JPS6138885A - Compensator for outer plate - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a salvage device for substantially planar outer panels of railway vehicles, road vehicles, and the like.

[Background of the invention]

When performing repair work on the flat exterior painted surface of a train, etc., a so-called robot that moves the work hand in the x and y coordinate directions in a plane parallel to the outside skin, and a robot that moves the work hand in the x and y coordinate directions in a plane parallel to the outside skin surface. This is generally done using an attached sensor. However, these robots usually have a working hand section at only one location, and because the working hand section cannot bear a large weight, relatively lightweight tools must be attached to perform the work. For this reason, when it is necessary to change the tool for each work such as cutting, welding, and grinding the corroded parts of the exterior panel, such as when repairing the exterior panel, the tool is attached to the robot's work hand. The tool changer has to be used to carry out operations one after another while changing hands, which adds additional weight to the work hand, which increases the size of the robot.

In addition, there was also the disadvantage that there was a loss of work time due to changing tools, etc., and work efficiency was poor.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a shell trimming device that eliminates the drawbacks of the prior art described above and allows work to be carried out efficiently without changing hands.

[Summary of the invention]

In order to achieve this object, the present invention provides an X-axis guide member that extends in the X-axis direction parallel to the surface of the outer panel to be repaired of an outer panel of a vehicle, etc., and an X-axis direction guide member that extends in the a z-axis direction guide member that extends and movably guides the X-axis direction guide member in two axial directions; a sensor holding stand provided on the X-axis direction guide member so as to be movable in the X-axis direction; and a plurality of repairs. a tool holding stand, a sensor and a plurality of repair tools provided on the sensor holding stand and the plurality of repair tool holding stands movably in the y-axis direction, which is approximately 11 orthogonal to the surface of the outer plate to be repaired; A device that stores information for each coordinate of the part to be repaired obtained by moving and scanning a sensor in the x, y, and z axis directions, and a plurality of repair tools based on the information stored in the storage device. The present invention is characterized by comprising a control device that sequentially moves the parts to specified positions to perform repair work.

[Embodiments of the invention]

An embodiment of the present invention will now be described in detail with reference to the drawings. Fig. 1 is a perspective view showing the overall structure of the skin salving device according to the present invention, Fig. 2 is a partially detailed perspective view showing various work tools mounted on the horizontal guide beam of the same device, and Fig. 3 FIG. 2 is a partially detailed partially cutaway perspective view showing the configuration of a tool holding stand of the same device.

In these figures, reference numeral 1 indicates a train installed on a fixed stand 2 for repairing the outer panel. The outer skin trimming device installed substantially parallel to the trimming portion of the outer shell of the electric train 1 is conveyed by the tug train 3. 4 is a repaired trolley equipped with reeds, wheels 5, and IJ gars 6. On the top surface of the repair truck 4, vertical guide columns 8 are installed at both left and right ends of the horizontal guide beam 7 to guide and hold the horizontal guide beam 7, which is long in the horizontal direction (X-axis direction), in the vertical direction (Z-axis direction). . Reference numeral 9 denotes a pulse motor for driving in the z-axis direction, which drives the lower sprocket 11 via a worm reducer 10. Further, the output shaft drives a lower sprocket 11 at the other end via a transmission shaft 12. The chain 13 that engages with the lower sprocket 11 engages with the upper sprocket 14, and both ends of the chain 13 are fixed to the ends of the horizontal guide beam 7, and drive the Z-axis drive pulse motor 9 to move the horizontal guide beam 7. It is designed to move up and down. The horizontal guide beam 7 has a holding stand 1 corresponding to each tool.
5 is guided and held so as to be movable in the longitudinal direction (X-axis direction), and a tool stand 16 is held on the upper part of the holding stand 15 so as to be movable in the front-rear direction (y-axis direction). In this embodiment, the necessary tools are fixed to each tool stand 16: a seven-instrument sensor 17 for detecting a repaired portion of the outer panel, a plasma cutting torch 18, an arc welding torch 19, and a grinder 20. Reference numeral 21 denotes a pulse motor for driving the X-axis direction, which drives the holding table 15 of each tool in the X-axis direction, and drives the feed threaded rod 23 via a reduction gear 22. 24 is a bearing that supports one end of the feed threaded rod 23. The holding stand 15 has a structure as shown in FIG.
is guided by the threaded rod 23, and moves to fit into or disengage from the threaded rod 23.

Reference numeral 27 is an air cylinder that pushes the piston 28 to fit the nut 25 onto the threaded rod 23. Reference numeral 29 denotes a return spring for disengaging the nut 25 from engagement. Further, 30 is a y-axis circumferential pulse motor for moving in the back and forth direction (y-axis direction),
Tool stand 1 that drives and fits the y-axis feeding threaded rod 31
The nut section 6 moves in the y-axis direction.

