JPS62152666A - Flaw mending machine for self-traveling surface flaw mending device - Google Patents

Abstract

PURPOSE:To grind a flaw on a thick plate to a suitable depth, by sensing a grinding depth based on a turning amount of the arm supported by a column and comparing the amount with a predetermined required depth so that grinding is effected to make both the depths coincide. CONSTITUTION:When a holding arm 20 turns about an axis 19, the cylinder body of a rotary encoder 190 is rotated to apply a turning angle in a vertical direction of the holding arm 20 with respect to a column 16 or grinding depth to a drive control circuit. That is, the rotary encoder 190 functions as a grinding depth sensor. When a flaw is to be ground deeper, a drive motor 37 is rotated, which causes a balance weight 35 to move to the left. As a result, the front side portion of the holding arm 20 inclines downwardly about the axis 19 at the upper end of the column 16 serving as a fulcrum so that a suitable weight of the weight 35 is applied to a grinding belt portion and the flaw portion is ground deeper by the amount. The depth is sensed by the encoder 190 and grinding is continued until the sensed amount coincides with a predetermined required grinding depth.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a self-propelled surface flaw cleaning device that automatically removes flaws on the surface of a plate material such as a steel plate using a grinding belt. In particular, it relates to a cleaning machine that can detect the depth of grinding.

[Prior art]

For example, Japanese Patent Application Laid-open No. 51-5 discloses a device that indicates the location of flaws on the surface of a plank plate and automatically removes the flaws.
No. 8988. Such conventional equipment has a structure in which a trolley is installed across the tracks provided on both sides of the plate, a small trolley is provided that moves on this trolley in the direction opposite to the track, and a grinding machine is attached to the small trolley. There are many. Such a structure is extremely large-scale, and it has been desired to make it more compact.

〔the purpose〕

The present invention was made in response to this need, and in particular provides a self-propelled surface flaw cleaning device that can automatically detect and control the grinding depth. The main purpose is

〔composition〕

The maintenance machine according to the present invention is a self-maintaining machine that, by inputting the two-dimensional position of a flaw on the surface of a board, moves the machine to the inputted position of the flaw on the surface of the board to repair the flaw. A running type surface flaw cleaning device consists of a column that is erected on a base with wheels that run on the surface of the plate, and a grinding belt support member that is supported by the column so as to be able to rotate in the vertical direction, and is connected to one end of the column. a grinding depth sensor that is interlocked with the arm to detect its vertical rotation amount, a drive motor and a pulley installed on the arm, a track laid on the upper surface of the arm, and the drive motor. and a balance weight that moves on the orbit by rotation of a belt installed between pulleys to apply a load to the grinding belt and control the amount of grinding.

[Effect]

Since the grinding depth sensor detects the amount of vertical rotation of the arm, it is possible to detect the position of the grinding belt with respect to the surface of the plate material, that is, the grinding depth.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof.

FIG. 1 is a perspective view of a self-propelled surface flaw cleaning device according to the present invention, in which a cleaning machine A on a thick plate a and a cart B are connected by a wire C. The trolley B is mounted so that it can run in both forward and reverse directions on a gL path provided parallel to one side edge of the thick plate a by forward and reverse rotation of a motor provided therein. In the following explanation, the length direction of thick plate a is
The width direction of the thick plate a, which is perpendicular to this direction, is the Y direction.

A scale section (not shown) of a digital scale is attached in the longitudinal direction to a track provided parallel to one side edge of the thick plate A, and a digital scale head section is provided on the truck B. The output signal of this head section is applied to a coordinate measuring device (not shown) placed on the truck a or outside the truck B via a suitable current collecting mechanism. This coordinate measuring device detects the X-direction coordinate of the cart B based on input from the head section of the cart B. This detection result is given to a drive control circuit (not shown) placed on the truck a or outside the truck B, which controls driving and stopping of the motor in the truck B.

A bobbin (not shown) around which the wire C is wound is provided on the truck B so that the axis of rotation thereof is horizontal and the bobbin is rotatable around a vertical axis. The wire C is biased in the direction of winding the wire C by a springback mechanism attached to the bobbin, and only the length corresponding to the amount of movement of the care machine A in the Y direction is paid out from the bobbin. A rotary encoder (not shown) is connected to the bobbin, and its output, that is, the wire C
A signal representing the amount of feedout in the Y direction is given to the coordinate measuring device.

Furthermore, as mentioned above, the bobbin is rotatable around the vertical axis, but it is not possible to detect the amount of rotation with a rotary encoder (potentiometer, celsin, etc.) and apply it to the coordinate measuring device. be. The amount of rotation corresponds to the angle with respect to the trajectory of the wire C. The coordinate measuring device provides this angle data to the drive control circuit.

The drive control circuit controls not only the motor of the trolley B but also the motor of the care machine A side, and the control details regarding this motor are as follows.

That is, the drive control circuit is supplied with flaw data such as the xyx coordinates of the flaws b at a plurality of locations on the thick plate a, the direction of the flaw, the required grinding depth, etc. from the input device or the like.

Note that the origin of the XY coordinates may be determined as appropriate.

The drive control circuit determines the position of the care machine A based on the signal (X coordinate) from the head of the digital scale on the trolley a, the amount of wire C fed out, and the angle of the wire C around the vertical axis of the bobbin (Y coordinate). , and the difference between the coordinates of this position and the coordinates of the flaw position to be repaired, or the amount of movement (ΔX) to move to this flaw position.

ΔY).

The drive control circuit changes the angle of the wheels 3, which will be described later, based on this amount of movement (ΔX, ΔY), and causes the wheels 3 to travel to the above-mentioned flaw position.

The travel distance is monitored by the output of the encoder 10<l&description).

As the care machine A moves, the cart B follows. This following travel of the bogie B is performed based on the output of a rotary encoder that detects the angle of the wire C so that the wire C is perpendicular to the track. And trolley BOX coordinates and wire C
When the feeding amount matches the X and Y coordinates of the bottom position to be cleaned, the care 91A stops traveling.

As will be described later, the care machine A has a traveling mechanism that can freely travel 360° in any direction, but the drive control circuit issues a drive control current to this travel mechanism and first moves the care machine A in the X direction.
, and apply a driving current to the motor in cart B to move cart B to follow care machine A, and then move care machine A to Y.
move in the direction.

Then, Y of care machine A is outputted from the rotary encoder in trolley B.
When the coordinates match the Y coordinate input as flaw data, the movement of the care machine in the Y direction is stopped.

Through the above-described control, the care machine A is positioned at a location that substantially coincides with the X and Y coordinates of the input flaw data.

If the deviation between the flaw data position and the position of the care machine exceeds the allowable value, the same position correction operation may be performed again.

Next, the structure of the care v&A example will be explained. The configuration of the connecting portion 1 of the wire C to the care machine shown in FIG. 1 is such that a seat plate 1b is attached to the side edge surface of the track irf D of the base 2, and a rotary encoder IC is attached to this. The rotary encoder 1c has its rotary shaft protruding downward from the seat plate 1b, and a ring CR formed at the tip of the wire C is hung from a sheave 1d concentrically attached to the rotary shaft.

Therefore, the movement of the hand 1JslA is not hindered by the wire C, and the sheave 1d is
R, the fixed part of the rotary encoder IC rotates relative to the sheave 1d, and as a result, the amount of rotation is equal to the amount of rotation of the fixed part of the rotary encoder 1c with respect to the wire C or the entire cleaning machine. It will be expressed. This rotary encoder IC output is given to the drive control circuit. The rotary encoder 10, etc. on the care machine A side, the motor (described later), and the drive control circuit are connected by a flexible cable (not shown), which is connected to a protective vibrator (see Fig. (not shown).

2 to 6 are a front view, a side view, a sectional view taken along the line IV-IV in FIG. 3, a top view, and a bottom view of the care machine A, respectively.

The base 2 is open at the bottom and has a cover portion at the top 8.
It has a rectangular tube shape and has a skirt portion 2a made of rubber or the like at the bottom, and a rotary encoder IC is installed on the back side of the base 2, that is, on the right side of Fig. 3 where the belt grinder is not installed. , is shown only in FIG. 6, and is omitted from FIGS. 2 to 5. Inside the base 2 are four wheels 3, 3...
・ is provided. These wheels 3 are rotatably supported by a support plate 2b that is horizontally arranged and fixed at an appropriate height position of the base 2, and are connected to a driven chain wheel 4 installed on the upper part of the support plate 2b. Driven chain wheel 4
A bevel gear 5a is attached to the lower side of the support plate 2b of the vertical shaft 4a, and a driven timing boot (to be described later) is attached to the lower side of the support plate 2b so as to be rotatable around the vertical axis. A small gear 6a is rotatably supported around a horizontal axis by a plate-shaped holder 2C, a bevel gear 5b rotates together with the small gear 6a and faces the bevel gear 5a, and a bevel gear 5b is rotatably supported by the holder 2C. The small gear 6 is freely pivoted integrally with the wheel 3.
A and a large gear 6b in contact with each other, the carriage drive motor 7 is driven to rotate as will be described later.

