Description:

BACKGROUND OF THE INVENTION
Field of the Invention
[0001] The present invention relates to an abrasive separation apparatus and a control method for an abrasive separation apparatus.

Description of the Related Art
[0002] German Patent Application Publication No. 102020122114 discloses detaching an abrasive pad (abrasive) from an abrasive pad attachment plate by separating an end of a robot including the abrasive pad attachment plate from the abrasive pad while sandwiching the abrasive pad with two holding mechanisms (clamping device).
[0003] However, with the technique described in German Patent Application Publication No. 102020122114, the abrasive pad is held with a strong force and may therefore be damaged. In this case, it is difficult to reuse the abrasive pad.

SUMMARY OF THE INVENTION
[0004] The present invention has been made to solve the foregoing problem, and aims to provide a technique for separating an abrasive such as an abrasive pad with high accuracy without damaging it.
[0005] According to one aspect of the present invention, there is provided an abrasive separation apparatus (10) comprising: a plate-shaped separation member (40) to be inserted between an attachment portion (21) with an abrasive (22) attached and the abrasive; a control unit (301) configured to relatively move the attachment portion with the abrasive attached and the separation member such that a state is entered where the separation member is inserted between the attachment portion and the abrasive; and an auxiliary separation member (50), that has a plate-shape or is a frame member, located on an opposite side to the attachment portion relative to the separation member in a state where the separation member is inserted between the attachment portion and the abrasive and configured to come into contact with the abrasive whose portion has been separated from the attachment portion by the separation member.

BRIEF DESCRIPTION OF THE DRAWINGS
[0006] Fig. 1 is an overall configuration of an abrasive separation apparatus according to an embodiment.
[0007] Fig. 2 is an example of a configuration of a control device according to an embodiment.
[0008] Fig. 3 is a diagram illustrating abrasive separation processing according to an embodiment.
[0009] Fig. 4 is another diagram illustrating abrasive separation processing according to an embodiment.
[0010] Fig. 5 is a diagram illustrating an operation of a detection unit (distance sensor) according to an embodiment.
[0011] Fig. 6 shows a specific example of a member according to an embodiment.
[0012] Fig. 7 illustrates an operation of a detection unit (photoelectric sensor) according to an embodiment.

DESCRIPTION OF THE EMBODIMENTS
[0013] Hereinafter, embodiments will be described in detail with reference to the attached drawings. Note, the following embodiments are not intended to limit the scope of the claimed invention, and limitation is not made to an invention that requires a combination of all features described in the embodiments. Two or more of the multiple features described in the embodiments may be combined as appropriate. Furthermore, the same reference numerals are given to the same or similar configurations, and redundant description thereof is omitted.
[0014]
First, an overall configuration of an abrasive separation apparatus according to the present embodiment will be described with reference to Fig. 1. The abrasive separation apparatus 10 includes a robot 20, a control device 30, a separation member (first member) 40, an auxiliary separation member (second member) 50, and a detection unit 60.
[0015] The robot 20 is a polishing machine and has an attachment portion 21 for attaching an abrasive 22. The attachment portion 21 is, for example, an abrasive pad (disk pad). The abrasive 22 is, for example, an abrasive sponge (buff). An object can be polished by operating the robot 20 to bring the abrasive 22 into contact with the object. The abrasive 22 needs to be replaced with an appropriate abrasive in accordance with the type of polishing operation. By detaching and cleaning the abrasive 22 after a certain polishing operation, the abrasive 22 can be reused for another polishing operation.
[0016] The control device 30 can control the robot 20 to move the attachment portion 21 and the abrasive 22 to any position with the abrasive 22 attached to the attachment portion 21. The control device 30 also obtains a detection result from the detection unit 60 and executes processing corresponding to the detection result.
[0017] The separation member 40 is a member for separating the attachment portion 21 and the abrasive 22. The separation member 40 is, for example, a plate. The auxiliary separation member 50 is a member arranged facing the separation member 40, and is a member for preventing the abrasive 22 from warping when the abrasive 22 is separated from the attachment portion 21. The auxiliary separation member 50 is, for example, a plate or a frame member. Here, Fig. 6 shows an example of the separation member 40 and the auxiliary separation member 50. In Fig. 6, the separation member 40 is a plate, and the auxiliary separation member 50 is a frame member. Intermediate members 61 and 62 are arranged between the separation member 40 (plate) and the auxiliary separation member 50 (frame member), and the separation member 40 (plate) and the auxiliary separation member 50 (frame member) are attached to the intermediate members 61 and 62. Alternatively, instead of providing the intermediate members 61 and 62, the positions of the separation member 40 (plate) and the auxiliary separation member 50 (frame member) may be fixed in any other manner.

