JPH01257554A - Deburring device for up-set pipe - Google Patents

Abstract

PURPOSE:To deburr reliably regardless of the shape of an upset pipe by detecting a burred position of the upset pipe through a burr position detector and operating a deburr robot based on the burred position information and an upset shape. CONSTITUTION:A burr position detector 20 detects a burr position of an upset pipe 11, then a deburr robot 40 performs deburring based on the burr position information and an upset shape with a deburr grinder 41 copying the shape of the upset pipe 11 through copying function of a copy pawl. Abrasion of the grinding wheel of the deburr grinder 41 is corrected through an abrasion correcting unit 60 with predetermined elapse timing set by an abrasion correc tion program in a main controller 100. Upon reaching the abrasion limit, the grinder is replaced with a new one 41 arranged on a grinding wheel replacing unit 88. By such arrangement, burrs can be removed reliably even when the shape of upset or burrs fluctuates due to fluctuation of the pipe size.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a burr removal device for upset pipes, which is necessary for automatically removing burrs generated on oil well amplifier set steel pipes.

[Conventional technology] Wells for oil drilling are located in adverse environments, and the oil well steel pipes used in these wells have high strength not only in the main pipe but also in the threaded joints that are machined to join the steel pipes together. is required.

The strength of the above-mentioned threaded joints tends to decrease as the wall thickness becomes thinner, and for those that require particularly high strength, the end of the pipe that will become the threaded joint is thickened by 7-piece forging, and then threaded. .

The above-mentioned upset forging is performed by placing the end of the steel pipe 1 between a pair of upper and lower half-split molds 2A and 2B, and pressing the punch 3 in the direction of the arrow, as shown in FIGS. 14(A) and 14(B). It is a meat processing process.

However, the molds 2A and 2B used for the above-mentioned upset forging
In consideration of the fact that the joint part of the mold sinks into the outer surface of the steel pipe 1 due to plastic deformation during forging, the joint part is chamfered as shown in FIG. 14(C).

For this reason, during upset forging, Fig. 15 (A), (
As shown in B), burrs IA and IB are generated along the tube axis direction at two locations in the tube circumferential direction at the tube end.

[Problems to be Solved by the Invention] If the burrs described above are not removed after 7-2 preset forging, the following problems will occur.

■When the upset process involves multiple steps due to the thickness increase ratio, the burrs generated in the first process are embedded in the forged part in the next process, causing quality problems.

■During thread cutting, it adversely affects thread accuracy and the lifespan of thread cutting tools.

■When tightening a coupling for connecting steel pipes, the coupling and burr interfere, making it impossible to tighten properly.

■The appearance is poor and the product value decreases.

Therefore, a device for removing the burrs is required, but if the burrs are removed unmanned, there are the following difficulties.

■There are a wide variety of main pipe sizes and upset shapes, and automated burr removal equipment can quickly and reliably handle these various workpieces, reliably detect the burr positions, and remove burrs. must be able to be reliably removed.

■It must be possible to reliably deal with variations in upset shape due to changes in main pipe size.

For example, the upset length may change due to changes in the wall thickness of the main tube.
It varies as shown in Figure 6.

■It must be possible to reliably deal with variations in burr shape due to changes in the size of the main tube.0 For example, if the upset length changes due to changes in the wall thickness of the main tube, the upset force will vary as shown in Figure 17. As a result, the gap size between the half openings of the mold fluctuates, causing variations in the burr shape.

The present invention reliably detects the burr positions and removes burrs from a wide variety of head tube sizes and upset shapes, even when the upset shapes and burr shapes vary due to variations in the head tube size. The purpose is to ensure removal.

