JP3631897B2 - Grinding equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a grinding apparatus, and more particularly, to a grinding apparatus that grinds a weld bead with a grinder until the ground surface is flush with a base material surface.
[0002]
[Prior art]
In grinding operations such as surplus beads and backside beads by a grinder, the weld beads to be ground vary in height and width for each bead, and longitudinal waviness (height waviness and horizontal waviness) (Swell).
[0003]
For such a weld bead, conventionally (in the grinding apparatus), there is no technology for detecting the shape and position of the weld bead, and a pressing force (grinding force) control using a negative overcurrent of the grinder, a load cell, etc., and The weld bead is ground with a simple grinding pattern set in advance. In addition, the operator constantly monitors the state of the weld bead, and performs rough grinding to finish grinding while setting conditions.
[0004]
[Problems to be solved by the invention]
That is, conventionally, the weld bead can be roughly cut off automatically, but finally the weld bead becomes smooth with the height of the weld bead (the height of the grinding surface) being flush with the base material surface. Could not finish automatically. For this reason, the grinding work is troublesome and the work efficiency is poor.
[0005]
Therefore, in view of the above prior art, it is a first object of the present invention to provide a grinding apparatus that can automatically perform from rough grinding to finish grinding of a weld bead.
[0006]
Another object of the present invention is to provide a grinding apparatus capable of detecting a change (abrasion amount) in the grindstone diameter of a grinder.
[0007]
[Means for Solving the Problems]
A grinding apparatus of the present invention that solves the first and second problems includes a grinder, a running, left, right, up, and down positioning shaft driven by a motor provided in the grinder, and a motor driver that drives the positioning shaft. And a first CCD camera, a second CCD camera, a laser slit light source and an illumination light source mounted on the grinder, and a control means for controlling the grinder by controlling the motor driver ,
The laser slit light source irradiates the welding bead with laser slit light from above to generate a light cutting line on the surface of the welding bead and a base material surface in the vicinity thereof, and the first CCD camera is obliquely viewed from above. The optical cutting line is imaged, and the control means feeds back a load current of the grinder or a detected value of the load cell that changes according to the pressing force of the grinder so that the pressing force of the grinder becomes an appropriate pressing force. It is configured to control the pressing force of the grinder,
In the control means,
The light-section method based on said laser slit light source and the first CCD camera, the calculated height and width from the base material surface of the weld bead by image processing from the cross-sectional shape of the weld bead, also in the grinding capturing the change in the height of the weld bead as a waviness in the height direction of the weld bead, further, the capture a change in the lateral position of the center or edge in the width direction of the weld bead as a lateral direction of the swell,
The shading method based on said illumination light source and the second CCD camera, it is determined that the weld bead finish grinding After this grinding surface width seeking grinding face width larger than the width of the weld bead has been completed or, configured to determine a finish grinding if shadow disappears caused by a step of the weld bead has been completed,
And in the said control means, the 1st position of the optical cutting line in the said base material surface on the screen when the said grinder touches the said weld bead at the time of grinding start and it becomes a setting pressing force, and the width | variety of the said weld bead The height BH1 of the center point of the direction from the base material surface is obtained, and the light on the base material surface on the screen when the grinder is touched to the weld bead and the set pressing force is obtained in the second and subsequent layers. A second position of the cutting line and a height BH2 from the base material surface of the center point in the width direction of the weld bead are obtained, and ΔHg = BH1−BH2 based on the heights BH1 and BH2 of the weld beads. The grinding amount ΔHg of the weld bead is obtained from the above formula, and the position of the first CCD camera is lowered together with the grinder with the change of the grinding amount and the grindstone diameter, so that the first CCD camera approaches the base material surface. about The optical cutting line positional deviation ΔY, which is a deviation on the screen between the first position and the second position caused by the above, is obtained, and the optical cutting line positional deviation ΔY and the welding bead grinding amount ΔHg are obtained. Based on the equation of ΔGf = ΔY−ΔHg, the grindstone ΔGf is obtained, and the angle of the grinder grindstone controlled by the control means with respect to the longitudinal direction of the weld bead is the same between the initial stage and the second and subsequent layers. In this case, when the angle is α, the wheel diameter sag ΔDf is obtained from the equation of ΔDf = ΔGf / SIN (α) based on the angle α and the wheel sag ΔGf. If the angle differs from the first layer, assuming that the angle rotated around the initial new grindstone contact is β, ΔDf = ΔGf / SIN (based on this angle β and the grindstone ΔGf of the grindstone. From the formula of β) The present invention is characterized in that the setting ΔDf is obtained .
