JPH09131655A - Automatic grinder device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate grinding work completely, obtain a uniform ground face at all times, and improve finish accuracy and quality of a product by an automatic grinder device which is applied to grinding finish of an excess weld metal section of a welded joint of a steel product. SOLUTION: A grinder 2 on which a grinding wheel 1 is attached is loaded on a slide 4 on the right and left, and the positioning control in the direction of width of an excess weld metal section of a welded joint is performed by the slide 4. They are loaded on a slide mechanism 7 which is tilted longitudinally to apply the grinding wheel to a face to be ground at an arbitrary angle. The slide 7 which is tilted longitudinally can turn centered on a bearing 8, a hit seat 9 is provided in a movable section of the bearing 8, and a load cell 10 which detects load when the grinding wheel is pressed is provided in a bearing fixed section. They are put on an in-and-out slide 14 which moves in the direction in which the grinding wheel is pressed for the positioning and move while grinding on a track in parallel with the direction of a welded line on a rail 18 by a traveling cart 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grinder device applied to finish grinding of a welded joint of a steel product by welding.

[0002]

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

Further, as a method of controlling the pressing force, there are a method utilizing a change in motor current of an electric grinder and a method utilizing a spring.

[0004]

By the way, while the number of skilled workers has decreased in recent years, automation of grinding work is required also for countermeasures against so-called 3K work, which is dangerous work such as danger and messy work.

Further, in the above-described conventional grinding work, there is a problem that a uniform ground surface cannot be obtained depending on the finish state and accuracy of the ground surface depending on the operator.

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

Therefore, conventionally, a device having a mechanism for detecting the pressing force and moving the pressing shaft by a motor so as to automatically obtain a constant force or automatically controlling the pressing force by a spring force has been developed. It was

However, these cannot control well because the vibration of the motor itself is picked up by a sensor or a spring for detecting the pressing force.

Further, even if unevenness or unevenness on the left and right of the ground surface is generated, the pressing force is only made constant, so that it is ground in the same state as it is without being corrected,
There was a problem that it could not be finished to a uniform surface.

Further, there is also a problem that the grinding conditions cannot be variously changed by obtaining information on the shape before grinding or the shape after grinding during grinding.

Further, in the conventional apparatus, the contact angle of the grindstone with respect to the grinding surface is manually fixed semi-fixed and cannot be changed during grinding. Clogs were generated, which adversely affected the life of the grindstone and the grinding surface.

Further, when the method 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 also changed, and the device is dedicated, so that it is not versatile.

The present invention eliminates the above-mentioned problems of the conventional apparatus, fully automates the grinding work, reduces the man-hours, and improves the finishing accuracy and quality by ensuring a uniform ground surface. The purpose is to provide a device.

[0014]

As an arrangement for achieving the above object, an automatic grinder apparatus according to the present invention is an automatic grinder apparatus for finishing a welded joint located on a side surface of a steel product by grinding with a grindstone. In the above, the left and right slide mechanisms that move the grinder with the grindstone in a horizontal position and move to the left and right with respect to the grinding direction and position them are mounted, and the grindstone is tilted back and forth with the tip of the grindstone as the fulcrum in the grinding direction. A front-back tilt slide mechanism that is applied to the grinding surface at an arbitrary angle, a swivel mechanism that supports the mechanism in a cantilevered manner, and a balance type front-rear symmetry centered on the axis of the swivel mechanism to load the wheel when pressing. A load cell to detect, and an in / out mechanism that moves and positions them in the pressing direction of the grindstone,
A traveling mechanism that is equipped with these and moves forward and backward while grinding on an orbit provided parallel to the welding line direction, and a welding joint that is provided in front of the grinder via a vibration-proof rubber to control the grinding amount and positioning. It is composed of a laser slit light source and a CCD camera for obtaining a light cut line image of the extra portion, a shield sheet and an air nozzle that protect the CCD camera from sparks and dust during grinding and remove ambient light of sparks. I am trying.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION An example of the best mode for carrying out the present invention will be described below with reference to the drawings.

FIG. 1 is a front view of the automatic grinder apparatus of the present invention, FIG. 2 is a side view of the apparatus, and FIG. 3 is a plan view of the apparatus.

In these figures, an electric motor 3 having a grinder 2 having a grindstone 1 mounted sideways and provided vertically.
It is mounted on the left and right slides 4 driven by.

