JP2021126737A - Automatic polishing system - Google Patents

Automatic polishing system Download PDF

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JP2021126737A
JP2021126737A JP2020023593A JP2020023593A JP2021126737A JP 2021126737 A JP2021126737 A JP 2021126737A JP 2020023593 A JP2020023593 A JP 2020023593A JP 2020023593 A JP2020023593 A JP 2020023593A JP 2021126737 A JP2021126737 A JP 2021126737A
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polishing
pressing force
current consumption
consumption value
automatic
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JP6942212B2 (en
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玄二 中山
Genji Nakayama
玄二 中山
義雄 東
Yoshio Azuma
義雄 東
慶一 林
Keiichi Hayashi
慶一 林
浩之 鈴木
Hiroyuki Suzuki
浩之 鈴木
智雄 山下
Tomoo Yamashita
智雄 山下
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Taikisha Ltd
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Taikisha Ltd
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Priority to JP2020023593A priority Critical patent/JP6942212B2/en
Priority to PCT/JP2020/037810 priority patent/WO2021161581A1/en
Priority to CN202080006002.5A priority patent/CN113573845A/en
Publication of JP2021126737A publication Critical patent/JP2021126737A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/14—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the temperature during grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

To provide an automatic polishing system which can make a thickness of a polished film uniform during polishing processing.SOLUTION: An automatic polishing system includes a polishing tool which has a polishing material for polishing a polishing object area and a motor for driving the polishing material, a polishing robot which moves the polishing tool with respect to the polishing object area, and a polishing controller for controlling the polishing tool and the polishing robot. The automatic polishing system includes a current measurement device for measuring a current consumption value of the motor, and a pressing force adjustment mechanism for adjusting pressing force of the polishing material to the polishing object area. The polishing controller is structured so as to adjust the pressing force of the polishing material through the pressing force adjustment mechanism to make a current consumption value approximately constant on the basis of the current consumption value measured by the current measurement device during polishing process.SELECTED DRAWING: Figure 5

Description

本発明は、研磨対象領域を研磨する研磨材と前記研磨材を駆動させる電動機とを有する研磨具と、前記研磨具を前記研磨対象領域に対して移動させる研磨ロボットと、前記研磨具及び前記研磨ロボットを制御する研磨制御器とを備えた自動研磨システムに関する。 The present invention includes a polishing tool having a polishing material for polishing a polishing target area and an electric motor for driving the polishing material, a polishing robot for moving the polishing tool with respect to the polishing target area, the polishing tool, and the polishing. The present invention relates to an automatic polishing system equipped with a polishing controller that controls a robot.

鉄道車両、自動車、航空機、船舶などのボディを塗装した後には、塗装面の塗膜を均一にするために研磨処理が行われる。その際、研磨工程の省力化を図るため、研磨対象領域を研磨する研磨材と当該研磨材を駆動させる電動機とを有する電動サンダーと呼ばれる研磨具を装備する研磨ロボットによる自動研磨処理が実施されている。 After painting the body of a railroad vehicle, automobile, aircraft, ship, etc., a polishing process is performed to make the coating film on the painted surface uniform. At that time, in order to save labor in the polishing process, an automatic polishing process is carried out by a polishing robot equipped with a polishing tool called an electric sander having a polishing material for polishing the polishing target area and an electric motor for driving the polishing material. There is.

当該研磨ロボットはさらに、力覚センサーや押付圧制御装置等を備えており、ほぼ一定の押付力で研磨材を研磨対象領域に押し付けながら、電動機の回転数及び研磨具の移動速度を一定にしたまま、研磨対象領域を研磨するように構成されている。 The polishing robot is further equipped with a force sensor, a pressing pressure control device, etc., and keeps the number of rotations of the electric motor and the moving speed of the polishing tool constant while pressing the polishing material against the area to be polished with a substantially constant pressing force. As it is, it is configured to polish the area to be polished.

尚、このような自動研磨処理については、広く一般に知られているものであるため、先行技術文献を開示しない。 Since such an automatic polishing process is widely known, the prior art document is not disclosed.

ところで、図１に示すように、研磨処理において、研磨材は使用により摩耗する。したがって、従来の自動研磨処理においては、研磨材は研磨対象領域に対して一定の押付力で押し付けられているため、研磨材が摩耗すればするほど、単位時間当たりの研磨量（以下、「研磨力」と記す。）が低下することとなり、研磨膜厚を一定にすることが難しくなる。研磨対象領域の塗膜硬度が研磨材と比べて硬いものほど、研磨材が摩耗し易くなることから、より研磨膜厚を一定にすることが難しくなる。 By the way, as shown in FIG. 1, in the polishing process, the abrasive material is worn by use. Therefore, in the conventional automatic polishing process, the abrasive is pressed against the area to be polished with a constant pressing force. Therefore, the more the abrasive is worn, the more the amount of polishing per unit time (hereinafter, "polishing"). It will be described as "force"), and it will be difficult to keep the polishing film thickness constant. The harder the coating film hardness of the polishing target region is than the polishing material, the easier it is for the polishing material to wear, so that it becomes more difficult to keep the polishing film thickness constant.

本発明は上記実情に鑑みてなされたものであって、その目的は、研磨処理の間、常に研磨膜厚を一定にすることができる自動研磨システムを提供することにある。 The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic polishing system capable of keeping the polishing film thickness constant during a polishing process.

