Automatic Abrasive Changing Station Using Manipulator-Driven Mounting
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Solution Overview
Problem
Existing robot-assisted grinding devices face challenges in accurately controlling process force during grinding, and manual changing of grinding wheels is complex and expensive, requiring improved methods for automated wheel mounting and removal.
Innovation Solution
A system comprising a support for a stack of grinding wheels, a frame, and a mechanical pre-tensioning unit, along with a method using a manipulator and actuator to align and press the carrier disk onto the wheel stack, enabling automatic mounting and removal of grinding wheels without requiring a separate drive for the support surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a separate drive for the support surface is added to enable automated grinding wheel changing, then the automation capability is improved, but the device complexity and cost increase
Solution Approach 1:
The support surface is designed to be movable without requiring a separate drive mechanism. The manipulator itself performs the function of both positioning the carrier disc and moving the support surface, making the system self-sufficient and eliminating additional drive components.
Solution Approach 2:
The manipulator is assigned multiple functions: it positions the carrier disc, moves the support surface, and controls the pressing operation. This multi-functionality reduces the need for separate dedicated components for each operation, simplifying the overall device structure.
2Extent of automation
If a separate drive for the support surface is added to enable automated grinding wheel changing, then the automation capability is improved, but the implementation cost increases
Solution Approach 1:
The support surface utilizes the manipulator's inherent movement capabilities rather than requiring a dedicated drive system. This self-service approach eliminates the need for additional motors, controllers, and mechanical components, significantly reducing implementation costs.
Solution Approach 2:
The function of driving the support surface is extracted from the overall system and integrated into the manipulator's existing capabilities. By removing the separate drive requirement, the system achieves automation without the associated cost burden.
3Stability of the object's composition
If the frame completely overlaps the grinding wheel stack, then the structural stability is improved, but the mounting and removal operation becomes difficult
Solution Approach 1:
The frame's overlap with the grinding wheel stack is made partial rather than complete. This local adjustment allows the frame to provide sufficient structural stability while leaving enough exposed area on the grinding wheels for the manipulator to effectively perform mounting and removal operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system allows for precise control of contact force and efficient automated changing of grinding wheels, reducing complexity and cost while ensuring accurate alignment and mounting, enhancing the operational efficiency of robot-assisted grinding devices.
Implementation Method 1
a mechanical preloading unit which is coupled to the frame in such a way that a defined force is exerted from the frame onto the stack of grinding wheels
Implementation Method 2
pressing the carrier disc against the wheel stack using an actuator coupled between the manipulator and the grinding machine, so that the uppermost grinding wheel of the stack adheres to the carrier disc
Data Source
Figure 1~2(c)
Figure 3~4A
Figure 4B~4C
AI summary
The invention relates to a device for automatically dressing an abrasive disk from a robot-supported grinding device having a grinding machine. According to one embodiment, the device comprises a frame, a separating plate connected to the frame, and a support surface connected to the frame. The separating plate and the support surface are coupled to the frame in such a way that a relative movement is ensured along a first direction between the separating plate and the support surface. The separating plate and the support surface are arranged in such a manner that - when the abrasive disk rests on the support surface and when the separating plate and the abrasive disk move towards each other - a first edge of the separating plate is pushed over the abrasive disk. The invention further relates to a device for automatically fitting a grinding machine of a robot-supported grinding device with an abrasive disk. According to one embodiment, the device comprises a support for receiving a stack of abrasive disks and a frame. The frame is arranged substantially parallel to the support, so that the stack of abrasive disks is located between the support and the frame, wherein the frame only partially overlaps the outer edge of the uppermost abrasive disk of the stack. The device further comprises a mechanical prestressing unit which is coupled to the frame in such a manner that a defined force is exerted by the frame onto the stack of abrasive disks.