WO2013176187A1 - 溶接部材の平滑化方法及び平滑化装置 - Google Patents
溶接部材の平滑化方法及び平滑化装置 Download PDFInfo
- Publication number
- WO2013176187A1 WO2013176187A1 PCT/JP2013/064255 JP2013064255W WO2013176187A1 WO 2013176187 A1 WO2013176187 A1 WO 2013176187A1 JP 2013064255 W JP2013064255 W JP 2013064255W WO 2013176187 A1 WO2013176187 A1 WO 2013176187A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- welded
- smoothing
- grinding
- belt
- members
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/04—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces
- B24B21/06—Machines or devices using grinding or polishing belts; Accessories therefor for grinding plane surfaces involving members with limited contact area pressing the belt against the work, e.g. shoes sweeping across the whole area to be ground
- B24B21/08—Pressure shoes; Pressure members, e.g. backing belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
Definitions
- the present invention relates to a method and an apparatus for smoothing a welding portion of a welding member.
- a vehicle door frame is formed by welding (corner welding) at least a pillar member (standing column member, door frame member) and a sash member (upper sash member, door frame member) with a butt welding edge.
- TIG welding and MIG welding are generally used for welding.
- the present invention focuses on first removing the weld bead (reducing the height) and then performing smoothing of the welded part, using the height information around the welded part to remove the weld bead, and welding bead
- the removal and smoothing are based on the viewpoint of using the same belt grinding apparatus having an endless grinding belt and a pressing pad that presses the grinding belt against the welded portion.
- the present invention is premised on the use of a belt grinding apparatus having an endless grinding belt and a pressing pad for pressing the grinding belt against a welded portion.
- a belt grinding apparatus is known from Patent Document 3, for example.
- this belt grinding apparatus is used in two different modes.
- the first aspect is a bead removal step of reducing the height of the weld bead by pressing the grinding belt against the welded portion with a pressing pad while the grinding belt is running. At this time, the grinding belt is moved at a fixed position, and the pressing pad is moved toward and away from the welding location (surface thereof).
- the next mode is a smoothing step in which the grinding belt is moved and moved along the surfaces of the two welded members, while being pressed against the welded portion by the pressing pad, thereby smoothing the welded portion.
- the present invention detects height information along the weld bead at the butt end face of the welded two members in order to perform the step of reducing the height of the first weld bead, and the weld bead is also detected at the lowest portion.
- the amount of descent (protruding amount) of the grinding belt toward the weld bead is determined so as to be removed.
- a method for smoothing a welded portion is a method for removing and smoothing the weld beads of two welded welded members, an endless grinding belt, and a pressing pad for pressing the grinding belt against the welded portion.
- a step of preparing a belt grinding device having: a measuring step for detecting a height position along the weld bead of the surface of the welded two-member surface; using the height information of the surface of the welded two-member surface detected in the measuring step, A bead removal step of reducing the height of the weld bead by pressing the grinding belt against the welding location by the pressing pad while the grinding belt is running; and running the grinding belt and moving along the surfaces of the two welded members
- a smoothing step of pressing the grinding belt against the welded portion with the pressing pad and smoothing the welded portion It is set to.
- the method of the present invention further includes a step of detecting an angle difference between surfaces of two welded members in a direction along a direction orthogonal to the weld bead, and the two members welded based on the angle difference detected in the angle detecting step.
- a step of detecting an angle difference between surfaces of two welded members in a direction along a direction orthogonal to the weld bead Preferably adjusting the angle of the grinding belt and the pressing pad with respect to the surface.
- the welded two members have a flat portion extending left and right from one end portion in the extending direction of the weld bead, a protruding weld bead protruding from the flat portion by the grinding belt and the pressing pad is provided along the flat portion. And grinding and removing.
- the welded two members may be two members that are flat as a whole, or a non-flat member having a low end in the direction of formation of the weld bead.
- the bead removing step and the smoothing step may be It is preferable to carry out by lifting the lower part of the welded two parts.
- the hardness of the pressing pad used in the bead removal step is preferably harder than the pressing pad used in the smoothing step.
- the width of the grinding belt and the planar size of the pressing pad are preferably set to a size that covers the entire length of the weld bead.
- one or more grinding conditions of the traveling speed of the grinding belt, the tension, the protruding amount of the pressing pad, and the protruding output may be determined so that the weld bead is removed within a certain time. it can.
- the two welded members are, for example, a pillar member and a frame member of a door frame.
- the method according to the present invention further performs, after the welding bead removal step and the smoothing step by the grinding belt, a polishing treatment step by a polisher on the surface of the welded two members from which the weld bead has been removed. .
- This obscuration processing step includes a step of adjusting the angle of the polisher based on the angular difference detected in the step of detecting the angular difference between the surfaces of the two welded members in the direction along the direction orthogonal to the weld bead. It is preferable.
- the present invention is an apparatus that removes and smoothes the weld beads of two welded welded members, and is an endless grinding belt that is driven to travel, and a pressing that presses the grinding belt against the welded portion.
- a belt grinding device having a pad; a jig for setting a welded two member having a weld bead; a measuring device for measuring a height position of a surface along the weld bead of the welded two member set on the jig;
- a position control device for moving the belt grinding device with respect to the jig; and a control means for controlling the belt grinding device, the measurement device and the position control device, the control means comprising two welding members detected by the measurement device.
