JP2004009265A - Pipe hole cutting finishing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pipe hole cutting finishing device capable of improving work efficiency by performing a finishing work as a series of works continuous to a hole cutting work of a pipe without removing the drilled pipe from a turning mechanism of the pipe. <P>SOLUTION: This device is provided with the turning mechanism 18 capable of turning a sheath 1, a cutting mechanism 7 for cutting a hole for mounting a branch pipe for the sheath 1 fixed to the turning mechanism 18, a robot 20 mounted with a grinder 22 to deburr a fusion cut surface of the cutting part of the hole cut by the cutting mechanism 7, and a personal computer 8 to control the turning mechanism 18 and the robot 20. A hole cutting locus coordinate calculation processing part 10 prepares hole cutting locus coordinate data based on data of the cut hole. A robot finishing coordinate data converting part 14 converts finishing locus coordinate data of the robot 20 based on the hole cutting locus coordinate data. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a pipe hole cutting and finishing device, and particularly to a pipe hole cutting and finishing device suitable for cutting a hole for attaching a branch pipe to a pipe, such as when manufacturing a sheath for a gas insulated switchgear (GIS). About.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, when manufacturing a sheath constituting a GIS, a hole for attaching a branch pipe is melt-cut in a metal sheath (pipe) using a plasma cutting machine by hand and machine. When the hole is cut in the sheath, the melted debris of the metal sheath adheres to the periphery of the cross section in a burr-like manner. In the past, in order to ensure the welding quality in the next manufacturing process and the quality to prevent ground faults due to foreign matter, burrs, etc. in GIS products, finishing work such as deburring was performed manually using a grinder. I have.
[0003]
[Problems to be solved by the invention]
However, the sheath is mounted and fixed to the turning mechanism, the cutting mechanism cuts the hole for attaching the branch pipe, and then, the set-up work removes the loaded and fixed sheath from the turning mechanism. Since a step of performing the finishing work manually is required, there is a problem that much labor is required manually.
[0004]
It is an object of the present invention to provide a pipe hole cutting finish that can improve work efficiency by performing a finishing operation as a series of operations without removing a hole-processed pipe from a pipe turning mechanism, following a pipe hole cutting operation. It is to provide a device.
[0005]
[Means for Solving the Problems]
(1) In order to achieve the above object, the present invention provides a swivel mechanism capable of stacking and fixing pipes and turning the fixed pipe, and cutting a branch pipe mounting hole in the pipe fixed to the swivel mechanism. A cutting mechanism, a robot equipped with a grinder for removing a deburring surface of a cut portion of a hole cut by the cutting mechanism, and control means for controlling the turning mechanism and the robot. is there.
With this configuration, it is possible to improve work efficiency by performing a finishing operation as a series of operations without removing the drilled pipe from the pipe turning mechanism following the pipe hole cutting operation.
[0006]
(2) In the above (1), preferably, the control means includes a hole cutting trajectory coordinate calculation processing unit for creating hole cutting trajectory coordinate data based on data of a hole to be cut, and the hole cutting trajectory coordinate calculation processing A robot finishing coordinate data conversion unit for converting the robot into finishing locus coordinate data based on the hole cutting locus coordinate data created by the unit, and the turning mechanism and the cutting mechanism based on the hole cutting locus coordinate data. Is controlled to cut a hole, and the robot is controlled based on the finish trajectory coordinate data to perform finishing processing of the cut hole.
[0007]
(3) In the above (2), preferably, the control means selects a finishing tool according to the size of the diameter of the cut hole to be finished.
[0008]
(4) In the above (3), preferably, the control means further selects a finishing tool according to a ratio between a diameter of the cut hole to be finished and a diameter of the pipe.
[0009]
(5) In the above (4), preferably, when the hole diameter of the cut hole to be finished is larger than a predetermined hole diameter, the control means selects a disc type grinder, and selects the disk type grinder. When the hole diameter is not larger than the predetermined hole diameter, when the ratio between the hole diameter of the cut hole to be finished and the pipe diameter is larger than the predetermined ratio, select the cup type grinder and when not larger than the predetermined ratio. Is designed to select a disk type grinder.
[0010]
(6) In the above (4), preferably, the control means selects a disk-type grinder, and the diameter of the cut hole to be finished is not larger than a predetermined hole diameter, and the cutting to be finished is performed. When the ratio between the hole diameter of the hole and the pipe diameter is larger than a predetermined ratio, the finishing process is performed while turning the pipe.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the configuration and operation of the pipe hole cutting and finishing apparatus according to an embodiment of the present invention will be described with reference to FIGS.