本発明に係る自動研磨システムの特徴は、
研磨対象領域を研磨する研磨材と前記研磨材を駆動させる電動機とを有する研磨具と、前記研磨具を前記研磨対象領域に対して移動させる研磨ロボットと、前記研磨具及び前記研磨ロボットを制御する研磨制御器とを備えた自動研磨システムであって、
前記電動機の消費電流値を計測する電流計測器と、
前記研磨材の前記研磨対象領域に対する押付力を調整する押付力調整機構と、を備え、
前記研磨制御器は、研磨処理の間、前記電流計測器によって計測される前記消費電流値に基づいて、前記消費電流値がほぼ一定となるように、前記押付力調整機構を介して前記研磨材の前記押付力を調整するように構成されている点にある。 The features of the automatic polishing system according to the present invention are
Controls a polishing tool having a polishing material for polishing a polishing target area and an electric motor for driving the polishing material, a polishing robot for moving the polishing tool with respect to the polishing target area, and the polishing tool and the polishing robot. It is an automatic polishing system equipped with a polishing controller.
A current measuring instrument that measures the current consumption value of the motor, and
A pressing force adjusting mechanism for adjusting the pressing force of the abrasive material against the polishing target area is provided.
During the polishing process, the polishing controller uses the polishing material via the pressing force adjusting mechanism so that the current consumption value becomes substantially constant based on the current consumption value measured by the current measuring instrument. The point is that it is configured to adjust the pressing force of the above.

研磨具、例えば電動サンダーにおいては、研磨材を回転駆動や往復駆動などさせる電動機の回転トルクの大きさが、研磨力とほぼ比例関係にあり、さらに回転トルクと、当該電動機の消費電流値もほぼ比例関係にあることが実験結果として判明している。尚、消費電流値とは、当該電動機に供給される電流値をいう。そのため、図２及び図３に示すように、研磨材の研磨力の指標として消費電流値を使用し、研磨材の摩耗による研磨力の低下を、消費電流値によって把握することができる。図２や図３における消費電流値は、瞬間的な電流値ではなく経時的に計測された消費電流値から算出された移動平均値である。つまり、本発明において、消費電流値に基づく、とは、消費電流値の瞬時値に基づくことだけでなく、消費電流値の移動平均値に基づくことも含む。これにより、押付力調整機構による押付力の調整が容易となる。 In a polishing tool, for example, an electric sander, the magnitude of the rotational torque of the electric motor that drives the polishing material to rotate or reciprocate is almost proportional to the polishing force, and the rotational torque and the current consumption value of the electric motor are also almost equal. Experimental results have shown that there is a proportional relationship. The current consumption value means the current value supplied to the motor. Therefore, as shown in FIGS. 2 and 3, the current consumption value can be used as an index of the polishing power of the abrasive material, and the decrease in the polishing power due to the wear of the polishing material can be grasped by the current consumption value. The current consumption value in FIGS. 2 and 3 is not a momentary current value but a moving average value calculated from the current consumption value measured over time. That is, in the present invention, "based on the current consumption value" includes not only being based on the instantaneous value of the current consumption value but also being based on the moving average value of the current consumption value. This facilitates the adjustment of the pressing force by the pressing force adjusting mechanism.

本構成によれば、研磨制御器は、研磨処理の間、電動機の消費電流値が一定となるように、押付力調整機構を介して研磨材の研磨対象領域に対する押付力を調整するように構成されている。そのため、研磨材が当初よりも摩耗したとしても、当初よりも大きな押付力で研磨材を研磨対象領域に押し付けることによって、一定の研磨力で研磨処理を行うことが可能となり、結果として、研磨対象領域において研磨膜厚を一定にすることができる。 According to this configuration, the polishing controller is configured to adjust the pressing force of the abrasive material against the polishing target area via the pressing force adjusting mechanism so that the current consumption value of the electric motor becomes constant during the polishing process. Has been done. Therefore, even if the abrasive material is worn more than the initial state, by pressing the abrasive material against the polishing target area with a larger pressing force than the initial state, it is possible to perform the polishing process with a constant polishing force, and as a result, the polishing target. The polishing film thickness can be made constant in the region.

本発明に係る自動研磨システムにおいては、さらに、前記研磨対象領域の温度、又は、研磨処理が行われる空間の気温の少なくともいずれかを計測する温度計測器を備え、前記研磨制御器は、研磨処理の間、前記温度計測器によって計測された前記温度又は前記気温の少なくともいずれかに基づいて、前記押付力調整機構を介して調整される前記研磨材の押付力を補正するように構成されていると好適である。 The automatic polishing system according to the present invention further includes a temperature measuring device that measures at least one of the temperature of the area to be polished or the temperature of the space where the polishing process is performed, and the polishing controller is a polishing process. During the period, it is configured to correct the pressing force of the polishing material adjusted via the pressing force adjusting mechanism based on the temperature measured by the temperature measuring instrument or at least one of the temperatures. Is suitable.

