Grinding device for removing protrusion burrs

Abstract

The present invention relates to a grinding device for removing protruding burrs, comprising: a grinding unit that removes burrs from a workpiece by the rotational movement of a grinding stone; and a supply unit that grips the workpiece with a gripper and supplies it to the grinding unit. According to the present invention, by controlling the position and pressure of the grinding stone, the grinding amount can be maintained uniformly to minimize defects; by moving the grinding stone up and down to minimize partial wear, dressing work can be minimized to maximize the operating rate of the grinding device; and since a vehicle brake pad is attached to the contact surface of the gripper, the gripping force is improved, allowing for continuous contact with the grinding stone during the grinding process. Furthermore, since a conveyor is provided to arrange workpieces at predetermined intervals, the completion of the process can be quickly determined.

Description

Technology Field

[0001] The present invention relates to a grinding device. More specifically, it relates to a grinding device for removing burrs from a protrusion. Background Technology

[0002] Grinding operations to remove burrs from a workpiece are performed using an abrasive stone, and it is important to maintain the amount of grinding to minimize defects. However, as the abrasive stone wears down due to continuous operation and becomes smaller, the amount of grinding decreases when working at the same contact location, resulting in defects.

[0003] To this end, conventional process systems compensated for the amount of grinding by controlling the position of the workpiece or the force applying contact to the grinding stone. However, these conventional process systems had a limitation in that precise control was impossible as they controlled only the position or the force.

[0004] To overcome the limitations of the conventional process system described above, we intend to provide a grinding device that controls both the position of the grinding stone and the applied pressure. Prior art literature

[0006] Prior Art 1: Korean Published Patent No. 10-2022-0163297 (Published Dec. 09, 2022) Prior Art 2: Korean Registered Patent No. 10-1607099 (Registered Mar. 23, 2016) The problem to be solved

[0007] The technical problem of the present invention is to provide a grinding device that maintains a constant grinding amount.

[0008] Another technical objective of the present invention is to provide a grinding device with maximized operating efficiency.

[0009] Another technical objective of the present invention is to provide a grinding device including a gripper with improved gripping force.

[0010] Another technical objective of the present invention is to provide a grinding device that minimizes the time required to determine whether the process of a workpiece is complete. means of solving the problem

[0012] To solve the above-mentioned problem, the present invention provides a grinding device comprising: a grinding unit that removes burrs from a workpiece by the rotational movement of a grinding stone; and a supply unit that grips the workpiece with a gripper and supplies it to the grinding unit.

[0013] In addition, the present invention provides a grinding device comprising: a sensor that detects the amount of wear of a grinding stone in the grinding section; and a moving motor that moves the grinding stone in the direction where a burr is located by a distance value corresponding to the amount of wear detected by the sensor; wherein the sensor and the moving motor operate by a control algorithm that calculates a corresponding distance value based on the amount of wear.

[0014] In addition, the present invention provides a grinding device further comprising an air cylinder that minimizes pressure so that the grinding stone moves away from the burr at the start of the grinding process, and increases pressure as the grinding process progresses to pressurize the grinding stone in the direction where the burr is located.

[0015] In addition, the present invention provides a grinding device further comprising an up-and-down drive motor that moves the grinding stone up and down in the grinding section.

[0016] In addition, the present invention provides a grinding device in which a vehicle brake pad is attached to the contact surface of the gripper with the workpiece.

[0017] In addition, the present invention provides a grinding device further comprising a conveyor for transporting workpieces arranged at predetermined intervals. Effects of the invention

[0019] According to the present invention, by controlling the position and pressure of the grinding stone, the grinding amount can be maintained at the same level, thereby minimizing defects.

[0020] According to the present invention, by moving the grinding stone up and down to minimize partial wear, the dressing operation can be minimized, thereby maximizing the operating rate of the grinding device.

[0021] According to the present invention, since a vehicle brake pad is attached to the contact surface of the gripper, the gripping force is improved, allowing for continuous contact with the grinding stone during the grinding process.