[0018] The auxiliary separation member 50 may be arranged parallel with the separation member 40. The auxiliary separation member 50 is located at a position where it comes into contact with the abrasive 22 whose portion has been separated from the attachment portion 21 in the process of separating the abrasive 22 from the attachment portion 21. In other words, the auxiliary separation member 50 is located on the opposite side to the attachment portion 21 relative to the separation member 40 when the separation member 40 is inserted, and comes into contact with the abrasive 22 whose portion has been separated from the attachment portion 21 by the separation member 40. Note that the auxiliary separation member 50 is not limited to a plate or frame member, and may alternatively be a member having any of various shapes. For example, the auxiliary separation member 50 may also be a cylindrical member or a circular column-shaped member.
[0019] The detection unit 60 is, for example, a distance sensor. As a distance 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. The photoelectric sensor includes a light-projection unit that emits light and a light-receiving unit that receives light. When the light projected from the light-projection unit is blocked by an obstruction, the amount of light reaching the light-receiving unit changes. The light-receiving unit detects this change, converts it into an electric signal, and outputs this signal.
[0020]
Next, an example of a configuration of the control device according to the present 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. Operations 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.
[0021] The control unit 301 can control the robot 20 to move the attachment portion 21 and the abrasive 22 to any position. The control unit 301 separates the abrasive 22 from the attachment portion 21 by moving the attachment portion 21 and the abrasive 22 to insert the separation member 40 between the attachment portion 21 and the abrasive 22.
[0022] The determination unit 302 determines whether or not the abrasive 22 has been completely separated from the attachment portion 21 after an end of the separation operation for the abrasive 22. The determination unit 302 performs determination based on the detection result obtained by the detection unit 60.
[0023] For example, if the detection unit 60 is a distance sensor, the detection unit 60 can measure a distance to the object to acquire distance information, and determine whether the abrasive 22 is attached to the attachment portion 21 or detached from the attachment portion 21 based on the distance information. Fig. 5 shows an example of the detection unit according to the present embodiment. In Fig. 5, the detection unit 60 is a distance sensor. After an end of a separation operation for the abrasive 22, the control unit 301 moves the attachment portion 21 to a predetermined position (a position intersecting with a 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 attachment portion 21, the measurement is L1. If the abrasive 22 is detached from the attachment portion 21, the measurement value is L2 (>L1). The determination unit 302 can determine whether or not the abrasive 22 has been separated from the attachment portion 21 by referencing the measurement value.
[0024] When the detection unit 60 is a photoelectric sensor, the detection unit 60 can detect a change in the amount of light reaching the light-receiving unit and determine, based on the change, whether the abrasive 22 is attached to the attachment portion 21 or detached from the attachment portion 21. Fig. 7 shows an example of the detection unit according to the present embodiment. In Fig. 7, the detection unit 60 is a photoelectric sensor and includes a light-projection unit 60a and a light-receiving unit 60b. The control unit 301 moves the attachment portion 21 to a predetermined position after an end of a separation operation for the abrasive 22. In this state, the determination unit 302 obtains the amount of light received by the light-receiving unit 60b. When the abrasive 22 remains attached to the attachment portion 21, light is blocked by the abrasive 22, so that the amount of light is smaller than or equal to a threshold. On the other hand, when the abrasive 22 is detached from the attachment portion 21, the amount of light exceeds the threshold. The determination unit 302 can determine whether or not the abrasive 22 has been separated from the attachment portion 21 by referencing the amount of light.
[0025] The notification unit 303 performs notification when the determination unit 302 determines that the abrasive 22 has not been separated from the attachment portion 21. The notification can be performed by means of sound and/or by indication via a speaker and/or a display, for example.
[0026]
Next, a detail of abrasive separation processing according to the present embodiment will be described with reference to Fig. 3. as illustrated in state 3001, the control unit 301 controls the robot 20 and moves the attachment portion 21 and the abrasive 22 (the attachment portion 21 with the abrasive 22 attached) in a first direction (e.g., vertically downward). Thus, an edge of the abrasive 22 is brought into contact with an end (e.g., an upper end of the plate) of the separation member 40 that vertically extends.