The four driven chain wheels 4 are rotatably connected by a roller chain 8, and this roller chain 8, as shown in FIG. 9, and driven by the bogie drive motor 7, the driven chain wheels 4, 4, . A pair of bevel gears 5a, 5b and a small gear 6a
, the wheels 3.3... rotate in the traveling direction through the meshing of the large gears 6b.

Further, the drive chain wheel 7a of the bogie drive motor 7 is connected to a running encoder 10 by a roller chain 10a, and the rotation of the wheels 3, 3, . . . is controlled by the measured value of the running encoder 10. , care)
The travel distance of J31A is controlled.

In addition, the wheels 3.3... are the driven timing pulleys 11.
This driven timing boot is pivotally connected to the support plate 2b of the base 2 via a holder 2C attached to the bottom surface of the driven timing boob 1 so as to be rotatable around a vertical axis, as shown in FIG. As shown in FIG. 4, these driven timing boots, a tension roller lla, and one timing belt 12 are hung, and as shown in FIG. 2, the output shaft is connected to a timing bell (12) via a driving timing boot (38), and by driving the motor (13), the direction of the four wheels (3) can be set in any direction of 360 degrees. The steering wheel is operated by the steering wheel.

The above structure allows the care machine A to move in any direction on the plank a.

As shown in FIG. 6, a motor 14 is mounted on the lower surface of the support plate 2b of the base 2 with its output shaft horizontal, and a worm gear 14a is provided on the output shaft. The rotation of the wheel 3 on the grinding belt side
．． The lift leg 15 provided at approximately the center position of 3 protrudes downward.

When the lift leg 15 protrudes downward, the lift leg 15 side 02
The two wheels 3.3 are lifted off the plank a, and only the two wheels 3,3 on the opposite side can make contact with the plank a.

Therefore, in this state, when the wheels 3.3... are driven to rotate in the forward and reverse directions, the wheels 3.3 that are in rotational contact with the thick plate a move the entire cleaning machine A around the lift leg 15. will rotate in the forward and reverse directions.

At the center of the base 2 is a column 16 placed above the base.
A rotating shaft 16a integrally formed with the support plate 2b is provided to protrude downward, and a large bevel gear 17a is attached to the lower end of the rotating shaft 16a.
On the other hand, below the base 2, a motor 1B having a rotating shaft with a small bevel gear 17b attached to the tip is installed in a horizontal state parallel to the base 2. In addition, at the upper end of the pillar 16,
A holding arm 20 for attaching the grinding belt part and holding the balance weight is attached to the shaft 19.19 provided in the left and right horizontal directions at the upper end so as to be freely rotatable in the vertical direction. A support arm 21 for attaching the grinding belt is installed at an appropriate position approximately in the center in the height direction on the side (left side in FIG. 3) so as to be rotatable in the vertical direction by a through shaft 21c parallel to the shaft 19. Holding arm 2
0 has a rectangular tube shape with a part of the periphery cut away, as shown in FIG.

The grinding belt section is supported by the holding arm 20 and the support arm 21, and the structure is such that the grinding belt side protrusions 20a and 21a of the holding arm 20 and the support arm 21 are arranged perpendicularly to the center shaft of the grinding belt section. Connecting plates 22a and 22b protrudingly provided on the back surface of the base-side side of the square plate-shaped grinding belt support 22 at a position opposite to the protruding portion serve as a pivot shaft 20b.

21b, and are rotatably connected to form a parallel link structure.

A shaft portion of a rotary encoder 190 is connected to the inner side of the support column 16 of one of the two shafts 19.19, concentrically with the shaft. The cylindrical body portion of the rotary encoder 190 is suspended from the inner upper surface of the holding arm 20 . Therefore, when the holding arm rotates around the shaft 19, the cylindrical body portion of the rotary encoder 190 rotates, and outputs the vertical rotation angle of the holding arm 20 with respect to the column 16, that is, the grinding depth to the drive control circuit. In other words, the rotary encoder 190 functions as a grinding depth sensor.

Note that the means for detecting the rotation angle or the grinding depth of the holding arm 20 is not limited to the above-mentioned configuration, but may also use a cersin, a variable resistor, etc. It may be provided around the supporting shaft 21c.

Furthermore, it may be configured to detect movement of the end of the holding arm 20 remote from the shaft 19.

By driving the motor 18, the support 16 rotates around the vertical axis together with the rotating shaft 16a via the small bevel gear 17b and the large bevel gear 17a, thereby rotationally moving the grinding belt portion. The amount of rotation (movement) of the support column 16 and the grinding belt section is detected by a rotary encoder built into the motor 18.