[0022] According to the present invention, a conveyor is provided for arranging workpieces at predetermined intervals, so that the completion of the process can be quickly determined. Brief explanation of the drawing

[0024] FIG. 1 is an overall configuration diagram of a grinding device according to one embodiment of the present invention. FIG. 2 is a side view of a polishing section according to one embodiment of the present invention. Figure 3 is a diagram showing the wear pattern of a grinding stone according to a conventional process system. FIG. 4 is a side view showing the up-and-down movement of a polishing part according to one embodiment of the present invention. FIG. 5 is a front view showing a conveyor according to one embodiment of the present invention. FIG. 6 is a side view showing the left and right movement of a polishing part according to one embodiment of the present invention. Figure 7 is a diagram showing the path of the grinding stone depending on whether pressure control is present or not. Specific details for implementing the invention

[0025] The purpose and effects of the present invention will become clearer through the following detailed description, but the purpose and effects of the present invention are not limited solely to the description below. Furthermore, in describing the present invention, if it is determined that a detailed description of known technologies related to the present invention may unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0026] Hereinafter, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments disclosed below. Furthermore, in order to clearly disclose the present invention in the drawings, parts unrelated to the present invention have been omitted, and identical or similar reference numerals in the drawings indicate identical or similar components.

[0028] FIG. 1 is an overall configuration diagram of a grinding device according to an embodiment of the present invention. Referring to FIG. 1, a grinding device according to an embodiment of the present invention comprises a grinding unit (110); a supply unit (120); and a conveyor (130).

[0029] The polishing unit (110) is configured to remove burrs (11) from a workpiece (10) by the rotational movement of a polishing stone (111). To this end, the polishing unit (110) is configured to include a polishing stone (111) that rotates; and a moving motor (113) that moves the polishing stone (111). A more preferred embodiment of the polishing unit (110) according to one embodiment of the present invention will be described later with reference to FIG. 2.

[0030] The supply unit (120) is configured to grip a workpiece (10) with a gripper (121) and supply it to a grinding unit (110). To this end, the supply unit (120) is configured to include a gripper (121) for gripping the workpiece (10); and a rotary motor for rotating the gripper (121). The supply unit (120) according to one embodiment of the present invention may be implemented using a robot arm. Additionally, the supply unit (120) may be provided to be capable of rotational movement so as to grip a workpiece (10) located on a conveyor (130).

[0031] In a preferred embodiment for the supply unit (120), the gripper (121) of the supply unit (120) may be implemented such that a vehicle brake pad is attached to the contact surface with the workpiece (10). In conventional grippers (121), the metal surfaces come into contact with each other, resulting in insufficient gripping force during grinding, and thus insufficient gripping force to resist the rotational force of the grinding stone (111) when in contact with the grinding stone (111). In the case of a cast product, the surface is not smooth, and if small protrusions exist on the surface, the gripping force becomes even weaker. Therefore, the present invention is provided to include a supply unit (120) utilizing a gripper (121) that applies a friction pad to the contact surface in order to increase the gripping force. Specifically, the gripper (121) may include a pair of gripping parts that grip the workpiece (10), and may be implemented such that a friction pad is attached to the inner side of the gripping part, that is, the surface in contact with the workpiece (10).

[0032] The conveyor (130) is configured to transport the workpiece (10) that has completed the casting process and supply it to the supply unit (120). A more preferred embodiment of the conveyor (130) according to one embodiment of the present invention will be described later with reference to FIG. 5.

[0034] FIG. 2 is a side view of a grinding unit (110) according to an embodiment of the present invention. Referring to FIG. 2, the grinding unit (110) according to an embodiment of the present invention may further include a sensor that detects the amount of wear (Q) of a grinding stone (111). With the sensor provided in this way, the moving motor (113) moves the grinding stone (111) by a distance value (L) corresponding to the amount of wear (Q) detected by the sensor in the direction where the burr (11) is located.

[0035] If the size of the grinding stone (111) decreases due to wear caused by continuous grinding operations, the amount of grinding on the product decreases if the operation continues at the same contact position, resulting in defects. To prevent this, the present invention is equipped with a sensor to detect the amount of wear and to drive a moving motor (113) to adjust the position of the grinding stone (111) to the same grinding contact position. Specifically, the sensor according to one embodiment of the present invention may be any one of a photosensor, an optical sensor, or an ultrasonic sensor. As the sensor is provided in this way, the amount of wear (Q) of the grinding stone (111) is detected as shown at the top of FIG. 2, and the position of the grinding stone (111) is moved by a distance value (L), thereby allowing continuous grinding to be performed.

[0036] In the case of existing polishing robot control systems, polishing systems based on force control or position control are predominant, but in the case of the present invention, the two control methods are applied simultaneously, thereby optimizing the polishing precision. As a more preferred embodiment for this, the sensor and the moving motor (113) may be configured to operate by a control algorithm that calculates a corresponding distance value (L) based on the amount of wear (Q). The control algorithm is a 'force control adaptive algorithm,' and since the problem of accumulated errors in the entire process, which commonly occurs in processes such as casting and welding, cannot be improved by simple position control alone, the key is to control complex shapes and models by completing calculations and communication within 1ms through the 'force control adaptive algorithm.'