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0010]
FIG. 1 is an overall configuration diagram of a grinding apparatus according to an embodiment of the present invention, FIG. 2 is a weld bead shape detection diagram by a light cutting method of the grinding device, and FIG. 3 is a weld bead position shift by a light cutting method of the grinding device. FIG. 4 and FIG. 5 are explanatory diagrams showing a method for detecting a change (abrasion amount) of a grindstone diameter mounted on a grinder of the grinding apparatus, FIG. 6 is a diagram of a shading method of the grinding apparatus, and FIG. It is a shadow method state diagram of an apparatus.
[0011]
<Configuration>
As shown in FIG. 1, a weld bead 1 such as a surplus bead or a back bead to be ground is generated in a welded portion of a base material 5, and this weld bead 1 is ground by a grindstone 13 attached to a grinder 8. doing. 4 in the figure is a grinding surface.
[0012]
The grinder 8 has a plurality of positioning shafts (running, left / right, up / down, inclination, etc.) driven by a motor. A laser slit light source 3 as means and an illumination light source 7 as illumination means are mounted. These CCD cameras 2, 6, laser slit light source 3, and illumination light source 7 are attached to the tip of a support bar 20 extending from the upper surface of the grinder 8, and are positioned obliquely above the grinder 8.
[0013]
The laser slit light source 3 and the CCD camera 2 are used when detecting the shape and displacement (swell) of the weld bead 1 by the light cutting method, and are disposed at appropriate positions for that purpose. The laser slit light source 3 generates a light cutting line 14 on the surface of the weld bead 1 and the base material surface 5a in the vicinity thereof by irradiating the weld bead 1 with laser slit light 21 from above. The CCD camera 2 incorporates a filter for imaging the light cutting line 14 generated by the laser slit light source 3, and images the light cutting line 14 from obliquely above.
[0014]
The illumination light source 7 and the CCD camera 6 are used when detecting the weld bead shape by the shading method, and are disposed at appropriate positions. The illumination light source 7 applies illumination light to the grinding surface 4 and the base material surface 5a in the vicinity thereof. The CCD camera 6 images the surface of the weld bead 1 to which the illumination light is applied by the illumination light source 7 and the surrounding base material surface 5a. The arrangement of the illumination light source 7 and the CCD camera 6 differs depending on whether the level difference (the height of the grinding surface 4) of the weld bead 1 is obtained or the grinding surface width of the weld bead 1 is obtained.
[0015]
When obtaining the level difference of the weld bead 1, as shown in FIG. 6A, the illumination light source 7 is disposed obliquely above the width direction of the weld bead 1, and from this position toward the grinding surface 4 of the weld bead 1. The illumination light 22 is applied to cause a shadow due to the level difference of the weld bead 1, and the CCD camera 6 is disposed immediately above the weld bead 1 and images the shadow due to the level difference of the weld bead 1 generated by the illumination light source 7.
[0016]
When obtaining the ground surface width of the weld bead 1, as shown in FIG. 6B, the illumination light source 7 is disposed obliquely above the longitudinal direction of the weld bead 1, and the ground surface 4 of the weld bead 1 from this position. The CCD camera 6 is disposed obliquely upward in the longitudinal direction of the weld bead 1 in the same manner as the illumination light source 7, and the ground surface 4 of the weld bead 1 illuminated by the illumination light source 7 and its surroundings are irradiated. The base material surface 5a is imaged.
[0017]
As shown in FIG. 1, the CCD cameras 2 and 6 are connected to a TV monitor 9, respectively, and images picked up by the CCD cameras 2 and 6 are displayed on the TV monitor 9. Further, a computer (personal computer) 10 for performing image processing and control of the grinder 8 is connected to the TV monitor 9, and an image processed by the computer 10 is also displayed.