- the grinding belt is pressed against the welding location by the pressing pad to reduce the height of the weld bead
- Serial grinding belt is traveling, while moving along a surface of the welded two members, pressing the the grinding belt to the welding point by the pressing pad, and wherein smoothing the welding location.
- the measuring device further detects an angle difference between the surfaces of the two welded members in a direction along a direction perpendicular to the weld bead, and the control means includes the two members. It is desirable to adjust the angle of the grinding belt and the pressing pad with respect to the surfaces of the two welded members based on the surface angle difference.
- control means includes a protruding weld bead protruding from the flat portion by the grinding belt and the pressing pad. It is preferable to grind and remove along the flat portion.
- the jig is provided with a partial levitation device that lifts the lower portion of the welded two members.
- the belt grinding apparatus is practically provided with a pressing pad mechanism for switching the pressing pad to be used in the bead removing process and the smoothing process.
- the apparatus for smoothing a welded portion according to the present invention further includes a polisher for performing a blinding process on the surfaces of two welded members from which weld beads have been removed, in addition to the belt grinding apparatus.
- the angle of the polisher can be adjusted based on an angle difference between the surfaces of the two welded members in a direction along a direction perpendicular to the weld bead.
- the present invention uses an endless grinding belt and a belt grinding apparatus having a pressing pad that presses the grinding belt against the welded portion.
- the grinding belt is welded by the pressing pad while the grinding belt is running. Press against the welded part of the two parts to reduce the height of the weld bead, and in the second step, run the grinding belt and move it along the surface of the welded two parts while pressing against the welded part with the pressing pad Since the welded portion is smoothed, the weld bead can be easily removed and the welded portion can be smoothed.
- the tact time required for smoothing is made substantially constant, facilitating automation.
- (A) is a plan view of a vehicle door frame to which the method for smoothing a welded portion according to the present invention is applied
- (B) is a perspective view of part B of (A), (C1), (C2), and (C3) are respectively It is sectional drawing which follows the C1-C1 line
- FIG. 4 is a front view when the support substrate of the belt grinding apparatus of FIG.
- FIG. 3 is rotated by 90 ° about the rotation axis of the turntable to enter a height position detection mode on the surface of two welding members.
- (A) is a top view of the partial levitation apparatus with which the jig
- (B) is sectional drawing which follows the BB line of (A).
- (A), (B), (C) is a figure which shows the step of the smoothing method by this invention. It is a schematic diagram which shows an example of the height coordinate of the welding 2 member in alignment with a weld bead, and the protrusion position of a pressing pad. It is a block diagram of the smoothing apparatus of the welding part by this invention.
- (A), (B), (C) is the top view, side view, and front view which show 2nd embodiment of the smoothing method of the welding part by this invention. It is a control block diagram of a second embodiment. It is a top view which shows three steps of the welding location smoothing step (precision grinding process) of 2nd embodiment. It is a conceptual diagram of an example of the polisher used for the polish finishing process. It is a top view which shows three steps of the polish finishing process. It is a conceptual diagram of the corner R process of the external polish finishing by the polisher.
- FIG. 1 shows a pillar member (front pillar, vertical pillar member, first door frame member) 11 and a frame member (upper sash, second member) as two welded members to which the method for smoothing a welded portion of the present invention is applied.
- a door frame 10 comprising a door frame member 12 is shown.
- Each of the pillar member 11 and the frame member 12 is made of a roll-formed product of an iron-based material.
- the butt weld edge 11T and the butt weld edge 12T are abutted and welded (corner welded), and formed at a welded portion.
- the weld bead 13 that protrudes from the surface 11S of the pillar member 11 and the surface 12S of the frame member 12 is raised.
- FIG. 2 shows a smoothing device 20 for a welded place for carrying out the method of the present invention
- FIG. 3 shows a belt grinding device 30 in the smoothing device 20.
- the smoothing device 20 includes a belt grinding device 30, a position control device (position control robot) 50 of the belt grinding device 30, and a jig 60 for setting the door frame 10 after welding.
- a laser length measuring unit 40 is fixed to the support substrate 31 of the belt grinding device 30 as a measuring device for measuring the surface height (Y coordinate) of the surface 11S and the surface 12S of the pillar member 11 and the frame member 12. Yes.
- the belt grinding device 30 is supported on a support substrate 31 whose position is controlled by the position control device 50, and the basic configuration is disclosed in Patent Document 3.
- the belt grinding apparatus 30 includes a drive pulley 33 that is rotationally driven at a fixed position by a drive motor 32, a guide pulley 34 that is rotatably supported at a fixed position, and an air swing actuator 35.
- the grinding belt 38 travels, and the tension of the grinding belt 38 changes by changing the swing position of the swing arm 35a of the air swing actuator 35.
- the traveling speed of the grinding belt 38 can be freely set by the drive motor 32, and the grinding load can be detected by the drive motor 32.
- the workpiece (the weld bead 13 of the door frame 10 (and its left and right welded portions)) is ground by the work section belt 38X (grinding section) located between the guide pulley 34 and the tension pulley 36. Is called.
- the work section belt 38X of the belt grinding apparatus 30 is positioned above the jig 60 (the door frame 10 set therein).
- a dust collection hopper 39 is disposed outside the grinding belt 38 of the drive pulley 33 and the guide pulley 34.
- the pressing pad mechanism 45 In the space surrounded by the grinding belt 38, the pressing pad mechanism 45 supported by the support substrate 31 is located.