塗膜の硬度には温度依存性があることも実験結果から判明している。例えば、研磨処理が行われる空間の気温が冬期のように０℃前後であるような場合と、夏期のように４０℃前後であるような場合とでは、塗膜の硬度が異なる。冬期のような塗膜の硬度が高いときの研磨条件のまま、夏期に研磨処理を行うと塗膜を研磨しすぎることとなる。そこで、研磨制御器は、研磨対象領域の温度、又は、研磨処理が行われる空間の気温の少なくともいずれかに基づいて、押付力調整機構を介して調整された研磨材の押付力を補正することによって、研磨対象領域の温度が一定ではないときであっても、一定の研磨力で研磨処理を行うことが可能となり、結果として、研磨対象領域において研磨膜厚を一定にすることができる。 Experimental results have also shown that the hardness of the coating film is temperature-dependent. For example, the hardness of the coating film differs between the case where the temperature of the space where the polishing treatment is performed is around 0 ° C. as in winter and the case where the temperature is around 40 ° C. as in summer. If the polishing treatment is performed in the summer under the polishing conditions when the hardness of the coating film is high as in the winter, the coating film will be over-polished. Therefore, the polishing controller corrects the pressing force of the abrasive material adjusted via the pressing force adjusting mechanism based on at least one of the temperature of the area to be polished or the temperature of the space where the polishing process is performed. Therefore, even when the temperature of the polishing target region is not constant, the polishing treatment can be performed with a constant polishing force, and as a result, the polishing film thickness can be made constant in the polishing target region.

本発明に係る自動研磨システムにおいては、さらに、前記研磨材の有効研磨面積率に応じて、前記研磨ロボットによる前記研磨具の移動速度を調整する移動速度調整機構を備えていると好適である。 It is preferable that the automatic polishing system according to the present invention further includes a moving speed adjusting mechanism that adjusts the moving speed of the polishing tool by the polishing robot according to the effective polishing area ratio of the polishing material.

有効研磨面積率は、検査対象領域に対する研磨材の実接触面積を、当該研磨材の有効接触面積で除することによって算出されるものであって、研磨対象領域の表面形状に応じて予め決定される。 The effective polishing area ratio is calculated by dividing the actual contact area of the abrasive with respect to the inspection target area by the effective contact area of the abrasive, and is determined in advance according to the surface shape of the polishing target area. NS.

例えば、研磨対象領域が凸面であるような場合は、平面である場合に比べて、研磨材の実接触面積が減少することとなる。すなわち有効研磨面積率が低くなる。このとき、研磨力が相対的に低下することになるため回転トルクは小さくなり、消費電流値は小さくなる。 For example, when the polishing target area is a convex surface, the actual contact area of the abrasive material is reduced as compared with the case where the polishing target area is a flat surface. That is, the effective polishing area ratio becomes low. At this time, since the polishing force is relatively reduced, the rotational torque is reduced and the current consumption value is reduced.

このように、研磨材の摩耗による研磨力の低下ではない場合であっても、消費電流値は小さくなるのであるが、当該研磨制御器は、このときも消費電流値が一定となるように、押付力調整機構を介して研磨具の押付力を調整してしまう。その結果、研磨対象領域は過剰に研磨されることとなってしまい、研磨対象領域全体として研磨膜厚を一定にすることができない。そこで、移動速度調整機構によって、研磨材の有効研磨面積率に応じて、研磨ロボットによる研磨具の移動速度を調整することで、上記のような研磨過剰が回避され、研磨対象領域において研磨膜厚を一定にすることができる。 In this way, the current consumption value is small even when the polishing power is not reduced due to the wear of the abrasive material, but the polishing controller is designed so that the current consumption value is constant even at this time. The pressing force of the polishing tool is adjusted via the pressing force adjusting mechanism. As a result, the area to be polished is excessively polished, and the polishing film thickness cannot be made constant for the entire area to be polished. Therefore, by adjusting the moving speed of the polishing tool by the polishing robot according to the effective polishing area ratio of the polishing material by the moving speed adjusting mechanism, the above-mentioned excessive polishing is avoided, and the polishing film thickness in the polishing target region is avoided. Can be constant.

本発明に係る自動研磨システムにおいては、前記研磨制御器は、前記消費電流値が設定範囲内であるときに前記押付力が設定範囲の最大値となった場合、前記押付力が設定範囲の最大値であるときに前記消費電流値が設定範囲の最小値を下回った場合、前記押付力を設定範囲内において増加させても前記消費電流値の増加がみられない場合、少なくとも前記押付力から演算される指標数値が予め定められた限界値以下となった場合、の少なくともいずれかの場合に、少なくとも前記研磨材の交換時期と判断するように構成されていると好適である。 In the automatic polishing system according to the present invention, in the polishing controller, when the pressing force reaches the maximum value of the set range when the current consumption value is within the set range, the pressing force becomes the maximum value of the set range. If the current consumption value falls below the minimum value in the set range when it is a value, and if the current consumption value does not increase even if the pressing force is increased within the set range, at least the calculation is performed from the pressing force. It is preferable that the index value is at least determined to be the replacement time of the abrasive when the index value is equal to or less than a predetermined limit value.

本構成によれば、研磨材の交換時期を適切に判断することができる。尚、研磨具は、研磨材のみが交換可能な構成であれば、当該研磨材のみが新たな研磨材と交換され、研磨材のみの交換が不可であれば、研磨具ごと交換されることによって、新たな研磨材と交換されることとなる。 According to this configuration, it is possible to appropriately determine the replacement time of the abrasive material. If only the abrasive is replaceable, the abrasive is replaced with a new abrasive, and if only the abrasive is not replaceable, the entire abrasive is replaced. , Will be replaced with a new abrasive.

研磨材の摩耗に伴う研磨量の変化を示す図である。It is a figure which shows the change of the polishing amount with the wear of the abrasive material. 研磨材の摩耗に伴う消費電流値の変化を示す図である。It is a figure which shows the change of the current consumption value with the wear of an abrasive material. 新たな研磨材による研磨具の消費電流値と摩耗した研磨材による研磨具の消費電流値とを比較する図である。It is a figure which compares the current consumption value of the polishing tool by a new polishing material, and the current consumption value of a polishing tool by a worn polishing material. 本発明の自動研磨システムの第１実施形態の概略構成図である。It is a schematic block diagram of 1st Embodiment of the automatic polishing system of this invention. 本発明の自動研磨システムによる制御方法のタイミングチャートである。It is a timing chart of the control method by the automatic polishing system of this invention. 本発明の自動研磨システムの第２実施形態の概略構成図である。It is a schematic block diagram of the 2nd Embodiment of the automatic polishing system of this invention. 従来の自動研磨システムにおける研磨材の寿命と、本発明の自動研磨システムにおける研磨材の寿命とを比較した説明図である。It is explanatory drawing which compared the life of the abrasive in the conventional automatic polishing system, and the life of the abrasive in the automatic polishing system of this invention.

〔第１実施形態〕
本発明に係る実施の形態を図面に基づいて説明する。
本実施形態では、本発明の自動研磨システム１を、鉄道車両のボディに適用した場合について説明する。尚、当該自動研磨システム１は、鉄道車両に限らず、自動車、航空機、船舶などにも適用することができる。当該自動研磨システム１は、仕上げ塗装の下地処理として鉄道車両のボディに施したパテ塗装の塗膜表面を研磨処理することで、そのパテ塗料表面を仕上げ塗装に適した平滑面にする。 [First Embodiment]
An embodiment of the present invention will be described with reference to the drawings.
In the present embodiment, a case where the automatic polishing system 1 of the present invention is applied to a body of a railway vehicle will be described. The automatic polishing system 1 can be applied not only to railway vehicles but also to automobiles, aircraft, ships and the like. The automatic polishing system 1 polishes the surface of the putty coating film applied to the body of a railroad vehicle as a base treatment for the finish coating, thereby making the putty coating surface a smooth surface suitable for the finish coating.

研磨処理にあたっては、前記塗膜表面を、複数の研磨対象領域に区分し、その上で、公知の形状測定器を使用して各研磨対象領域の三次元形状を計測する。 In the polishing treatment, the surface of the coating film is divided into a plurality of polishing target regions, and then the three-dimensional shape of each polishing target region is measured using a known shape measuring device.

図４に示すように、本実施形態における自動研磨システム１は、研磨対象領域を研磨する研磨具としての電動サンダー２と、電動サンダー２を研磨対象領域に対して移動させる研磨ロボット（図示せず）と、ＰＣ３（研磨制御器の一例）と、電動サンダー２の電動機の消費電流値を計測するサーボアンプ盤５（電流計測器の一例）と、を備える。尚、ＰＣ３は、ＬＡＮ６を介してサーボアンプ盤５と接続されるようにしても良い。当該研磨ロボットは、ロボットアームを有して構成され、その先端に保持した電動サンダー２を、研磨対象領域である塗膜表面に沿って移動可能に構成されている。 As shown in FIG. 4, the automatic polishing system 1 in the present embodiment includes an electric sander 2 as a polishing tool for polishing the polishing target area and a polishing robot (not shown) for moving the electric sander 2 with respect to the polishing target area. ), A PC 3 (an example of a polishing controller), and a servo amplifier board 5 (an example of a current measuring device) for measuring the current consumption value of the electric machine of the electric sander 2. The PC 3 may be connected to the servo amplifier board 5 via the LAN 6. The polishing robot is configured to have a robot arm, and the electric sander 2 held at the tip thereof can be moved along the surface of the coating film, which is a region to be polished.

電動サンダー２は、研磨対象領域を研磨する研磨材と、当該研磨材を駆動させる電動機とを有している。さらに、電動サンダー２は、研磨対象領域に対する電動サンダー２の研磨材の押付力を調整する押付力調整機構（図示せず）、及び電動サンダー２の電動機の回転数を調整する回転数調整機構（図示せず）が設けられている。尚、本実施形態においては、押付力調整機構は電動サンダー２に設けられたアクチュエータなどから構成され、当該アクチュエータが制御されることによって電動サンダー２の研磨材を研磨対象領域に対して遠ざけたり近づけたりするように構成されている。尚、押付力調整機構は研磨ロボット自体であってもよい。この場合は、研磨ロボットが電動サンダー２を研磨対象領域に対して遠ざけたり近づけたりすることで、研磨対象領域に対する電動サンダー２の研磨材の押付力が調整される。 The electric sander 2 has a polishing material for polishing the polishing target area and an electric motor for driving the polishing material. Further, the electric sander 2 includes a pressing force adjusting mechanism (not shown) for adjusting the pressing force of the abrasive material of the electric sander 2 against the polishing target area, and a rotation speed adjusting mechanism for adjusting the rotation speed of the electric motor of the electric sander 2 (not shown). (Not shown) is provided. In the present embodiment, the pressing force adjusting mechanism is composed of an actuator provided on the electric sander 2 and the like, and the abrasive material of the electric sander 2 is moved away from or closer to the polishing target area by controlling the actuator. It is configured to do. The pressing force adjusting mechanism may be the polishing robot itself. In this case, the polishing robot moves the electric sander 2 away from or closer to the polishing target area, so that the pressing force of the abrasive material of the electric sander 2 against the polishing target area is adjusted.

ＰＣ３は、研磨ロボットにより電動サンダー２を複数の研磨対象領域のうちの一つに配置させ、計測された三次元形状データと予め設定された運転条件に基づいて研磨処理を実施するように研磨ロボットと電動サンダー２とを制御する。そして、この研磨処理が、すべての研磨対象領域について順次実施されてゆく。尚、ＰＣ３による、研磨ロボットの移動条件や、電動サンダー２の電動機の回転数などの運転条件は、研磨材の種類（砥粒種、番手、寸法）、研磨すべき塗膜の種類、研磨対象領域の塗膜硬度、必要とされる膜厚などの研磨条件に応じて予め設定される。 In the PC3, the electric sander 2 is arranged in one of a plurality of polishing target areas by the polishing robot, and the polishing robot performs the polishing process based on the measured three-dimensional shape data and the preset operating conditions. And the electric sander 2. Then, this polishing process is sequentially carried out for all the polishing target areas. The operating conditions such as the moving conditions of the polishing robot by the PC3 and the rotation speed of the electric motor of the electric sander 2 include the type of abrasive material (abrasive grain type, count, size), the type of coating film to be polished, and the object to be polished. It is preset according to the polishing conditions such as the coating film hardness of the region and the required film thickness.

研磨処理の間、ＰＣ３は、サーボアンプ盤５によって計測される電動サンダー２の電動機の消費電流値に基づいて、当該消費電流値がほぼ一定となるように、押付力調整機構を介して電動サンダー２の研磨材の押付力を調整する。尚、押付力の調整は、消費電流値の移動平均値に基づいて行われることが好ましい。これによって押付力調整機構の制御が容易となる。ただし、消費電流値の瞬時的な値に基づいて行われてもよい。 During the polishing process, the PC 3 uses the electric sander via the pressing force adjusting mechanism so that the current consumption value becomes substantially constant based on the current consumption value of the electric motor of the electric sander 2 measured by the servo amplifier board 5. Adjust the pressing force of the abrasive in 2. The pressing force is preferably adjusted based on the moving average value of the current consumption value. This facilitates the control of the pressing force adjusting mechanism. However, it may be performed based on the instantaneous value of the current consumption value.

以下、ＰＣ３による電動サンダー２の研磨材の押付力の調整について、より詳細な説明を加える。 Hereinafter, a more detailed description will be added regarding the adjustment of the pressing force of the abrasive material of the electric sander 2 by the PC 3.

先ずＰＣ３は、必要研磨量の範囲内となるように、電動サンダー２の電動機の上限消費電流値と下限消費電流値とを設定する。 First, the PC 3 sets the upper limit current consumption value and the lower limit current consumption value of the electric motor of the electric sander 2 so as to be within the range of the required polishing amount.

そして、図５に示すように、研磨処理を実施する間、ＰＣ３は、サーボアンプ盤５を介して消費電流値をモニターしつつ、消費電流値が設定下限となるごとに、押付力調整機構を介して電動サンダー２の研磨材の押付力を増加させることによって消費電流値が設定範囲内となるように制御を繰り返す。消費電流値がほぼ一定になるとは、消費電流値が常に一定であることのみならず、所定の設定範囲内にあることをも意味する。 Then, as shown in FIG. 5, during the polishing process, the PC 3 monitors the current consumption value via the servo amplifier board 5 and sets a pressing force adjusting mechanism every time the current consumption value reaches the lower limit of the setting. The control is repeated so that the current consumption value is within the set range by increasing the pressing force of the abrasive material of the electric sander 2 through the electric sander 2. When the current consumption value becomes almost constant, it means that the current consumption value is not only always constant but also within a predetermined setting range.

ＰＣ３による電動サンダー２の研磨材の押付力の変更制御については、図５に示すような段階的に押付力を調整する方法ではなく、連続的に押付力を調整していく方法でも良い。 Regarding the control of changing the pressing force of the abrasive material of the electric sander 2 by the PC3, a method of continuously adjusting the pressing force may be used instead of the method of adjusting the pressing force stepwise as shown in FIG.

ＰＣ３は、消費電流値、押付力、回転数、移動速度などのパラメータの演算によって得られる指標により、研磨材の摩耗程度を判定し、当該指標が所定の値に達した場合を当該研磨材の寿命と判定するように構成しても良い。 The PC3 determines the degree of wear of the abrasive by an index obtained by calculating parameters such as current consumption, pressing force, rotation speed, and moving speed, and when the index reaches a predetermined value, the abrasive is of the abrasive. It may be configured to determine the life.

例えば、ＰＣ３は、消費電流値が設定範囲内であるときに押付力が設定範囲の最大値となった場合、押付力が設定範囲の最大値であるときに消費電流値が設定範囲の最小値を下回った場合、押付力を設定範囲内において増加させても消費電流値の増加がみられない場合、押付力、回転数、移動速度から演算される指標数値が予め定められた限界値以下となった場合、の少なくともいずれかの場合に、少なくとも研磨材の交換時期と判断することができる。尚、上記指標については、研磨材の種類（砥粒種、番手、寸法）、研磨すべき塗膜の種類、及びこれらの組み合わせについても考慮して設定して良い。 For example, in the PC3, when the pressing force reaches the maximum value of the set range when the current consumption value is within the set range, the current consumption value is the minimum value of the set range when the pressing force is the maximum value of the set range. If the current consumption value does not increase even if the pressing force is increased within the set range, the index value calculated from the pressing force, rotation speed, and moving speed is below the predetermined limit value. If this happens, at least in any one of the cases, it can be determined that it is time to replace the abrasive material at least. The above index may be set in consideration of the type of abrasive (abrasive grain type, count, size), the type of coating film to be polished, and the combination thereof.

〔第２実施形態〕
本発明の自動研磨システム１に係る第２実施形態について説明するが、上記第１実施形態と同様の構成・効果については説明を省略し、主として異なる構成について説明する。 [Second Embodiment]
The second embodiment according to the automatic polishing system 1 of the present invention will be described, but the same configurations and effects as those of the first embodiment will be omitted, and different configurations will be mainly described.

図６に示すように、本実施形態における自動研磨システム１は、研磨対象領域を研磨する研磨具としての電動サンダー２と、電動サンダー２を研磨対象領域に対して移動させる研磨ロボット（図示せず）と、ＰＣ３（研磨制御器の一例）と、ＰＬＣ４（研磨制御器の一例）と、電動サンダー２の電動機の消費電流値を計測するサーボアンプ盤５（電流計測器の一例）と、研磨ロボットを制御するロボット制御盤７と、を備える。尚、ＰＣ３とＰＬＣ４は、ＬＡＮ６を介してサーボアンプ盤５と接続されるようにしても良く、ロボット制御盤７も、ＬＡＮ６を介してサーボアンプ盤５、ＰＣ３、ＰＬＣ４と接続されるようにして良い。 As shown in FIG. 6, the automatic polishing system 1 in the present embodiment includes an electric sander 2 as a polishing tool for polishing the polishing target area and a polishing robot (not shown) for moving the electric sander 2 with respect to the polishing target area. ), PC3 (an example of a polishing controller), PLC4 (an example of a polishing controller), a servo amplifier board 5 (an example of a current measuring instrument) that measures the current consumption value of the electric machine of the electric sander 2, and a polishing robot. A robot control panel 7 for controlling the above is provided. The PC 3 and the PLC 4 may be connected to the servo amplifier board 5 via the LAN 6, and the robot control board 7 may also be connected to the servo amplifier board 5, the PC 3 and the PLC 4 via the LAN 6. good.

ロボット制御盤７には、研磨ロボットによる電動サンダー２の移動速度を調整する移動速度整機構が設けられている。 The robot control panel 7 is provided with a moving speed adjusting mechanism that adjusts the moving speed of the electric sander 2 by the polishing robot.

本実施形態では、研磨処理を実施する間、ＰＣ３とＰＬＣ４は、サーボアンプ盤５を介して消費電流値をモニターしつつ、消費電流値が設定下限となるごとに、押付力調整機構を介して電動サンダー２の研磨材の押付力を増加させることによって消費電流値が設定範囲内となるように制御を繰り返す。消費電流値がほぼ一定になるとは、消費電流値が常に一定であることのみならず、所定の設定範囲内にあることをも意味する。 In the present embodiment, while the polishing process is performed, the PC3 and the PLC4 monitor the current consumption value via the servo amplifier board 5, and each time the current consumption value reaches the lower limit of the setting, the PC3 and the PLC4 pass through the pressing force adjusting mechanism. The control is repeated so that the current consumption value is within the set range by increasing the pressing force of the abrasive material of the electric sander 2. When the current consumption value becomes almost constant, it means that the current consumption value is not only always constant but also within a predetermined setting range.

ところで、研磨対象領域が均一な平面であれば、電動サンダー２の研磨材の有効研磨面積率は一定である。しかし、検査対象領域が曲面、例えば凸平面であると、電動サンダー２の研磨材の研磨対象領域に対する接触面積が減少するため、有効研磨面積率は低下することとなる。 By the way, if the polishing target area is a uniform flat surface, the effective polishing area ratio of the polishing material of the electric sander 2 is constant. However, if the inspection target region is a curved surface, for example, a convex plane, the contact area of the abrasive of the electric sander 2 with respect to the polishing target region is reduced, so that the effective polishing area ratio is lowered.

上述のとおり当該自動研磨システム１においては、電動サンダー２の電動機の消費電流値が一定に制御されることから、電動サンダー２の研磨材に対する負荷が減少すると、電動サンダー２の研磨材の押付力を増加するような制御がなされる。したがって、電動サンダー２の移動速度が一定のままであると、研磨対象領域は過剰に研磨されることとなってしまい、研磨対象領域全体として研磨膜厚を一定にすることができない。そこで、移動速度調整機構によって、研磨ロボットによる電動サンダー２の移動速度を増加させることで、研磨過剰が回避され、研磨対象領域において研磨膜厚を一定にすることができる。 As described above, in the automatic polishing system 1, since the current consumption value of the electric motor of the electric sander 2 is controlled to be constant, when the load on the abrasive material of the electric sander 2 is reduced, the pressing force of the abrasive material of the electric sander 2 is reduced. Is controlled to increase. Therefore, if the moving speed of the electric sander 2 remains constant, the area to be polished will be excessively polished, and the polishing film thickness cannot be made constant for the entire area to be polished. Therefore, by increasing the moving speed of the electric sander 2 by the polishing robot by the moving speed adjusting mechanism, excessive polishing can be avoided and the polishing film thickness can be made constant in the polishing target region.