[0018]
A motor driver 11 for driving the positioning shaft of the grinder 8 is connected to the computer 10. The computer 10 performs the following processing, which will be described in detail later.
[0019]
(1) The shape (width, height) of the weld bead 1 is obtained by the light cutting method based on the CCD camera 2 and the laser slit light source 3, and the operation pattern 12 of the grinder 8 is determined based on the weld bead shape. By controlling the motor driver 11 based on the operation pattern 12, the grinding of the weld bead 1 by the grinder 8 is executed.
(2) Based on the weld bead shape (height) obtained by the optical cutting method, the swell in the vertical direction (height direction) of the weld bead 1 is obtained, and the grinding speed of the grinder 8 is controlled based on this swell. To do.
(3) The position deviation (swell) in the width direction of the weld bead 1 is obtained by the optical cutting method, and the welding bead 1 is scanned along the left and right along this swell.
[0020]
(4) During the grinding of the weld bead 1, the angle of the grindstone 13 is controlled to an arbitrary angle periodically (for example, every layer).
(5) Based on the weld bead shape (height) obtained by the optical cutting method, the position of the optical cutting line 14 (base material surface 5a) on the screen, and the angle of the grindstone 13, Changes in the grinding wheel diameter (amount of wear) are detected. Based on this detection result, the grinder 8 is automatically stopped when the grindstone diameter is equal to or smaller than a certain diameter. Further, the replacement time of the grindstone 13 is displayed on the screen 10 a of the computer 10.
(6) The step of the weld bead 1 (height of the grinding surface 4) or the width of the grinding surface is obtained by a shading method based on the CCD camera 6 and the illumination light source 7, and whether finish grinding is completed based on these steps or widths. Determine whether.
(7) The pressing force (grinding force) of the grinder 8 is appropriate (set) by feeding back the negative overcurrent value of the grinder 8 or the detected value of the load cell that changes according to the pressing force (grinding force) of the grinder 8. The pressing force of the grinder 8 is controlled so as to be a force.
[0021]
<Action and effect>
Therefore, in the grinding apparatus having the above-described configuration, the welding bead 1 is ground as follows.
[0022]
(1) First, the shape (width, height) of the weld bead 1 is obtained by a light cutting method based on the CCD camera 2 and the laser slit light source 3. That is, the optical cutting line 14 obtained by irradiating the laser slit light 21 from the laser slit light source 3 toward the weld bead 1 is obtained as a cross-sectional shape of the weld bead 1. Therefore, as shown in FIG. 2, the CCD camera 2 captures the light cutting line 14, and the image of the light cutting line 14 is processed by the computer 10 to obtain coordinates for forming the light cutting line 14 having different luminance. The bead end points 15 on both sides are extracted as singular points.
[0023]
At this time, by obtaining the pixel ratio (mm / pixel) from the actual initial dimensions and the number of pixels on the screen in advance, the bead width can be obtained from the width (number of pixels) between the bead end points 15 during grinding. Further, the coordinates of the bead center point 16 can also be obtained from the coordinates of the bead end points 15 on both sides, and the bead height can be obtained from the height (number of pixels) from the base material surface 5a to the bead center point 16.
[0024]
The width and height of the weld bead 1 are set by, for example, setting the guide pitch (left / right movement pitch) 17 and the cut depth 18 of the grinder 8 based on the width and height of the weld bead 1 obtained by this optical cutting method. Accordingly, the number of movements and the number of cuts of the grinder 8 can be obtained. Thereby, the operation pattern 12 such as reciprocation can be determined, and the weld bead 1 can be automatically ground by controlling the motor driver 11 based on the operation pattern 12.
[0025]
(2) Further, while grinding the first layer by pressing force control of the grinder 8, the position of the grinder 8 at the proper (set) pressing force and the height of the weld bead 1 are stored, thereby storing the weld bead 1. It is possible to grasp the undulation (unevenness) in the vertical direction (height direction). That is, the change in the height of the weld bead 1 is captured as the undulation in the height direction of the weld bead 1.
[0026]
And the lowest part of the weld bead 1 is ground at the highest speed specified in advance, and the higher part than the lowest part is the highest speed according to the difference from the lowest part. Grind at a slower speed. As a result, the high portion of the weld bead 1 is ground more at a low speed, and the low portion of the weld bead 1 is ground at a normal high speed, so that the unevenness of the weld bead 1 can be smoothed.
[0027]
(3) As shown in FIG. 3, when the bead center point 16 is set at the screen center 19 at the start of grinding, if there is a waviness in the left-right direction of the weld bead 1 during grinding, A shift (number of pixels) ΔX occurs between the point 16 and the screen center 19. Therefore, this deviation ΔX is converted into an actual deviation, and this is fed back to the positioning axis of the grinder 8 to correct the position so that the bead center point 16 is at the center 19 of the screen. That is, the control of the positioning of the grinder 8 is performed by capturing the change in the center in the width direction of the weld bead 1 as the waviness in the left-right direction. By performing this process periodically, the left and right copying of the weld bead 1 can be performed. In addition, you may capture the change of the left-right position (bead end point 15) of the edge of the weld bead 1 as the waviness of the left-right direction.
[0028]
(4) Positioning control is performed so that the angle of the grindstone 13 is changed periodically (for example, every layer). Accordingly, it is possible to prevent the grinding amount from being reduced due to clogging, crushing, spilling, seizing, etc. of the grindstone 13 caused by the same portion of the grindstone 13 hitting the grinding surface 4 for a long time.
[0029]
(5) Further, based on the weld bead shape (height) obtained by the optical cutting method and the position of the optical cutting line 14 (base material surface 5a) on the screen, changes in the grinding wheel diameter (amount of wear) are detected. To do. And based on this detection result, when the diameter of the grindstone 13 becomes a certain diameter or less, the grinder 8 is automatically stopped. Further, the replacement time of the grindstone 13 is displayed on the screen 10 a of the computer 10. Here, a method for detecting a change in the grindstone diameter will be described in detail with reference to FIGS. The left side of FIGS. 4A and 4B shows an example of an initial grinding state and the detection result of the weld bead shape (height) at this time, and the right side shows the second and subsequent layers. An example of the grinding state and detection results of the weld bead shape (height) at this time are shown. FIG. 5A shows a method for detecting a change in the diameter of the grindstone when the angle of the grindstone 13 is the same between the initial stage and the second and subsequent layers, and FIG. 5B shows an initial angle of the grindstone 13. And a method for detecting a change in the diameter of the grindstone when different from the second layer.
[0030]
First, at the start of grinding, the position of the optical cutting line 14 (base material surface 5a) on the screen and the height BH1 of the weld bead 1 when the grinder 8 is touched to the weld bead 1 to obtain an appropriate (setting) pressing force. And ask for it. Similarly, for the second and subsequent layers, the position of the optical cutting line 14 on the screen and the height BH2 of the weld bead 1 are obtained.
[0031]
In the second and subsequent layers, the position of the CCD camera 2 is lowered by the grinding amount of the weld bead 1 (closer to the base material surface 5a), so that the position of the optical cutting line 14 on the screen is shifted. In addition, when the grindstone 13 is gradually worn after the second layer and the grindstone diameter becomes smaller than the initial diameter, the relative height of the CCD camera 2 from the tip of the grindstone 13 (contact portion to the grinding surface 4) is high. Therefore, the position of the CCD camera 2 is further lowered, and the position of the light cutting line 14 on the screen is shifted accordingly. In other words, when the grindstone 13 is worn, the positional deviation ΔY of the optical cutting line 14 on the screen is expressed as It becomes like the formula.
[0032]
ΔY = ΔHg + ΔGf (1)
[0033]
Accordingly, if the grinding amount ΔHg of the weld bead is subtracted from the positional deviation ΔY of the optical cutting line 14 on the screen, the sag ΔGf of the grindstone 13 is obtained, and the grindstone diameter is determined from the sag ΔGf of the grindstone 13 and the angle of the grindstone 13. It is possible to ask for drooling (change).
