JPH08118222A - Automatic polishing device - Google Patents

Abstract

PURPOSE: To enable an automatic polishing device to be applied also when a grinding surface is two-dimensionally or three-dimensionally changed. CONSTITUTION: A copying roller 32 is rolled along a grinding reference surface 2a of a member to be ground 2, and a-pressing means 17 is displaced by following the grinding reference surface 2a of the member to be ground 2. Even if there are irregularities on the grinding reference surface 2a, a pressing arm 16 of the pressing means 17 (namely, a grinding wheel 28) is displaced by following the irregularities. The member to be ground 2 can therefore be ground without being excessively ground.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grinding apparatus for grinding a material to be ground whose surface, which is a grinding reference surface, changes two-dimensionally or three-dimensionally.

[0002]

2. Description of the Related Art As described in, for example, Japanese Patent Laid-Open No. 3-178766, a grinder's grindstone is used until reaching a target finishing position, depending on the relationship between the position of the grinding point of the grinder and the force applied to the grinder. Force control that presses the work (material to be ground) with a constant force will not be carried out beyond the target finishing plane, provided that the pressing force is within the set value after reaching the finishing target position. It is known to control the position of the grinder in the pressing direction.

[0003]

However, in the above-mentioned apparatus, when the surface of the work is flat, the target finishing position can be set and grinding can be performed. If the height of the workpiece changes two-dimensionally or three-dimensionally, the surface of the work may protrude upward from the target height position, and simply set the target height position as in the above-mentioned device. If you just do it, there is a risk of over-cutting. This is because the relative positional relationship between the surface of the work and the grinder (grinding stone) must be kept constant in order to avoid excessive cutting when the height of the surface of the work changes two-dimensionally or three-dimensionally. This is because the above-mentioned device does not do so.

The present invention provides an automatic grinding apparatus capable of grinding without excessive cutting even when the grinding reference surface of the material to be ground changes two-dimensionally or three-dimensionally.

[0005]

SUMMARY OF THE INVENTION The present invention is premised on an automatic grinding apparatus for grinding a material to be ground whose ground reference surface, which is a surface, changes two-dimensionally or three-dimensionally.

According to a first aspect of the present invention, there is provided a controlled member whose position is controlled in at least one dimension with respect to a grinding start position with respect to the material to be ground, and a controlled member which is disposed on the controlled member and grinds the material to be ground. A pressing means having a pressing arm that moves forward and backward with respect to the reference surface, a grindstone rotatably provided on the pressing arm of the pressing means, a load detection sensor that detects a rotational load of the grindstone, and the pressing means. Tracing means for aligning along the grinding reference surface of the material to be ground, and an arm for controlling the forward / backward movement of the pressing arm so that the height of the grindstone does not exceed the set height with respect to the reference surface of the material to be ground. Position control means and force control means for receiving the output of the load detection sensor and controlling the forward / backward movement of the pressing arm so that the rotational load of the grindstone does not exceed the set load value.

In the invention according to claim 2, the tracing means is interposed between the tracing roller rotatably supported by the pressing means and contacting the grinding reference surface of the material to be ground, and the controlled member and the pressing means. And a spring member that constantly urges the following roller so as to contact the grinding reference surface side of the material to be ground.

In the invention according to claim 3, the force control means is linked to the arm position control means, and the rotation of the grindstone is continued until the height of the grindstone reaches a set height in relation to the grinding reference surface of the workpiece. It controls the forward / backward movement of the pressing arm so that the load does not exceed the set load value.

In the invention according to claim 4, further,
When the output of the arm position control means is received and it is determined that there is uncut residue after the end of grinding, the grinding control means is provided to return the controlled member to the grinding start position and perform grinding again.

[0010]

According to the first aspect of the invention, when the controlled member is position-controlled in at least one dimension with the grinding start position as a reference, the pressing means causes the pressing means to follow the grinding reference surface of the material to be ground. Even if the grinding reference surface of the material to be ground has unevenness, the pressing arm (and hence the grindstone) of the pressing means is displaced according to the unevenness, and the material to be ground is ground without being overcut.

According to the second aspect of the present invention, the tracing means is a tracing roller which comes into contact with the grinding reference surface of the material to be ground and moves in parallel with the grindstone. Since the follower roller is constantly urged to come into contact with the surface and the follower roller always comes into contact with the grinding reference surface, the pressing arm (and hence the grindstone) of the pressing means is reliably aligned with the grinding reference surface of the workpiece.

According to the invention of claim 3, until the height of the grindstone reaches a set height with respect to the grinding reference surface of the workpiece,
The force control means controls the forward / backward movement of the pressing arm so that the rotational load of the grindstone does not exceed the set load value, and when the height of the grindstone reaches the set height in relation to the grinding reference surface of the work piece, the The pushing arm is not allowed to move back and forth.

According to the fourth aspect of the invention, when the grinding control means determines that there is an uncut portion after the end of the grinding based on the control result of the arm position control means, the grinding control means controls the controlled member. It is returned to the grinding start position and grinding is performed again.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings.

