JPS6234770A - Self-running type surface flaw dressing device - Google Patents

Abstract

PURPOSE:To obtain a small-sized flaw dressing device by employing a sensor for sensing the position of the dressing device in Y direction from the amount of fed out wire connecting X-directional position sensing cart with a flaw dressing device, and a cart drive device which follows the flaw dressing device. CONSTITUTION:A cart 2 is equipped with a bobbin wound with a wire 5. A rotary encoder 2c is connected to the bobbin for transmitting signals of fed out amount of the wire 5 to a coordinate measuring device 3. Further, rotated amount of the bobbin is sensed with a rotary encoder 2d to give data of the angle theta of the wire 5 against a rail 1 to a control circuit 4. With this control, the X-coordinate agrees with that of the dressing device 6, while the fed out amount of the wire 5 sensed by the rotary encoder 2c represents the Y- coordinate of the dressing device 6. Since the dressing device 6 can be further equipped with a rotary encoder 6c for sensing attitude angles, a small-sized dressing device can be realized and at the same time it is made possible to grind a flaw in a correct direction.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for automatically cleaning and removing flaws on the surface of a plate such as a steel plate using a tool such as a grinder.

[Prior art]

For example, Japanese Patent Laid-Open No. 5F-58 discloses a device that indicates the location of flaws existing on the surface of a thick plate and automatically removes the flaws.
No. 988. 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. In addition, in the conventional device, the grinding machine is moved to multiple flaw positions using the above-mentioned structure, and each time the position is memorized, the bottom position is first taught, and then the position is memorized. The grinding machine was moved one after another, and the flaws were removed by driving the grinding machine each time.

However, it is inefficient to teach the location of small flaws using such a large-scale device.

〔the purpose〕

Therefore, the inventors of the present application proposed a device for inputting the location to be cleaned (Japanese Patent Laid-Open No. 145913/1983).

It is an object of the present invention to provide a small-sized cleaning device that can automatically clean defects using bottom position data accumulated by such an input device.

〔composition〕

The self-propelled surface flaw cleaning device according to the present invention inputs the two-dimensional position of a flaw on the surface of a board, and allows the care machine to self-propel to the input flaw position on the surface of the board to remove the flaw. In a self-propelled surface flaw cleaning device that performs maintenance, an X-direction position detection cart that runs on a track parallel to the surface of the plate, and a connection between the X-direction position detection cart and the maintenance machine, and either The above-mentioned
a Y-direction position detector that detects the Y-direction position perpendicular to the direction position; and a cart drive that drives the X-direction position detection cart to follow the running of the care machine so that the angle between the wire and the track is 90 degrees. The present invention is characterized by comprising a device and an attitude angle detector that detects an attitude angle of the care machine around an axis perpendicular to the plate surface as an angle with respect to the wire.

〔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 schematic plan view of the device of the present invention.
is a stationary plank with a trajectory l parallel to its negative edge
is provided, and an X-direction position detection trolley (
(hereinafter referred to as a bogie) 2 can run in both directions by forward and reverse rotation of the motor 2a. Here, the X direction refers to the length direction of the thick plate A, and the width direction to the thick plate perpendicular to this is the Y direction. A scale section (not shown) of a digital scale is attached to the track 1 in its longitudinal direction, and a head section 2b of the digital scale is provided on the bogie 1, and the output signal of this head section 2b is appropriately transmitted. The current is supplied to the coordinate measuring device 3 placed outside the cart 2 via the current collecting mechanism. This coordinate measuring device 3 may be mounted on the trolley 2. The coordinate measuring device detects the X-direction coordinate of the cart 2 based on input from the head section 2b. This detection result is given to the drive control circuit 4 that controls driving and stopping of the motor 21.

The drive control circuit 4 may be placed outside the truck 2 or may be mounted on the truck 2. Coordinate measuring device 3 or drive control circuit 4
If either of them is placed outside the trolley 2, an appropriate current collection mechanism is required.

The bobbin 2 is provided with a bobbin (not shown) around which a wire 5 is wound, with its axis of rotation being horizontal and rotatable around a vertical axis. The wire 5 is biased in the direction of winding the wire 5 by a spring bank mechanism attached to the bobbin, and only a length corresponding to the amount of movement of the handle #R6 in the Y direction is paid out from the bobbin. A rotary encoder 2c is connected to the bobbin, and its output, that is, a signal representing the amount of feed of the wire 5, is provided to the coordinate measuring device 3.

Further, as described above, the bobbin is rotatable around the vertical axis, but the amount of rotation is detected by the rotary encoder 2d (potentiometer, celsin, etc.) and provided to the coordinate measuring device 3. It is. The amount of rotation corresponds to the angle θ of the wire 5 with respect to the trajectory 1. The coordinate measuring device 3 provides data on this angle θ to the drive control circuit 4.

The drive control circuit 4 controls not only the motor 2a but also the motor on the care machine 6 side, and the control details for the motor 2a will be explained as follows. That is, the drive control circuit 4 receives flaw data such as the XY coordinates of the flaws B, C, and D on the thick plate A, as well as the directions of the flaws, from the input device or the like. Note that the origin of the XY coordinates may be determined as appropriate.