[0037] With reference to FIG. 2, the most preferred grinding unit (110) according to an embodiment of the present invention will be described in detail. The grinding unit (110) may be provided to include: a moving motor (113) that moves a grinding stone (111) left and right along the longitudinal direction of a first guide rail (G1) arranged horizontally with respect to the ground; an up-and-down driving motor (115) that moves a grinding stone (111) up and down along the longitudinal direction of a second guide rail (G2) arranged vertically with respect to the ground; and an air cylinder (114) that adjusts the pressure so that the grinding stone (111) contacts the workpiece (10) with a constant pressure. More preferably, the moving motor (113) may be provided to move along the longitudinal direction of the first guide rail (G1) by rotating along a screw thread, and the up-and-down driving motor (115) may be provided to be driven in a rack and pinion manner. Additionally, the air cylinder (114) may be equipped with a means to measure the pressure applied to the grinding stone (111) on the inside or outside, such as a pressure gauge. By providing the moving motor (113) and the air cylinder (114) in this manner, the moving motor (113) moves the grinding stone (111) by setting a position reference point according to the amount of wear (Q) of the grinding stone (111), and the air cylinder (114) measures the pressure applied to the grinding stone (111) through the pressure gauge to precisely control the applied pressure, thereby allowing the grinding operation to be performed while maintaining contact with the workpiece (10) at a constant force. Furthermore, as the up-and-down drive motor (115) moves the grinding stone (111) up and down, the burr (11) comes into even contact with the side of the grinding stone (111), thereby minimizing the phenomenon where only a part of the grinding stone (111) is worn.

[0038] More specifically, the first guide rail (G1) is located at the lowest part of the grinding section (110), and a moving means, such as a wheel, may be further provided on the lower surface of the first guide rail (G1). A moving motor (113) is positioned at one end of the first guide rail (G1), and a second guide rail (G2) is positioned on the upper surface of the other end of the first guide rail (G1) in a direction perpendicular to the first guide rail (G1). At this time, the first guide rail (G1) is provided to be connected to the second guide rail (G2), so that when the first guide rail (G1) moves in the longitudinal direction by the moving motor (113), the second guide rail (G2) also moves together. An up-and-down driving motor (115) is further provided on one side of the second guide rail (G2), and a support member (116) is further provided on the other side. The support member (116) is connected to the other side of the second guide rail (G2) and forms a surface parallel to the ground to support the third guide rail (G3). Additionally, the support member (116) is configured to be connected to both the second guide rail (G2) and the third guide rail (G3), so that when the second guide rail (G2) moves up and down by the up-down drive motor (115), the support member (116) and the third guide rail (G3) also move together. The third guide rail (G3) is positioned on the upper surface of the support member (116) in a direction parallel to the first guide rail (G1). A grinding stone (111) and an air cylinder (114) are positioned on the upper surface of the third guide rail (G3), and the air cylinder (114) applies pressure to the grinding stone (111) along the longitudinal direction of the third guide rail (G3).

[0040] FIG. 3 is a drawing showing the wear pattern of a grinding stone (111) according to a conventional process system, and FIG. 4 is a side view showing the up-and-down movement of a grinding part (110) according to an embodiment of the present invention.

[0041] Referring to FIG. 3, in a conventional process system, the grinding stone (111) and the burr (11) of the workpiece (10) always work at the same contact position, so only one point (P) of the grinding stone (111) is continuously worn down. In particular, this phenomenon is pronounced when the burr (11) has a shape that narrows toward the end. In this case, since dressing work to flatten the grinding stone (111) must be performed frequently, there was a problem in that the efficiency of using the grinding stone (111) decreased and the equipment downtime due to the grinding stone (111) dressing work increased.

[0042] To solve this, the polishing unit (110) according to one embodiment of the present invention may be further provided to include an up-and-down driving motor (115) that enables the polishing unit (110) to move up and down, as shown in FIG. 4. By providing the up-and-down driving motor (115) in this manner, the side of the polishing stone (111) is worn uniformly, thereby increasing the usage efficiency of the polishing stone (111) and minimizing dressing work, which has the effect of maximizing the equipment operating rate.

[0043] In a more preferred embodiment, the up-and-down drive motor (115) may be configured to move the grinding stone (111) up and down based on the state of the workpiece (10) detected by the image sensor.