上述の通り、消費電流値を研磨負荷として検出してこれをフィードバックし、研磨材の押付力、移動速度などを、研磨負荷に応じて制御することによって、図７に示すように、必要な研磨量の均一化だけでなく、研磨材の長寿命化を図ることができる。 As described above, by detecting the current consumption value as a polishing load and feeding it back, and controlling the pressing force, moving speed, etc. of the abrasive according to the polishing load, necessary polishing is required as shown in FIG. Not only can the amount be made uniform, but the life of the abrasive can be extended.

（その他の実施形態）
上述の実施形態において、研磨制御器は、研磨処理の間、電流計測器によって計測される電動サンダー２の電動機の消費電流値に基づいて、消費電流値がほぼ一定となるように、押付力調整機構を介して電動サンダー２の研磨材の押付力を調整する構成を説明した。ところで、塗膜の硬度には温度依存性があることも実験結果から判明している。例えば、研磨処理が行われる空間の気温が冬期のように０℃前後であるような場合と、夏期のように４０℃前後であるような場合とでは、塗膜の硬度が異なる。冬期のように塗膜の硬度が高いときの研磨条件のまま、夏期に研磨処理を行うと塗膜を研磨しすぎることとなる。 (Other embodiments)
In the above-described embodiment, the polishing controller adjusts the pressing force so that the current consumption value becomes substantially constant based on the current consumption value of the electric motor of the electric sander 2 measured by the current measuring device during the polishing process. The configuration for adjusting the pressing force of the abrasive material of the electric sander 2 via the mechanism has been described. By the way, it has also been found from the experimental results that the hardness of the coating film is temperature-dependent. For example, the hardness of the coating film differs between the case where the temperature of the space where the polishing treatment is performed is around 0 ° C. as in winter and the case where the temperature is around 40 ° C. as in summer. If the polishing treatment is performed in the summer under the polishing conditions when the hardness of the coating film is high as in the winter, the coating film will be over-polished.

そこで、当該自動研磨システムにおいては、さらに、前記研磨対象領域の温度、又は、研磨処理が行われる空間の気温の少なくともいずれかを計測する温度計測器、例えばサーモグラフ、を備え、前記研磨制御器は、研磨処理の間、前記温度計測器によって計測された前記温度又は前記気温の少なくともいずれかに基づいて、前記押付力調整機構を介して調整される前記研磨材の押付力を補正するように構成されていると好適である。これにより、研磨対象領域の温度が一定ではないときであっても、一定の研磨力で研磨処理を行うことが可能となり、結果として、研磨対象領域において研磨膜厚を一定にすることができる。 Therefore, the automatic polishing system further includes a temperature measuring device, for example, a thermograph, which measures at least one of the temperature of the polishing target area and the temperature of the space where the polishing process is performed, and the polishing controller. To correct the pressing force of the polishing material adjusted via the pressing force adjusting mechanism based on either the temperature measured by the temperature measuring instrument or at least one of the temperatures during the polishing process. It is preferable that it is configured. As a result, even when the temperature of the polishing target region is not constant, the polishing treatment can be performed with a constant polishing force, and as a result, the polishing film thickness can be made constant in the polishing target region.

上述のように図面を参照しつつ本発明を説明したが、本発明は当該図面の構成に限定されるものではなく、本発明の要旨を逸脱しない範囲において様々な態様で実施することができることは言うまでもない。 Although the present invention has been described with reference to the drawings as described above, the present invention is not limited to the configuration of the drawings, and can be carried out in various embodiments without departing from the gist of the present invention. Needless to say.

本発明の自動研磨システムは、例えば自動車、鉄道車両、航空機、船舶などにおけるボディ全体又はこれを構成する種々のパーツについて研磨処理を行う技術分野において特に好適に利用することができる。 The automatic polishing system of the present invention can be particularly suitably used in the technical field of polishing the entire body or various parts constituting the entire body of, for example, an automobile, a railroad vehicle, an aircraft, a ship, and the like.