[Means for Solving the Problems] The present invention provides a tube end portion disposed between a pair of half-split molds that is upset-forged with a punch inserted into the tube end portion to increase its thickness. An upset pipe burr removal device that removes burrs from a set pipe, which includes a burr position detection device that detects the burr position on the upset pipe, a profiling claw that follows the shape of the base material of the upset pipe, and a constant value for the copying claw. The burr removal robot is equipped with a burr removal grinder with a grindstone that is set at a certain position, and the grindstone of the burr removal grinder used in the burr removal robot adjusts the setting position relative to the profiling claw to reduce the amount of grindstone wear. A grinding wheel wear correction device that corrects the wear, a grinding wheel renewal device that replaces the entire burr removal grinder used in the burr removal robot or only its grinding wheel, and a main controller, storage device, and input/output that controls each of the above devices and the robot. [c] Based on the burr position information detected by the burr position detection device, the main controller controls the operation of the burr removal robot and its burr removal grinder to remove burrs from the upset pipe. [a] The operation of the burr removal robot, its burr removal grinder, and the grindstone wear compensation device, on the condition that the grindstone of the burr removal grinder used in the burr removal robot reaches a certain usage timing. [c] The burr removal robot, the burr removal robot, The operation of the burr removal grinder and the grindstone replacement device is controlled so that the entire burr removal grinder or only its grindstone can be replaced.

[Function] According to the present invention, ■the burr position detection device detects the seven edge positions of the upset pipe, and ■the burr removal robot detects the detected burrs based on the main pipe size, upset shape, and -F record. The burr removal grinder operates based on information such as the position, and the burr removal grinder follows the shape of the upset pipe with the copying action of the copying claw, and removes burrs with the grindstone.
] The wear of the grinding wheel of the burr removal grinder is corrected at a certain timing of use, and when the grinding wheel of the burr removal grinder reaches its wear limit, the entire burr removal grinder or only the grinding wheel thereof is replaced.

According to the present invention, however, there are the following effects.

■The main control device is a burr position detection device, a burr removal robot,
Because it controls the grinding wheel wear correction device and grinding wheel renewal device,
It can quickly and reliably handle a wide variety of workpieces, reliably detect burr positions, and reliably remove burrs.

■At this time, due to the presence of the burr position detection device, it is possible to reliably deal with variations in the upset shape due to variations in the main tube size and variations in the burr shape.

■In addition, due to the presence of the grindstone wear correction device and grindstone renewal device, the grindstone of the burr removal grinder is always set and held in a fixed position relative to the profiling claw, leaving the entire burr without removing the main tube material. It can be removed without any problem.

Therefore, according to the present invention, a wide variety of main pipe sizes,
Regarding the upset shape, even if the upset shape or burr shape varies due to changes in the mother pipe size,
The positions of those burrs can be reliably detected and those burrs can be reliably removed.

[Example] FIG. 1 is a schematic diagram showing the entirety of a burr removal device according to an embodiment of the present invention, FIG. Side view, Figure 4 is a detection state diagram,
Fig. 5 is another detection state diagram, Fig. 6 is a plan view showing the entire burr position detection device, Fig. 7 is a schematic diagram showing the tube end, and Fig. 8 is a schematic diagram showing the tube end.
The figure is a schematic diagram showing the relative movement state of the first contact and the second contact, FIG. 9 is a partially cutaway side view of the burr removal grinder, FIG. 10 is a front view of FIG. 9, and FIG. 12 is a schematic diagram showing the correction process of the grindstone wear correction device, and FIG. 13 is a flowchart showing the grindstone wear correction and update procedure.

The burr removal equipment shown in Figure 1! ! The pipe 11 to which 10 is applied is prepared by using an upsetter similar to that shown in FIG. 14 above.
The tube end portion disposed between the pair of half-split molds is upset-forged by a punch inserted into the tube end portion, and the first
The thickened straight portion 12 and thickened tapered portion 13 as shown in FIG. 5 are formed. During this upset forging,
As described above, burrs 12A and 13A are formed on the thickened straight portion 12 and thickened tapered portion 13 of the pipe 11, respectively. Therefore, in carrying out the present invention, the pipe 11 is in a state where the burr 12A of the thickened straight part 12 is removed and the burr 13A remains only in the thickened taper part 13 (see FIG. 7), The burr position detection device 20 shown in FIG.

The burr removal device 10 shown in FIG. 1 includes a walking beam device 14, a tube end alignment device 15, a burr position detection device 2
0. Burr removal robot 40. It includes a grindstone wear correction device 60, a grindstone renewal device 80, and a main control device 100.