- the pressing pad mechanism 45 includes a pair of (a plurality of) pressing pads 46 and 47, and a rotary actuator 48 that selectively positions the pressing pad 46 and the pressing pad 47 inside the work section belt 38X.
- the pressing force of the pressing pad 46 and the pressing pad 47 to the work section belt 38X can be adjusted by an air actuator.
- the pressing pad 46 is for hard rough cutting, for example, and the pressing pad 47 is for soft precision cutting (for polishing).
- the jig 60 holds the surface 11S of the pillar member 11 and the surface 12S of the frame member 12 substantially in parallel to the work section belt 38X of the belt grinding device 30 described above, and accommodates the work for accommodating the door frame 10.
- a recess 61 is provided.
- substantially parallel means that the surface 11S and the surface 12S of the pillar member 11 and the frame member 12 are not pure planes but have a gently descending curved surface on the inner side (window opening side).
- the outside of 12S is regarded as a plane, it means that the door frame 10 is held so that the outside virtual plane and the work section belt 38X are parallel to each other. If the surfaces of the two welded members are flat, they are set on the jig 60 so that the plane and the work section belt 38X are parallel to each other.
- the jig 60 includes a partial levitation device 62 for deforming and grinding the descending curved surfaces inside the pillar member 11 and the frame member 12 upward.
- the partial levitation device 62 includes a lifting crank 64 that can rotate around a shaft 63.
- One lifting arm 64a of the lifting crank 64 is located across the butt welding edge 11T of the pillar member 11 and the frame member 12 and the lower surface (back surface) of the butt welding edge 12T, and the air actuator is connected to the other driving arm 64b. 65 is connected.
- the driving arm 64b is pushed out by the air actuator 65, the lifting arm 64a lifts the vicinity of the butt welding edge 11T of the pillar member 11 and the butt welding edge 12T of the frame member 12 upward, and approaches the plane.
- the position control device 50 is a known device that freely controls the position of the belt grinding device 30 (support substrate 31) with respect to the jig 60, and can be rotated around a vertical axis on a main body base 51 fixed to the floor surface.
- a rotating base 52 is supported, and a lower end portion of a first arm 54 capable of swinging about a horizontal shaft 53 is supported on the rotating base 52.
- a second arm 56 that can be expanded and contracted by a horizontal shaft 55 is pivotally attached to an upper end portion of the first arm 54, and a turntable 57 that can be rotated around a rotation shaft 57 ⁇ / b> X at a tip portion of the second arm 56.
- a support head plate 58 is provided on the turntable 57.
- the position control device 50 includes a rotation operation about the vertical axis of the rotation base 52, a rotation operation about the shaft 53 and the shaft 55 of the first arm 54, a telescopic operation of the second arm 56, and a turntable.
- a rotation operation about the vertical axis of the rotation base 52 By rotating the rotation shaft 57X of the 57, the support head plate 58 can be moved in an arbitrary position and direction, and the position can be controlled.
- the support head plate 58 is coupled to the support substrate 31 of the belt grinding device 30, so that the position control device 50 can freely control the position of the belt grinding device 30.
- the support substrate 31 can be rotated (oscillated) around the rotation shaft 57X (FIGS. 3 and 4) of the turntable 57 (at least changeable to two positions in FIGS. 3 and 4).
- the laser length measurement unit 40 for measuring the heights of the pillar member 11 and the surface 11S and the surface 12S of the frame member 12 is supported on the support substrate 31 by using the rotation function of the turntable 57. That is, the posture of the support substrate 31 is changed between the grinding position shown in FIG. 3 where the work section belt 38X of the belt grinding apparatus 30 faces horizontally and the height measurement position shown in FIG.
- the position control device 50 includes the substrate direction (posture) conversion device 31T (FIG. 8).
- the laser length measuring unit 40 fixed to the support substrate 31 includes two laser length measuring devices 41 and 42. At the height measuring position shown in FIG. 4, the laser length measuring devices 41 and 42 are pillar members. 11 and the surface 11S of the frame member 12 and the surface 12S.
- the laser length measuring (ranging) devices 41 and 42 are well known, and the laser light emitted from the laser light source is divided into measurement light and reference light by a beam splitter, and the measurement light is irradiated toward the surface 11S and the surface 12S.
- the reference light reflected at a fixed position is incident on the same receiver to detect the phase difference between the measurement light and the reference light. Based on the phase difference, the laser length measuring device The distance from the reference positions 41 and 42 to the surface 11S and the surface 12S is measured.
- the position control device 50 includes a coordinate detection system in the vertical direction (X direction), the horizontal direction (Y direction), and the Z direction perpendicular to the X direction and the Y direction, and the rotational position of the support substrate 31.
- a detection system (90 ° coordinate conversion system) is provided. The distance from the rotation axis 57X to the reference position of the laser length measuring devices 41 and 42, the distance to the work section belt 38X, and the pressing pad 46 of the pressing pad mechanism 45. And a detection system for the distance to the tip of the pressing pad 47 for precision cutting.
- the removal and smoothing of the weld beads 13 of the door frame 10 are performed using the smoothing device 20 including the belt grinding device 30 (laser measuring unit 40) and the position control device 50 having the above-described configuration as follows.
- the position control device 50 substrate direction (posture) conversion device 31T
- the position control device 50 performs belt grinding device.
- 30 support substrate 31
- the emitting direction of the distance measuring light from the laser length measuring devices 41 and 42 of the laser length measuring unit 40 is the X direction.
- the laser length measuring devices 41 and 42 allow the height of the butt weld edge 11T of the pillar member 11 and the butt weld edge 12T of the frame member 12 along the weld bead 13 (as close as possible to the weld bead 13 to include the weld bead 13).
- No height, Y coordinate As shown exaggeratedly in FIGS. 1 (C1), (C2), and (C3), there is variation in the height (Y coordinate) of the surface 11S and the surface 12S along the weld beads 13 of the pillar member 11 and the frame member 12. is there.
- the actual height (Y coordinate) of the surface 11S and the surface 12S is on the order of ⁇ m.
- Reference numeral 14 in FIG. 6A indicates four measurement points.
- the position control device 50 moves the laser length measuring devices 41 and 42 in the Z direction (and the X direction).
- the height (Y coordinate) of the surface 11S and the surface 12S may be measured by a contact sensor, and the height map may be created by scanning the periphery of the weld bead 13 of the surface 11S and the surface 12S.
- the minimum height (Y coordinate) is detected among the heights (Y coordinate) of the pillar member 11, the surface 11S of the frame member 12, and the surface 12S along the weld beads 13.
- the maximum height (Y coordinate) of the weld bead 13 may be detected.
- the second step is a step of removing the weld bead 13.
- the belt grinding device 30 (support substrate 31) is rotated 90 ° about the rotation shaft 57X by the position control device 50 (substrate direction (posture) conversion device 31T), and as shown in FIG.
- the work section belt 38X of the device 30 is directed in the X direction.
- the removal of the weld bead is maintained by lowering the belt grinding device 30 to a fixed position by the position control device 50 and maintaining the work section belt 38X parallel to the surface 11S of the door frame 10 and the surface 12S of the frame member 12. Then, as shown in FIG.
- the roughing pressing pad 46 of the pressing pad mechanism 45 is protruded toward the weld bead 13, and the traveling grinding belt 38 is brought into contact with the weld bead 13 to be ground and removed. (Reduce the height of the weld bead 13).
- the grinding belt 38 has a width sufficient to remove all of the weld beads 13 formed between the butt weld edge 11T and the butt weld edge 12T (surface 11S and surface 12S) at a time. That is, as shown in FIG. 6A, the width W in the Z direction of the grinding belt 38 is set larger than the length w in the Z direction of the weld bead 13.
- the width (diameter) in the Z direction of the pressing pads 46 and 47 is also larger than the length w in the Z direction of the weld bead. That is, the width of the grinding belt 38 and the planar size of the pressing pad 46 are set so as to always cover the entire length in consideration of the direction of the weld bead 13.
- the amount of protrusion of the rough cutting pressing pad 46 in the Y direction is determined based on the minimum height information (Y coordinate) on the surface of the door frame 10 in the first step.
- FIG. 7 schematically shows the four measuring points (Y coordinates) on the surface of the door frame 10 (Y coordinates) Y1, Y2, Y3, and Y4 and the amount of protrusion (maximum protruding position) in the Y direction from the initial position of the roughing pressing pad 46.
- the protrusion Y5 is set so that the roughing pressing pad 46 reaches the lowest measurement point (surface) Y3 among the four measurement points.
- the fact that the work section belt 38X has started contact with the weld bead 13 (the Y coordinate of the weld bead 13) can be detected by a load applied to the drive motor 32.
- the time to reach the minimum height (Y coordinate) of the surface of the door frame 10 weld bead removal end time
- the above factors can be determined.
- the height information can be used to determine the grinding conditions.
- weld spot smoothing step (Precision grinding)
- the pad of the pressing pad mechanism 45 is switched from the rough cutting pressing pad 46 to the precision cutting pressing pad 47 by the rotary actuator 43.
- the precision grinding pressing pad 47 is moved by the air actuator while the belt grinding device 30 (work section belt 38X) is moved in parallel to the surface 11S and the surface 12S of the door frame 10.
- the surface 11S and the surface 12S of the butt weld edge 11T and the butt weld edge 12T including the removal mark of the weld bead 13 are smoothed by projecting in the Y direction (while changing the projecting amount in the Y direction if necessary).
- the grinding conditions including the traveling speed of the grinding belt 38 by the drive motor 32, the tension of the grinding belt 38 by the air swing actuator 35, and the protruding pressure of the roughing pressing pad 46 by the air actuator are set.
- the tact time is changed to be constant.
- the partial levitation device 62 shown in FIG. 5 is used to lift the inside of the butt weld edge 11T and the butt weld edge 12T of the door frame 10 closer to a flat surface.
- the surface 11S and the surface 12S are exaggeratedly drawn so as to be non-parallel, but in practice, they can be regarded as sufficiently flat.
- the weld bead 13 trace becomes a plane that is smoothly connected to the surrounding surface 11S and the surface 12S.
- the grinding resistance by the work section belt 38X can be detected by the load applied to the drive motor 32, the grinding resistance becomes an appropriate value and smoothing is executed in a predetermined time (tact time, for example, 7 seconds).
- a predetermined time for example, 7 seconds.
- FIG. 8 is a control block diagram of the above-described welded portion smoothing apparatus.
- the control device 70 controls the position control device 50 (substrate direction (posture) conversion device 31T), the belt grinding device 30 and the pressing pad mechanism 45, and is a measurement device provided on the support substrate 31 of the belt grinding device 30.
- the 40 laser length measuring devices 41 and 42
- the data is input and the input Based on the signal, the head grinding device 30 and the pressing pad mechanism 45 are controlled.