The drive control circuit 4 performs coordinate measurement from the head part 2b of the digital scale to the X coordinate of the flaw input as flaw data.
In order to match the X coordinate of the trolley 7 given via a3, a drive current is applied to the motor 2a to rotate forward or reverse 16°, or to stop the motor 2a. gain through
- Based on the data of the angle θ, this is set to 90
°tosu3. -ga28. ．． □Eh. , □, 66. □□
:give. Through such control, the X coordinate of the trolley 2 matches the X coordinate of the hand #1J316, and the amount of wire 5 fed out detected by the rotary encoder 2c matches the X coordinate of the hand #1J316.
It represents the Y coordinate of .

The care machine 6 has a traveling mechanism that can freely travel 360° in any direction as described later, but the drive control circuit 4 issues a drive control current to this travel mechanism and first moves the care machine 6 in the X direction.
The carriage 2 is moved by applying a driving current to the motor 2a.
is moved to follow the care machine 6, and then the care machine 6 is moved in the Y direction. Then, when the Y-coordinate of the care machine 6 matches the Y-coordinate inputted as flaw data based on the output of the rotary encoder 20, the movement of the care machine 6 in the Y direction is stopped.

Through the above-described control, the care machine 6 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 6 exceeds the allowable value, the same position correction operation may be performed again.

Next, the structure of the care machine 6 side will be explained. FIG. 2 is an enlarged perspective view showing the connecting portion of the wire 5 of the care machine 6.
A seat Fj, 6b is attached to the side edge surface of the track 1 of a, and a rotary encoder 6c is attached to this. The rotary encoder 6c has its rotary shaft protruding downward from the seat plate 6b, and a ring portion 5a formed at the tip of the wire 5 is hung from a sheave 6d concentrically attached to the rotary shaft.

Therefore, the movement of the care machine 6 is not hindered by the wire 5, and since the sheave 6d is restrained by the ring part 5a of the wire 5, the fixed part of the rotary encoder 6C is fixed to the sheave 6.
d, and as a result, the amount of rotation represents the amount of rotation of the fixed part of the rotary encoder 6C with respect to the wire 5 or the entire care machine. This rotary encoder 6c output is given to the drive control circuit 4. Care machine 6
A rotary encoder 6c on the side, a motor to be described later, and the drive control circuit 4 are connected by a flexible cable 7, and one end of the cable 7 is passed through a protective pipe 8 which is horizontally rotatably supported.

Figures 3 to 7 are a front view, a side view, and a rear view of the care machine 6, respectively.
FIG. 4 is a partially cutaway plan view and a schematic sectional view taken along the line ■-■ in FIG. 4;

The base 6a is a flat 8 with an open bottom and a closed top.
The rotary encoder 6 is shaped like a rectangular tube and is located on the back side of the base 6a, that is, on the right side of FIG. 4 where the belt grinder is not installed.
c is attached, but is not shown in FIGS. 3 to 7. Four wheels 6e, 6e, . . . are provided inside the base 6a. These wheels 6e are pivotally attached to the top plate portion of the base 6a so as to be rotatable around a vertical axis, and a spur gear 6g is provided on the wheel holder 6f, as shown in FIG. One timing belt 61 is stretched over the tension gears 6h, 6h, and as shown in FIG. By driving the motor 6j, the directions of the four wheels 6e are set in any direction within 36 degrees to perform steering.

Further, as shown in FIG. 3, a motor 6k whose output shaft is vertical is also provided on the base 6a, and this rotation is controlled by a chain 6! shown in FIG. The wheel 6 engaged with the chain 61
Rotate the sprocket 6m for each wheel e, 6e... and change this to rotation around the horizontal axis to rotate the four wheels 6e, 6e.
There is no way to rotate them in conjunction with each other.

The above structure allows the care machine 6 to move in any direction on the plank A.

As shown in FIG. 7, a motor 6n is mounted on the lower surface of the top plate of the base 6a with its output shaft horizontal, and a cam 6p is mounted on the output shaft. There is a fourth cam near the cam 6p.
As shown in the figure, a lift leg 6q is provided which is normally biased upward by a spring (not shown) and positioned slightly above the lower peripheral surface of the thick plate A or the wheel 6e.When the cam 6p is rotated by a predetermined amount, the lift leg 6q The legs 6q are configured to protrude downward against a spring.

When the lift leg 6q protrudes downward in this way, the two wheels 6e, 6e on the lift leg 6q side lift up from the thick plate A,
Only the two wheels 6e, 6e on the opposite side are in a state where they can make rolling contact with the plank A.

Therefore, when the running direction of the two wheels 6e, 6e that are in contact with the thick plate A is the direction in which the wheels 6e, 6e are arranged side by side as shown in FIG. It will rotate around the lift leg 6q.

