JPH07256546A - Automatic grinding device - Google Patents

Abstract

PURPOSE:To improve the finishing precision and quality by carrying out the automatic grinding work and obtaining an always uniform ground surface, as for an automatic grinding device used for the grinding of the excess metal part of a welded coupling made of steel. CONSTITUTION:A grinder 2 on which a grinding wheel is installed is fixed in an arbitrary tilt angle by a clamp lever, and mounted on a longitudinal tilt slide 6. Since a longitudinal tilt mechanism which is position-controllable during grinding is installed, the contact angle of the grinding wheel can be controlled arbitrarily, and the crushing and clogging are prevented. Further, a vertical mechanism which can control the vertical shift and positioning is installed so that the pressing force obtained from a load cell 9 becomes always constant, according to the unevenness of a ground surface or in order to control the grinding quantity. A traveling truck 18 is arranged in parallel to a welding line, and carries out grinding, traveling forward or rearward on a rail 20 fixed by a magnet 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grinding machine applied to grind a surplus portion of a welded joint of steel products.

[0002]

2. Description of the Related Art Conventionally, automation has not progressed in conventional grinding work due to the know-how of skilled workers such as work posture, how to apply the grindstone to the grinding surface, how to move it, and delicate adjustment of pressing force and pressing direction. For some simple polishing work such as flat surface, a polishing tool was mounted on a manipulator or a jig.

As a method of controlling the pressing force, there is a method of utilizing a change in motor current of an electric grinder.

[0004]

By the way, in recent years, the number of skilled workers has decreased, and the finish condition of the grinding surface and the accuracy are different depending on the worker, and a uniform grinding surface cannot be obtained. Automation is also necessary for 3K work measures.

Further, it is difficult to reproduce the same condition because there is the know-how of a skilled worker such as how to apply the grinding stone to the grinding surface, how to move it, and delicate adjustment of the pressing force and the pressing direction.

Conventionally, a device having a mechanism for detecting the pressing force and automatically controlling the pressing force by moving the pressing shaft of the motor or by the spring force so that the pressing force automatically becomes constant has been developed.

However, these cannot be properly controlled because they are picked up by a sensor or a spring that detects the force pressing the vibration itself of the motor.

Further, in the conventional apparatus, the contact angle of the grindstone to the grinding surface is manually fixed semi-fixed, and it is impossible to change it during grinding. It also had a bad effect on the ground surface.

Further, when the way of applying the grindstone to the grinding surface or the posture is changed, the position of the sensor or the spring for detecting the pressing force is changed, but in the conventional device, the device is dedicated and not versatile. There was a problem that could not be dealt with.

It is an object of the present invention to provide a new automatic grinding machine that solves the above-mentioned problems.

[0011]

As a structure for achieving the above object, an automatic grinding apparatus of the present invention is configured such that a grinder having a grindstone attached thereto is tilted to the left and right with respect to a grinding direction so that the grindstone can be ground at an arbitrary angle. A mechanism that applies them, a mechanism that mounts them and tilts them back and forth with the tip of the grindstone as a fulcrum against the grinding direction, and applies the grindstone to the grinding surface at an arbitrary angle. Provided symmetrically about the lowered swing mechanism and the axis of the swing mechanism in a balance type.
A load cell that detects the load when the grindstone is pressed, a moving mechanism that adjusts the center of gravity to maintain a substantially horizontal posture when there is no load in the turning mechanism, a vertical mechanism that moves and positions them vertically, and a left and right mechanism The left and right mechanisms that move and position the machine, the traveling mechanism that moves them forward and backward while grinding them on the track that is installed parallel to the welding line direction, and the grinding amount control that is installed in front of the grinder via the anti-vibration rubber. It is characterized in that it is constituted by a laser slit light source and a CCD camera for obtaining an optical cutting line image of a welded joint surplus portion for performing positioning control.

