JP3517778B2 - Self-propelled grinder device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled grinder apparatus for automatically grinding a weld bead on an inner surface of a pipe in an axial direction. 2. Description of the Related Art Conventionally, when grinding an axial weld bead on the inner surface of a pipe formed by rounding and welding a flat plate, as shown in FIG. 17, a person H lies on a carriage 9 face down. The welding bead YB is ground by the grinder G held in the hand while moving inside the pipe P. [0003] However, the above-mentioned grinding work is a work in an unreasonable posture, so that fatigue is intense. Further, since the work is performed inside the pipe P, bad conditions such as noise, dust, and high temperature are added. There is. [0004] Therefore, the industry which performs this kind of work has long awaited the development of a self-propelled grinder apparatus capable of automatically performing the grinding operation of the weld bead in the axial direction of the inner surface of the pipe. SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled grinder apparatus capable of automatically performing a grinding operation of a weld bead in an axial direction on the inner surface of a pipe. [0006] A self-propelled grinder apparatus of the present invention is a self-propelled grinder apparatus for grinding an axial weld bead on the inner surface of a pipe with a grinder while traveling in the pipe. A grinder, a grinder pressurizing device for applying a constant pressing force to the grinder, a cart supporting the grinder pressurizer directly or via another member, and rotatably supported by the cart and rotated by a motor. The vehicle includes a wheel, an inclination detection sensor for detecting the inclination of the bogie, and steering means for adjusting a traveling direction based on an output from the inclination detection sensor. The operation and effect of the self-propelled grinder apparatus of the present invention will be clarified in the following embodiments of the present invention. A self-propelled working device according to an embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a front view of a self-propelled grinder apparatus J of this embodiment, and FIG. 2 is a plan view of the self-propelled grinder apparatus. [Overall Configuration of Self-propelled Grinder Apparatus J ] As shown in FIGS. 1 and 3, the self-propelled grinder apparatus J includes a grinder 1 and a grinder pressurizing device that applies a constant pressing force to the grinder 1. 2, a truck 4 that supports the grinder pressurizing device 2 via a support member 3, a front wheel portion 5 provided at a front portion of the truck 4, and a rear wheel portion 6 provided at a rear portion of the truck 4. An inclination detection sensor 7 for detecting the inclination of the carriage 3, and a steering means 8 for adjusting the traveling direction based on the output from the inclination detection sensor 7. The self-propelled grinder J is
As shown in FIG.
The inner weld bead YB in the axial direction is ground by the grinder 1. [About Grinder 1] As shown in FIG. 4, the grinder 1 is of an air type in which the grindstone 10 is driven to rotate by the compressed air from the compressor C. The compressed air is supplied through the above-described switching valve K2. Is sent. [Regarding Grinder Pressing Apparatus 2] An air system using the grinder pressing apparatus 2 includes a grinder pressing apparatus 2 supporting a grinder 1, as shown in FIG.
A compressor C for rotating the grinder 1 and sending air to the grinder pressurizing device 2 is provided. Switching valves K1, K2 and air pipe lines connecting the compressor C to the grinder 1 or the grinder pressurizing device 2 are provided. Electro-pneumatic valve
K3, K4 and pressure sensors P1, P2 are provided. As shown in FIGS. 5 and 6, the grinder pressurizing device 2 is mounted on a fixed plate 20 with a bottom portion of a cylinder body S10 of an air cylinder S in a vertical posture and an end portion of a piston rod S11 of the air cylinder S. Moving plate 21
And a guide table G2 on the side of the movable plate 21 and a guide G1 on the outer peripheral surface of the cylinder body S10, respectively, and a guide table as shown in FIGS. 10 and 11.
G2 is guided vertically in a rolling friction state with respect to the guide G1 via a ball B (steel ball). In addition, as shown in FIGS. 6 to 8, in the grinder pressurizing device 2, the fixing plate 20 is mounted so that the position of the grinder 1 can be detected.
A linear sensor RS for detecting the position of the moving plate 21 with respect to the moving plate 21 is further provided, and a bellows pipe 22 for dust prevention is provided to surround devices and members existing between the fixed plate 20 and the moving plate 21. Then, as shown in FIG. 5 and FIG.
The weld bead YB of the grindstone 10 of the grinder 1 attached to the movable plate 21 via the attachment member TB by adjusting the air pressure of the upper and lower cylinder chambers S13 and S14 defined by
The pressing force to the can be adjusted. The air cylinder S is, as shown in FIG.
Basically, the cylinder body S10 and the cylinder body S10
Piston S12 partitioning the inside into cylinder chambers S13 and S14
And a piston rod S11 connected to the piston S12.
