JPS63207554A - Grinding attachment - Google Patents

Abstract

PURPOSE:To aim at the automation of weld bead grinding operations, by installing a detecting means for detecting the position and form of a work part of a weld bead, and performing positional control over a vertical moving means and a longitudinal moving means at a control part on the basis of the signal. CONSTITUTION:A longitudinal moving bed 12 is set to almost the center of an effective stroke, and a grinding attachment is fixed to a workpiece 1 with a magnet roller 18 so as to cause both centers of a grinding wheel 3 and a weld bead 2 to be accorded with each other as well as to cause both longitudinal and grinding directions of this weld bead 2 to be accorded with each other. And, a front detecting sensor 14 is rocked as far as the fixed width by a pulse motor 15, a width central position of the weld bead 2 is detected by a controller from the detected waveform, controlling both vertical and longitudinal moving drive motors 11 and 13, and positional relation between the grinding wheel 3 and the weld bead 2 is kept constant. And, form after grinding is detected by a rearward detector consisting of the pulse motor 15 and the detecting sensor 14, and a ground surface of a weld bead 2' is corrected so as to become the specified height. Thus, automation for grinding operations is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a grinding device for grinding a weld bead.

<Prior Art> In ship construction, it is necessary to grind unnecessary weld beads. Conventionally, in order to perform this kind of grinding, a worker must hold a grinding machine such as a grinder in their hands and perform the grinding work directly, or the worker must mount the grinding machine such as a grinder on a movable trolley and drive the movable trolley. Automatic grinding was performed while

<Problems to be solved by the invention> When grinding a weld bead with a grinder wheel, etc.
The surface to be ground is usually deformed due to thermal stress caused by welding, mismatched welding grooves, etc., and is not on the same plane. Particularly when angular deformation and misalignment due to thermal stress occur at the same time, there is a risk of damaging parts other than the intended grinding tool, depending on the position and angle of the grindstone.

To solve this problem, it is necessary to detect the position of the part to be ground and control the position of the grindstone.

In view of the above-mentioned prior art, the present invention provides a grinding device that can control the position of a grinding means.

<Means for Solving the Problems> The present invention, which solves the above-mentioned problems, includes a detection means for detecting the position and shape of the part to be ground of the weld bead, and a control section based on a signal from the detection means. It is characterized in that the position of the vertical movement means and the left and right movement means is controlled by.

Function> The vertical movement means and the left and right movement means are moved by the position control by the control section, and the relative position of the grinding means and the part to be ground is maintained constant.

Example of implementation Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 shows a grinding device according to an embodiment of the present invention, and FIG. 2 shows a grinding device and a detection device extracted from the device. As shown in both figures, a weld bead 2 is formed on the material 1 to be ground. 2° in the figure is the weld bead after grinding.

A grinder whetstone 3 serving as a grinding means is protected by a cover 4. A pulley 7 integrated with the rotation shaft of the grinder grindstone 3 and a pulley 8 integrated with the rotation drive shaft of the hydraulic motor 5 are connected by a timing belt 9. Therefore, the grinder whetstone 3 is rotated by supplying pressure oil from a hydraulic unit (not shown) to the hydraulic motor 5 through the hose 6 to rotationally drive the hydraulic motor 5.

A grinding device consisting of a grinder whetstone 3, a hydraulic motor 5, etc. is supported by a vertically movable bed 10, and is moved vertically by driving a drive motor 11.

The vertically movable bed 10 is supported by a horizontally movable bed 12. Then, by driving the drive motor 13, the vertically movable bed 10 and the grinding device reciprocate along the direction across the weld bead 2 (left-right direction).

The left-right movable bed 12 is mounted on a truck 20, and the truck 20 has four magnet rollers 18 protected by a cover 19. The cart 2o is driven by the drive motor 17, and the grinding device, the vertically movable bed 10, and the horizontally movable bed 12 move along the longitudinal direction (front and rear direction) A of the weld bead 2.

A detection sensor 14 is installed in front of the grinder whetstone 3, and a detection sensor 14° is installed behind it (see FIG. 2). Detection sensor 14.14° is the swinging arm 201.201°
and a copying roller 20 supported by a jig 16.16° and attached to the tip of the detection sensor 14.14'.
3.203° is always pressed against the ground surface by a built-in spring. When the pulse motor 15 repeatedly rotates in a certain width, the swing arm 202 swings, and the detection sensor 14 swings over the weld bead 2. Similarly, the detection sensor 14' swings on the weld bead 2' due to the reverse rotation of the pulse motor 15'. By swinging in this manner, the detection sensor 14, 14' detects the position and shape of the weld bead 2, 2°.

Next, the control system of the present invention will be explained based on FIG. In the figure, 301 is a drive device for the motor 11, 302 is a drive device for the motor 13, and 3o3 is a control unit. Control unit 303
is a pulse motor 15°15° and a drive device 301.3
02 control device, and has a function of also processing signals from the detection sensors 14 and 14'.

The operation of the embodiment of the present invention will be explained as follows. First, the horizontally movable bed 2 is set at approximately the center of the effective stroke, so that the center of the grinder whetstone 3 and the center of the weld bead 2, which is the part to be ground, almost coincides.
Then, this device is fixed to the material to be ground 1 using the magnet roller 18 so that the longitudinal direction of the weld bead 2 and the grinding direction substantially coincide with each other.