The tube end aligning device 15 includes an aligning roller 16 and an aligning stopper 17, and presses the end surface of the tube 11 against the stopper 17 by rotation of the aligning roller 16, thereby aligning the tube end position to a fixed position.

The burr position detection device 20 is configured as described in detail later,
The circumferential position (α0) of the burr L3A remaining on the tapered portion 13 of the pipe 11 and the taper start position (text 0) are detected.

The burr removal robot 40 is configured as detailed later,
Equipped with a burr removal grinder 41, this grinder 41
It is provided with a copying claw 42 that follows the shape of the tube 11, and a rotary grindstone 43 set at a fixed position with respect to the copying claw 42.

The copying claws 42 have a circular shape so as to sandwich the burr 13A, and follow the outer shape of the base material of the tube 11 without touching the burr 13A.

The grindstone wear correction device 60 is configured as described in detail later,
The setting position of the grindstone 43 of the burr removal grinder 41 used in the burr removal robot 40 with respect to the tracing claw 42 is adjusted to correct the amount of grindstone wear.

The grindstone renewal device 80 is configured as described in detail later, and is equipped with a burr removal grinder 4 used in the burr removal robot 40.
1 or only its grindstone 43 is replaced.

The main control device 100 includes a device 101 and an input/output bag 2t.
102 is attached thereto, and the above-mentioned devices 14, 15, 20, 60, 80 and the robot 40 are controlled by a burr removal program, a wear correction program, etc. written in the storage device 101. At this time, the main controller lOO controls the input/output device 1
02, the upset schedule (main tube size, upset shape, etc.) input to the main operation panel 103 is transferred, or the detection results of the burr position detection device 20 are transferred.

That is, the main controller 100 [a] controls the operation of the burr removal robot 40 and its burr removal grinder 41 based on the burr position information detected by the burr position detection device 20 to remove the burr 13A of the upset pipe 11. remove,
[b] On the condition that the grinding wheel 43 of the burr removal grinder 41 used in the burr removal robot 40 reaches a certain usage timing (for example, the number of pipes 11 from which burrs have been removed), the burr removal robot 40 , the burr removing grinder 41 and the grinding wheel wear correction device 60'' (7) control the operation operation to correct the grinding wheel wear amount of the burr removing grinder 41, and [c] the burr removing grinder used in the burr removing robot 40. The operation of the burr removal robot 40, its burr removal grinder 41, and the grindstone renewal device 80 is performed on the condition that the grindstone 43 of No. 41 has reached its wear limit (for example, it has reached the limit that cannot be corrected by the grindstone wear correction device 60). The entire burr removal grinder 41 or only its grindstone 43 is replaced under control.

According to the burr removal device 10, ■burr position detection device 2;
0, the burr position of the upset tube 11 is detected, and ■
The burr removing machine 40 operates based on information such as the main pipe size, upset shape, and burr position detected in step (3) above, and the burr removing grinder 41 removes the upset pipe 11 by the copying action of the copying claw 42. The burr 13A is removed using the grindstone 43 while following the shape of the grinder 43, [a] the grindstone 43 of the burr removal grinder 41 is corrected for wear at a certain usage timing, and the grindstone 43 of the burr removal grinder 41 reaches its wear limit. When this happens, the entire burr removal grinder 41 or only its grindstone 43 is replaced.

Thus, the burr removing device 110 has the following effects.

■The main controller lOO controls the burr position detection device 20, burr removal robot 40, grinding wheel wear correction device 60, and grinding wheel renewal device 3180, so it can quickly and reliably handle a wide variety of workpieces and determine the burr positions. These burrs 13A can be reliably detected and reliably removed.

(2) At this time, due to the presence of the burr position detection device M20, it is possible to reliably deal with variations in the upset shape due to variations in the size of the main pipe and variations in the burr shape.

■Also, a grindstone wear correction device 60 and a grindstone renewal device 80
Due to the existence of the grindstone 43 of the burr removal grinder 41, the grindstone 43 of the burr removal grinder 41 is always set and held in a fixed position relative to the profiling claw 42, and the burr 13A can be reliably removed without removing the mother pipe material or leaving the entire burr 13A.