- the control device 70 incorporates a partial levitation operation data memory 71 that gives an operation signal to the partial levitation device 62 according to the shapes of the pillar member 11 and the frame member 12.
- the partial levitation device 62 of the above embodiment is installed when the welded two members are two members (in the embodiment, the pillar member 11 and the frame member 12) whose grinding surfaces are not flat (partially curved). Preferably, this is not necessary when the ground surfaces of the two welded parts are flat.
- the roughing pressing pad 46 of the pressing pad mechanism 45 is used in the weld bead removing step and the pressing pad precision cutting pressing pad 47 is used in the smoothing step, more preferable grinding is performed. However, both can be performed with the same pressing pad. Conversely, other types of pressing pads can be prepared and used selectively.
- the above embodiment assumes that there is no step between the surface 11S of the pillar member 11 and the surface 12S of the frame member 12, and then performs the above-described weld bead removal (height reduction) step (coarse grinding process) and welding.
- This is an embodiment in which a spot smoothing step (precision grinding process) is performed to remove the weld bead 13.
- a spot smoothing step precision grinding process
- it is inevitable that a slight step is generated between the surface 11S and the surface 12S.
- 9 shows an angle difference (inclination, ⁇ 1) in a direction orthogonal to the weld bead 13 between the surface 11S of the pillar member 11 and the surface 12S of the frame member 12 (FIG. 9C) and the extension direction of the weld bead 13.
- FIG. 9B The angle difference (inclination, ⁇ 2) (FIG. 9B) is drawn.
- the actual height difference between the surface 11S and the surface 12S is on the order of ⁇ m, and the drawing is exaggerated.
- the butt weld edge 11T of the pillar member 11 and the butt weld edge 12T of the frame member 12 have the same height position on the inner periphery (window opening) side.
- the second embodiment of the present invention shown in FIGS. 9 to 11 is different from the first embodiment mainly in the following points (1), (2), and (3).
- the upper edge of the pillar member 11 is formed with an upper edge (planar portion) 11F that is flush with the upper edge (planar portion) 12F of the frame member 12 (in the product state as the door frame 10).
- the protruding bead 13F protruding from the upper edge 12F and the upper edge 11F is also removed.
- a polishing finish (a matting process) is performed.
- the shaft 55 or (and) the rotation shaft 57X of the position control device 50 is used as a center so that the difference in angle between the work section belts 38X (the tip pressing planes of the rough cutting pressing pad 46 and the precision cutting pressing pad 47) is reduced.
- the belt grinding apparatus 30 is swung, and the rough grinding process (and the precision grinding process) is executed in the swung state.
- FIG. 9C the direction of the adjusted work section belt 38X in consideration of the angle difference ⁇ 1 is indicated by 38X ⁇ 1
- the direction of the adjusted work section belt 38X in consideration of the angle difference ⁇ 2 is indicated. It was indicated by 38X ⁇ 2.
- the work section belt 38X (rough cutting pressing pad 46) is inclined like 38X ⁇ 1 and 38X ⁇ 2 with respect to the surface 11S and the surface 12S.
- the amount of protrusion of the roughing pressing pad 46 is determined using the information on the height measurement points 14 of 11S and the surface 12S, and the rough grinding process is executed.
- the roughing pressing pad 46 is arranged so that the work section belt 38X reaches the lowest one of the four height measurement points 14 (surface). The amount of protrusion is set.
- the precision grinding process by the work section belt 38X and the precision cutting pressing pad 47 is performed in three stages as shown in FIG.
- the first precision grinding stage (P) is a process performed by moving the work section belt 38X and the precision grinding pressing pad 47 in the P direction along the (removed) weld bead 13 on the surfaces 11S and 12S.
- the second precision grinding stage (Q) is a process performed by moving the work section belt 38X and the precision grinding pressing pad 47 in the Q direction along the longitudinal direction of the pillar member 11, and the third precision grinding stage (R) is performed. This is a process performed by moving the work section belt 38X and the precision cutting pressing pad 47 in the R direction along the longitudinal direction of the frame member 12.
- the surface of the surface 11S and the surface 12S can be further smoothed by performing the precision grinding process in three stages.
- the work section belt 38X (and the pressing pad 47 for precision cutting) is executed while maintaining the angle in consideration of both the angles 38X ⁇ 1 and 38X ⁇ 2 in the first precision grinding step (P), and the second precision grinding step (Q ) Is performed while maintaining the angle 38X ⁇ 1, and the third precision grinding step (R) is performed while maintaining the angle 38X ⁇ 2.
- the external grinding process for removing the protruding beads 13F of the weld beads 13 is also performed.
- a line laser length measuring device capable of obtaining height information along a linear measurement line is used as a laser length measuring device.
- the plane position information in FIG. 9A of the measurement edge 14a and the measurement edge 14b on the edge 12F is obtained.
- the position control device 50 causes the angle (direction) D of the work section belt 38X (and the rough cutting pressing pad 46 or the precision cutting pressing pad 47) to be a line segment (planar plane) connecting the measurement edges 14a and 14b. ) And set to be parallel.
- the direction of the work section belt 38X after adjustment in consideration of the angle D is indicated by 38XP.
- the direction of the work section belt 38X is set and the belt grinding is carried out over the upper edge 12F and the upper edge 11F, the protruding beads 13F can be removed in parallel with the upper edge 12F and the upper edge 11F.