[0027] The area of the abrasive 22 on the side in contact with the attachment portion 21 is larger than the contact area between the abrasive 22 and the attachment portion 21 (here, the area of the attachment portion 21 on the side in contact with the abrasive 22), and the edge of the abrasive 22 protrudes from the attachment portion 21. The protruding portion is brought into contact with an upper end of the separation member 40.
[0028] Thereafter, after the edge of the abrasive 22 comes into contact with the end of the separation member 40, the control unit 301 further moves the attachment portion 21 and the abrasive 22 in a second direction (e.g., horizontal direction) that intersects with the first direction (vertically downward), as illustrated in state 3002. Thus, the abrasive 22 can be hooked on the upper end of the separation member 40. Although the first direction is perpendicular to the second direction in this example described here, the first direction does not necessarily need to be perpendicular. The first direction and the second direction need only intersect with each other.
[0029] Further, after the movement in the second direction (horizontal direction), the control unit 301 moves the attachment portion 21 and the abrasive 22 (the attachment portion 21 with the abrasive 22 attached) in the first direction (vertically downward) again, as illustrated in state 3003. Since the abrasive 22 has been hooked on the upper end of the separation member 40, the separation member 40 is inserted between the attachment portion 21 and the abrasive 22. That is, when the separation member 40 is inserted between the attachment portion 21 and the abrasive 22, the abrasive 22 can properly enter between the separation member 40 and the auxiliary separation member 50.
[0030] In the process of insertion, a lower portion of the abrasive 22 is warped up in a direction separated from the attachment portion 21 and comes into contact with the auxiliary separation member 50 extending in the vertical direction. The warping is restricted as a result of the lower portion of the abrasive 22 coming into contact with the auxiliary separation member 50.
[0031] Then, the control unit 301 further moves the attachment portion 21 and the abrasive 22 in the first direction (vertically downward ), causing the abrasive 22 to be completely separated from the attachment portion 21 and drop, as illustrated in state 3004. Thus, separation of the abrasive 22 can be achieved with high accuracy.
[0032] Here, an example in which the separation of the abrasive 22 fails will be described with reference to Fig. 4. Fig. 4 is the same as Fig. 3 except that the auxiliary separation member 50 is not provided. The control performed in states 4001 to 4003 is the same as the control performed in states 3001 to 3003 in Fig. 3, and descriptions thereof are omitted. When the control unit 301 further moves the attachment portion 21 and the abrasive 22 in the first direction (vertically downward) from state 4003, state 4004 is entered. That is, the abrasive 22 is warped up while being in contact with the upper portion of the attachment portion 21, and the abrasive 22 rotates 180 degrees about a contact point at the upper portion of the attachment portion 21. As illustrated in state 4005, when the control unit 301 moves the attachment portion 21 and the abrasive 22 in the second direction (horizontal direction), the abrasive 22 rotates in the opposite direction and comes into contact with the upper end of the separation member 40. When the control unit 301 further moves the attachment portion 21 and the abrasive 22 in the second direction (horizontal direction), the abrasive 22 that has been in contact with the upper end of the separation member 40 falls, and is again attached to the attachment portion 21, as illustrated in state 4006. Thus, if the auxiliary separation member 50 is not arranged facing the separation member 40, the abrasive 22 is not separated from the attachment portion 21 after being warped and returns to the original state.
[0033] According to the present embodiment, the attachment portion 21 and the abrasive 22 are moved to insert the separation member 40 between the attachment portion 21 and the abrasive 22, thereby the abrasive 22 is gradually separated from the attachment portion 21 from the side where the separation member 40 is inserted. At that time, the abrasive 22 whose portion has been separated from the attachment portion 21 comes into contact with the auxiliary separation member 50, thereby restricting the rotation of the abrasive 22 so that warping thereof can be prevented. Accordingly, the abrasive can be separated from the attachment portion with high accuracy without damaging the abrasive. Further, according to the present embodiment, a complex mechanism such as a mechanism for holding the abrasive is not required, making it possible to reduce the manufacturing cost of the apparatus.
[0034] In the example described in the above embodiment, the separation member 40 and the auxiliary separation member 50 extend in the vertical direction and move the attachment portion 21 and the abrasive 22 vertically downward toward the separation member 40. However, the present invention is not limited to this example. The separation member 40 and the auxiliary separation member 50 may alternatively extend in the horizontal direction. In this case, the attachment portion 21 and the abrasive 22 may be moved in the horizontal direction, thereby inserting the separation member 40 between the attachment portion 21 and the abrasive 22.
[0035] Also, the separation member 40 and the auxiliary separation member 50 may extend in any direction if the separation member 40 and the auxiliary separation member 50 are arranged facing each other. The attachment portion 21 and the abrasive 22 need only be moved in a direction parallel with the direction in which the separation member 40 and the auxiliary separation member 50 extend. Further, the separation member 40 and the auxiliary separation member 50 may be moved relative to the attachment portion 21 and the abrasive 22. That is, as long as the pair of the attachment portion 21 and the abrasive 22 and the pair of the separation member 40 and the auxiliary separation member 50 move relative to each other, either pair may be moved.
[0036] According to the present invention, it is possible to separate the abrasive with high accuracy without damaging it.
[0037] The invention is not limited to the foregoing embodiments, and various variations/changes are possible within the spirit of the invention.
, Claims:
1. An abrasive separation apparatus (10) comprising:
a plate-shaped separation member (40) to be inserted between an attachment portion (21) with an abrasive (22) attached and the abrasive;
a control unit (301) configured to relatively move the attachment portion with the abrasive attached and the separation member such that a state is entered where the separation member is inserted between the attachment portion and the abrasive; and
an auxiliary separation member (50), that has a plate-shape or is a frame member, located on an opposite side to the attachment portion relative to the separation member in a state where the separation member is inserted between the attachment portion and the abrasive and configured to come into contact with the abrasive whose portion has been separated from the attachment portion by the separation member.