The detection sensor 14 in the front is swung over a certain width over the weld bead 2 by the pulse motor 15, or its swiveling position is recognized by the control device 303, and the movement of the copying roller 203 at that time is shown in FIG. It will look like (a).

At this time, the copying roller 203
When the length to the center of . Next, in order to detect the width center position of the weld bead 2, a fourth
Regard the relationship in figure (b) as a function of the island and X, and. By differentiating with respect to X, we obtain Fig. 4(C). Further, by differentiating this with respect to X, the result shown in FIG. 4(d) is obtained.

By shaping this waveform, as shown in FIG. 4(e), x II+ x corresponding to both ends of weld bead 2
A pulse signal can be obtained at part 12, and the center of xl and xl2 can be regarded as the center of weld bead 2.

The value of the island when xl and xl2 corresponding to the bead end is I
l,,, and I! , +2, then this is 1□.

ft, □ and X 11. The drive motor 11 for vertical movement and the drive motor 13 for horizontal movement are controlled from the amount of information of can be automated.

That is, for left and right control, if the detector is fixed to the grinding device using the mounting jig 16 in advance so that the center of oscillation of the detection sensor 14 and the center line of the grinder whetstone 3 match, X1
A signal is output from the control unit 303 to the drive device 302 so that the center of □ and xl2 always coincides with the center of the swing width,
The motor 13 is controlled so that the center line of the grinder whetstone 3 and the center of the weld bead 2 are always aligned.

Regarding the vertical control, the relative position of the detection sensor 14 and the lower end surface of the grinder whetstone 3, which becomes the grinding surface, is determined, so the fourth
Assuming that the length from the end face of the detection sensor 14 to the grinding surface of the grinder whetstone 3 is H3 as shown in Figure (a), the amount of scraping of the weld bead 2 can be determined by comparing this Hl with the value of vertical 1 or H12. can be controlled. In other words, in order to avoid damaging the material to be ground 1, Rl l + fl
, +2, whichever is smaller, in this case R,1°, and if the uncut mark after grinding is set to H6, then (jj+
+-H+□) is always at this set value H8, the drive device 302 is actuated by a signal from the control unit 303, and the motor 11 controls the welding and grinding surfaces of the first blade 2 to a constant height. The weld bead 2 can be ground in a controlled manner without damaging the material 1 to be ground.

In addition, since the grinding surface of the grinder whetstone 3 gradually wears out, the shape of the weld bead 2'' after grinding is detected by a rear detector consisting of a pulse motor 15'', a detection sensor 14°, etc., and the grinding surface of the grinder whetstone 3 wears out. We will monitor the fluctuations in the ground surface due to this and make corrections so that the ground surface of the 2° weld bead is at a constant height. Figure 5(a) shows an example of detection of a weld bead 2'' after grinding by the detection sensor 14°.Both ends of the weld bead are determined in exactly the same way as shown in Figure 4, and the position Assuming that X21.
Let e22 be the length of the weld bead 2゛ to the shaved surface. shall be. Standing 2. and 22, whichever is smaller, in this case 4221, and the difference between this value and the current value (ft2
1-Jjc) as h. This value of h should match H6, which is set as the uncut material after grinding, but in reality, h is higher than H6 due to wear on the grinding surface of the grinder whetstone 3.
It should gradually become larger than 6.

The value of (h-HO) is the amount that could not be removed due to wear, and the value of H1 decreased by that amount. Therefore, H
By resetting the value obtained by subtracting (h Ha) from the value of , as Hl, the influence of grindstone wear can be removed.

Through the above operations, the position of the grinder whetstone 3 is always at the center of the weld bead 2, and the grinding surface of the weld bead is maintained at a constant height without being affected by the wear of the grinder whetstone 3, and the grinding work is automatically performed. It can be carried out.

<Effects of the Invention> According to the present invention, since the grinder whetstone of the grinding device automatically tracks the grinding section, the installation of the grinding device to the grinding section can be done easily, and there is no need to monitor the work. Grinding work can be automated.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram showing a grinding device according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the mounting state of a grinder grindstone and a detection sensor, FIG. 3 is a block diagram showing a control system, and FIG. This figure and FIG. 5 are diagrams showing the principle of detecting the position and shape of the part to be ground from the signal of the detector. In the drawing, 3 is a grinder grindstone, IO is a vertically movable bed, 11 is a motor, 12 is a horizontally movable bed, 13 is a motor, 14.1
4' is the detection sensor, 15, 15° is the pulse motor, 20
303 is a trolley, and 303 is a control unit.

Claims (1)

[Scope of Claims] A grinding means for grinding a weld bead, a vertical movement means for moving the grinding means up and down, a left-right movement means for moving the grinding means back and forth along a direction crossing the weld bead, and a grinding means for moving the grinding means up and down. In a grinding device having a means for moving up and down, and a means for moving back and forth for moving the left and right moving means along the longitudinal direction of the weld bead, a detection means for detecting the position and shape of the part to be ground of the weld bead is placed at the front and rear of the grinding means. and a control section for controlling the vertically moving means and the horizontally moving means so as to process a detection signal from the detecting means and maintain a constant relative positional relationship between the grinding means and the part to be ground. A grinding device characterized by: