JP6788507B2 - Polishing equipment for leading vehicles - Google Patents

Description

The present invention relates to a polishing device mainly for a nose portion of a leading vehicle of a railway vehicle having a complicated leading shape having a three-dimensional shape, as represented by the Shinkansen (registered trademark).

For railway vehicles such as the Shinkansen, it is necessary to repaint the vehicle surface at regular intervals. This is because there are deposits that cannot be removed just by washing. At the time of this repainting, a polishing process called "footing" is performed in order to peel off scratches and deposits on the surface and further improve the adhesiveness of the paint. By the way, the latest Shinkansen currently has a complicated three-dimensional shape in the leading car for high-speed driving.

A uniform surface having such a special three-dimensional shape cannot be formed by a conventional machine, and is performed manually by an operator. However, even if only the nose part was polished, it would take a considerable amount of time to polish a considerable area. Therefore, there has been a demand for a (mechanical) device capable of performing this polishing.

In such a technical field, for example, there is Patent Document 1. This is a device that removes deposits adhering to the inner surface of the mold. By arranging a scraping jig such as a wire brush at the tip of the robot arm and arranging a torque sensor or the like on the arm expansion / contraction means of the robot arm, the pressing force of the jig is maintained within an appropriate range while removing deposits. I do.

Japanese Unexamined Patent Publication No. 2010-1468

Patent Document 1 is a device for scraping off deposits on the mold surface, and seems to be applicable to polishing the leading vehicle of the Shinkansen (registered trademark). However, Patent Document 1 presupposes that the scraping jig is not harder than the mold. On the other hand, in the case of polishing the leading vehicle, the brush for polishing is harder than the object to be polished. Therefore, if the pressing force is not always constant and polishing is not performed, the surface will be uneven.

Further, the area of the leading vehicle of the railway vehicle is larger than that of the mold, and the shape of the nose portion is three-dimensionally complicated. Therefore, there has been a problem that there has been no conventional device for constantly polishing a nose portion having a three-dimensionally complicated shape with a uniform pressure.

The present invention has been conceived in view of the above problems, and provides an apparatus capable of always polishing a nose portion of a Shinkansen (registered trademark) having a complicated three-dimensional curved surface with uniform pressing. ..

Specifically, the railway vehicle polishing apparatus according to the present invention is
A frame, a drive motor, a pulley connected to the drive motor and arranged on the side surface of the frame, and a polishing brush having a rotary brush rotated by belt drive via the pulley .
A 6-axis articulated robot (trace device) capable of arranging the polishing brush at the tip and changing the posture of the polishing brush to move it.
A pressure sensor arranged between the polishing brush and the tracing device,
The tracer on the basis of a signal of the pressure sensor, the pressing surface to be polished of the lead vehicle of a railway vehicle having a three-dimensional curved surface polishing brushes at a constant pressing and controlled to move in a predetermined direction However, it is characterized by having a control device for polishing the surface to be polished by directing the pulley cover covering the pulley toward the leading side of the leading vehicle .

In the polishing device for the leading vehicle of the railroad vehicle according to the present invention, a polishing brush with a built-in motor is attached to the tip of a robot capable of tracing a three-dimensional curved surface via a pressure sensor. It can be traced along.

Therefore, if the polishing device for the leading vehicle of the railway vehicle according to the present invention is used, the repainting of the leading vehicle of the Shinkansen (registered trademark) having a peculiar nose shape, which has been performed manually by a conventional worker, before repainting. Polishing can be performed automatically, leading to a significant reduction in tact time.

It is a block diagram of the polishing apparatus which concerns on this invention. (A) It is a perspective view of the polishing brush. (B) It is a front view of FIG. 2 (a). It is a figure which shows the polishing line which incorporated the polishing apparatus. It is a figure which shows the state of polishing the surface to be polished. It is a top view which shows the state of polishing the leading vehicle.

The polishing apparatus for the leading vehicle of the railway vehicle according to the present invention will be described below. The following description describes one embodiment of the present invention, and the present invention is not limited to the following description. The following embodiments may be modified without departing from the spirit of the present invention.

FIG. 1 shows the configuration of the polishing device 1 for the leading vehicle of the railway vehicle according to the present invention. The polishing device 1 includes a tracing device 10, a pressure sensor 20, a polishing brush 30 (see FIG. 2), and a control unit 60.

As the tracing device 10, a 6-axis articulated robot 11 (hereinafter, also referred to as “robot 11”) fixed to the tip using the polishing brush 30 as a hand tool is preferably used. The robot 11 has a base portion 12, a lower arm portion 14, an upper arm portion 16, and a wrist portion 18. Between the base portion 12 and the lower arm portion 14, an S-axis motor 13S having a swivel center in the vertical direction and swiveling above the base portion 12 and a swivel center in the horizontal direction are provided with respect to the base portion 12. It has an L-axis motor 13L that tilts the lower arm portion 14 back and forth. The tracing device 10 is not limited to the 6-axis articulated robot 11.