[0034]
Specifically, as shown in FIG. 5A, when the angle of the grindstone 13 is the same between the initial stage and the second and subsequent layers, the grinding amount ΔHg of the weld bead 1 is obtained from the formula (2), and this ΔHg is calculated. Using the equation (3), the settling ΔGf of the grindstone 13 is obtained. Then, the grinding wheel diameter step ΔDf which is a half of the difference between the diameter D ₀ of the initial grinding wheel 13 and the diameter D _i of the second and subsequent grinding stones 13 is expressed by the following equation (4). Can be obtained from
[0035]
ΔHg = BH1-BH2 (2)
ΔGf = ΔY−ΔHg (3)
ΔDf = ΔGf / SIN (α) (4)
[0036]
Further, as shown in FIG. 5B, when the angle of the grindstone 13 is different between the initial and the second and subsequent layers, the grinding amount ΔHg of the weld bead 1 is obtained from the equation (5), and this ΔHg is used (6 ) To obtain the settling ΔGf of the grindstone 13. The sag ΔDf grindstone diameter is half the difference in diameter D ₀ of the initial grindstone 13 and the diameter D _i of the second and subsequent layers of the grindstone 13, when the angle of the second and subsequent layers of the grindstone 13 and β , (7). However, even if the angle of the grindstone 13 is changed, it is calculated that it rotates around the initial (new) grindstone contact.
[0037]
ΔHg = BH1-BH2 (5)
ΔGf = ΔY−ΔHg (6)
ΔDf = ΔGf / SIN (β) (7)
[0038]
(6) Further, when the bead height is low (for example, 0.5 mm or less) (when it is difficult to recognize the bead height by the optical cutting method), it is judged as a finished bead, and the positioning shaft of the grinder 8 Are simultaneously controlled, and finish grinding is performed based on the finishing operation pattern 12 such as an arc shape. Then, it is determined whether or not this finish grinding is completed based on the level difference of the weld bead 1 or the grinding surface width obtained by the shadow method.
[0039]
That is, when based on the level difference of the weld bead 1, as shown in FIG. 6 (a), the illumination light source 7 is disposed obliquely above the width direction of the weld bead 1, and the ground surface 4 of the weld bead 1 from this position. A shadow caused by the step of the weld bead 1 is caused by illuminating the illumination light 22 toward the surface, and the CCD camera 6 is disposed immediately above the weld bead 1 to image the shadow caused by the step of the weld bead 1 caused by the illumination light source 7. . 7A and 7B, reference numeral 23 denotes a stepped portion of the weld bead 1, and reference numeral 24 denotes a shadow of the stepped portion 23.
[0040]
Then, the image of the shadow 24 captured by the CCD camera 6 is subjected to image processing, and the shadow 24 (that is, the step of the weld bead 1) is recognized from the difference in luminance between the shadow 24 and the periphery thereof. If it cannot be recognized (that is, if the shadow 24 of the stepped portion 23 disappears), it is determined that the finish grinding has been completed, assuming that the grinding surface 4 is substantially flush with the base material surface 5a.
[0041]
Further, when based on the grinding surface width of the weld bead 1, as shown in FIG. 6B, the illumination light source 7 is disposed obliquely upward in the longitudinal direction of the weld bead 1, and the welding bead 1 is ground from this position. The illumination light 22 is applied toward the surface 4, the CCD camera 6 is disposed obliquely above the longitudinal direction of the weld bead 1 in the same manner as the illumination light source 7, and the ground surface 4 of the weld bead 1 illuminated by the illumination light source 7 and its The surrounding base material surface 5a is imaged. In FIG. 7C, W is the width of the grinding surface 4.
[0042]
Then, the image of the grinding surface 4 picked up by the CCD camera 6 is subjected to image processing, and the difference in luminance (the grinding surface 4 is caused by the difference in the light reflection direction due to the difference in the surface state between the grinding surface 4 and the base material surface 5a. When the width W of the grinding surface 4 is recognized from the white color and the base material surface 5a is black, and the grinding surface width W becomes larger than the bead width (for example, 10 mm or more) (the base material surface 5a around the bead is also slightly cut). The ground surface 4 is substantially flush with the base material surface 5a, it is determined that the finish grinding has been completed.
[0043]
From the above, according to the grinding apparatus according to the present embodiment, it is possible to automatically perform from rough grinding to finish grinding of the weld bead 1 by detecting the shape and position of the weld bead 1. For this reason, the work efficiency is improved since the grinding work is not time-consuming.