[0012]

According to the automatic grinding apparatus of the present invention configured as described above, when the grindstone is applied to the grinding surface, the pressing force of the grindstone is detected by the load cell as a structure in which the force is transmitted in only one direction. As a result, a force sensor for multiple axes of load and moment is not required, and a uniaxial load cell can be used and handling and control are facilitated.

Further, the grinder, the left and right tilting mechanism, and the front and back tilting mechanism have a suspension structure using a rotary bearing so that the grinder and the device's own weight and vibration are not transmitted to the load cell. Can be detected.

In addition, in order to balance the front and rear weights at the joint between the rotary bearing and the apparatus, an adjusting mechanism that can move the center of gravity is provided, and the displacement between the center of gravity and the axis of the rotary bearing or the longitudinal tilting mechanism. When the self-weight of the equipment is slightly applied to the load cell due to the position of the grinder, the two load cells are installed symmetrically around the rotary bearing in order to cancel the load due to the self-weight, so an accurate pressing force can be obtained. be able to.

Further, by providing a front and rear tilting mechanism capable of positioning control so that the front and rear contact angles of the grindstone can be adjusted during grinding, it is possible to hit the same surface of the grindstone by arbitrarily controlling the contact angle of the grindstone. In addition, the grindstone does not become clogged or clogged even for a long time, and it does not affect the life of the grindstone or the grinding surface.

Further, an up / down mechanism capable of vertically controlling the moving speed and the positioning is provided so that the pressing force obtained from the load cell for controlling the grinding amount or the grinding amount can be always constant. By controlling the moving speed and the position of the up-and-down mechanism, the pressing force (grinding amount) can be controlled to be constant and the copying can be performed.

Moreover, the circular interpolation of the grinding surface can be performed by the simultaneous control of the biaxial positions of the vertical mechanism and the traveling mechanism.

Further, in order to obtain the shape of the welded joint extraneous portion and to control the grinding amount and the positioning, the sensor head constituted by the laser slit light source and the CCD camera is provided with a vibration isolating rubber so as not to transmit the vibration of the grinder. Further, it is provided in front of the grinder independently of the attitude of the grinder.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 is a front view of the automatic grinding apparatus of the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a side view of the same. Also,
FIG. 4 shows a sectional view taken along the line AA in FIG.

In these figures, a grinder 2 to which a grindstone 1 is attached is held in a suspended manner by front and rear left and right tilt bearings 3 and fixed by a clamp lever 4 at an arbitrary tilt angle. Then, this is mounted on a front-rear tilt slide 6 which is driven by an electric motor 5 and moves in an arc shape with the tip of the grindstone 1 as a fulcrum to assume a posture of an arbitrary tilt angle.

The back surface of the front-back tilt slide 6 is engaged with a rotatable bearing 8 incorporated in the base 7 so that the back-and-front tilt slide 6 can be moved semi-fixedly in the front-rear direction. The bearing 8 has the structure described above, and the bearing 8 receives its own weight.

Further, by moving the engagement position with the bearing 8, it is possible to roughly adjust the front-rear balance at the position of the center of gravity.

Further, load cells 9 are provided on the front surface of the base 7 at the same front and rear positions around the shaft center of the bearing 8 and are in contact with a seat 10 attached to the side surface of the bearing 8.

As a result, a balance type structure centering on the shaft center of the bearing 8 is provided, and fine adjustment of the position of the center of gravity is solved by previously canceling the value of the load applied to either one of the load cells 9 to a large extent.

When the grindstone 1 is pressed against the load cell 9 on the right side shown in FIG.
Is detected and this is detected as a pressing force.

The back surface of the base 7 is in contact with the vertical slide 12 driven by the electric motor 11, and the moving speed and the arrow direction shown in FIG. 1 are used to control the copying or grinding force with a constant pressing force against the irregularities of the grinding surface. Position control.

The vertical slide 12 is further engaged with a manual vertical slide 14 by means of a handle 13, and sets the initial rough position of the grindstone 1.