[0045] FIG. 5 is a front view showing a conveyor (130) according to one embodiment of the present invention.

[0046] In conventional process systems, the conveyor (130) has a problem in that the processed products are stacked evenly on the conveyor (130) without any separate spacing, making it difficult for a visual inspector to distinguish between the inspected and uninspected products. To solve this, the conveyor (130) according to one embodiment of the present invention may be configured to transport the processed products (10) by arranging them at a predetermined spacing (I) so that the products are easily identified, as shown in FIG. 5.

[0048] FIG. 6 is a side view showing the left and right movement of a grinding unit (110) according to one embodiment of the present invention, and FIG. 7 is a diagram showing the path of a grinding stone (111) depending on whether pressure control is present or not.

[0049] Conventional process systems have a problem in that the pressure applied at the position of the gripper (121) where the burr of the workpiece (10) begins to be polished is high, but as the amount of polishing increases, the pressure applied by the gripper (121) decreases, resulting in an inconsistent amount of polishing. To address this, the polishing unit (110) according to one embodiment of the present invention may be provided to further include an air cylinder (114) that moves the polishing stone (111) left and right.

[0050] The air cylinder (114) is configured to minimize the pressure so that the grinding stone (111) moves away from the burr (11) at the start of the grinding process (d1), and to increase the pressure as the grinding process progresses so that the grinding stone (111) moves in the direction (d2) where the burr (11) is located. As the air cylinder (114) is provided in this manner, the grinding stone (111) is pushed backward while maintaining a constant force at the starting point of the grinding where the pressure is high, and the grinding stone (111) moves forward while maintaining a constant force during the grinding process and at the end when the grinding is finished, thereby having the effect of maintaining a constant amount of grinding.

[0051] As shown in FIG. 7, the effect of this can be confirmed as a difference in the path and grinding control position of the grinding stone (111) being maintained constant when there is pressure control and when there is no pressure control.

[0053] The preferred embodiments of the present invention described above are disclosed for illustrative purposes only, and a person skilled in the art with ordinary knowledge of the present invention may make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions should be considered to fall within the scope of the above claims. Furthermore, since a person skilled in the art to which the present invention pertains may make various substitutions, modifications, and changes within the scope of the technical spirit of the present invention without departing from it, the present invention is not limited by the aforementioned embodiments and the attached drawings.

[0054] In the exemplary system described above, methods are described based on a flowchart as a series of steps or blocks; however, the present invention is not limited to the order of the steps, and some steps may occur in a different order or simultaneously with other steps as described above. Furthermore, those skilled in the art will understand that the steps shown in the flowchart are not exclusive, and other steps may be included, or one or more steps of the flowchart may be omitted without affecting the scope of the present invention. Explanation of the symbols

[0056] 10 : Workpiece 11 : Burr 100: Grinding device 110: Grinding part 111 : Grinding stone 112 : Sensor 113 : Moving motor 114 : Air cylinder 115 : Vertical drive motor 116 : Support part G1: 1st guide rail G2: 2nd guide rail G3 : 3rd guide rail Q : Wear amount L: Distance value P: Point I : Interval 120 : Supply unit 121 : Gripper 130 : Conveyor

Claims

Claim 1 A grinding unit (110) that removes burrs (11) from a workpiece (10) by the rotational movement of a grinding stone (111); a supply unit (120) that grips the workpiece (10) with a gripper (121) and supplies it to the grinding unit (110); The apparatus includes a conveyor (130) that transports the workpiece (10) by arranging them at predetermined intervals, wherein the supply unit (120) rotates to grip the workpiece (10) positioned on the conveyor (130), and the grinding unit (110) includes: a sensor (112) that detects the amount of wear (Q) of the grinding stone (111); a moving motor (113) that moves the grinding stone (111) in the direction where the burr (11) is located by a distance value (L) corresponding to the amount of wear (Q) detected by the sensor (112); and an air cylinder (114) that provides pressure to the grinding stone (111). A grinding device further comprising: an up-and-down drive motor (115) for moving the grinding stone (111) up and down; wherein the gripper (121) comprises a pair of gripping parts for gripping the workpiece (10), and the gripping parts are attached with friction pads; and the air cylinder (114) is equipped with a pressure gauge on the inside or outside for measuring the pressure applied to the grinding stone (111), thereby reducing the pressure according to a predetermined standard at the start of the grinding process so that the grinding stone (111) moves away from the burr (11), and increasing the pressure according to a predetermined standard as the grinding process proceeds so that the grinding stone (111) moves in the direction where the burr (11) is located. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 delete

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