JPS62287976A - Polishing tool - Google Patents

Abstract

PURPOSE:To enable mechanically the easy and proper access of a cylindrical abrasive to the polishing surface of a complicate shape workpiece and ensure highly efficient polishing by connecting the abrasive to a driving rotary axis via coil springs. CONSTITUTION:A driving rotary axis 2 is so connected with an abrasive 16 as to be enclosed therewith in the same direction, using coil springs 14 of radial shape. Through the deformation of said coil springs 14, the primary abrasive 16 gives relative shift for the axis 2 within an allowance of coupling between/ small/through holes on ring-shaped plates 18 and 18a and a pin 24 on a disc member, and mechanically has automatic access to the polishing surface of a complicate shape workpiece easily and properly, thereby polishing the workpiece uniformly enough at high efficiency.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a polishing tool, and particularly to a polishing tool for removing an adhesive layer that is relatively easily peeled off from the surface of an object. . Such polishing tools are suitably used, for example, to remove surface layers of paint films that have deteriorated over time.

[Prior Art and its Problems] Conventionally, the exteriors of various structures and buildings have been widely painted for the purpose of surface protection and aesthetic improvement. However, when exposed to the external environment for a long period of time, the surface of the paint film gradually deteriorates and becomes brittle (for example, chalking occurs).
As described above, the mechanical IF of the paint film gradually decreases due to changes over time, so repairs are generally performed periodically. During repair, the chalking layer with a thickness of about 5 to 50 g, m is removed to expose the effective coating layer underneath, and a new coating layer is formed on top of it.

Conventionally, the removal of the chalking layer as a pre-process for such repair painting has been carried out on-site using a polishing tool that rotates or reciprocates an abrasive material with abrasive grains supported on a relatively soft carrier. The polishing operation was performed by an operator pressing the tool against the surface to be polished. However, it is difficult to improve the efficiency of polishing work performed by such a worker, and it is not suitable for polishing a large area.

Therefore, in order to carry out the above polishing efficiently, a manipulator is made to hold a polishing tool, and the tool is automatically accessed to the surface to be polished and moved while in contact with the surface to be polished. It is possible that But, Dai J? ! In the case of objects to be polished such as bridges, the surface to be polished has an extremely complex shape, and the position and posture of the polishing tool must be changed frequently, and the tool must be brought into soft contact with the surface to be polished each time. You need to access it.

Therefore, it is difficult to perform good polishing if the conventional polishing tool is fixed and held as it is, for example, on a manipulator used for painting.

In other words, since the reproduction accuracy of the position control of the manipulator is about ±2 mm, there are cases where the tool does not come into contact with the surface to be polished and polishing is not performed, or when the tool accesses too much of the surface to be polished and causes a large impact. The tool may be damaged due to collision.

The above-mentioned problems become more noticeable when attempting to increase the efficiency of the polishing speed by increasing the movement speed of the polishing tool by the manipulator.

In addition, the polishing tool is moved along the surface to be polished after accessing the surface to be polished, and the entire surface to be polished is polished by this scanning movement. It is necessary to keep the positional relationship constant. That is, since the surface layer to be removed by polishing is not necessarily flat and generally has some unevenness, it is necessary to sweep the tool according to the surface shape. For this reason, while detecting the pressing force of the tool on the surface to be polished using a pressure sensor, the tool position is controlled so that the pressing force becomes constant.

However, since this kind of control moves the tool position after a pressure change based on a change in relative positional relationship, it is not possible to control the tool position with sufficient accuracy. The amount removed by polishing tends to be large in some areas, and the amount removed by polishing tends to be small in concave portions of the surface to be polished, resulting in the problem that the chalking layer cannot be removed uniformly.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems and makes it possible to easily and sufficiently automatically access the surface to be polished even when the object has a complex shape. The present invention aims to provide a polishing tool that can perform highly efficient polishing with uniformity.

[Means for Solving the Problems] According to the present invention, in order to achieve the above objects, cylindrical abrasives arranged in the same direction surrounding the WjA dynamic rotation axis, and The abrasive material.

It is characterized by having a plurality of coil springs arranged radially so as to directly or indirectly connect the inner surface and the rotation shaft. A polishing tool is provided.

[Example] Hereinafter, specific examples of the present invention will be described with reference to the drawings.

fJS1 FIG. 1(a) is a schematic sectional view showing an embodiment of a polishing tool according to the present invention, and FIG. 1(b) is a BB sectional view thereof.