The configuration of the grinding belt section will be described with reference to FIG. 2. A belt drive roller 23 with a flange is provided at the upper end of the grinding belt support 22, and one side protrudes from the lower side of the square plate-shaped grinding belt support 22. A tension roller 25 is provided on the protrusion 22c of the other via a piston mechanism 24, and a driven roller 27 is provided on the other protrusion 22d via a clamp mechanism 26, and the position of the driven roller 27 is adjusted by the clamp mechanism. Furthermore, a contact wheel 30 is provided at the lower end of the grinding belt support 22 via a bearing mount 28 and a wheel mount 29, and these contact wheels 30, tension roller 25, driven roller 27, and belt drive roller 23 and the grinding belt 31 is turned.

Further, a drive motor 32 is installed on the grinding belt support 22 at approximately the center in the height direction, and a drive motor 32a of the drive motor 32 and a pulley 23a provided coaxially with the belt drive roller 23 are connected to the drive motor 32. 32.
a, the belt drive roller 23 rotates via 23a,
With this rotation of the belt drive roller 23, the grinding belt 31 is rotated between the belt drive roller 23, the tension roller 25, the contact wheel 30, and the driven roller 27, and the flaws are ground. Further, a belt cover 41 is provided near the side of the grinding belt 31 to protect the grinding belt 31.

Next, the balance weight section will be explained.

A holding arm 20 is attached to the support 16 so as to be tiltable by a shaft 19.
Two rows of parallel tracks 34.34 are laid on the top surface, and a balance weight 35 is movably placed on these tracks 34.34. Further, a pulley 36 whose axis is arranged in the vertical direction is provided at the upper end of the holding arm 20 on the grinding heald side, and a drive pulley 38 at the upper end of the vertical axis of the drive motor 37 is provided at the opposite upper end. A heald 39 for moving the balance weight 35 is provided between the pulleys 36 and 38 and passed through the belt protection cover 40.

To explain the function of this balance weight section, the drive motor 37 is driven by the flaw depth data command from the drive control circuit, and is controlled by the rotary encoder for detecting the grinding depth inside the drive motor 37. The flaw is ground by the grinding belt, and if the flaw is to be ground deeply, the drive motor 37 is rotated. As a result, the belt 39 between the boots U36 and 38 is rotated, and the balance weight 35 is moved forward (to the left in FIG. 3). Then, the front side of the holding arm 20 tilts downward using the shaft 19 at the upper end of the support column 16 as a fulcrum, and the weight of the balance weight 35 is added to the grinding belt part, and the grinding belt part is ground by its weight. The belt 31 deeply grinds the flawed portion of the thick plate a. This grinding depth is determined by the rotary encoder 1
90, and the drive control circuit uses this detected amount and
The grinding depth is compared with the required grinding depth given in advance for the flaw, and grinding is continued until the former matches the latter.

In addition, 47 in the figure is a protective cover for this balance weight part,
44 is a terminal box installed on the opposite side of the grinding belt section (on the back side of the base 2), and a warning light 45 and cable connectors 46 are attached thereto.

〔effect〕

Since the present invention has the above configuration, the grinding depth is detected from the amount of rotation of the arm supported by the column, and
This is compared with the required grinding depth set in advance, and grinding is performed to match the two, so that the flaws on the surface of the thick plate can be ground to an appropriate depth using the grinding belt.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a self-propelled surface flaw cleaning device according to the present invention, and FIGS. 2 to 6 show an embodiment of the surface flaw cleaning machine according to the present invention, and FIG. 2 is a front view thereof. , FIG. 3 is a side view, FIG. 4 is a sectional view taken along the line IV--IV in FIG. 3, FIG. 5 is a plan view, and FIG. 6 is a bottom view. A...Maintenance machine a...Thick plate b...Flaw 2...
Base 3... Wheel 16... Strut 20... Holding arm 34... Track rail 35... Balance weight 36... Pulley 37... Drive motor 39...
・Belt patent Applicant Sumitomo Metal Industries Co., Ltd. Agent Patent attorney Noboru Kono Figure 2 Figure 4

Claims (1)

[Claims] 1. A self-propelled surface flaw cleaning device that repairs the flaws by inputting the two-dimensional position of the flaw on the surface of the board and causing the care machine to move to the input flaw position on the surface of the board. In,
A pillar erected on a base mounted with wheels that run on the surface of the plate, an arm that is rotatably supported in the vertical direction by the pillar and has a grinding belt support member connected to one end thereof, and is interlocked with the arm. a grinding depth sensor that detects the amount of vertical rotation of the arm, a drive motor and pulley installed on the arm, a track laid on the upper surface of the arm, and a belt installed between the drive motor and the pulley. A cleaning machine characterized by comprising a balance weight that rotates on the orbit to apply a load to the grinding belt and control the amount of grinding.