Next, the vertical slide 14 is connected to the electric motor 15
It is engaged with the left and right slides 16 that are driven by, and controls the positioning in the width direction of the welded joint excess portion.

Further, the left and right slides 16 are electric motors 17.
It is mounted on a traveling carriage 18 driven by.

The traveling carriage 18 is arranged parallel to the welding line, and performs grinding while traveling forward or backward on the rail 20 fixed by the magnet 19.

The sensor head 21 is independently attached to the base 7 in front of the grinder 2 via a positioning jig 22 and a vibration-proof rubber 23 regardless of the attitude of the grinder 2.

A laser slit light source 24 and a CCD camera 25 are mounted on the sensor head 21, and the positioning jig 22 adjusts the optical axis so that the optical axis is on the center line of the grindstone 1.

The sensor head 21 is mounted on a positioning jig via a vibration-proof rubber 23, and the vibration-proof rubber 23 prevents the vibration of the grinder 2 from being transmitted to the sensor head 21.

The laser slit light source 24 mounted on the sensor head 21 is arranged vertically above the weld joint extra-proximal portion in the vicinity of the grindstone 1 and emits slit light from the light source at a right angle to the welding line to obliquely move forward. The arranged CCD camera 25 captures an image of the optical cutting line, and the image is obtained in the form of a ridge.

Then, the grinding is performed while controlling the grinding amount and the positioning based on this.

The grinder 2 may be an electric grinder or an air grinder.

Although one embodiment of the present invention has been briefly described above, the present invention is not limited to the above embodiment, and various design changes can be made within the scope of the technical idea of the present invention. It belongs to the technical scope of the present invention.

[0038]

As described above, according to the automatic grinding apparatus of the present invention, it is possible to automate the grinding work, which has been difficult in the past due to the fact that many operations rely on the know-how of skilled workers, and it is possible to reduce the number of steps.

Further, it is possible to always obtain a uniform ground surface, and it is possible to improve the finishing accuracy and quality.

[Brief description of drawings]

FIG. 1 is a front view of an automatic grinding apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of the device.

FIG. 3 is a side view of the device.

4 is a cross-sectional view taken along the line AA of FIG.

[Explanation of symbols]

 1 Grindstone 2 Grinder 3 Left / right tilt bearing 4 Clamp lever 5 Electric motor 6 Front / back tilt slide 7 Base 8 Bearing 9 Load cell 10 Rest base 11 Electric motor 12 Up / down slide 13 Handle 14 Up / down slide 15, 17 Electric motor 16 Left / right slide 18 Traveling cart 19 Magnet 20 Rail 21 Sensor head 22 Positioning jig 23 Anti-vibration rubber 24 Laser slit light source 25 CCD camera

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Katsuji Danbayashi 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Sanryo Heavy Industries Ltd. Kobe Shipyard (72) Inventor Takaya Okada Wadazaki-cho, Hyogo-ku, Kobe 1-1-1 Sanryo Heavy Industries Co., Ltd. Kobe Shipyard

Claims (1)

[Claims] 1. A mechanism for tilting a grinder to which a grindstone is attached to the left and right with respect to the grinding direction to bring the grindstone into contact with the grinding surface at an arbitrary angle, and front and rear with the tip of the grindstone mounted as a fulcrum with respect to the grinding direction. A mechanism that tilts the grindstone against the grinding surface at an arbitrary angle, and an axis center is provided in the center of gravity of the grindstone. A load cell that detects the load when the grindstone is pressed, a moving mechanism that adjusts the center of gravity to maintain a substantially horizontal posture when there is no load in the turning mechanism, a vertical mechanism that moves and positions them vertically, and a left and right mechanism Left and right mechanisms that move and position to the left and right, a traveling mechanism that mounts these and moves back and forth while grinding on a track provided parallel to the welding line direction, and installed in front of the grinder via a rubber vibration isolator. An automatic grinding apparatus comprising a laser slit light source for obtaining an optical cutting line image of a welded joint surplus portion and a CCD camera for performing grinding amount control and positioning control.