- FIG. 10 is a control block diagram of the second embodiment.
- the heights of the four height measurement points 14 on the surface 11S and the surface 12S around the weld bead 13 are measured (detected) to obtain the height.
- Calculation Y, angle difference calculations ⁇ 1, ⁇ 2, and angle calculation D are executed.
- the position control device 50 sets the direction of the work section belt 38X (and the rough cutting pressing pad 46 or the precision cutting pressing pad 47) of the belt grinding device 30, and the rough grinding processing 101 and the precision grinding processing ( P, Q, R) 102 and external grinding process 103 are executed.
- the pad pressing pressure and belt rotation speed in each process can be controlled arbitrarily (individually).
- the three stages of P, Q, and R in the precision grinding process may be performed under the same conditions or different conditions.
- FIG. 12 to FIG. 14 show the polishing finish (blanking process) performed after the belt grinding process with the above grinding belt 38 (work section belt 38X).
- FIG. 12 is a conceptual diagram of the polisher 80.
- the polisher 80 of this embodiment is a double action type that performs a rotational motion and an eccentric rotational motion, and is attached to a polisher body 81, an eccentric rotational shaft 82 protruding from the polisher body 81, and a tip of the eccentric rotational shaft 82.
- the polishing rotator 83 and the polished paper 84 attached (detached / replaced) to the polishing rotator 83 are provided.
- the eccentric rotation shaft 82 rotates around the rotation center 82X at the same time as it rotates about its axis.
- a polishing plane by the polishing rotating body 83 (polish paper 84) is set to 84P.
- a double action polisher a type that performs a rotational motion and a vibration motion (axial reciprocating motion) or a single action type that performs only a simple rotational motion is known, and either of these may be selected and used.
- the polisher 80 is supported by another support head plate 58 of the position control device 50 similarly to the belt grinding device 30, and can be directed in an arbitrary direction. Polishing of the surface 11S and the surface 12S with the simplest polisher 80 is performed by setting the rotation plane of the polishing rotating body 83 (polish paper 84) to be substantially parallel to the surface 11S and the surface 12S, and the surfaces of the butt weld edges 11T and 12T. Is a process of grinding. As shown in FIG. 13, the polishing finish preferably is performed along the longitudinal direction of the frame member 12 and the first erasing process for moving the surface 11S and the surface 12S in the Q direction along the longitudinal direction of the pillar member 11.
- a polishing flat surface 84P of the polishing rotating body 83 (polish paper 84) is set in parallel with the upper edge 12F and the upper edge 11F from which the protruding beads 13F are removed. , And a third erasing process for linearly moving in the S direction along the upper edge 12F and the upper edge 11F.
- the polishing diameter of the polishing rotator 83 (polish paper 84) is preferably sufficiently larger than the width of the pillar member 11 and the frame member 12.
- ⁇ 2 an angular difference
- the polishing rotator 83 (polish paper 84) of the polisher 80 is similar to the above-described grinding process.