１ 自動研磨システム
２ 電動サンダー（研磨具の一例）
３ ＰＣ（研磨制御器の一例）
４ ＰＬＣ（研磨制御器の一例）
５ サーボアンプ盤（電流計測器の一例）
６ ＬＡＮ
７ ロボット制御盤 1 Automatic polishing system 2 Electric sander (an example of polishing tool)
3 PC (an example of polishing controller)
4 PLC (Example of polishing controller)
5 Servo amplifier board (an example of current measuring instrument)
6 LAN
7 Robot control panel

本発明に係る自動研磨システムの特徴は、
研磨対象領域を研磨する研磨材と前記研磨材を駆動させる電動機とを有する研磨具と、前記研磨具を前記研磨対象領域に対して移動させる研磨ロボットと、前記研磨具及び前記研磨ロボットを制御する研磨制御器とを備えた自動研磨システムであって、
前記電動機の消費電流値を計測する電流計測器と、
前記研磨材の前記研磨対象領域に対する押付力を調整する押付力調整機構と、を備え、
前記研磨制御器は、研磨処理の間、前記電流計測器によって計測される前記消費電流値に基づいて、前記消費電流値が予め設定された上限値と下限値との間にあるように、前記押付力調整機構を介して前記研磨材の前記押付力を調整するように構成され、
前記研磨制御器は、前記消費電流値が前記下限値となるごとに、前記研磨材の前記押付力を所定値だけ増加させて維持するように構成されている点にある。 The features of the automatic polishing system according to the present invention are
Controls a polishing tool having a polishing material for polishing a polishing target area and an electric motor for driving the polishing material, a polishing robot for moving the polishing tool with respect to the polishing target area, and the polishing tool and the polishing robot. It is an automatic polishing system equipped with a polishing controller.
A current measuring instrument that measures the current consumption value of the motor, and
A pressing force adjusting mechanism for adjusting the pressing force of the abrasive material against the polishing target area is provided.
The polishing controller said that during the polishing process, the current consumption value was between a preset upper limit value and a lower limit value based on the current consumption value measured by the current measuring instrument. It is configured to adjust the pressing force of the abrasive through the pressing force adjusting mechanism .
The polishing controller is configured to increase and maintain the pressing force of the abrasive by a predetermined value each time the current consumption value reaches the lower limit value .

Claims (4)

研磨対象領域を研磨する研磨材と前記研磨材を駆動させる電動機とを有する研磨具と、前記研磨具を前記研磨対象領域に対して移動させる研磨ロボットと、前記研磨具及び前記研磨ロボットを制御する研磨制御器とを備えた自動研磨システムであって、
前記電動機の消費電流値を計測する電流計測器と、
前記研磨材の前記研磨対象領域に対する押付力を調整する押付力調整機構と、を備え、
前記研磨制御器は、研磨処理の間、前記電流計測器によって計測される前記消費電流値に基づいて、前記消費電流値がほぼ一定となるように、前記押付力調整機構を介して前記研磨材の前記押付力を調整するように構成されていることを特徴とする自動研磨システム。 Controls a polishing tool having a polishing material for polishing a polishing target area and an electric motor for driving the polishing material, a polishing robot for moving the polishing tool with respect to the polishing target area, and the polishing tool and the polishing robot. It is an automatic polishing system equipped with a polishing controller.
A current measuring instrument that measures the current consumption value of the motor, and
A pressing force adjusting mechanism for adjusting the pressing force of the abrasive material against the polishing target area is provided.
During the polishing process, the polishing controller uses the polishing material via the pressing force adjusting mechanism so that the current consumption value becomes substantially constant based on the current consumption value measured by the current measuring instrument. An automatic polishing system characterized in that it is configured to adjust the pressing force of the above. さらに、前記研磨対象領域の温度、又は、研磨処理が行われる空間の気温の少なくともいずれかを計測する温度計測器を備え、
前記研磨制御器は、研磨処理の間、前記温度計測器によって計測された前記温度又は前記気温の少なくともいずれかに基づいて、前記押付力調整機構を介して調整される前記研磨材の押付力を補正するように構成されていることを特徴とする請求項１に記載の自動研磨システム。 Further, a temperature measuring instrument for measuring at least one of the temperature of the area to be polished or the temperature of the space where the polishing process is performed is provided.
During the polishing process, the polishing controller applies a pressing force of the abrasive material adjusted via the pressing force adjusting mechanism based on the temperature measured by the temperature measuring instrument or at least one of the air temperatures. The automatic polishing system according to claim 1, wherein the automatic polishing system is configured to be corrected. さらに、前記研磨材の有効研磨面積率に応じて、前記研磨ロボットによる前記研磨具の移動速度を調整する移動速度調整機構を備えていることを特徴とする請求項１又は２に記載の自動研磨システム。 The automatic polishing according to claim 1 or 2, further comprising a moving speed adjusting mechanism for adjusting the moving speed of the polishing tool by the polishing robot according to the effective polishing area ratio of the polishing material. system. 前記研磨制御器は、
前記消費電流値が設定範囲内であるときに前記押付力が設定範囲の最大値となった場合、前記押付力が設定範囲の最大値であるときに前記消費電流値が設定範囲の最小値を下回った場合、前記押付力を設定範囲内において増加させても前記消費電流値の増加がみられない場合、少なくとも前記押付力から演算される指標数値が予め定められた限界値以下となった場合、の少なくともいずれかの場合に、少なくとも前記研磨材の交換時期と判断するように構成されていることを特徴とする請求項１から３のいずれか一項に記載の自動研磨システム。 The polishing controller
When the pressing force reaches the maximum value of the set range when the current consumption value is within the set range, the current consumption value sets the minimum value of the set range when the pressing force is the maximum value of the set range. If it falls below the limit, the current consumption value does not increase even if the pressing force is increased within the set range, or at least the index value calculated from the pressing force becomes equal to or less than a predetermined limit value. The automatic polishing system according to any one of claims 1 to 3, wherein at least in any one of the cases, it is determined that it is time to replace the abrasive.
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