2. The abrasive separation apparatus according to claim 1,
wherein the control unit
moves the attachment portion with the abrasive attached in a first direction to bring an edge of the abrasive into contact with an end of the separation member,
after the edge has come into contact with the end, moves the attachment portion in a second direction intersecting with the first direction, and
after the movement in the second direction, moves the attachment portion in the first direction again to insert the separation member between the attachment portion and the abrasive.

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

4. The abrasive separation apparatus according to claim 2, wherein the first direction is a vertically downward direction, and the second direction is a horizontal direction.

5. The abrasive separation apparatus according to claim 1, wherein an area of the abrasive is larger than an area of a contact surface between the abrasive and the attachment portion.

6. The abrasive separation apparatus according to claim 1, further comprising a determination unit (302) configured to determine, after an end of a separation operation for the abrasive, whether or not the abrasive has been separated from the attachment portion.

7. The abrasive separation apparatus according to claim 6, further comprising a notification unit (303) configured to perform notification if the determination unit determines that the abrasive has not been separated from the attachment portion.

8. The abrasive separation apparatus according to claim 1,
wherein the separation member and the auxiliary separation member extend in a vertical direction.

9. The abrasive separation apparatus according to claim 1,
wherein when the separation member is inserted between the attachment portion and the abrasive, the abrasive enters between the separation member and the auxiliary separation member.

10. The abrasive separation apparatus according to claim 1,
wherein the auxiliary separation member is arranged parallel with the separation member.

11. The abrasive separation apparatus according to claim 1,
wherein the attachment portion is an abrasive pad, and
the abrasive is an abrasive sponge.

12. A control method for an abrasive separation apparatus for separating an abrasive from an attachment portion with the abrasive attached, the control method comprising:
a first step of relatively moving the attachment portion with an abrasive attached and a plate-shaped separation member, thereby inserting the separation member between the attachment portion and the abrasive; and
a second step of the abrasive whose portion has been separated from the attachment portion in the first step coming into contact with an auxiliary separation member, that has a plate-shape or is a frame member, arranged facing the separation member.