32 is a metal fitting for fixing the torch 18. Also, horizontal guide beam 7
A workbench 33 for maintenance and inspection and a hanger 34 for holding and guiding electric wires and hoses connected to each tool are attached to the holder. Furthermore, the repair cart 4 includes a general control panel 35 consisting of a microcomputer, a welding machine 36, a plasma cutting machine 37,
A gas cylinder 38 for welding and cutting, and a ladder 39 for climbing onto the workbench 33 are provided.

In the above configuration, to explain the details of the operation of this device, the outside skin trimming device is towed by the towing vehicle 3 and moves to the vicinity of the repaired part of the outside skin of the train 1 installed for repair. It is towed and stopped almost parallel to the outer panel. Then, by the outrigger 6 provided on the payload truck 4, the payload truck 4 is
Fix it to the ground. After the payload truck 4 is fixed, when an outer plate position detection command is given from the operation panel provided in the general control panel 35, the X-axis and Z-axis pulse motors 21 and 9 are driven, and the holding motor for the sensor 17 is driven. The air cylinder 27 of the stand 15 operates to fit the half-split nut 25 onto the threaded rod 23, and the sensor holding stand moves in the X-axis direction. Furthermore, the y-axis direction pulse motor 30 for the sensor 17 operates to move the sensor 17 close to the outer panel surface to detect the outer panel surface. Then, several types of repair patterns are stored in the general control panel in advance, for example, several types of rectangular patterns that cover the width of the repaired area, and one of them is selected according to the width of the repaired area. By selecting and commanding a pattern, the sensor 17 is moved along the sides of the rectangular pattern that encompasses the repaired area, detects the X, y, and z coordinates of the repaired area, and transmits the position information to the general control panel 35. to be memorized.

When this work is completed, move to a position that does not interfere with the next work.
The sensor holding stand is retracted in the axial direction, the air cylinder 27 is opened, and the return spring 29 disengages the nut 25 and stops. Next, the cutting torch holder operates in the same way as the sensor holder described above, moving along the x, y, and z axes according to the position information of the repaired part detected by the sensor 17, and moving the outer panel. Make the cut. After that, a new outer plate is applied to the cut part, and the welding torch holder is moved in the same way.
Welding is performed according to the position information. Similarly, the grinder holder moves next to correct the unevenness of the welded area, completing the series of repair work.

As described above, this embodiment has the following effects.

(1) Since a large number of tools can be independently installed on the horizontal guide beam according to the work process, a wide range of work can be performed.

(2) Since the work tools are sent out sequentially, there is no work loss time such as changing tools, and highly efficient work can be performed.

(3) It is a robot with an orthogonal coordinate system, and there are few parts in the support system for the mechanical parts, so the rigidity of the parts can be designed to be high. Therefore, even if a large number of tools are mounted on the horizontal guide beam, there is little distortion and highly accurate control is possible.

〔Effect of the invention〕

As described above, according to the present invention, since the X-axis guide member is provided with a plurality of repair tools and stations that correspond to the work process independently, it is possible to carry out a wide range of repair work. can. Moreover, since each of these repair tools and sensors are sequentially sent out to perform the work, there is little time lost during work such as changing the grip of tools, and the repair work can be carried out efficiently.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the overall configuration of a skin salving device according to an embodiment of the present invention, and Fig. 2 is a detailed view of part 1 showing the state in which various work tools are mounted on the horizontal guide beam of the same device. The perspective view and FIG. 3 are partially detailed partially cutaway perspective views showing the structure of the tool holding stand of the same device. 7...Horizontal guide beam (X-axis direction guide member), 8...Vertical guide column (z-axis direction guide member), 15...Holding stand, 1
6... Tool stand, 17... Sensor, 18... Plasma cutting torch, 19... Arc welding torch, 20...
- Grinder, 35... General control panel (storage device and control device).

Claims (1)

[Claims] 1. In an apparatus for repairing a substantially planar outer panel, an x-axis direction guide member extending in the x-axis direction parallel to the outer panel surface to be repaired, and a z-axis direction guide member extending parallel to the outer panel surface to be repaired. and a z-axis guide member that movably guides the x-axis guide member in the z-axis direction, a sensor holder and a plurality of repair tools that are provided on the x-axis guide member so as to be movable in the x-axis direction. A holding stand, a sensor and a plurality of repair tools provided on the sensor holding stand and a plurality of repair tool holding stands movably in the y-axis direction substantially perpendicular to the outer plate surface to be repaired, and the sensor and the plurality of repair tools; a device that stores information for each coordinate of the repaired part obtained by moving and scanning in the x, y, and z axis directions;
An apparatus for repairing an outer panel, comprising: a control device that sequentially moves the plurality of repair tools to designated positions to perform repair work based on information stored in the storage device.