In FIGS. 1 and 2 showing the schematic structure, 1
Is an automatic grinder that grinds the weld bead 3 on the work material 2, and slides on the rail member 11 so as to slide.
Are engaged, and the slide member 12 is configured to slide by the first motor 13. A first encoder 14 is linked to the first motor 13 so that the rotation amount of the first motor 13 (corresponding to the slide movement amount of the slide member 12) can be detected.

A controlled member 15 is attached to the slide member 12.
The controlled member 15 is position-controlled in at least one dimension with reference to a preset grinding start position.

On the controlled member 15, a pressing means 17 having a pressing arm 16 for advancing and retracting with respect to the grinding reference surface 2a of the material to be ground 2 is provided so as to be vertically slidable. That is, the controlled member 15 includes the rail member 1
8 are arranged in the vertical direction, and the sliders 20, 20 of the frame body 19 of the pressing means 17 are slidably engaged with the rail member 18. Further, a spring member 21 is interposed between the frame body 19 and the controlled member 15,
The frame 19 is constantly urged downward.

A screw rod 22 is rotatably supported on the frame body 19 in the vertical direction, and the screw rod 22 is rotatably driven by a second motor 23. The second motor 23 has a second encoder 2 for detecting the amount of rotation thereof.
4 are linked. Further, a rail 25 is arranged in parallel with the screw rod 22 in the vertical direction.

The pressing arm 16 has a rail 2 at the base end.
A slider 26 slidably engaged with the screw 5 is fixedly mounted, and is rotatably screwed to the screw rod 22. Also,
A grinding unit 29 that rotationally drives a grindstone 28 by a third motor 27 is arranged at the tip of the pressing arm 16. A load detection sensor 30 that detects the rotational load of the grindstone 28 is linked to the third motor 27.

On the lower side of the frame body 19, a grindstone 28 is provided.
The profile roller 32 is rotatably supported by a support member 31 so as to be close to the profile roller 32.
The rolling means is configured to make the pressing means 17 follow the grinding reference surface 2a of the material to be ground 2 by contacting and rolling the grinding reference surface 2a. Since the frame body 19 is constantly urged downward by the spring member 21, the follower roller 32 is always in contact with the grinding reference surface 2a of the workpiece 2.

Further, each motor 13, 23, 27 is shown in FIG.
As shown in, the control means 41 including a CPU, a memory, etc.
Is associated with. The control means 41 advances and retreats the pressing arm 16 so that the height of the grindstone, which is the distance between the grindstone 28 and the preset reference position, does not exceed the set height in relation to the grinding reference surface 2a of the workpiece 2. And arm force control means 41B for controlling the movement of the pressing arm 16 so that the rotational load of the grindstone 28 does not exceed the set load value. There is. Then, the first motor 13 and the first encoder 1
The control system 42 for moving the controlled member 15 back and forth by 4
A control system 43 for advancing and retracting the pressing arm 16 is constituted by the second motor 23 and the second encoder 24, and the both control systems 42, 43 together with the third motor 27 and the load detection sensor 30 via the bus line 44. It is linked to the control means 41.

Further, the control means 41 receives the signal from the arm position control means 41A, and when it is judged from the control result that there is an uncut portion after grinding, the controlled member 1
Also provided is a grinding control means 41C for returning 5 to the grinding start position and performing grinding again.

Next, the control flow will be described with reference to FIG.

When started, the grindstone 2 of the pressing means 17
8 is set to a preset target height (step S1
), The controlled member 15 is moved to the grinding start position which is the reference for grinding (step S2). Then, the follower roller 32 is grounded (contacted) on the grinding reference surface 2a of the workpiece 2.
(Step S3), the motor 27 is driven to drive the grindstone 28.
Is rotated (step S4) and the motor 23 is driven to lower the pressing arm 16 (step S5).

Then, it is judged whether or not the grindstone height H of the pressing means 17 is not less than the set value H0 (step S6).
If the height H of the grindstone is equal to or greater than the set value H0, the pressing arm 16 is stopped in order to prohibit further grinding (step S7), and the lower limit position control is performed. On the other hand, the grindstone height H
Is not more than the set value H0, the pressing force F is the set value F0.
It is determined whether or not it is above (step S8), and if the pressing force F is equal to or greater than the set value F0, the pressing arm 16 is raised (step S9), and whether the pressing force F is equal to or greater than the set value F0 again. Is determined (step S10), the set value F
If it is 0 or more, the process proceeds to step S9 to continue to raise the pressing arm 16, while if it is not more than the set value F0, the process proceeds to step S5 to lower the pressing arm 16 and perform force control. If it is determined in step S10 that the pressing force F is not equal to or greater than the set value F0, the process proceeds to step S7 and the pressing arm 16 is stopped (step S7).
).

Following the stop of the pressing arm 16 in step S7, it is determined whether or not the grinding feed is completed (step S7).
11) If the grinding feed is completed, the grindstone 28 is stopped (step S12), while if the grinding feed is not completed, the grinding feed is continued (step S13), and step S5
Move to

After the grindstone 28 is stopped in step S12, the pressing arm 16 is raised to the reference position (step S1
4) It is determined whether there is any uncut material (step S1).
Five). If there is any uncut portion, the process proceeds to step S2 to perform the second grinding, while if there is no uncut portion, the process ends.