A U-axis motor 15U that has a rotation center in the horizontal direction between the lower arm portion 14 and the upper arm portion 16 and rotates the upper arm portion 16 with respect to the lower arm portion 14 and a direction perpendicular to the U-axis motor 15U. Is provided with an R-axis motor 15R having a rotation shaft and rotating the upper arm portion 16 with respect to the lower arm portion 14.

Further, between the upper arm portion 16 and the wrist portion 18, a B-axis motor 17B having a turning center perpendicular to the upper arm portion 16 and a T-axis motor 17T which is a rotation axis parallel to the wrist portion 18 are provided. It is arranged. Since the robot 11 has these six rotary axis motors, the wrist portion 18 at the tip can trace the surface of any three-dimensional curved surface. Here, the three-dimensional curved surface means a surface that is not composed only of a flat surface. Hereinafter, the rotation axes of each motor will be referred to as S-axis 13Sa, L-axis 13La, U-axis 15Ua, R-axis 15Ra, B-axis 17Ba, and T-axis 17Ta, respectively.

A polishing brush 30 is installed on the wrist portion 18 via a pressure sensor 20. The polishing brush 30 has a frame 36 for accommodating a motor and the like, and a rotating brush 32 having a rotating shaft 32a in a direction perpendicular to the T axis 17Ta on a surface opposite to the surface where the pressure sensor 20 is installed. The rotary brush 32 has abrasive fibers planted around the rotary shaft 32a in the radial direction of the rotary shaft 32a, and when rotated around the rotary shaft 32a, the tips of the abrasive fibers form a substantially cylindrical shape 34. The side surface of the substantially cylindrical shape 34 is the polished surface 34s. That is, the polished surface 34s can be formed at the tip of the robot 11.

FIG. 2 shows an enlarged view of only the polishing brush 30. FIG. 2A shows a perspective view of the polishing brush 30, and FIG. 2B is a front view seen from arrow A in FIG. 2A. The polishing brush 30 includes a frame 36, a motor 38, a torque coupler 40, a drive side pulley 42, a driven side pulley 44, a drive belt 46, a rotary brush 32, and the like.

The frame 36 is composed of a rectangular parallelepiped. A pressure sensor 20 that also serves as a connection flange is arranged on the side connected to the wrist portion 18 (see FIG. 1). Further, a rotating brush 32 is arranged on the side facing the surface on which the pressure sensor 20 is attached. Hereinafter, with respect to the frame 36, the surface on which the pressure sensor 20 is installed is referred to as “upper surface 36u”, and the surface on which the rotating brush 32 is installed is referred to as “lower surface 36d”.

A part of the side wall of the frame 36 may be open. This is because the operation can be adjusted inside and the weight of the whole is reduced. A pair of arms 48 that pivotally support the rotating brush 32 are arranged on the lower surface 36d. The pair of arms 48a and 48b rotatably sandwich the rotation shaft 32a of the rotation brush 32 from both sides. It can be said that this state pivotally supports the rotating brush 32.

A motor 38 is fixed in the frame 36. The drive shaft 38a of the motor 38 is arranged parallel to the rotation shaft 32a of the rotation brush 32. A drive-side pulley 42 is connected to the motor 38 via a torque coupler 40. The torque coupler 40 cuts off the transmission of torque when the load of the motor 38 exceeds a certain level. The drive side pulley 42 is arranged outside the frame 36.

A driven side pulley 44 directly connected to the rotating shaft 32a of the rotating brush 32 is arranged on the arm 48a on the side where the driving side pulley 42 is arranged. A drive belt 46 is hooked on the drive side pulley 42 and the driven side pulley 44. The drive side pulley 42 and the driven side pulley 44 may be provided with a tension pulley 43 for adjusting the tension of the drive belt 46. Each pulley arranged on the outside of the frame 36 is covered with a pulley cover 47.

The polishing brush 30 balances the left and right weight with respect to the T-axis 17Ta by arranging the drive-side pulley 42 and the driven-side pulley 44 at a position far from the motor 38. The polishing brush 30 is connected to the wrist portion 18 by a pressure sensor 20 provided on the upper surface 36u side. Therefore, if the left and right weight balance with respect to the T-axis 17Ta is different, there arises a problem that the value detected by the pressure sensor 20 differs depending on the posture of the polishing brush 30, or the pressure sensor 20 cannot be stably held.