Therefore, according to the edge removing device 10, even if the upset shapes and burr shapes vary due to variations in the header tube size, the burr positions can be reliably determined for a wide variety of header tube sizes and upset shapes. The burrs 13A can be detected and reliably removed.

Hereinafter, in the burr removing apparatus 10, the main controller 10
0, a burr position detection device 20, a burr removal robot) 40, a grindstone wear correction device 60, and a grindstone renewal device 80.
The detailed configuration of is explained below.

As shown in FIGS. 2, 3, and 6, the burr position detection device 20 includes a rotating device 21, a first contact roller (first contact) 22, a second contact roller (second contact) 23, It is configured to include a determination device 24.

The rotating device 21 includes a pair of skew rollers, and
skew rotation.

Each contact roller 22 , 23 is provided at one end of each lever 27 , 28 that swings while being supported by a support shaft 26 provided on the pedestal 25 , and is in contact with the outer surface of the tube that is skew-rotated by the rotating device 21 . It swings following the irregularities on the outer surface of the tube. At this time, the first contact roller 22 and the second contact roller 23 are brought into contact with the outer surface of the tube at positions shifted in the tube circumferential direction. Furthermore, a proximity switch 29 and a dog 30 are provided at the other end of each of the levers 27,28.

FIG. 8 (A'') is a proximity switch when the first contact roller 22 and the second contact roller 23 advance the contact position from the burr-free straight part 12 of the pipe 11 to the tapered part 13 of the pipe 11. 29 and the dog 30, and when the first contact roller 22 and the second contact roller 23 are both in contact with the thickened straight part 12, the relative distance between the proximity switch 29 and the dog 30 is A2, When the first contact roller 22 comes into contact with the straight part 12 with increased thickness and the second contact roller 23 starts contact with the tapered part 13 with increased thickness, the relative distance between the proximity switch 29 and the dog 30 approaches A1, and the first contact roller 22 and second contact roller 23
When both are in contact with the thickened tapered portion 13, the relative distance between the proximity switch 29 and the dog 30 approaches AO.

FIG. 8(B) shows a state in which both the first contact roller 22 and the second contact roller 23 are in contact with the thickened tapered portion 13, and the first contact roller 22 leading in the tube circumferential direction is in contact with the burr 13A. , the first contact roller 22 and the second contact roller 23 reach a predetermined sensing amount W, the relative distance between the proximity switch 29 and the dog 30 becomes AO-61, and the proximity switch 29 is activated. Indicates that a burr detection signal (on signal) is output.

Note that FIG. 8(C) shows the state in which the first contact roller 22 and the second contact roller 23 are both in contact with the thickened tapered portion 13 after the state shown in FIG. When the second contact roller 23 following the burr 13A comes into contact with the burr 13A, the relative distance between the proximity switch 29 and the dog 30 becomes AO.
This shows that the value is +62.

The determination device 24 is composed of, for example, a microcomputer, and includes a CPU (central processing unit I) 31. The detection signal of the proximity switch 29 described above is transferred to the 0 determination device 24, which includes a ROM (write-only memory) 32, a RAM (write-readable memory) 33, and an input/output device 34. The amount W and the taper angle θ of the thickened tapered portion 13 determined by the mold are input in advance using the setting device 35 of the main operation panel 103, and the first contact roller 22 and the second contact roller 23 are in contact with each other at 8 times. Momentary tube axis direction position 1 of tube 11
The position α and the position α in the circumferential direction of the tube are transferred from the tube position detector 36. Therefore, one determining device 24 has one contact roller 22.
．． 23 toward the thickened straight part 12 toward the thickened tapered part 13, the first contact roller 22 rides on the burr 13A, and both contact rollers 22.2
The rotation angle position α0 of the tube 11 when the relative movement amount of the tube 11 reaches a predetermined burr sensitivity amount W is determined as the burr position in the thickened tapered portion 13 in the tube circumferential direction.

