Underwater polishing system and underwater polishing method

Abstract

An underwater polishing system according to the present disclosure includes a tank, a robot, and a polishing machine. In a state where a workpiece held by an arm portion of the robot, at least a part of a second rotating roller and at least a part of a polishing tool of the polishing machine are immersed in a liquid stored in the tank, the held workpiece is polished by operating the arm portion of the robot and pressing the held workpiece against the polishing tool.

What is claimed is: 
     
         1 . An underwater polishing system, comprising:
 a tank that is configured to store a liquid;   a robot that includes an arm portion configured to hold a workpiece, which is an object to be machined, and that is configured to operate the arm portion and move at least a part of the held workpiece from an outside of the tank into the liquid stored in the tank and from the liquid stored in the tank to the outside of the tank; and   a polishing machine that includes a first rotating roller, a second rotating roller, and a polishing tool bridged to the first rotating roller and the second rotating roller, and in which at least a part of the second rotating roller and at least a part of the polishing tool are immersed in the liquid stored in the tank, wherein   in a state where the workpiece held by the arm portion of the robot, at least a part of the second rotating roller and at least a part of the polishing tool of the polishing machine are immersed in the liquid stored in the tank,   the held workpiece is polished by operating the arm portion of the robot and pressing the held workpiece against the polishing tool.   
     
     
         2 . The underwater polishing system according to  claim 1 , wherein
 the first rotating roller is a driving roller and the second rotating roller is a driven roller.   
     
     
         3 . The underwater polishing system according to  claim 1 , wherein
 the entire polishing tool is immersed in the liquid in the tank to perform polishing.   
     
     
         4 . The underwater polishing system according to  claim 1 , wherein
 a flow of the liquid toward a traveling direction frontward side of the polishing tool is formed in a polishing point where the polishing tool and the workpiece are in contact with each other.   
     
     
         5 . The underwater polishing system according to  claim 1 , further comprising:
 a circulating device configured to circulate the liquid in the tank; and   a filter configured to purify the liquid circulating in the tank.   
     
     
         6 . The underwater polishing system according to  claim 5 , further comprising:
 a tool cleaning mechanism located upstream of the filter and configured to clean a surface of the polishing tool.   
     
     
         7 . The underwater polishing system according to  claim 1 , further comprising:
 a measuring mechanism configured to measure a polishing amount of the workpiece.   
     
     
         8 . The underwater polishing system according to  claim 1 , wherein
 the arm portion that holds the workpiece includes a force sensor.   
     
     
         9 . An underwater polishing method, comprising:
 a workpiece holding step of holding, by an arm portion of a robot, a workpiece, which is an object to be machined;   a polishing machine driving step of driving a polishing tool that is bridged to a first rotating roller and a second rotating roller of a polishing machine;   a liquid storing step of storing a liquid in a tank; and   a polishing step of polishing the held workpiece by operating the arm portion of the robot and pressing the held workpiece against the polishing tool, in a state where the workpiece held by the arm portion of the robot, at least a part of the second rotating roller and at least a part of the polishing tool of the polishing machine are immersed in the liquid stored in the tank.   
     
     
         10 . The underwater polishing method according to  claim 9 , wherein
 in the polishing step, the first rotating roller, the second rotating roller, and the polishing tool of the polishing machine are immersed in the liquid.   
     
     
         11 . The underwater polishing method according to  claim 9 , wherein
 in the polishing step, a flow of the liquid toward a rotating direction frontward side of the second rotating roller is formed in a polishing point where the polishing tool and the workpiece are in contact with each other.   
     
     
         12 . The underwater polishing method according to  claim 9 , further comprising:
 a polishing amount measuring step of taking out the workpiece held by the arm portion of the robot from the liquid in the tank and measuring a polishing amount of the workpiece, after the polishing step.   
     
     
         13 . The underwater polishing method according to  claim 12 , further comprising:
 a pre-polishing measuring step of measuring a dimension before polishing of the workpiece held by the arm portion of the robot before the polishing step, wherein   in the polishing amount measuring step, the polishing amount is calculated based on a result that is obtained in the pre-polishing measuring step.