JPH02185361A - Automatic grinding device - Google Patents

Abstract

PURPOSE:To reduce grinding residues and to enable an efficient grinding work by automatically regrinding only the place of insufficient grinding by discriminating the sufficient grinding place of a seam weld zone and insufficient grinding place by an image processing device. CONSTITUTION:A work setting jig 6 holding a work 16 by fixing is transferred to a 1st grinder 11 and pressed to the grinding belt 36 driving a back face seam weld zone 18 by its rotation with the specified pressure, and automatic grinding is executed. After completion of the grinding, the work 16 is transferred to an image processing device 13 by moving the arm 5 of a transfer robot 1, an the white part of sufficient grinding and the black part of insufficient grinding are discriminated by executing the bivalent processing of the image by copying the ground seam weld zone 18 by a camera 39. If the black part of insufficient grinding remains, the work 16 is transferred to the 1st grinder 11 again and the black part of insufficient grinding only is subjected to re- grinding automatically by a grinding belt 36. Grinding is executed until the black part is eliminated on the image subjected to bivalent processing by repeating the above work.

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention particularly relates to an apparatus for automatically grinding a seam weld of a fuel tank for a motorcycle or the like.

b. Prior Art Generally, a fuel tank for a motorcycle is formed by joining a pair of curved steel plates by seam welding. In such a fuel tank, a seam welded portion of the back surface formed along the longitudinal direction protrudes from the outer surface, and therefore, it is necessary to grind the seam welded portion to give a smooth finish to the outer surface. Therefore, back surface finishing work has conventionally been performed in which a fuel tank as a workpiece is ground using various grinding devices.

C9 Problems to be Solved by the Invention However, in the conventional grinding device described above, even if grinding residue J occurs due to variations in the shape of the back surface of the drawn fuel tank or wear of the grinding belt, Since no repair equipment was provided, repair grinding could not be carried out within the equipment. For this reason, the unground portion J was manually repaired and ground by the operator, making it difficult to automate the finishing work of the fuel tank and making it impossible to improve the efficiency of the grinding work.

The present invention has been made in view of these circumstances, and its purpose is to provide an automatic grinding device that can eliminate the above-mentioned drawbacks.

d. Means for Solving Llm In order to solve the problems of the above-mentioned prior art, the present invention provides a transport robot equipped with a movable arm that grips a workpiece to be ground, and a transport robot that uses the transport robot to The grinding machine is equipped with a grinding machine that grinds the seam weld of the workpiece, and an image processing device that binarizes the grinding results of the workpiece. While transporting the workpiece to the processing device, the image processing device identifies the parts of the seam weld of the workpiece that have been sufficiently ground and the parts that have not been sufficiently ground, and based on the identification results, only the parts of the workpiece that have not been sufficiently ground are processed. is configured to be automatically re-ground by the above-mentioned grinding machine.

e. Function: In the automatic grinding device of the present invention, the image processing device installed in the device identifies the grinding results at the seam welds of the workpiece, and thereby automatically re-grinds only the insufficiently ground portions of the workpiece. This reduces the amount of leftover grinding and enables efficient grinding work.

f. Examples The present invention will now be described in detail based on illustrated examples.

1 to 5 show an embodiment of an automatic grinding device according to the present invention. In FIG. 0, 1 is a robot operation panel 2.
The transport robot 1 is operated and controlled by a control panel 3, and the transport robot 1 includes a pivotable support 4, and an arm 5 attached to the upper end of the support support 4 so as to be rotatable in the front-rear direction and the vertical direction. It is equipped with A jig clamp unit 7 for gripping a work set jig 6 is provided at the tip of the arm 5, and the clamp unit 7 is composed of rack and pinion horizontal slide type fingers 9 driven by an air cylinder 8. There is.