Then, the left and right slides 4 perform positioning control in the width direction of the welded joint excess portion.

At this time, the grinder 2 is fixed from above by two clamp levers so that it can be easily attached and detached for maintenance or the like.

Then, the grinder 2 is driven by an electric motor 6 to move horizontally in a circular arc shape with the tip of the grindstone 1 as a fulcrum to make a posture of an arbitrary inclination angle.
It is installed in.

The back surface of the front-rear tilt slide 7 is in contact with the movable part of the rotatable bearing 8 so that the front-rear tilt slide 7 and the like can rotate about the bearing 8.

Further, a bearing seat 9 is provided on the movable portion of the bearing 8, and a load cell 10 is provided on the fixed portion of the bearing 8 so as to oppose the bearing seat 9, and the load cell 10 is attached to the bearing seat 9 by a push bolt 11. It is fixed by pressing it slightly against.

These are mounted on an in / out slide 14 provided horizontally toward the object 13 to be driven driven by the electric motor 12, and further mounted on a manual positioning slide 15 for rough positioning. ing.

When the inward / outward slide 14 is moved in the outward direction and the grindstone 1 is pressed against the object to be ground 13, a rotating force acts on the movable part of the bearing 8 to press the contact seat 9 against the load cell 10 to apply a load. Is detected as the pressing force.

By controlling the moving speed and the positioning of the slide-in / out slide 14, the unevenness of the grinding surface is copied with a constant pressing force, or the grinding amount is controlled.

Next, these are mounted on a horizontally traveling carriage 17 driven by an electric motor 16.

The traveling carriage 17 grinds while traveling forward or backward on a rail 18 arranged parallel to the welding line. At this time, the amount of grinding can be controlled by controlling the moving speed according to the height of the extra-filled portion, and the irregularities on the ground surface can be eliminated.

Further, a sensor head 21 is provided in front of the grinder 2 from the joining portion of the grinder 2 and the left and right slides 4 with a positioning jig 19 and a vibration isolating rubber 20 interposed therebetween.

This is mounted at a position where the bearing of the sensor head 21 and the shaft center of the grinder 2 are aligned with each other and the grinder 2 moves to the left and right.

A laser slit light source 22 and a CCD camera 23 are arranged on the sensor head 21 in the traveling direction.

The laser slit light source 22 is disposed vertically above the weld joint extra-proximal portion in the vicinity of the grindstone 1, irradiates slit light at a right angle to the welding line, and captures an image of the optical cutting line by the CCD camera 23 arranged diagonally forward. It is obtained as an extra-height portion shape as shown in FIG.

From this, the height, width, and
A shift amount and the like between the width center and the screen center (the center of the CCD camera 23), that is, the axis of the grinder 2 are obtained.

Based on this, grinding is performed while controlling the amount of grinding, positioning and speed control.

The sensor head 2 for sparks and dust during grinding
In order to suppress the influence on No. 1, the sensor head 21 is equipped with a shielding jig 24 having a slit formed at the front end of the heat resistant sheet and an air nozzle 25 blown off by air.

As the grinder 2, an electric grinder or an air grinder can be used.

Next, the operation of the automatic grinder device of the present invention will be described.

Since 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, when the grindstone is applied to the grinding surface, the force only in the pressing direction acts on the load cell, so that the load and the moment. Since multiple axis sensors are not required, a single axis load cell can be used and handling control becomes easy.

Further, since the grinder left and right mechanism and the front and rear tilting mechanism are supported by the rotary bearings so that the weight and vibration of the device are not transmitted to the load cell, it is possible to cope with the load cell having a small capacity and the pressing force can be accurately detected.

Further, since the front and rear tilting mechanism capable of positioning control is provided so that the front and rear contact angles of the grindstone can be adjusted during grinding, the grindstone is not crushed or clogged even for a long time without hitting the same surface of the grindstone. It does not occur and does not affect the life of the grindstone or the grinding surface.

Further, since an in / out mechanism capable of controlling the moving speed and the positioning is provided so that the pressing force obtained from the load cell in order to follow the unevenness of the grinding surface or to control the grinding amount is always constant, By controlling the moving speed and the position, the pressing force (grinding amount) can be controlled to be constant and the copying can be performed.

Further, the circular interpolation of the grinding surface can be performed by the simultaneous biaxial position control of the moving mechanism and the traveling mechanism.

