22 has been completely separated from the mounting unit 21. The determination unit 302 makes the determination based on the detection result of the detection unit 60.

[0019] For example, if the detection unit 60 is a distance measurement sensor, it can measure the distance to the object to acquire distance information and determine whether the abrasive 22 is attached to the mounting unit 21 or detached from the mounting unit 21 based on the distance information. FIG. 5 shows an example of a detection unit according to this embodiment. In FIG. 5, the detection unit 60 is a distance measurement sensor. After the separation operation of the abrasive 22 is completed, the control unit 301 moves the mounting unit 21 to a predetermined position (a position intersecting the distance measurement direction of the detection unit 60). In this state, the detection unit 60 measures the distance. If the abrasive 22 remains attached to the mounting unit 21, the measured value is L1. If the abrasive 22 is detached from the mounting unit 21, the measured value is L2 (>L1). The determination unit 302 can determine whether the abrasive 22 has been separated from the mounting unit 21 by referring to this measured value.

[0020] Furthermore, if the detection unit 60 is a photoelectric sensor, it can detect a change in the amount of light reaching the light receiving unit and determine whether the abrasive 22 is attached to or detached from the mounting unit 21 based on the change. FIG. 7 shows an example of a detection unit according to this embodiment. In FIG. 7, the detection unit 60 is a photoelectric sensor and includes a light emitting unit 60a and a light receiving unit 60b. After the separation operation of the abrasive 22 is completed, the control unit 301 moves the mounting unit 21 to a predetermined position. In this state, the determination unit 302 acquires the amount of light received by the light receiving unit 60b. If the abrasive 22 remains attached to the mounting unit 21, the light is blocked by the abrasive 22, and the amount of light is below the threshold. On the other hand, if the abrasive 22 is detached from the mounting unit 21, the amount of light exceeds the threshold. By referring to this amount of light, the determination unit 302 can determine whether the abrasive 22 has been separated from the mounting unit 21.

[0021] The notification unit 303 issues a notification when the determination unit 302 determines that the abrasive 22 has not been separated from the mounting unit 21. The notification can be made by voice and / or display via a speaker and / or a display, for example.

[0022] <Abrasive separation process> Next, the abrasive separation process according to this embodiment will be described in detail with reference to Fig. 3. As shown in state 3001, the control unit 301 controls the robot 20 to move the mounting unit 21 and the abrasive 22 (the mounting unit 21 to which the abrasive 22 is attached) in a first direction (e.g., vertically downward). This causes the edge of the abrasive 22 to contact the end of the separating member 40 extending in the vertical direction (e.g., the upper end of the plate).

[0023] The area of ​​the abrasive 22 on the side that contacts the mounting part 21 is larger than the area of ​​the contact surface between the abrasive 22 and the mounting part 21 (here, the area of ​​the mounting part 21 on the side that contacts the abrasive 22), and the edge of the abrasive 22 protrudes from the mounting part 21. This protruding part is brought into contact with the upper end of the separating member 40.

[0024] Then, as shown in state 3002, after the edge of the abrasive 22 comes into contact with the end of the separating member 40, the control unit 301 further moves the mounting unit 21 and the abrasive 22 in a second direction (for example, a horizontal direction) that intersects with the first direction (vertically downward). This allows the abrasive 22 to be hooked onto the upper end of the separating member 40. Note that, although an example in which the first direction is perpendicular to the second direction is described here, it does not necessarily have to be perpendicular. It is sufficient that the first direction and the second direction intersect.

[0025] Furthermore, after movement in the second direction (horizontal direction), as shown in state 3003, the control unit 301 moves the mounting unit 21 and the abrasive 22 (the mounting unit 21 with the abrasive 22 mounted thereon) again in the first direction (vertically downward). Because the abrasive 22 was hooked on the upper end of the separating member 40, the separating member 40 is inserted between the mounting unit 21 and the abrasive 22. In other words, when the separating member 40 is inserted between the mounting unit 21 and the abrasive 22, the abrasive 22 can properly enter between the separating member 40 and the separation auxiliary member 50.

[0026] During the insertion process, the lower part of the abrasive material 22 warps upward in a direction away from the mounting part 21 and comes into contact with the separation auxiliary member 50 extending in the vertical direction. The contact of the lower part of the abrasive material 22 with the separation auxiliary member 50 limits the upward warping.

[0027] Then, as shown in state 3004, when the control unit 301 further moves the mounting unit 21 and the abrasive 22 in the first direction (vertically downward), the abrasive 22 completely separates from the mounting unit 21 and falls. This allows the abrasive 22 to be separated with high precision.

[0028] Here, an example in which separation of the abrasive 22 fails will be described with reference to FIG. 4. FIG. 4 is similar to FIG. 3 except that the separation assist member 50 is not provided. The controls in states 4001 to 4003 are similar to those in states 3001 to 3003 in FIG. 3, and therefore will not be described again. When the controller 301 further moves the mounting unit 21 and the abrasive 22 in the first direction (vertically downward) from state 4003, the state changes to state 4004. That is, the abrasive 22 continues to warp upward while remaining in contact with the upper part of the mounting unit 21, and the abrasive 22 rotates 180 degrees around the contact point at the upper part of the mounting unit 21. As shown in state 4005, when the controller 301 moves the mounting unit 21 and the abrasive 22 in the second direction (horizontal), the abrasive 22 rotates in the opposite direction and contacts the upper end of the separating member 40. Then, when the control unit 301 further moves the mounting unit 21 and the abrasive 22 in the second direction (horizontal direction), as shown in state 4006, the abrasive 22 that had been in contact with the upper end of the separating member 40 falls and is again mounted on the mounting unit 21. In this way, if the separation assisting member 50 is not disposed opposite the separating member 40, the abrasive 22 will not be separated from the mounting unit 21 after it has warped up, and will return to its original state.