In addition, in the movement area of the arm 5 of the transport port bong) 1,
In connection with this, the jig feeding device fio, the first and second
A grinding machine 11, 12 and an image processing device 13 are installed, and a safety shelf 14 is arranged around these devices. The jig feeding device 10 is configured as a four-position type that moves in the front, back, left and right directions (in the direction of the arrow shown in FIG. 3) by driving an air cylinder 15 so as to perform setup work outside the movement area of the arm 5. A workpiece 1G of a motorcycle fuel tank, which is an object to be ground, shown in the figure is manually set on a workpiece setting jig 6 on a slide table 17. For this reason, the work set jig 6
is provided with fixing means (not shown) for fixing and holding the back seam welded portion 18 of the workpiece 16 in a state where it is disposed on the upper surface.

The first grinding 4all is divided into a stand part 19 and a grinding head part 20, and the stand part 19 has vertical positioning using a column lift handle 21, horizontal positioning using a feed screw, and an angle provided at the top of the column 22. The angle of the grinding head portion 20 can be indexed using the indexing nut 23, and the structure allows accurate and quick positioning of workpieces 16 of various shapes. The grinding head portion 20 also includes a main motor 25 on a slide base 24, a spindle 27 driven by the main motor 25 via a belt 26, and a belt unit 28 connected to the spindle 27. It is attached to the upper part of the column 22 via an angle bracket 29.

The belt unit 28 is a 6-pulley type with a floating and retracted structure, which is composed of a tensile pulley 30, a drive pulley 31, a support shaft 32, an idler pulley 33, a contact wheel 34, a mounting bracket 35, etc. The installed rough finishing grinding belt 36 is rotationally driven. And mounting bracket 35
An air cylinder 37 for beam tract is provided at the top of the
The air cylinder is configured to automatically move the entire belt unit 28 forward and backward. The second grinding machine 12 has almost the same structure as the first grinding machine 11, but a finishing grinding belt 38 is installed on the pulley.

On the other hand, the image processing device 13 is installed near the first grinding machine 1ullO, and an image processing camera 39 that photographs the seam welded part 18 of the workpiece 16 after being ground by the first grinding machine 11
and an identification mechanism (not shown) that performs binarized image processing on the grinding results for the workpiece 16. A binarized image is a monochrome image that is converted to black (0) through an A/D converter.
An image converted into two types of pixels: and white (1).
Since the back seam welded portion 18 is thermally discolored and blackened, the areas where sufficient grinding has been done become white areas, and the areas where insufficient grinding has remained as black areas. Therefore, work 16
In the seal welding part 18, the image processing device 13 identifies areas where grinding is sufficient and areas where grinding is insufficient. It should be possible to automatically select a program that is compatible with
In FIG. 1, the reference numeral 40 is a hand-held starting operation panel, the reference numeral 41 is a safety mat, and the reference numeral 42 is a dust collector.

To finish grinding the back seam welded portion 18 of the workpiece 16 using the automatic grinding device described above, the workpiece 16 is first placed in the workpiece set jig at positions A1 and B of the jig feeding device 10 shown in FIG. Manually set the workpiece setting jig 6 to A! Next, slide the slide table 17 forward and set the workpiece setting jig 6 to A! When the work setting jig 6 is placed at the position B8 and the position 88, the arm 5 of the transfer robot moves from the start waiting position to the jig feeding device 10, and grips and lifts the work setting jig 6 at the B8 position with the fingers 9. Then, the workpiece set jig 6 holding the workpiece 16 fixedly is transported to the first grinding machine 11, and the back seam welded part 18 is pressed against the rotating grinding belt 36 with a predetermined pressure to be automatically ground ( (See Figures 1 and 2).

After the grinding is completed, the workpiece 16 is transported to the image processing device 13 by moving the arm 5 of the transport Robov) 1,
A camera 39 photographs the seam welded portion 18 that has been ground, and the photographed image is binarized to identify white parts that have been sufficiently ground and black parts that have not been sufficiently ground. Based on this identification result, if there is a black part that has not been sufficiently ground, the workpiece 16 is transported to the first grinder 11 again, and only the black part of the seam weld 18 is automatically removed by the grinding belt 36. Grind. By repeating such operations, the seam weld 18 is ground until there are no black parts in the binarized image. Further, as a result of identifying the workpiece 16 that has been ground by the first grinding machine 11, if only a white part that has been sufficiently ground and no black part that has not been sufficiently ground remains, the workpiece 1
6 is conveyed to the second grinder 12, and the seam welded portion 18 is pressed against the grinding belt 38 with a predetermined pressure to be ground and finished. During this time, the jig feeding device 10 is operated to transfer the work setting jig 6 at the A1 position to the B8 position.