Further, the grinding surface is divided in the grinding direction, the movement pitch is set a plurality of times to reciprocate, and further, in the case of meandering left and right, a left and right mechanism capable of controlling the moving speed and the positioning so as to follow it Is provided.

Further, a traveling mechanism capable of controlling the moving speed and the positioning is provided in order to change the grinding speed during grinding or to make the shape of the grinding surface correspond to the grinding position (position on the track).

Concerning the shape of the extra portion obtained from the light cutting line image of the extra portion by the laser slit light source and the CCD camera, the height from the base material surface, the width and the screen center (camera center), that is, the grinder axis and the extra portion By obtaining the deviation from the center and obtaining the left and right inclination (one-sided reduction) and correcting the deviation amount with the left and right mechanism from this information, it is possible to trace the left and right of the extra part, and it is also possible to move in the axial direction at an arbitrary movement pitch. The grinding pattern can be arbitrarily set by setting the number of movements and.

Further, in order to obtain the shape of the welded joint extraneous portion and perform the grinding amount control and the positioning control, a sensor head composed of a laser slit light source and a CCD camera is provided with a vibration-proof rubber so as not to transmit the vibration of the grinder. Aligned with the axis of the grinder, it was installed in front of the grinder.

Further, in the pressing force control, the position coordinate of each mechanism at each position on the track when reaching the pressing force set during grinding and the shape of the extra portion are stored, so that the grinding surface (product) and the track are Even if the parallelism of the installation is rough, the grinding amount can be controlled with high accuracy.

Further, by controlling the moving speed of the traveling mechanism in accordance with the height of the extra portion, for example, the lowest portion of the extra portion is set to the maximum speed, and the maximum speed is increased by 0.1 mm. The amount of grinding can be controlled by decelerating by 150 mm / min each time and increasing the speed in the low places and decreasing the speed in the high places, so that unevenness can be eliminated and a uniform flat surface can be obtained.

[0048]

As described above, the automatic grinder device of the present invention has the following effects.

(1) Relying on the know-how of conventional skilled workers,
The difficult grinding work can be automated and the number of man-hours can be reduced.

(2) A uniform ground surface can always be obtained, and finishing accuracy and quality can be improved.

[Brief description of the drawings]

FIG. 1 is a front view of an automatic grinder device according to an example of a preferred embodiment of the present invention.

FIG. 2 is a side view of the device.

FIG. 3 is a plan view of the same device.

FIG. 4 is a light section line image diagram of the extra-height portion in the present invention.

[Explanation of symbols]

 1 Grindstone 2 Grinder 3, 6, 12, 16 Electric motor 4 Left and right slide 5 Clamp lever 7 Front-back tilt slide 8 Bearing 9 Bearing seat 10 Load cell 11 Push bolt 13 Grinding object 14 Entry / exit slide 15 Positioning slide 17 Traveling trolley 18 Rail 19 Positioning Jig 20 Anti-vibration rubber 21 Sensor head 22 Laser slit light source 23 CCD camera 24 Shielding jig 25 Air nozzle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takaya Okada 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Sanritsu Heavy Industries Ltd. Kobe Shipyard

Claims (1)

[Claims] 1. An automatic grinder apparatus for grinding and finishing an extra portion of a welded joint located on a side surface of a steel product with a grindstone so that the grinder with the grindstone is placed in a horizontal position and moved left and right with respect to the grinding direction for positioning. The left and right slide mechanisms, and the front and rear tilt slide mechanism that mounts them and tilts the grindstone forward and backward with the tip of the grindstone as a fulcrum against the grinding direction and hits the grindstone against the grinding surface at an arbitrary angle. A turning mechanism that supports the load cell, a load cell that is provided symmetrically about the axis of the turning mechanism in the front-rear direction and that detects a load when the grindstone is pressed, and a moving mechanism that moves and positions the grindstone in the pressing direction of the grindstone. Equipped with a traveling mechanism that moves back and forth while grinding on an orbit provided parallel to the welding line direction, and is installed in front of the grinder via a vibration-proof rubber to control and position the grinding amount. Laser slit light source and CC for obtaining an optical cutting line image of a welded joint surplus portion for controlling
An automatic grinder device comprising a D camera, a shielding sheet for protecting the CCD camera from sparks and dust at the time of grinding and removing ambient light of sparks, and an air nozzle.