First, the overall configuration of the pipe hole cutting and finishing apparatus according to the present embodiment will be described with reference to FIG.
FIG. 1 is a perspective view showing the entire configuration of a pipe hole cutting and finishing device according to one embodiment of the present invention.
[0012]
On the base 17, a guide rail 19 for movement of the turning mechanism 18 is installed. The turning mechanism 18 can move on the guide rail 19 according to the length of the sheath 1. The base 17 is provided with a guide rail 21 through which the cutting mechanism 7 and the robot 20 can traverse. The robot 20 has a grinder tool 22 at its tip. As will be described later, a plurality of tools such as a disk-type grind tool and a cup-type grinder tool are exchangeably held in the grinder tool 22.
[0013]
The cutting mechanism 7 and the robot 20 can each move on the guide rail 21, can cut a hole at an arbitrary position on the sheath 1, and can perform a hole finishing operation. The cutting mechanism 7 is controlled by the NC control device 11. The robot 20 is controlled by the robot control device 15. The personal computer 8 supplies the NC control device 11 and the robot control device 15 with data for hole cutting and data for finishing work on the melt-cut surface to cut the hole at a predetermined position and remove burrs on the melt surface. It is possible.
[0014]
Next, a system configuration of the pipe hole cutting / finishing apparatus according to the present embodiment will be described with reference to FIGS. 2 and 3.
FIG. 2 is a system configuration diagram of a pipe hole cutting and finishing device according to an embodiment of the present invention. FIG. 3 is an explanatory diagram of a hole cutting process using the pipe hole finishing machine according to one embodiment of the present invention.
[0015]
The personal computer 8 includes a hole cutting data input unit 9, a hole cutting locus coordinate calculation processing unit 10, and a robot finish coordinate data conversion processing unit 14. The hole cutting trajectory coordinate calculation processing unit 10 calculates the coordinates of the θ axis and the X axis of the hole to be cut based on the necessary data relating to the hole cutting input from the hole cutting data input unit 9.
[0016]
Here, the calculation contents of the hole cutting locus coordinate calculation processing unit 10 will be described with reference to FIG.
[0017]
As shown in FIG. 3, when cutting a hole 2 for attaching a branch pipe to the sheath 1, the position and size of the hole are such that the center position of the hole 2 is the inclination θ1 of the sheath 1 on the θ axis, It is given by the distance L1 on the X-axis from the end of the X-axis. The size of the hole is given by the radius r1.
[0018]
On the other hand, the position to be cut by the cutting device 7 is obtained as a position obtained by dividing the circumferential position of the hole 2 into 360 equal parts. That is, a position obtained by shifting the position of the radius r1 from the center position of the hole 2 by the angle δ every 1 degree is obtained. The coordinates of the cutting position of the hole 2 are given by the inclination θ2 of the sheath 1 on the θ axis and the distance L2 of the X axis from the end of the seal 1. The hole cutting trajectory coordinate calculation unit 10 calculates 360 pieces of the coordinate data and outputs the result to the NC control device 11 in FIG. 2 as hole cutting trajectory coordinates.
[0019]
The NC control device 11 of FIG. 2 positions the turning mechanism motor 12 at the angle θ2 and positions the cutting mechanism motor 13 at the position of the distance L2 based on the hole cutting locus coordinates commanded by the personal computer 8. Then, the holes are melt-cut by a plasma cutting mechanism attached to the tip of the cutting device 7. When the cutting of one hole is completed, adjacent hole cutting locus coordinate data is output to the NC controller 11, and the NC controller 11 uses the turning mechanism motor 12 and the cutting mechanism motor based on the hole cutting locus coordinates. 13 is positioned, and the adjacent holes are melt-cut by a plasma cutting mechanism attached to the tip of the cutting device 7. Thus, the hole 2 is cut and formed by cutting 360 holes.
[0020]
When the cutting of the hole 2 is completed, the robot finish coordinate data conversion processing 14 in the personal computer 8 converts the hole cut locus coordinates calculated by the hole cut locus coordinate calculation processing unit 1 into the coordinates of the robot finishing teaching point. As described above, the coordinates of the cutting position of the hole 2 are given as the inclination θ2 of the sheath 1 on the θ-axis and the distance L2 of the X-axis from the end of the seal 1. On the other hand, the robot control device 15 used for finishing the hole has a grinder at the tip, and the position of the grinder is given as a position of three axes of XYZ. Therefore, the robot finish coordinate data conversion processing unit 14 converts the coordinates of the hole cutting locus (θ2, Ls) into the coordinates (X1, Y1, Z1) of the teaching point for robot finish.