- the direction of the polishing plane 84P may be controlled.
- FIG. 14 is a conceptual diagram of corner rounding processing that can be optionally performed.
- a polishing rotary body 83 (polish paper 84) of the polisher 80 is brought into contact with the edge E on the vehicle outer side of the upper edge 11F and the upper edge 12F and rotated while giving a swinging motion around the edge E, and further if necessary.
- the edge E is converted to R.
- the pillar member 11 and the frame member 12 of the door frame 10 are exemplified as the two welded members, and the present invention is applied to the corner welded portion, but the present invention is another welded two member. It can also be applied to.
- the method and apparatus for smoothing a welded member of the present invention can be widely applied to a technique for smoothing a welded portion of two welded members including a vehicle door frame.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
Description
計測ステップ
第1のステップでは、治具60のワーク収納凹部61にドアフレーム10を収納(セット)し、その状態で、位置制御装置50(基板方向(姿勢)変換装置31T)により、ベルト研削装置30(支持基板31)を回転軸57Xを中心に90゜回転させ、図4に示すように、レーザ測長ユニット40のレーザ測長器41と42からの測距光の出射方向をX方向に向ける。そして、このレーザ測長器41と42により、そのピラー部材11の突合せ溶接縁11Tとフレーム部材12の突合せ溶接縁12Tの溶接ビード13に沿う高さ(溶接ビード13にできるだけ近く溶接ビード13を含まない高さ、Y座標)を検出する。図1(C1)、(C2)、(C3)に誇張して示すように、ピラー部材11とフレーム部材12の溶接ビード13に沿う表面11Sと表面12Sの高さ(Y座標)にはバラツキがある。なお、実際の表面11Sと表面12Sの高さ(Y座標)はμmオーダである。図6(A)の符号14は、4つの測点を示している。レーザ測長器41と42のZ方向(及びX方向)への移動は位置制御装置50によって行う。
第2のステップは、溶接ビード13を除去するステップである。このステップでは、位置制御装置50(基板方向(姿勢)変換装置31T)により、ベルト研削装置30(支持基板31)を回転軸57Xを中心に90゜回転させ、図3に示すように、ベルト研削装置30の仕事区間ベルト38XをX方向に向ける。この溶接ビードの除去は、位置制御装置50によりベルト研削装置30を定位置に下降させて維持し、仕事区間ベルト38Xをドアフレーム10の表面11Sとフレーム部材12の表面12Sと平行に維持した上で、図6(B)に示すように、押付パッド機構45の粗削り用押付パッド46を溶接ビード13側に突き出して、走行している研削ベルト38を溶接ビード13に接触させて研削し除去する(溶接ビード13の高さを減じる)。研削ベルト38は、突合せ溶接縁11Tと突合せ溶接縁12T(表面11Sと表面12S)の間に形成されている溶接ビード13の全部を一度に除去するに十分な幅を有している。すなわち、図6(A)に示すように、研削ベルト38のZ方向の幅Wは、溶接ビード13のZ方向の長さwより大きく設定されている。押圧パッド46と47のZ方向の幅(径)も溶接ビードのZ方向の長さwより大きい。つまり、研削ベルト38の幅と押付パッド46の平面的な大きさは、溶接ビード13の方向を勘案して常にその全長をカバーする大きさに設定されている。この溶接ビード除去ステップでは、第1のステップにおけるドアフレーム10表面の最低高さ情報(Y座標)により、粗削り用押付パッド46のY方向への突出量が決定される。
第3のステップでは、図6(C)に示すように、押付パッド機構45のパッドを回転アクチュエータ43により粗削り用押付パッド46から精密削り用押付パッド47に切り換える。そして、研削ベルト38を走行させながら、ベルト研削装置30(仕事区間ベルト38X)をドアフレーム10の表面11Sと表面12Sに対して平行に移動させながら、この精密削り用押付パッド47をエアアクチュエータによりY方向に突出させて(必要によりそのY方向への突出量を変更しながら)、溶接ビード13の除去跡を含む突合せ溶接縁11Tと突合せ溶接縁12Tの表面11Sと表面12Sを平滑にする。この工程では、ビード除去ステップと同様に、駆動モータ32による研削ベルト38の走行速度、エア揺動アクチュエータ35による研削ベルト38の張力、エアアクチュエータによる粗削り用押付パッド46の突出圧力を含む研削条件を、タクトタイムが一定となるように変化させる。
(2)ピラー部材11の上端部には、フレーム部材12の上縁(平面部)12Fと(ドアフレーム10としての製品状態で)面一をなす上縁(平面部)11Fが形成されており、この上縁12Fと上縁11Fから突出する突出ビード13Fも除去する。
(3)溶接ビード13及び突出ビード13Fを除去した後、ポリッシュ仕上げ(目消し処理)を実行する。
11 ピラー部材(溶接された二部材)
12 フレーム部材(溶接された二部材)
11T 12T 突合せ溶接縁
11S 12S 表面
11F 12F 上縁(平面部)
13 溶接ビード
13F 突出ビード
14 高さ測定点
20 平滑化装置
30 ベルト研削装置
31 支持基板
32 駆動モータ
33 駆動プーリ
34 ガイドプーリ
35 エア揺動アクチュエータ
36 テンションプーリ
38 研削ベルト
38X 仕事区間ベルト
40 レーザ測長ユニット(測定装置)
41 42 レーザ測長器
45 押付パッド機構
46 押付パッド(粗削り用)
47 押付パッド(精密削り用)
43 回転アクチュエータ
50 位置制御装置
51 本体ベース
52 回転ベース
53 55 軸
54 第1アーム
56 第2アーム
57 回転台
57X 回転軸
58 支持ヘッド板
60 治具
61 ワーク収納凹部
62 部分浮上装置
63 軸
64 持ち上げクランク
64a 持ち上げ腕
64b 駆動腕
65 エアアクチュエータ
70 制御装置
80 ポリッシャー
81 ポリッシャー本体
82 偏心回転軸
83 研磨回転体
84 ポリッシュペーパ
100 計測ステップ
101 粗研削処理
102 精密研削処理
103 外形研削処理
Claims (18)
- 溶接した二つの溶接部材の溶接ビードを除去し、平滑化する方法であって、
エンドレスの研削ベルトと、該研削ベルトを上記溶接部分に押し付ける押付パッドとを有するベルト研削装置を準備するステップ;