In this way, since the height of the grindstone, that is, the height from the grinding start position to the grindstone 28 is recognized,
Grinding under force control until the height of the grindstone reaches a set height or more in relation to the grinding reference surface 2a, and when the set height is reached, the pressing arm 16 is stopped to prevent excessive cutting and the welding bead 3
Can be ground to a specified height. Specifically, as shown in FIG. 5, in order to surely prevent overcutting, grinding with the grindstone 28 is performed up to a portion separated from the grinding reference surface by Δh. 3a is the surface of the weld bead 3 before grinding, 3b is the part ground by one pass grinding, 3b
c is a portion (welding bead 3) left after grinding in one pass. The weld bead 3 left by the grinding in the first pass is ground in the second pass and further in the third pass so that there is no uncut portion.

In the above-described embodiment, the contacting type using the following roller that contacts the grinding reference surface is used as the following means, but a non-contacting type using a CCD camera or the like can also be used. .

[0030]

The invention according to claim 1 has the following features.
Since the pressing means is made to follow the grinding reference surface of the material to be ground by the profiling means, even if the grinding reference surface of the material to be ground has irregularities, the pressing arm (henceforth a grindstone) of the pressing means follows the irregularities. It can be displaced, and the material to be ground can be ground without being overcut.

According to a second aspect of the present invention, the tracing means is a tracing roller which comes into contact with the grinding reference surface of the material to be ground and moves in parallel with the grindstone, and the tracing roller is constantly urged toward the grinding reference surface side of the material to be ground. Therefore, the follower roller can be always grounded to the grinding reference surface with a simple structure, and the pressing means can be surely aligned with the grinding reference surface of the workpiece.

According to the third aspect of the present invention, the force control means prevents the rotational load of the grindstone from exceeding the set load value until the grindstone height reaches the set height in relation to the grinding reference surface of the workpiece. By controlling the forward / backward movement of the pressing arm and prohibiting the forward / backward movement of the pressing arm further when the height of the grindstone reaches the set height, it is possible to quickly perform the grinding.

According to the fourth aspect of the present invention, after the grinding is completed, when the grinding control means determines that there is uncut material from the control result of the arm position control means, the controlled member is returned to the grinding start position, and the grinding start position is returned again. Since the grinding is performed, the material to be ground can be ground without leaving any uncut residue.

[Brief description of drawings]

FIG. 1 is a front view of an automatic grinding device.

FIG. 2 is a side view of the same.

FIG. 3 is an explanatory diagram of a control system.

FIG. 4 is a flowchart showing a control flow.

FIG. 5 is an explanatory diagram of an operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic grinding device 2 Grinding material 3 Weld bead 15 Controlled member 16 Pressing arm 17 Pressing means 23 Second motor 27 Third motor 28 Grinding stone 30 Load detection sensor 32 Follower roller (following means) 41 Control means 41A Arm position control means 41B Force control means 41C Grinding control means

Claims (4)

[Claims] 1. An automatic grinding apparatus for grinding a material to be ground whose ground reference surface, which is a surface, changes two-dimensionally or three-dimensionally, wherein at least one dimension is set for the material to be ground with reference to a grinding start position. A controlled member whose position is controlled by a pressing member, a pressing unit having a pressing arm which is disposed on the controlled member and is moved forward and backward with respect to a grinding reference surface of a material to be ground, and a pressing arm which can be rotated by the pressing arm of the pressing unit. A grindstone provided, a load detection sensor for detecting a rotational load of the grindstone, a tracing means for aligning the pressing means along a grinding reference surface of a material to be ground, and a height of the grindstone The rotation position of the grinding wheel exceeds the set load value by receiving the output of the arm position control means that controls the forward / backward movement of the pressing arm so that it does not exceed the set height in relation to the grinding reference surface of the grinding material, and the load detection sensor. Push not to Only automatic grinding apparatus, characterized in that it comprises a force control means for controlling the advancing and retracting of the arms. 2. The tracing means is rotatably supported by the pressing means and is rotatably supported by the pressing roller so as to contact the grinding reference surface of the material to be ground, and the tracing roller is interposed between the controlled member and the pressing means. The automatic grinding apparatus according to claim 1, further comprising a spring member that constantly urges the grinding material so as to contact the grinding reference surface side. 3. The force control means is linked to the arm position control means, and the rotational load of the grindstone exceeds a set load value until the height of the grindstone reaches a set height in relation to the grinding reference surface of the workpiece. The automatic grinding apparatus according to claim 1 or 2, which controls the forward / backward movement of the pressing arm so that the pressing arm does not exist. 4. The grinding control means for receiving the output of the arm position control means and returning the controlled member to the grinding start position and performing grinding again when it is determined that there is uncut residue after the end of grinding. Claim 1 and Claim 2
Alternatively, the automatic grinding apparatus according to claim 3.