The piston S12 is moved by supplying and discharging air to and from the cylinder chambers S13 and S14 to change the amount of protrusion of the piston rod S11 from the cylinder body S10. In this embodiment, as shown in FIG. 9, the cylinder body S10 is configured by combining members S10a to S10h and the like, and an O-ring OR is arranged between members requiring airtightness. . In the air cylinder S, as shown in FIG. 9, the outer peripheral wall of the piston S12 and the inner peripheral wall of the member S10d, and the outer peripheral wall of the piston rod S11 and the member S10h
In order to reduce the friction coefficient between the inner peripheral walls of each member, the members are hermetically sealed by a metal seal MS.
It is assumed that it is supported by BS so that it can move forward and backward. In FIG. 9, reference numeral S19 denotes a grease groove. The fixing plate 20 is provided with two systems of air passages 20a and 20b communicating from the side surface to the lower surface as shown in FIGS. 5 and 6, and through the support member 3 as shown in FIG. It is supported by the cart 4. As shown in FIGS. 4 and 5, the air passing through the electropneumatic proportional valve K3 is supplied to the cylinder chamber S14 through the air passage 20a and the tube T1, while passing through the electropneumatic proportional valve K4. The supplied air is supplied to the cylinder chamber S13 via the air passage 20b and the tube T2. The moving plate 21 and the mounting member TB are integrated by bolts or the like (not shown). As shown in FIG. 5, the grinder 1 is mounted on the mounting member TB so as to be able to change its attitude. The bellows tube 22 is made of a rubber material and has a core wire buried in an outer peripheral point portion 22a as shown in FIG. I have it. In the bellows tube 22 of this embodiment, a part is formed as a mesh so that air can enter and exit from the mesh. As shown in FIGS. 10 and 11, the guide G1 and the guide table G2 are integrated via a ball B. When the guide table G2 moves relative to the guide G1, the ball rotates. It is designed to circulate. The ball B has an angular contact structure of 45 ° with respect to the guide G1 and is preloaded with a good balance, so that it has the same rated load in the vertical and horizontal directions and maintains a constant low rolling friction coefficient. It is what you do. The guide G1 is mounted on the outer surface of the cylinder body S10 of the air cylinder S in a vertical position, as shown in FIGS. 5 and 6, and the guide table G2 is mounted on the movable plate 21 as shown in FIG. It is attached to a bracket 21a standing upright. The moving range of the guide table G2 with respect to the guide G1 is defined by upper and lower stoppers. The linear sensor RS has a moving plate with respect to the fixed plate 20 so that the position of the grinder 1 can be detected as described above.
As shown in FIGS. 7 and 8, the linear sensor RS is installed such that the main body RS1 is attached to the cylinder body S10 and the rod RS2 is attached to the movable plate 21. Have been. In this linear sensor RS, the rod RS2 has a small resistance to advance and retreat with respect to the main body RS1. Since the grinder pressurizing device 2 is configured as described above, the pressure of the air to the cylinder chambers S13 and S14 is adjusted by changing the voltage value or the current value to the electropneumatic proportional valves K3 and K4. As a result, the pressing force of the grindstone 10 against the weld bead YB can be set as desired. The air cylinder S used in the grinder pressurizing device 2 has an outer peripheral wall of the piston S12 and an inner peripheral wall of the member S10d, and an outer peripheral wall of the piston rod S11 and an inner peripheral wall of the member S10h. Since the piston rod S11 is supported by the ball bush BS so as to be able to advance and retreat over a wide range, the piston rod S11 has a low friction coefficient. The pressing force on the 10 weld beads YB is compensated. Furthermore, if the grinder pressurizing device 2 is used, it is not necessary to use expensive equipment and the control is very simple, so that the apparatus is inexpensive. [Support member 3, bogie 4, front wheel 5, rear wheel 6, inclination detection
Regarding the Sensor 7 and the Steering Means 8]
As shown in FIG. 1, the horizontal plate 30 has a horizontal plate 30 to which the fixed plate 20 of the grinder pressurizing device 2 is attached, and a vertical plate 31 vertically suspended from a front portion of the horizontal plate 30. 4 is fixed at the forefront. As shown in FIGS. 1 and 12, the vertical plate 31 has a plurality of positioning holes 31a formed from the middle to the upper region, and a pair of guides G11 are attached from the middle to the lower region. is there. The cart 4 is formed by assembling flat plates into a rectangular frame as shown in FIGS.
40 has a plurality of positioning holes 40a.