Further, the determination device 24 includes both the contact rollers 22 and 23.
The taper angle θ and the burr sensitivity of the axially intermediate portion of the tube 11 and the increased thickness taper portion 13 predetermined during upset forging when the relative movement amount reaches the predetermined burr sensitivity amount W. Based on the amount W, the taper start position intersection 0 of the thickened tapered portion 13 is determined using the following equation (1).

no=l−X=l−w/tanθ−(1)
The above α0 and ACO are transferred to the main controller 1100 and become data for controlling the operation of the burr removal robot 40.
This data is used to control the operation of the loading device 18 that positions the tube 11 in the burr removal robot 40.

4 and 5 show the proximity switch 29 and the dog 30 when both the first contact roller 22 and the second contact roller 23 are in contact with the thickened tapered portion 13 in the burr position detection device 20. shows the change in relative distance A of .

FIG. 4 shows the measurement results for the pipe 11 with few end bends. When the proximity switch 29 and dog 30 approach the shaded area in the figure, the proximity switch 29 outputs a burr detection signal (on signal) and makes a judgment. The device 24 adjusts the burr position (α
0), determine the taper start position (also 0).

FIG. 5 shows the measurement results for a tube 11 with a bent end. In this case, the amount of relative movement of both contact rollers 22 and 23 due to the bent end of the tube 11 is canceled, and the burrs are removed at two locations in the circumferential direction of the tube. The burr position of one of the burrs 13A is detected, and the burr position of the other burr 13A that is 180 degrees from the burr 13A can also be detected. Note that in this case, the taper start position can also be determined.

As shown in FIGS. 1, 9, and 10, the burr removal port 2 40 is equipped with a multi-joint movable arm 40B on a base body 40A, and the above-mentioned burr removal grinder 41 at the tip of the movable arm 40B. There is. The burr removal grinder 41 includes a fixed frame 44 fixed to a movable arm 40B, a profiling machine that is movably connected to the fixed frame 44 in the cutting direction of the grindstone, and has the above-mentioned profiling claws 42 that follow the shape of the tube 11. A frame 45 , a grindstone frame 46 that is configured to be slidable in the grinding wheel wear direction with respect to the copying frame 45 and includes the above-mentioned grindstone 43 , and a copying frame 45
and the whetstone frame 46.
A clamping device 47 is provided for copying and clamping the image to the frame 45.

In addition, in FIGS. 9 and 10, 45A is a slide groove provided on the copying frame 45, and 46A is a slide roller provided on the grindstone frame 46. Also, 4
7A is a clamp piston disposed on the copying frame 45, 47B is a resilient spring of the clamp piston 47A, 47C
46B is a presser coupled to the clamp piston 47A;
is an engagement mechanism for the suppressor 47C provided on the grindstone frame 46, and is a clamp? Place 47 is the 0 bullet spring 47
The elastic force of B pushes up the clamp piston 47A and the presser 47C, and the copying frame 45 and the grindstone frame 46
Press and lock the lock surface 47D of the air supply hole 47E.
The clamp piston 47A is activated by the working air supplied from
The pressing lock of the locking surface 47D can be released by pressing down the pressing element 47C.

Here, as shown in FIG. 9, an equalizer 48 is interposed between the fixed frame 44 and the copying frame 45, which presses the copying frame 45 against the fixed frame 44 in the cutting direction of the grindstone.

The equalizer 48 connects a guide rod 49 fixed to the fixed frame 44 with a guide tube 50 fixed to the copying frame 45 so as to be movable in the axial direction, and an air spring is provided between the fixed frame 44 and the copying frame 450. It is constructed by providing an air cylinder device 51 that generates force. The piston 51A of the air cylinder 93151 is the grindstone 43
When removing burrs, the cylinder 51B is located at the axially intermediate portion of the cylinder 51B, and can move up and down in the axial direction to follow the bending of the pipe 11, etc.