A motor 6'' for rotating the arm is attached to the center of the base 6a with the output shaft facing vertically upward, and an arm 6 for attaching the grinding belt is attached to the column 6s driven by the motor 6r.
E is fixed to the support column 6s so that they can rotate together within the range shown by the arc in FIG. The amount of rotation of the arm 6t is detected by a rotation encoder integrated with the motor 6r. At the front end of the arm 6L, as shown in FIG. 3, a roller 6u with a flange is provided at the top of a rectangular plate that stands upward from the base 6a, and a roller 6u with a flange is provided at the top of the rectangular plate that stands upward from the base 6a. Flammed rollers 6u, 6u are provided at the tips of an overhanging bracket (not shown).

A contact foil 6v whose lower circumferential surface is approximately the same height as the thick plate surface is provided directly below the central upper roller 6u, and a grinding belt 6W is hooked to and rotated by these rollers 6u, 6u, 6u and the contact foil 6v. It is.

A mokuro x is suspended horizontally on the front lower surface of the arm 6t, and a belt is stretched between the pulley provided on its output shaft and the pulley provided coaxially with the roller 6u located above the center, as shown in Fig. 4. The grinding belt 6 is rotated by the rotation of the motor 6x.
- around the grinding belt 6 with contact foil 6v.
There is no way to grind the flaws by pressing n onto the thick plate A.

Balance weights 6y, 6y are provided on both sides of the arm 6t so as to be movable in the longitudinal direction of the arm 6t, and the balance weights 6y, 6y are provided on both sides of the arm 6t so as to be movable in the longitudinal direction of the arm 6t. (grinding bell)
The pressing force against the 6iy thick plate A can be adjusted.

FIG. 8 is a flowchart showing the operation sequence of the apparatus of the present invention. When the flaw data is given to the drive control circuit 4, the cleaning machine moves to the first flaw, for example B. That is, first, the steering motor 6j is driven to enable movement in the Y direction, and then the traveling motor 6k is driven to move the care machine 6 in the Y direction.
make it run in the direction.

During this time, the drive control circuit 4 monitors the output of the rotary encoder 2c, and when the Y coordinate of the first flaw matches the Y coordinate of the rotary encoder 2c, it stops the care machine 6, and then the motor 6j rotates the wheels 6e, Rotate motor 6e by 90 degrees and
k to run in the X direction, and the motor 2a
is also driven to cause the care machine 6 and the trolley 2 to travel in the same direction of the X direction. During this time, the output of the head section 2b of the digital scale and the output of the rotary encoder 2d are monitored, and the X coordinate of the first flaw matches the coordinate of the head section 2bfr<the detected X direction, and the output of the rotary encoder 2d is θ= When it reaches 90 degrees, movement in the X direction is stopped.

Next, the drive control circuit 4 reads the output of the rotary encoder 6c, detects the angle α between the wire 5 and the mounting edge of the rotary encoder 6c of the care machine 6, and if this angle is not 90°, drives the motor 6n. The lift leg 6q is projected, and the motors 6j and 6h are driven to rotate the lift leg 6q around the lift leg 6q until α=90° is obtained. and motor 6r
is driven to rotate the arm 6t in a direction corresponding to the angle of the flaw in the flaw data, and the mokuro x is driven to rotate the grinding belt 6w, thereby grinding the flaw.

After finishing the grinding for a predetermined time, the same process is performed for the next flaw.

In the above explanation, the maintenance tff 16 is moved in two orthogonal directions, X and Y, but the direction of the next flaw is determined based on the coordinates of the current position and the position of the next flaw, and the direction is moved in that direction. It is also possible to make the trolley 2 travel toward the vehicle and move the trolley 2 to follow it.

〔effect〕

In the case of the device of the present invention as described above, a large-scale one-track truck is not required, and a small-sized care device can be realized. In particular, although the cleaning machine is connected to the cart 2 by the wire 5, the attitude angle of the cleaning machine 6 can be detected by providing the rotary encoder 6c, and the flaw can be ground in the correct direction.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram of the device of the present invention, Fig. 2 is a perspective view of the main parts of the care machine, and Fig. 3 is a schematic diagram of the device of the present invention. 4. Figures 5 and 6 are front views of the cleaning machine;
Partially broken side view, partially broken back view, partially broken side view,
FIG. 7 is a sectional view taken along the line ■--■ in FIG. 4, and FIG. 8 is a flowchart showing the operation details of the apparatus of the present invention.

Claims (1)

[Scope of Claims] 1. A self-propelled machine that repairs defects by inputting the two-dimensional position of a flaw on the surface of a plate and causing the care machine to move to the input flaw position on the surface of the plate. In the type surface flaw cleaning device, an X-direction position detection cart that runs on a track parallel to the surface of the plate material, and a wire that connects the X-direction position detection cart and the treatment machine, and is fed out from either of them. , Y perpendicular to the position of the care machine in the X direction from the amount of wire fed out.
a Y-direction position detector that detects a directional position; a cart drive device that drives an X-direction position detection cart following the travel of the care machine so as to make an angle between the wire and the track 90 degrees; and a care machine. A self-propelled surface flaw cleaning device comprising: a posture angle detector that detects a posture angle around an axis perpendicular to the surface of a plate material as an angle with respect to a wire.