In addition, as shown in FIG. 1, the above-described grinder pressing device 2 and the grinder 1 are arranged so as to be inserted into the frame of the bogie 4. As shown in FIG. 1, the front wheel portion 5 includes a frame 50 assembled in a substantially rectangular parallelepiped shape, an axle 51 rotatably supported on the frame 50 via a sprocket, and the like,
Wheels 52 fixed to both ends of 51, a motor 53 for rotating and driving the wheels 52, positioning pins 54 incorporated in the frame 50 so as to be able to advance and retreat, and a guide table G22 attached to the rear surface of the frame 50 It is composed of Here, the guide G11 and the guide table G22
Are integrated in the same configuration as the relationship between the guide G1 and the guide table G2, and the positioning pin 54 can be fitted into the positioning hole 31a. Therefore, the position of the front wheel portion 5 with respect to the carriage 4 can be set as desired by moving the front wheel portion 5 in the vertical direction with respect to the carriage 4 and fitting the positioning pins 54 into the positioning holes 31a. As shown in FIGS. 13 and 14, the rear wheel portion 6 includes a support member 60 and a rear wheel 61, and the interval between the rear wheels 61, 61 is set to be extremely small. In this embodiment,
As shown in FIG. 14, the rear wheel portion 6 is attached to the rear plate 40 of the trolley 4 via the steering means 8, and is attached to the rear plate 40 by a guide G111, a guide table G222, a positioning pin 62 and The position of the rear wheel portion 6 with respect to the carriage 4 can be set as desired by the positioning holes 40a. As the inclination detecting sensor 7, a commercially available optical non-contact potentiometer is used, and as shown in FIG.
It is configured to attach 72. Here, in this embodiment, the inclination detection sensor 7 is attached to the frame 50 of the front wheel section 5 as shown in FIGS. Therefore, the self-propelled grinder device J
Is tilted, the shaft portion 71 rotates with respect to the meter main body 70 by the amount of the tilt, and a signal output corresponding to the rotation is issued. As shown in FIG. 14, the steering means 8 includes a frame 80 attached to the rear plate 40 as described above, and a fixed member attached to the frame 80 and positioned at the center of the width of the carriage 4. Shaft 81 and bearing on the fixed shaft 81
A gear 83 rotatably mounted via 82,
It comprises a motor 84 attached to the frame 80 and a gear 85 attached to the output shaft of the motor 84, and the gears 83 and 85 mesh with each other. In the steering means 8, the gear 85 is rotated in the forward or reverse direction in response to the signal output of the inclination detection sensor 7, and the rear wheel section 6 is rotated in the forward or reverse direction in accordance with the rotation. J is corrected to the inclination “0”. [Effects of this self-propelled grinder apparatus J] . In this self-propelled grinder apparatus J, the inclination is corrected by an optical non-contact potentiometer so that the inclination always becomes "0", so that the wheel comes into contact with the inclined surface of the pipe P as shown in FIG. Even under such bad conditions,
The grinding operation of the weld bead YB in the axial direction on the inner surface of the pipe P can be performed automatically and reliably. . By changing the relative positional relationship between the front wheel portion 5 and the rear wheel portion 6 in the vertical direction, it is possible to cope with pipes P1, P2, P3, and P4 having different diameters as shown in FIG. From the contents described in the description of the embodiments of the present invention, it is possible to provide a self-propelled grinder apparatus capable of automatically performing a grinding operation on a weld bead in the axial direction on the inner surface of the pipe.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a self-propelled grinder apparatus according to an embodiment of the present invention. FIG. 2 is a plan view showing the self-propelled grinder apparatus. FIG. 3 is a side view showing the self-propelled grinder apparatus traveling in a pipe. FIG. 4 is an explanatory view showing an air circuit of a grinder pressurizing device which is a main component of the self-propelled grinder device. FIG. 5 is a front view of the grinder pressing device and the like. FIG. 6 is a front view when the piston rod of the air cylinder in the grinder pressurizing device changes from the state of FIG. 5 to a contracted state. FIG. 7 is a side view of the grinder pressing device. FIG. 8 is a sectional view taken along the line AA of FIG. 6; FIG. 9 is an explanatory view of an air cylinder in the grinder pressurizing device. FIG. 10 is a partial cross-sectional perspective view of a device that combines a guide and a guide table used in the grinder pressing device. FIG. 11 is a sectional view of an apparatus in which the guide and the guide table are combined. FIG. 12 is a side view of the self-propelled grinder device. FIG. 13 is a front view of a rear wheel portion of the self-propelled grinder device. FIG. 14 is a side view of a rear wheel portion of the self-propelled grinder device. FIG. 15 is a front view of an inclination detection sensor of the self-propelled grinder device. FIG. 16 is a side view of the self-propelled grinder apparatus, showing a state in which a vertical relative positional relationship between a front wheel portion and a rear wheel portion has been changed. FIG. 17 is a diagram showing a state in which the weld bead in the axial direction on the inner surface of the pipe is manually ground. [Description of Signs] J Self-propelled grinder device P Pipe YB Welding bead 1 Grinder 2 Grinder pressurizing device 3 Support member 4 Cart 5 Front wheel 6 Rear wheel 7 Tilt detection sensor 8 Steering means

Claims (1)

(1) A self-propelled grinder apparatus for grinding an axial weld bead on an inner surface of a pipe with a grinder while traveling in the pipe, comprising: a grinder; A grinder pressurizing device for applying a pressing force, a bogie supporting the grinder pressurizing device directly or via another member, a wheel rotatably supported by the bogie and rotated by a motor, and an inclination of the bogie. A self-propelled grinder apparatus comprising: a tilt detection sensor for detecting; and steering means for adjusting a traveling direction based on an output from the tilt detection sensor.