In these figures, 2 is a drive rotation shaft, and a motor 4 for driving is connected to one end of the shaft. The rotating shaft 2 is supported by a support arm 8 via a bearing 6. A plurality of inner ring-shaped plates 10 are attached to the central portion of the rotating shaft at regular intervals. All of these plates are arranged perpendicularly to the shaft 2, and are fixed by passing through the inner surface of the ring. A plurality of outer ring-shaped plates 12 are provided substantially coaxially with each of these inner ring-shaped plates 10. That is, the ring outer surface of the shoe inner ring-shaped plate 10 and the ring inner surface of the outer ring-shaped plate 12 are arranged to face each other with a predetermined distance maintained therebetween. A plurality of coil springs 14 are arranged radially between the corresponding inner and outer ring-shaped plates, each having a length direction in the radial direction of the foot ring 2. As shown in FIG. 1(b), a plurality of coil springs 14 are arranged symmetrically around the axis 2.The coil springs 14 are stretched to some extent and a predetermined stress is accumulated. It is preferable that A first abrasive material 16 is attached to the outer surface of the outer ring-shaped plate body 12 so as to extend through the entire plate body. The abrasive material has a cylindrical shape. 1ifI of emery, garnet, etc. is applied to a roll body made by molding a nonwoven fabric made of nylon etc.
? ! An example is one made by dispersing and fixing small particles.

At both ends of the #F preform 16 are ring-shaped plates 18° 18a.
is installed. The plate has an outer diameter slightly smaller than the diameter of the first abrasive material 16, and is arranged and fixed so as not to protrude from the abrasive material. FIG. 1C is a front view of the ring-shaped plate 18. As shown in FIG. 1, small through holes 20 are formed at equal intervals in the plate.

H Disc bodies 22, 22a perpendicular to the axis are provided on the outer surface of the shaft 2 in the vicinity of the arrangement part of the ankle-side tongue-shaped plates 10.
is fixed. The diameter of the disk body is smaller than the outer diameter of the first abrasive material 16, and the disk body is a ring-shaped plate body 18 provided at both ends of the abrasive material 16. L8
It is arranged so as to be close to a. Further, on the outer periphery of the disk body 22.22a, there are attached pins 24 which can be engaged with the respective small through holes 20 of the ring-shaped plate body 18.18a with a suitable margin.

1. A disk-shaped abrasive material 26 of :jS2 is fixed to the end of the drive rotation shaft 2 on the side opposite to the motor 4 side.

Note that the second abrasive material is attached to a substrate 28, and the substrate is fixed to the vehicle 2 by a set port 30.

The diameter of the second abrasive material is smaller than the diameter of the first abrasive material 16.

As can be seen from the above explanation, the first abrasive material 16 (and the second abrasive material 16)
The ring-shaped plate 12 and the ring-shaped plate 18.18a
) can move relative to the shaft 2 within the margin of engagement between the small through hole 20 of the deformed ring-shaped plate of the coil spring 14 and the pin 24 of the disk body. The outer diameter of the second abrasive material 26 is the same as that of the first abrasive material 1.
6 is set so that no portion is located outside the first abrasive material.

FIG. 2 is a schematic side view showing the polishing tool of the above embodiment attached to a manipulator.

In the figure, 32 indicates a traveling device, which can be reciprocated in the direction of the arrow by a driving means (not shown). An arm 36 is connected to the traveling device so as to be rotatable around a rotating shaft 34, and the central portion of the arm and the traveling device 32 are connected by a hydraulic cylinder device 38. The cylinder device can expand and contract in the direction of the arrow, thereby causing the arm 36 to move around the rotation axis 3.
Can be rotated around 4. A lower end of a hydraulic cylinder device 40 is connected to the tip of the arm 36.

The cylinder device can be expanded and contracted in the direction of the arrow.

A lower end of a swivel joint 42 is connected to the upper end of the cylinder device, and a rotating shaft 4 is connected to the upper end of the joint.
An arm 46 is connected via Vc. The tip of the arm is connected via a rotation shaft 48 to the arm 8 shown in FIG. 1 above. The joint 42 and the rotating shaft 44
and rotation shaft 48 respectively permit relative movement in the direction indicated by the arrows between the two parts connected thereby.
I have to.

By appropriately controlling each of the movable parts of the manipulator as described above, the polishing tool attached to the tip thereof can be moved along a desired path to take a desired posture at a desired position. For example, rotation around the rotation axis 48 can take the position and attitude shown by A, and rotation around the swivel joint 42 can take the position and attitude shown by B.

FIGS. 3(a) to 3(c) are schematic diagrams showing the state in which the tool contacts the technical polisher during polishing using the polishing tool of the above embodiment. These show the contact state of the polishing tool with the surface to be polished of each part of the large bridge. Figure 3 (a) shows the polished state of the diagonal members of the bridge, Figure 3 (b) shows the polished state of the upper chord members of the bridge, and Figure 3 (C) shows the polished state of the bridge's vertical members. This shows the polishing condition of the material. In these figures, the #F polishing tool 52 is accessed by the manipulator at each position in the direction indicated by the arrow and brought into contact with the surface to be polished.

In addition, (3), (4), (9) and (in these figures)
Condition 11) is a case of normal polishing of a flat surface, in which polishing is performed using the first abrasive material, and the driving rotation shaft 2 of the tool is polished.
The access is being made in the direction perpendicular to . On the other hand, states (1), (2), (5) to (8) and (10) in these figures are for corner polishing, and are polishing by the first abrasive and second abrasive. The tool is accessed in an oblique direction to the drive rotation axis 2 of the tool.

FIGS. 4(a) to 4(C) are diagrams for explaining tool access in a direction perpendicular to the driving rotation axis 2 during polishing using the polishing tool of the above embodiment.