That is, in the burr removal robot 40, the copying claw 4
2 and the equalizer N4B, even if the shape of the tube 11 is complex or changes irregularly, or the external shape of the burr 13 varies, the grinding wheel 43 can be made to follow the main part well. This prevents the burr from digging into the pipe material and leaving uncut burrs. Also, it is possible to adjust the pressing pressure of the grindstone 43 during burr removal, allowing for appropriate grinding even if the size of the burr 13A changes. Become. Thereby, burrs on the tube 11 can be accurately removed.

The grinding wheel wear correction device 60, as shown in FIGS.
A reference block 61 with which the tracing claws 42 of the grinding wheel 46 collide, a detector 62 with which the grindstone 43 of the whetstone frame 46 collides, and a detector 6
2 is the pushing end position M (specific position) with respect to the reference block 61
A detection sensor (for example, a proximity switch) 63 detects that the sensor is located at

As a result, the grindstone wear correction device 60
Under the condition in which the copying claw 42 of No. 5 is brought into contact with the reference block 61, the grindstone frame 46, which has been unclamped by the clamp device M47, is allowed to slide freely with respect to the copying frame 45 by its own weight, and the grindstone 43 of the grindstone frame 46 is detected. child 62
When the detection sensor 63 detects that the detector 62 is located at a specific position (for example, mutual distance g) with respect to the reference block 61, the clamping device 47 is clamped and the detector 62 is brought into contact with the detector 62. The grinding wheel 43 is set at a constant position relative to the copying claw 42 that abuts against the reference blow 2 61. Note that the grindstone wear correction operation by the grindstone wear correction device 160 is performed when the grindstone 43 of the burr removal grinder 41 reaches the above-mentioned certain usage timing.
The control program of the main controller 100 is branched from the burr removal program to the wear correction program, and the grinder 41 of the burr removal robot 40 is moved to the front of the grindstone wear correction device 60 and executed.

That is, in the grindstone wear correction device 60, the grindstone frame 46 of the burr removal grinder 41 is copied and the frame 45
Coupled with the fact that the grindstone 43 can be slid against and clamped, the set position of the grindstone 43 relative to the copying claw 42 can always be kept constant. In other words, periodic wear correction of the grindstone 43 can be performed reliably and easily, and the positional relationship between the grindstone 43 and the copying claw 42 can be always corrected to a constant state. Therefore, when the copying claw 42 performs a copying action on the base material of the tube 11, the grindstone 43 moves relative to the base material via the copying claw 42 so as to follow the shape of the base material, and accurate burr removal can be performed. . Note that the detection sensor 63 of the grindstone wear correction device 60 can also determine that the grindstone 43 cannot be reset to a predetermined position relative to the copying claw 42 (that the limit of correction has been reached), and the replacement period can be determined according to the lifespan of the grindstone 43. It can also be determined.

As shown in FIG. 9, the grindstone renewal device 80 includes a burr removal grinder 41 mounted on a movable arm 40B of the burr removal robot 40.
It is constructed by providing a chuck device 81 that can be attached and detached. The chuck device 81 has a cylindrical guide pin 83 that fits into a positioning hole 82 provided in the fixed frame 44 of the grinder 41 and also serves as a working air supply passage 82A from the working air supply source of the robot 40 to the grinder 41. and a chuck claw 87 that engages with a spigot engagement portion 84 provided on the fixed frame 44 of the grinder 41 through a resilient member 85 and disengages with an air cylinder device 86.

As a result, the grindstone updating device 80 informs the above-mentioned wear correction device 6 that the grindstone 43 has reached the uncorrectable limit (wear limit).
Robot) 40 Grinder 4 on the condition that it is determined by
1 to the front of the tool stand 88, the used grinder 41 is unchucked and returned to the empty station, and a new grinder 41 in which a new grindstone 43 is set is chucked.

That is, in the grindstone renewal device 80, since the chuck device 81 is equipped with the guide pin 83, the positioning accuracy is good, and the guide pin 83 is connected to the working air supply passage 82A.
Since it is also used as a power source, the power source for the grinder 41 can be connected at the same time as the grinder 41 is connected. Therefore, as mentioned above, when the grindstone 43 reaches its wear limit or when a new grindstone 43 is used in response to a change in the type of pipe 11, etc., the burr removal apparatus lO frequently uses many types of grindstones 43. In this case, the grindstone 43 can be reliably and easily updated without impairing the operating rate of the burr removal bag 2110. At this time, the grinding wheel 4 can be replaced without replacing the entire burr removal grinder 41.
Only 3 may be replaced.