[0021]
The converted coordinates of the finishing teaching point are transferred to the robot controller 15. The robot control device 15 drives the robot motor 16 to position the grinder at the position (X1, Y1, Z1) of the specified finishing coordinates, removes burrs around the hole 2, and performs a finishing operation.
[0022]
As described above, in the present embodiment, welding cutting of a hole is performed using the NC control device 11 based on the hole cutting trajectory coordinates obtained by the hole cutting trajectory coordinate calculation processing unit 10, and robot finish coordinate data conversion is performed. The process 14 converts the hole cutting locus coordinates (θ2, Ls) calculated by the hole cutting locus coordinate calculation processing unit 1 into the coordinates (X1, Y1, Z1) of the teaching point for robot finishing. Using these coordinates, burrs around the hole 2 are removed and a finishing operation is performed. Therefore, the operation can be performed efficiently while the sheath 1 is held by the turning mechanism 18 from the hole cutting processing to the hole finishing processing.
[0023]
Further, in the present embodiment, the type of the grinder (disc type, cup type) used in the finishing operation is changed according to the condition of the hole. This processing will be described later with reference to FIGS.
[0024]
Next, the processing content of the finishing processing by the pipe hole cutting / finishing apparatus according to the present embodiment will be described with reference to FIGS.
FIG. 4 is a flowchart showing the contents of the finishing processing by the pipe hole cutting / finishing apparatus according to one embodiment of the present invention. FIGS. 5 to 7 are the finishing processing by the pipe hole cutting / finishing apparatus according to one embodiment of the present invention. FIG.
[0025]
The robot finish coordinate data conversion processing unit 14 shown in FIG. 2 performs processing based on the data of the hole diameter d to be cut and the data of the diameter D of the sheath from which the hole is cut, input from the hole cutting data input unit 9. It is determined whether the grinder 22 used for the finishing processing is a disk type or a cup type. The disc grinder has a diameter of, for example, 180φ, and is suitable for deburring a relatively large hole. The cup type grinder has a diameter of 90 mm, for example, and is suitable for performing a deburring operation of a relatively small hole.
[0026]
Hereinafter, a method of determining the used grinder in the robot finish coordinate data conversion processing unit 14 will be described with reference to FIG.
[0027]
In step s10 of FIG. 4, the robot finish coordinate data conversion processing unit 14 determines whether the hole diameter d to be cut input from the hole cutting data input unit 9 is larger than a predetermined hole diameter value A1. . If the hole diameter d is larger than the predetermined hole diameter value A1, the process proceeds to step s30; otherwise, the process proceeds to step s20. The predetermined hole diameter value A1 is, for example, 400φ.
[0028]
As shown in FIG. 5 (B), when the hole diameter d1 of the hole 2A of the branch pipe formed in the sheath 1 is not larger than, for example, 400φ, the robot 20 needs to be finished by a disk type grinder tool. Arm interferes with the sheath 1. Therefore, as shown in FIG. 5A, in step s20, it is determined that finishing is to be performed using a cup-shaped grinder.
[0029]
As shown in FIG. 5 (B), when the hole diameter d1 of the hole 2A of the branch pipe formed in the sheath 1 is larger than, for example, 400φ, in step s30, the robot finish coordinate data conversion processing unit 14 It is determined whether or not the ratio (d / D) between the hole diameter d to be cut and the diameter D of the sheath from which the hole is cut is larger than a predetermined hole diameter ratio value B1. If the hole diameter ratio d / D is smaller than the predetermined hole diameter ratio value B1, the process proceeds to step s40; otherwise, the process proceeds to step s50. The predetermined hole diameter ratio value B1 is, for example, 0.8.
[0030]
As shown in FIG. 6B, the hole diameter d2 of the hole 2B of the branch pipe formed in the sheath 1 is, for example, 300φ, and at this time, the hole diameter D1 of the sheath 1 is, for example, 1000φ. In this case, the hole diameter d2 of the hole 2B of the branch pipe is smaller than the hole diameter D1 of the sheath 1. In such a case, as shown in FIG. 6A, since the arm of the robot 20 does not interfere with the sheath 1 and the disc type grinder tool 22A can perform finishing work, the disc type grinder is used in step s40. It is determined that finishing is to be performed using
[0031]
On the other hand, as shown in FIG. 7 (B), even when the hole diameter d3 of the hole 2C of the branch pipe formed in the sheath 1 is, for example, 300φ, the hole diameter D2 of the sheath 1 becomes, for example, , 300φ, the hole diameter d3 of the hole 2C of the branch pipe is substantially equal to the hole diameter D2 of the sheath 1. In such a case, if a disk-type grinder is used, the arm of the robot 20 interferes with the sheath 1 and finishing cannot be performed even with the disk-type grinder tool 22A. Therefore, as shown in FIG. Assuming that the grinder 22B is to be used for finishing, it is determined in step s50 that finishing is to be performed using a cup-shaped grinder.