A skirt 50 is arranged between the rotating brush 32 and the frame 36. The skirt 50 is a plate material made of resin. The skirt 50 is provided with nozzles 52a and 52b (collectively referred to as "nozzles 52") for supplying polishing liquid and water (hereinafter referred to as "polishing liquid and the like") to the rotating brush 32. ing. A pump is connected to these nozzles 52 via a pipe (not shown), and the polishing liquid or water is supplied to the nozzle 52 from the polishing liquid tank or the water tank.

Returning to FIG. 1, the control unit 60 is composed of a computer including an MPU (Micro Processor Unit) and a memory. The control unit 60 is connected to a drive unit of each axis motor of the robot 11. It is also connected to devices such as a pressure sensor 20, a polishing brush 30, and a pump, and controls their drive.

FIG. 3 shows a plan view of the polishing line 100 in which the polishing apparatus 1 is arranged. The polishing line 100 is provided with stages 104 on both sides of a transport line 102 that conveys a leading vehicle 700 of a railway vehicle to be polished. The stage 104 is set at a height such that the polishing brush 30 at the tip can sufficiently reach the roof of the leading rolling stock 700 of the railroad vehicle when the robot 11 (see FIG. 1) of the polishing device 1 extends its arm.

A moving rail 104a for moving the robot 11 of the polishing device 1 is provided on the edge of the stage 104. A plurality of polishing devices 1 may be arranged on one stage 104.

The polishing line 100 is provided with a polishing line control device 110. The polishing line control device 110 has three-dimensional curved surface data of the exterior surface of the leading vehicle 700 of the railway vehicle. Further, a position sensor 106 is provided in the vicinity of the transfer line 102, and the polishing line control device 110 is connected to the position sensor 106 and the control unit 60 of each polishing device 1.

The operation of the polishing device 1 of the leading rolling stock 700 of the railway vehicle composed of the above elements will be described. The leading rolling stock 700 of the railway vehicle, which is the object to be polished, is moved by the transport line 102 and installed at a predetermined position. The polishing line control device 110 detects that the leading vehicle 700 of the railway vehicle has reached a predetermined position by the position sensor 106.

The polishing line control device 110 determines the procedure for polishing the surface of the leading rolling stock 700 of the railway vehicle, and instructs each polishing device 1 of the planned polishing area. Here, the planned polishing area means an area in charge of one polishing device 1. Each polishing device 1 receives the three-dimensional curved surface data of the planned polishing area when receiving an instruction of the planned polishing area from the polishing line control device 110. As a result, each polishing device 1 holds the curved surface data of the surface to be polished 700s to be polished by itself. In other words, the control unit 60 of each polishing device 1 can know the position of the surface to be polished 700s in the space centered on itself.

Next, the control unit 60 moves the polishing brush 30 to the predetermined polishing area of the surface to be polished 700s. At this time, the polishing brush 30 may move on the moving rail 104a to a position where it reaches the planned polishing area.

See FIG. 4 (a). Next, the polishing brush 30 is set at an angle of 0 degrees or more and 20 degrees or less with respect to the polishing direction from the normal direction 700a of the surface to be polished 700s, and the polishing brush 30 is rotated. The pressure sensor 20 is arranged between the polishing brush 30 and the wrist portion 18 (see FIG. 1). Therefore, the pressure sensor 20 detects the force of the wrist portion 18 in the T-axis 17Ta direction.

Accurate pressing force can be detected by pressing the surface to be polished 700s along the T-axis 17Ta direction as much as possible. The angle between the normal direction 700a of the surface to be polished 700s and the T-axis 17Ta toward the polishing direction is called the contact angle θ. When the contact angle θ is determined, the amount of pressure applied to the surface to be polished 700s can be accurately obtained by F * cos θ, where F is the value from the pressure sensor 20 (“*” represents multiplication).

Then, the pressure sensor 20 is set to zero before the polishing brush 30 is brought into contact with the surface to be polished 700s. The zero setting is a process in which the output value of the current pressure sensor 20 is regarded as zero. Since the pressure sensor 20 receives the pressure on the surface, the zero point differs slightly depending on the posture of the polishing brush 30. Therefore, the pressure sensor 20 is set to zero each time it is polished.

See FIG. 4 (b). Next, the polishing brush 30 is brought into contact with the surface to be polished 700s until the pressing value reaches a predetermined value, and the surface to be polished 700s is traced at a constant speed. The trace at this time is performed along the three-dimensional curved surface data of the planned polishing area.