[0029] According to this embodiment, the mounting part 21 and the abrasive 22 are moved and the separating member 40 is inserted between the mounting part 21 and the abrasive 22, causing the abrasive 22 to move in the separation direction. As this occurs, a portion of the abrasive 22 moving in the separation direction comes into contact with the separation assisting member 50 along the way, restricting the rotational movement of the abrasive 22 and preventing it from warping up. Therefore, the abrasive can be separated from the mounting part with high precision without damaging it. Furthermore, according to this embodiment, a complex mechanism for gripping the abrasive is not required, which reduces the manufacturing cost of the device.

[0030] In the above embodiment, the separating member 40 and the separation auxiliary member 50 extend vertically, and the mounting part 21 and the abrasive 22 are moved vertically downward toward the separating member 40. However, the present invention is not limited to this example. The separating member 40 and the separation auxiliary member 50 may extend horizontally. In this case, the mounting part 21 and the abrasive 22 may be moved horizontally, thereby inserting the separating member 40 between the mounting part 21 and the abrasive 22.

[0031] Furthermore, as long as the separating member 40 and the separation auxiliary member 50 are arranged opposite to each other, the separating member 40 and the separation auxiliary member 50 may extend in any direction. The mounting unit 21 and the abrasive 22 may be moved in a direction along the direction in which the separating member 40 and the separation auxiliary member 50 extend. Alternatively, the separating member 40 and the separation auxiliary member 50 may be moved relative to the mounting unit 21 and the abrasive 22. In other words, as long as the mounting unit 21 and the abrasive 22 and the separating member 40 and the separation auxiliary member 50 move relative to each other, it does not matter which one is moved.

[0032] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0033] 10: Abrasive separating device, 20: Robot, 21: Mounting unit, 22: Abrasive, 30: Control unit, 40: Separating member, 50: Separation auxiliary member, 60: Detection unit

Claims

1. a separating member inserted between the mounting portion on which the abrasive is mounted and the abrasive mounted on the mounting portion; a control means for moving the attachment portion, on which the abrasive material is attached, and the separating member relative to each other, so that the separating member is inserted between the attachment portion and the abrasive material; An abrasive separating device comprising: An abrasive separating device comprising a separation auxiliary member disposed on the opposite side of the attachment portion with respect to the separating member and in contact with the abrasive that has been partially separated from the attachment portion by the separating member.

2. The control means moving the mounting portion and the abrasive material in a first direction to bring an edge of the abrasive material into contact with an end of the separating member; After the edge contacts the end, the mounting portion and the abrasive material are further moved in a second direction intersecting the first direction; 2. The abrasive separating device according to claim 1, wherein after movement in the second direction, the mounting portion and the abrasive are again moved in the first direction to insert the separating member between the mounting portion and the abrasive.

3. 3. The abrasive separating device according to claim 2, wherein the first direction is perpendicular to the second direction.

4. 3. The abrasive separating device according to claim 2, wherein the first direction is vertically downward and the second direction is horizontal.

5. 3. The abrasive separating device according to claim 2, wherein the area of ​​the abrasive is larger than the area of ​​a contact surface between the abrasive and the mounting portion.

6. 2. The abrasive separating device according to claim 1, further comprising a determining means for determining whether or not the abrasive has been separated from the mounting portion after the abrasive separating operation is completed.

7. 7. The abrasive separating device according to claim 6, further comprising a notifying means for notifying when the determining means determines that the abrasive has not been separated from the mounting portion.

8. the separating member and the separating auxiliary member extend in a vertical direction, 2. The abrasive separating device according to claim 1, wherein the control means moves the mounting portion and the abrasive vertically downward to insert the separating member between the mounting portion and the abrasive.

9. 2. The abrasive separating device according to claim 1, wherein when the separating member is inserted between the mounting portion and the abrasive, the abrasive enters between the separating member and the separation auxiliary member.

10. 2. The abrasive separating device according to claim 1, wherein the separation auxiliary member is disposed parallel to the separating member.

11. the separating member is a plate, 2. The abrasive separating device according to claim 1, wherein the separation auxiliary member is a plate or a frame member.

12. the mounting portion is a polishing pad, 2. The abrasive separating device according to claim 1, wherein the abrasive is an abrasive sponge.

13. 1. A method for controlling an abrasive separating device that separates an abrasive from a mounting portion on which the abrasive is mounted, comprising: a separating step of separating the abrasive from the mounting part by moving the mounting part and the abrasive and inserting a separating member between the mounting part and the abrasive, A method for controlling an abrasive separating apparatus, wherein in the separating step, the abrasive moving in the separating direction comes into contact with a separation auxiliary member arranged opposite the separating member.

14. A program for causing a computer to execute the method for controlling an abrasive separating device according to claim 13.

Images