[0032]
At the time of finishing, the robot finish coordinate data conversion processing unit 14 determines whether the grinder 22 used for finishing is formed into a disk shape or a cup shape based on data of the diameter d of the hole to be cut and the diameter D of the sheath. And outputs a command to the robot controller 15 as to which grinder to use. Based on this command, the robot control device 15 performs the replacement of the grinder so that either the disc type or the cup type grinder is held at the tip of the robot.
[0033]
As described above, according to the present embodiment, from the hole cutting processing to the hole finishing processing, the operation can be performed while the sheath 1 is held by the turning mechanism 18, so that the operation can be performed efficiently. it can.
[0034]
Further, the type of the grinder (disk type, cup type) used in the finishing operation can be changed according to the conditions of the holes, and the finishing can be easily performed.
[0035]
Further, by mounting a turning mechanism, a cutting mechanism, and a robot on one base, the sheath loaded for hole cutting and automatically cut can be automatically finished without changing the setup, so that a manual step can be performed. The labor of replacement can be saved.
[0036]
Further, by performing the finishing operation with a robot, a uniform and uniform finish can be obtained, so that the quality of the product can be improved.
[0037]
Next, the configuration and operation of a pipe hole finishing machine according to another embodiment of the present invention will be described with reference to FIGS. 8 and 9. The overall configuration of the pipe hole cutting and finishing apparatus according to the present embodiment is the same as that shown in FIG. Further, the system configuration of the pipe hole cutting / finishing apparatus according to the present embodiment is the same as that shown in FIGS.
[0038]
FIG. 8 is a flowchart showing the processing content of the finishing processing by the pipe hole cutting / finishing apparatus according to another embodiment of the present invention. FIG. 9 is the flowchart of the finishing processing by the pipe hole cutting / finishing apparatus according to another embodiment of the present invention. FIG.
[0039]
8, the processing contents of steps s10 to s40 are the same as those shown in FIG. In the present embodiment, the processing content of step s60 is different. That is, as shown in FIG. 6 (B), the hole diameter d2 of the hole 2B of the branch pipe formed in the sheath 1 is, for example, 300φ, and at this time, the hole diameter D1 of the sheath 1 is, for example, , 1000φ, the hole diameter d2 of the hole 2B of the branch pipe is smaller than the hole diameter D1 of the sheath 1. In such a case, as shown in FIG. 6A, since the arm of the robot 20 does not interfere with the sheath 1 and the disc type grinder tool 22A can perform finishing work, the disc type grinder is used in step s40. It is determined that finishing is to be performed using At this time, the sheath 1 remains fixed without rotating.
[0040]
On the other hand, as shown in FIG. 9 (B), even if the hole diameter d3 of the hole 2C of the branch pipe formed in the sheath 1 is, for example, 300φ, at this time, the hole diameter D2 of the sheath 1 becomes, for example, , 300φ, the hole diameter d3 of the hole 2C of the branch pipe is substantially equal to the hole diameter D2 of the sheath 1. In such a case, if a disk-type grinder is used, the arm of the robot 20 interferes with the sheath 1 so that the disk-type grinder tool 22A cannot perform the finishing process, as shown in FIG. 9A. In step s50, finishing is performed while rotating the sheath 1 using a disc grinder in step s50, using the disc grinder 22A and rotating the sheath 1 according to the position of the finishing. Is determined.
[0041]
The robot finish coordinate data conversion processing section 14 outputs the coordinate data of the hole to be finished to the robot control device 15 and, as shown by a broken line in FIG. Output data. The NC control device 11 controls the turning mechanism motor 12 to rotate the sheath 1 appropriately.
[0042]
In the present embodiment, since the disc type grinder has higher finishing accuracy than the cup type grinder, it is possible to increase the finishing accuracy of the branch pipe hole.
[0043]
As described above, according to the present embodiment, from the hole cutting processing to the hole finishing processing, the operation can be performed while the sheath 1 is held by the turning mechanism 18, so that the operation can be performed efficiently. it can.
[0044]
Further, the finishing accuracy can be improved.