Further, when tracing the area to be polished, the position in the direction perpendicular to the surface to be polished 700s is adjusted so that the pressing of the polishing brush 30 is constant. That is, when the value of the pressure sensor 20 is equal to or less than a predetermined value, the distance to the surface to be polished 700s is shortened, and when the value of the pressure sensor 20 is equal to or more than a predetermined value, the distance to the surface to be polished 700s is reduced. Release.

The trace for polishing is performed linearly in a direction parallel to the traveling direction of the rotating shaft 32a (see FIG. 2) of the rotating brush 32. In FIG. 5A, the polishing device 1 extends the portion of the polishing brush 30 to the nose portion of the leading rolling stock 700 of the railcar, presses the polishing brush 30 against the surface at a predetermined contact angle θ, and then is linear in the vehicle side direction. The state of polishing on the locus is shown. FIG. 5B shows the polished area. This is called the polished area.

Further, when tracing the planned polishing area, the polishing device 1 directs the side surface of the polishing brush 30 with the pulley cover 47 toward the leading direction of the leading rolling stock 700 of the railway vehicle. The side surface of the pulley cover 47 has a pulley cover 47 protruding from the frame 36 (see FIG. 2B), so that this portion does not come into contact with the surface of the leading rolling stock 700 of the railway vehicle. ..

Further, in polishing by the polishing apparatus 1, the polishing brush 30 is always set to a constant contact angle θ with respect to the surface to be polished 700s. This contact angle θ is kept constant even during tracing. FIG. 4 (c) shows this situation.

FIG. 4C shows how the polishing brush 30 advances from the horizontal portion 700f to the inclined portion 700g. Between the horizontal portion 700f and the inclined portion 700g, there is a corner portion 700c with an R. Since the polishing brush 30 maintains the contact angle θ even at the corners, polishing proceeds while holding the axis (T axis 17Ta) of the polishing brush 30 at a constant angle with respect to the normal direction 700a on the curved surface.

As described above, the polishing apparatus 1 according to the present invention can automatically perform footing (arashi) before repainting the surface including a long nose formed by a three-dimensional curved surface of the leading rolling stock 700 of a railway vehicle. It can contribute to shortening the work time.

Further, since the polishing is performed by pressing the polishing brush against the entire surface to be polished at a constant pressure, uniform polishing is possible.

The present invention can be suitably used for sharpening putty before painting a leading vehicle of a railway vehicle.

1 Polishing device 10 Tracing device 11 6-axis articulated robot 11 Robot 12 Base 14 Lower arm 16 Upper arm 18 Wrist 13S S-axis motor 13L L-axis motor 15U U-axis motor 15R R-axis motor 17B B-axis motor 17T T-axis Motor 13Sa S-axis 13La L-axis 15Ua U-axis 15Ra R-axis 17Ba B-axis 17Ta T-axis 20 Pressure sensor 30 Polishing brush 36 Frame 32a Rotating shaft 32 Rotating brush 34 Cylindrical 34s Polished surface 38 Motor 38a Drive shaft 40 Torque coupler 42 Drive side Pulley 43 Tension pulley 44 Driven side pulley 46 Drive belt 47 Pulley cover 36u Upper surface 36d Lower surface 48, 48a, 48b Arm 50 Skirt 52a Nozzle 52b Nozzle 52 Nozzle 60 Control unit 100 Polishing line 102 Conveying line 104 Stage 104a Moving rail 110 Polishing line control Device 106 Position sensor 700 Leading vehicle 700s Surface to be polished 700a Normal direction 700f Horizontal part 700g Inclined part 700c Corner part θ Contact angle

Claims (3)

A frame, a drive motor, a pulley connected to the drive motor and arranged on the side surface of the frame, and a polishing brush having a rotary brush rotated by belt drive via the pulley .
A 6-axis articulated robot (trace device) capable of arranging the polishing brush at the tip and changing the posture of the polishing brush to move it.
A pressure sensor arranged between the polishing brush and the tracing device,
The tracer on the basis of a signal of the pressure sensor, the pressing surface to be polished of the lead vehicle of a railway vehicle having a three-dimensional curved surface polishing brushes at a constant pressing and controlled to move in a predetermined direction However, a polishing device for a leading vehicle having a control device for polishing the surface to be polished with the pulley cover covering the pulley facing the leading side of the leading vehicle. The polishing device for a leading vehicle according to claim 1, wherein the control device sets the pressure sensor to zero before pressing the polishing brush against the surface to be polished. When the control device presses the polishing brush against the surface to be polished to polish the surface to be polished, the control device applies the polishing brush to the surface to be polished in a cross section including a normal direction and a polishing direction of the surface to be polished. The polishing apparatus for a leading vehicle according to claim 1 or 2 , wherein the angle is maintained at an angle of 0 degrees or more and 20 degrees or less with respect to the polishing direction from the normal direction of the surface .