[0044]
Further, since the change (sagging) ΔDf of the grindstone diameter can be obtained, the replacement time of the grindstone 13 can be appropriately determined, and the grinder 8 is automatically stopped when the grindstone diameter becomes a certain diameter or less. You can also.
[0045]
【The invention's effect】
As described above in detail with reference to the embodiments of the present invention, the grinding apparatus of the present invention includes a grinder, a running shaft driven by a motor provided in the grinder, left and right, up and down, an inclination positioning shaft, and the positioning A motor driver for driving the shaft; a first CCD camera, a second CCD camera, a laser slit light source and an illumination light source mounted on the grinder; and a control means for controlling the grinder by controlling the motor driver. Have
The laser slit light source irradiates the welding bead with laser slit light from above to generate a light cutting line on the surface of the welding bead and a base material surface in the vicinity thereof, and the first CCD camera is obliquely viewed from above. The optical cutting line is imaged, and the control means feeds back a load current of the grinder or a detected value of the load cell that changes according to the pressing force of the grinder so that the pressing force of the grinder becomes an appropriate pressing force. It is configured to control the pressing force of the grinder,
In the control means,
The light-section method based on said laser slit light source and the first CCD camera, the calculated height and width from the base material surface of the weld bead by image processing from the cross-sectional shape of the weld bead, also in the grinding capturing the change in the height of the weld bead as a waviness in the height direction of the weld bead, further, the capture a change in the lateral position of the center or edge in the width direction of the weld bead as a lateral direction of the swell,
The shading method based on said illumination light source and the second CCD camera, it is determined that the weld bead finish grinding After this grinding surface width seeking grinding face width larger than the width of the weld bead has been completed or, configured to determine a finish grinding if shadow disappears caused by a step of the weld bead has been completed,
And in the said control means, the 1st position of the optical cutting line in the said base material surface on the screen when the said grinder touches the said weld bead at the time of grinding start and it becomes a setting pressing force, and the width | variety of the said weld bead The height BH1 of the center point of the direction from the base material surface is obtained, and the light on the base material surface on the screen when the grinder is touched to the weld bead and the set pressing force is obtained in the second and subsequent layers. A second position of the cutting line and a height BH2 from the base material surface of the center point in the width direction of the weld bead are obtained, and ΔHg = BH1−BH2 based on the heights BH1 and BH2 of the weld beads. The grinding amount ΔHg of the weld bead is obtained from the above formula, and the position of the first CCD camera is lowered together with the grinder with the change of the grinding amount and the grindstone diameter, so that the first CCD camera approaches the base material surface. about The optical cutting line positional deviation ΔY, which is a deviation on the screen between the first position and the second position caused by the above, is obtained, and the optical cutting line positional deviation ΔY and the welding bead grinding amount ΔHg are obtained. Based on the equation of ΔGf = ΔY−ΔHg, the grindstone ΔGf is obtained, and the angle of the grinder grindstone controlled by the control means with respect to the longitudinal direction of the weld bead is the same between the initial stage and the second and subsequent layers. In this case, when the angle is α, the wheel diameter sag ΔDf is obtained from the equation of ΔDf = ΔGf / SIN (α) based on the angle α and the wheel sag ΔGf. If the angle differs from the first layer, assuming that the angle rotated around the initial new grindstone contact is β, ΔDf = ΔGf / SIN (based on this angle β and the grindstone ΔGf of the grindstone. From the formula of β) The present invention is characterized in that the setting ΔDf is obtained .
[0046]
Therefore, according to the grinding apparatus of the present invention, it is possible to automatically perform from rough grinding to finish grinding of the weld bead by detecting the shape and position of the weld bead. For this reason, the work efficiency is improved since the grinding work is not time-consuming.
[0048]
Further , according to the grinding device of the present invention, since the change (sagging) of the grindstone diameter can be obtained, the time for exchanging the grindstone can be appropriately determined, and when the grindstone diameter becomes a certain diameter or less. The grinder can also be stopped automatically.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a grinding apparatus according to an embodiment of the present invention.
FIG. 2 is a weld bead shape detection diagram by an optical cutting method of the grinding apparatus.