FIG. 13 is a flowchart showing the procedure of grindstone wear correction and grindstone renewal by the grindstone wear correction device 60 and the grindstone update device 80 described above.

In addition, in implementing the present invention, the burr height can also be detected by the burr position detection device, and the cutting conditions (number of cuts, cutting speed, grindstone pressing pressure) by the grinder can be automatically adjusted according to the burr height. .

[Effects of the Invention] As described above, according to the present invention, even if the upset shape or burr shape varies due to variations in the mother tube size, the present invention can be applied to a wide variety of mother tube sizes and upset shapes. It is possible to reliably detect burr positions and reliably remove those burrs.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing the entirety of a burr removal device according to an embodiment of the present invention, FIG. 2 is a front view showing main parts of a burr position detection device, and FIG. 3 is a side view of FIG. Figure 4 is a diagram of the inspection status.
FIG. 5 is another detection state diagram, and FIG. 6 is a plan view showing the entire burr position detection device. Fig. 7 is a schematic diagram showing the tube end, Fig. 8 is a schematic diagram showing the relative movement of the first contact and the second contact, and Fig. 9 is a partially cutaway side view of the burr removal grinder. , Fig. 10 is a front view of Fig. 9, Fig. 11 is a side view showing the grinding wheel wear correction device, Fig. 12 is a schematic diagram showing the correction process of the grinding wheel wear correction device, and Fig. 13 is a diagram showing the grinding wheel wear correction and A flowchart showing the update procedure, Fig. 14 is a schematic diagram showing the mold and punch for upset A construction, Fig. 15 is a schematic diagram showing the occurrence of burrs on the upset pipe, and Fig. 16 is a close-up of the main pipe wall thickness. A diagram showing the relationship between the set length and FIG. 17 is a diagram showing the relationship between the main tube wall thickness and the upsetting force. 1O... Burr removal device, 11... Tube, 13A... Burr, 20... Burr position detection device, 40... Burr removal robot, 41... Burr removal grinder, 42... Copying Claw, 43... Grindstone, 60... Grindstone wear correction device. 80... Grindstone update device, 100... Main control device, 101... Storage device, 102... Input/output device. Agent Patent Attorney Osamu Shiokawa Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7! Fig. 8 (A) (8) (C) Fig. 13 Fig. 14 (branch) Pit 150 (B) (A) Fig. 16 Self-ridge (mm) Fig. 17 De 34 no. (mm)

Claims (1)

[Claims] (1) To remove burrs from an upset tube that has been upset forged to increase its thickness by inserting a punch into the tube end placed between a pair of half-split molds. A burr removing device comprising a burr position detection device for detecting a burr position on an upset pipe, a copying claw that follows the shape of a base material of the upset pipe, and a grindstone set at a fixed position with respect to the copying claw. A burr removal robot equipped with a burr removal grinder, a grindstone wear correction device that adjusts the setting position of the burr removal grinder used in the burr removal robot with respect to the profiling claw, and corrects the amount of grindstone wear, and a burr removal robot. The main control device comprises a grindstone renewal device for replacing the whole or only the grindstone of a burr removal grinder used in [a] Based on the burr position information detected by the burr position detection device, the operation of the burr removal robot and its burr removal grinder is controlled to remove the burr from the upset pipe, and [b] The burr removal robot removes the burr. On the condition that the grinding wheel of the burr removal grinder in use has reached a certain period of use, the operation of the burr removal robot, its burr removal grinder, and grinding wheel wear compensation device is controlled to calculate the amount of wear of the grinding wheel of the burr removal grinder. [c] Control the operation of the burr removing robot, its burr removing grinder, and the grinding wheel renewal device on the condition that the grinding wheel of the burr removing grinder used in the burr removing robot has reached its wear limit. An upset tube burr removal device characterized in that the entire burr removal grinder or only its grinding wheel is replaced.