[0045]
Further, by mounting a turning mechanism, a cutting mechanism, and a robot on one base, the sheath loaded for hole cutting and automatically cut can be automatically finished without changing the setup, so that a manual step can be performed. The labor of replacement can be saved.
[0046]
Further, by performing the finishing operation with a robot, a uniform and uniform finish can be obtained, so that the quality of the product can be improved.
[0047]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, a work efficiency can be improved by performing a finishing operation as a series of operations, without removing the drilled pipe from the pipe turning mechanism, following the pipe hole cutting operation.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an entire configuration of a pipe hole cutting and finishing device according to an embodiment of the present invention.
FIG. 2 is a system configuration diagram of a pipe hole cutting and finishing device according to an embodiment of the present invention.
FIG. 3 is an explanatory view of a hole cutting process using a pipe hole finishing machine according to an embodiment of the present invention.
FIG. 4 is a flowchart showing the processing contents of finishing processing by the pipe hole cutting and finishing apparatus according to one embodiment of the present invention.
FIG. 5 is an explanatory diagram of a finishing process by a pipe hole cutting and finishing device according to an embodiment of the present invention.
FIG. 6 is an explanatory diagram of a finishing process performed by the pipe hole cutting / finishing apparatus according to the embodiment of the present invention.
FIG. 7 is an explanatory diagram of a finishing process performed by the pipe hole cutting / finishing apparatus according to the embodiment of the present invention.
FIG. 8 is a flowchart showing the contents of a finishing process performed by a pipe hole cutting / finishing apparatus according to another embodiment of the present invention.
FIG. 9 is an explanatory view of a finishing process by a pipe hole cutting / finishing apparatus according to another embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Sheath 2 ... Branching hole 7 ... Cutting mechanism 8 ... Personal computer 9 ... Hole cutting data input means 10 ... Hole cutting locus coordinate calculation processing unit 11 ... NC controller 12 ... Rotating mechanism motor 13 ... Cutting mechanism motor 14 ... Robot finishing Coordinate data conversion processing unit 15 Robot controller 16 Robot motor 17 Base 18 Rotating mechanism motor 19 Moving guide rail 20 Robot 21 Guide rail 22 Grinder 22A Disk grinder tool 22B Cup grinder tool

Claims (6)

A swivel mechanism that can load and fix the pipes and turn the fixed pipes,
A cutting mechanism for cutting a branch pipe mounting hole in the pipe fixed to the turning mechanism;
A robot equipped with a grinder for removing the deburring surface of the cut portion of the hole cut by the cutting mechanism,
A pipe hole cutting and finishing device comprising: the turning mechanism and control means for controlling the robot. The pipe hole cutting and finishing device according to claim 1,
The control means includes:
Based on the data of the hole to be cut, a hole cutting locus coordinate calculation processing unit that creates hole cutting locus coordinate data,
A robot finish coordinate data conversion unit that converts the robot into finish trajectory coordinate data based on the hole cut trajectory coordinate data created by the hole cut trajectory coordinate calculation processing unit;
Based on the hole cutting trajectory coordinate data, the turning mechanism and the cutting mechanism are controlled to cut a hole,
A pipe hole cutting and finishing device, wherein the robot is controlled based on the finishing trajectory coordinate data to perform a finishing process on a cut hole. The pipe hole cutting and finishing device according to claim 2,
The pipe hole cutting / finishing apparatus, wherein the control means selects a finishing tool according to the size of the diameter of the cut hole to be finished. The pipe hole cutting and finishing device according to claim 3, further comprising:
The said control means selects a finishing tool according to the ratio of the hole diameter of the cut hole to be finished and the pipe diameter, The pipe hole cutting and finishing apparatus characterized by the above-mentioned. The pipe hole cutting and finishing device according to claim 4,
The control means includes:
When the diameter of the cut hole to be finished is larger than the specified hole diameter, select the disc type grinder,
When the hole diameter of the cut hole to be finished is not larger than the predetermined hole diameter, when the ratio of the hole diameter of the cut hole to be finished and the pipe diameter is larger than the predetermined ratio, select the cup type grinder,
If the ratio is not larger than a predetermined ratio, a disc type grinder is selected. The pipe hole cutting and finishing device according to claim 4,
The control means selects a disk type grinder,
When the hole diameter of the cut hole to be finished is not larger than the predetermined hole diameter, and the ratio of the hole diameter of the cut hole to be finished and the pipe diameter is larger than the predetermined ratio, the turning is performed while turning the pipe. A pipe hole cutting and finishing device for performing processing.

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