FIG. 3 is a welding bead position shift detection diagram by an optical cutting method of the grinding apparatus.
FIG. 4 is an explanatory diagram showing a method for detecting a change (amount of wear) in the diameter of a grindstone mounted on a grinder of the grinding apparatus.
FIG. 5 is an explanatory view showing a method for detecting a change (amount of wear) in the diameter of a grindstone mounted on a grinder of the grinding apparatus.
FIG. 6 is a configuration diagram of a shading method of the grinding apparatus.
FIG. 7 is a shadow method state diagram of the grinding apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Welding beads 2, 6 CCD camera 3 Laser slit light source 4 Grinding surface 5 Base material 5a Base material surface 7 Illumination light source 8 Grinder 9 TV monitor 10 Computer 11 Motor driver 12 Operation pattern 13 Grinding wheel 14 Optical cutting line 15 Bead end point 16 Bead center Point 17 Guide pitch 18 Depth of cut 19 Center of screen 20 Support bar 21 Laser slit light 22 Illumination light 23 Stepped portion 24 Shadow

Claims (1)

A grinder, a traveling, left / right, up / down, and tilt positioning shaft driven by a motor provided in the grinder, a motor driver for driving the positioning shaft, a first CCD camera and a second CCD mounted on the grinder A camera, a laser slit light source and an illumination light source, and a control means for controlling the grinder by controlling the motor driver ;
The laser slit light source irradiates the welding bead with laser slit light from above to generate a light cutting line on the surface of the welding bead and a base material surface in the vicinity thereof, and the first CCD camera is obliquely upward. The optical cutting line is imaged, and the control means feeds back a load current of the grinder or a detected value of the load cell that changes according to the pressing force of the grinder so that the pressing force of the grinder becomes an appropriate pressing force. It is configured to control the pressing force of the grinder,
In the control means,
The light-section method based on said laser slit light source and the first CCD camera, the calculated height and width from the base material surface of the weld bead by image processing from the cross-sectional shape of the weld bead, also in the grinding capturing the change in the height of the weld bead as a waviness in the height direction of the weld bead, further, the capture a change in the lateral position of the center or edge in the width direction of the weld bead as a lateral direction of the swell,
The shading method based on said illumination light source and the second CCD camera, it is determined that the weld bead finish grinding After this grinding surface width seeking grinding face width larger than the width of the weld bead has been completed or, configured to determine a finish grinding if shadow disappears caused by a step of the weld bead has been completed,
And in the said control means, the 1st position of the optical cutting line in the said base material surface on the screen when the said grinder touches the said weld bead at the time of grinding start and it becomes a setting pressing force, and the width | variety of the said weld bead The height BH1 of the center point of the direction from the base material surface is obtained, and the light on the base material surface on the screen when the grinder is touched to the weld bead and the set pressing force is obtained in the second and subsequent layers. A second position of the cutting line and a height BH2 from the base material surface of the center point in the width direction of the weld bead are obtained, and ΔHg = BH1−BH2 based on the heights BH1 and BH2 of the weld beads. The grinding amount ΔHg of the weld bead is obtained from the above formula, and the position of the first CCD camera is lowered together with the grinder with the change of the grinding amount and the grindstone diameter, so that the first CCD camera approaches the base material surface. about The optical cutting line positional deviation ΔY, which is a deviation on the screen between the first position and the second position caused by the above, is obtained, and the optical cutting line positional deviation ΔY and the welding bead grinding amount ΔHg are obtained. Based on the equation of ΔGf = ΔY−ΔHg, the grindstone ΔGf is obtained, and the angle of the grinder grindstone controlled by the control means with respect to the longitudinal direction of the weld bead is the same between the initial stage and the second and subsequent layers. In this case, when the angle is α, the wheel diameter sag ΔDf is obtained from the equation of ΔDf = ΔGf / SIN (α) based on the angle α and the wheel sag ΔGf. If the angle differs from the first layer, assuming that the angle rotated around the initial new grindstone contact is β, ΔDf = ΔGf / SIN (based on this angle β and the grindstone ΔGf of the grindstone. From the formula of β) A grinding apparatus configured to obtain a settling ΔDf .

Images