FIG. 4(a) is a diagram showing the reference position of access of the polishing tool to the surface to be polished. In FIG. The position of the abrasive material 16 is at the X position as shown by the solid line. Furthermore, with respect to the position of the rotation axis 2 of the tool, the position 4 of the first abrasive material 16 in a state where the tool is deformed to the maximum extent by the deformation of the coil spring due to an external force is a position Y shown by a dotted line. The I & i12 distance from the center of the shaft 2 to the outer surface of the abrasive material 16 in this Y shape 1g is defined as Ll, and the distance from the center of the axis 2 to the outer surface of the abrasive material 16 in the X shape 1 stone is defined as second. In the case, L” shown from axis 2
A position separated by a distance of (Lt +L2)/2 is set as an access reference position. It should be noted that the second Ll can easily cover the range (approximately 4 mm) for controlling the position of the manipulator, and can be made to have a much wider range than the inside of the box. Therefore, due to errors in manipulator control,
Even when a position closer to the reference position is accessed as shown in FIG. 4(b), since Ll < Jlt, the abrasive material 16 is brought into contact with the surface to be polished 54 with a moderate force due to the deformation of the coil spring 14. It will be done.

Furthermore, due to an error in the manipulator control, even when accessing a position l that is far from the semi-position as shown in FIG. It is brought into contact with the surface to be polished 54.

FIG. 5 is a diagram for explaining the movement of the polishing tool during polishing of the above embodiment.

” - In the accessed tool, the rotary shaft 2 is driven to rotate by the motor 4, and the rotational force is transmitted to the first abrasive material 16 via the disk body 22.22a fixed to the shaft. and rotate in the direction of the arrow. The tool as a whole is moved in the direction of arrow W along the surface to be polished 54 by the manipulator. As shown in FIG. 5, the surface to be polished consists of a painted surface made up of multiple layers, but the top layer is relatively brittle and 211i! This is a chalking layer 56 that is easy to IL. Even if the surface to be polished 54 is flat, it usually has slight irregularities as shown in the figure, but the first abrasive material 1
6 is pressed by a coil spring following the unevenness of the surface, and only the chalking layer 56 is completely removed, leaving no polishing residue.

1- In the embodiment described above, in order to reliably transmit the rotational force from the drive rotation shaft 2 to the first abrasive material 16, the driving force is transmitted to the ring-shaped plate body 18.18a via the disk body 22.22a. However, if some slippage with the surface to be polished is allowed, the rotational force may be transmitted only by the coil spring 14.

In addition, in the embodiment described in "-", the disk body 22° 22a
This prevents powder particles generated by polishing from entering the space inside the cylindrical first abrasive material 16.

In addition, when polishing a surface to be polished consisting only of a relatively flat surface with no corners using the polishing tool of the second embodiment,
It is also possible to perform polishing by removing the second abrasive material 26.

[Effect of Ig1] According to the present invention as described above, the cylindrical #Fe material is held on the drive rotation shaft via the coil spring, so that the relative position with respect to the 6th surface of the Giken during access and movement during Mf polishing is The positional tolerance is increased, which allows easy and good automatic mechanical access to the surface to be polished, even for objects with complex shapes, and high efficiency with sufficient uniformity. Can be polished.

[Brief explanation of the drawing]

FIG. 1(a) is a schematic sectional view of the polishing tool, FIG. 1(b) is a sectional view taken along line B-8, and FIG. 1(C) is a front view of the ring-shaped plate. :trjZ is a schematic side view showing the polishing tool attached to the manipulator. Figures 3 (a) to (C) show the state of contact of the tool with the surface to be polished during polishing with the polishing tool! FIG. 8 is a schematic diagram showing 8. FIGS. 4A to 4C are diagrams for explaining tool access in polishing using a polishing tool. FIG. 5 is a diagram for explaining the movement of the polishing tool during polishing. 2. Drive rotation shaft, 4. Motor, 10.12:18,18a: Ring-shaped plate. 14: Coil spring, 16, 26: Abrasive material, 22.22a
+ Disc body, 2・t: Pino. Figure 1 (0) Figure 1 (b) Figure 1 (c) Figure 2 Figure 3 (G) Figure 3 (b↑(11) Figure 4 (0) Figure 4 (b) Figure 4 (C-n

Claims (3)

[Claims] (1) A drive rotation shaft, a cylindrical abrasive material arranged in the same direction surrounding the shaft, and radially arranged to connect the inner surface of the abrasive material and the rotation shaft directly or indirectly. A polishing tool comprising a plurality of coil springs. (2) A plurality of inner ring-shaped plates are attached to the outer surface of the drive rotating shaft perpendicularly to the axis, and outer ring-shaped plates are attached perpendicularly to the axis on the inner surface of the abrasive material in correspondence with the inner ring-shaped plates. The polishing tool according to claim 1, wherein a plurality of plate bodies are attached, and each of these corresponding ring-shaped plate bodies is connected by a plurality of coil springs. (3) The polishing tool according to claim 1, wherein the drive rotation shaft is provided with means for directly or indirectly transmitting rotational force to the cylindrical polishing material in addition to the coil spring.