The workpiece 16 that has been finished by the second grinding machine 12 is
The workpiece set jig 6 is transported by the transport robot 1 to the jig feeder W10, and lowered to the A2 position. When the work setting jig 6 is seated at the same position, the fingers 9 are opened and the work setting jig 6 is separated from the jig clamp unit 7. After that, slide the slide table 17 backward and move the work setting jig 6 from the A8 position to the A8 position.
By moving the workpiece 16 to the + position and removing the ground workpiece 16 of the seam welding part 18 from the workpiece center jig R6,
The grinding work of the workpiece 16 is completed. Note that, in order to grind the next workpiece 16, the transfer robot 1 advances to the start waiting position with the fingers 9 of the jig clamp unit 7 open.

In the automatic grinding device configured in this way, after the first grinding machine 11 finishes grinding, the image processing device 13 distinguishes the seam weld I8 of the workpiece I6 into a white part that has been sufficiently ground and a black part that has not been sufficiently ground. Based on this identification result, only the insufficiently ground black parts are automatically re-ground by the first grinding machine 11, which reduces the amount of ungrinded parts and eliminates the need for cumbersome manual repair grinding work. It becomes possible to do so.

Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and various modifications and changes can be made based on the technical idea of the present invention.

For example, the transport robot l used in the previously described embodiments,
The workpiece setting jig 6, jig feeding device IO1, first and second grinding machines 11.12 are not limited to those shown in the figure, and have a configuration that can reliably clamp the workpiece 16 and quickly grind the seam weld 18. Needless to say, other types of devices can be used if available.

g. Effects of the Invention As described above, the automatic grinding device according to the present invention uses an image processing device to distinguish the seam t1j contact portion of the workpiece after grinding into a portion where grinding is sufficient and a portion where grinding is insufficient. Since the configuration is configured so that only sufficient areas are automatically re-ground using a grinding machine, it is possible to reliably reduce the occurrence of grinding residue J at seam welds, eliminating the need for separate manual repair grinding work. The time required for grinding work is greatly reduced, which improves the efficiency of grinding work. Further, by grinding a workpiece using the automatic grinding device of the present invention, fundamental countermeasures can be taken when the same grinding result repeatedly occurs, and a product with excellent quality can be provided.

[Brief explanation of the drawing]

1 to 5 show an embodiment of the present invention, in which FIG. 1 is a plan view of an automatic grinding device, FIG. 2 is a front view of the automatic grinding device, and FIG. 3 is a work set jig. FIG. 4 is a perspective view of a jig feeding device in which tools are arranged, FIG. 4 is a plan view of the jig feeding device, and FIG. 5 is a perspective view of a workpiece. l...transport robot, 5...arm, 6...
... Work set jig, 7... Jig clamp unit, 10... Jig feeding device, 11... First grinding machine, 13... Image processing device, Machining 6... Work,
18... Seam welding part, 2nd... Belt unit,
36...Grinding belt for rough finishing, 39...Camera for image processing.

Claims (1)

[Claims] A transport robot equipped with a movable arm that grips a workpiece to be ground, a grinder that grinds the seam weld of the workpiece transported by the transport robot, and an image that performs binarization processing on the grinding results of the workpiece. By moving the arm of the transfer robot, the workpiece after grinding is transported to the image processing device, and the seam welding part of the workpiece is divided into areas where the grinding is sufficient and areas where the grinding is insufficient. is identified by the image processing device,
An automatic grinding device characterized in that the grinding machine is configured to automatically re-grind only the insufficiently ground portions of the workpiece based on the identification result.