上記溶接された二部材の表面の溶接ビードに沿う高さ位置を検出する測定ステップ;
上記測定ステップで検出した溶接された二部材表面の位高さ情報を用い、上記研削ベルトを走行させながら、該研削ベルトを上記押付パッドにより溶接箇所に押し付けて溶接ビードの高さを減じるビード除去ステップ;及び
上記研削ベルトを走行させ、溶接された二部材の表面に沿わせて移動させながら、該研削ベルトを上記押付パッドにより溶接箇所に押し付け、溶接箇所を平滑化する平滑化ステップ;
を有することを特徴とする溶接箇所の平滑化方法。 - 請求の範囲第1項記載の溶接箇所の平滑化方法において、上記測定ステップでは、溶接ビードに沿う両側においてそれぞれ複数点の高さ情報を得る溶接箇所の平滑化方法。
- 請求の範囲第1項または第2項記載の溶接箇所の平滑化方法において、さらに上記溶接ビードに直交する方向と沿う方向における、上記溶接された二部材の表面の角度差を検出するステップと、該角度検出ステップで検出した角度差に基づき、上記溶接された二部材の表面に対する上記研削ベルトと押付パッドの角度を調節するステップと、を含む溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第3項のいずれか1項記載の溶接箇所の平滑化方法において、上記溶接された二部材は、上記溶接ビードの延長方向の一端部から左右に延びる平面部を有しており、上記研削ベルト及び押付パッドによって該平面部から突出した突出溶接ビードを該平面部に沿って研削し除去するステップを含む溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第4項のいずれか1項記載の溶接箇所の平滑化方法において、上記溶接された二部材は溶接ビードの形成方向の一端部が低い非平坦部材であり、上記ビード除去ステップと上記平滑化ステップは、該溶接された二部材の低位部分を持ち上げて実行される溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第5項のいずれか1項記載の溶接箇所の平滑化方法において、上記ビード除去ステップで用いる押付パッドの硬さは、上記平滑化ステップで用いる押付パッドの硬さより硬い溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第6項のいずれか1項記載の溶接箇所の平滑化方法において、上記研削ベルトの幅及び押付パッドの平面的な大きさは、上記溶接ビードの全長をカバーする大きさに設定されている溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第7項のいずれか1項記載の溶接箇所の平滑化方法において、上記ビード除去ステップでは、溶接ビードが一定の時間内で除去されるように、上記研削ベルトの走行速度、張力、上記押付パッドの突出量及び突出力のいずれか1つ以上の研削条件を定める溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第8項のいずれか1項記載の溶接箇所の平滑化方法において、さらに、上記研削ベルトによる溶接ビードの除去ステップ及び平滑化ステップの後に、上記溶接ビードを除去した溶接された二部材の表面に対しポリッシャーによる目消し処理ステップを実行する溶接箇所の平滑化方法。
- 請求の範囲第9項記載の溶接箇所の平滑化方法において、上記溶接ビードに直交する方向と沿う方向における、上記溶接された二部材の表面の角度差を検出するステップと、該角度検出ステップにおいて検出した角度差に基づき、ポリシャーの角度を調節するステップを含む溶接箇所の平滑化方法。
- 請求の範囲第1項ないし第10項のいずれか1項記載の溶接箇所の平滑化方法において、上記溶接された二部材は、ドアフレームのピラー部材とフレーム部材である溶接箇所の平滑化方法。
- 溶接した二つの溶接部材の溶接ビードを除去し、平滑化する装置であって、
走行駆動されるエンドレスの研削ベルトと、該研削ベルトを上記溶接部分に押し付ける押付パッドとを有するベルト研削装置;
上記溶接ビードを有する溶接された二部材をセットする治具;
上記治具にセットされた溶接された二部材の溶接ビードに沿う表面の高さ位置を測定する測定装置;
上記治具に対して上記ベルト研削装置を移動させる位置制御装置;及び
上記ベルト研削装置、測定装置及び位置制御装置を制御する制御手段;を備え、
上記制御手段は、上記測定装置で検出した二つの溶接部材表面の高さ情報を用い、上記研削ベルトを走行させながら、該研削ベルトを上記押付パッドにより溶接箇所に押し付けて溶接ビードの高さを減じ、次いで、上記研削ベルトを走行させ、溶接された二部材の表面に沿わせて移動させながら、該研削ベルトを上記押付パッドにより溶接箇所に押し付け、溶接箇所を平滑化することを特徴とする溶接部分の平滑化装置。 - 請求の範囲第12項記載の溶接箇所の平滑化装置において、上記測定装置は、さらに、上記溶接ビードに直交する方向と沿う方向における、上記溶接された二部材の表面の角度差を検出し、上記制御手段は、該二部材表面の角度差に基づき、上記溶接された二部材の表面に対する上記研削ベルトと押付パッドの角度を調節する溶接箇所の平滑化装置。
- 請求の範囲第12項または第13項記載の溶接箇所の平滑化装置において、上記溶接された二部材は、上記溶接ビードの延長方向の一端部から左右に延びる平面部を有しており、上記制御手段は、上記研削ベルト及び押付パッドにより上記平面部から突出した突出溶接ビードを該平面部に沿って研削し除去する溶接箇所の平滑化装置。
- 請求の範囲第12項ないし第14項のいずれか1項記載の溶接箇所の平滑化装置において、上記溶接された二部材は溶接ビードの形成方向の一端部が低い非平坦部材であり、上記治具は、該溶接された二部材の低位部分を持ち上げる部分浮上装置を備えている溶接箇所の平滑化装置。
- 請求の範囲第12項ないし第15項のいずれか1項記載の溶接箇所の平滑化装置において、上記ベルト研削装置は、上記ビード除去工程と上記平滑化工程において、用いる押付パッドを切り替える押付パッド機構を備えている溶接箇所の平滑化装置。
- 請求の範囲第12項ないし第16項のいずれか1項記載の溶接箇所の平滑化装置において、さらに、上記ベルト研削装置とは別に、上記溶接ビードを除去した溶接された二部材の表面の目消し処理をするポリッシャーを備えている溶接箇所の平滑化装置。
- 請求の範囲第17項記載の溶接箇所の平滑化装置において、上記ポリッシャーは、上記溶接ビードに直交する方向と沿う方向における、上記溶接された二部材の表面の角度差に基づき、ポリシャーの角度を調節可能である溶接箇所の平滑化装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014516833A JP5650357B2 (ja) | 2012-05-25 | 2013-05-22 | 溶接部材の平滑化方法及び平滑化装置 |
US14/403,300 US9266211B2 (en) | 2012-05-25 | 2013-05-22 | Method and apparatus for smoothing welded member |
CN201380026710.5A CN104349867B (zh) | 2012-05-25 | 2013-05-22 | 焊接部件的平滑化方法以及平滑化装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012119237 | 2012-05-25 | ||
JP2012-119237 | 2012-05-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013176187A1 true WO2013176187A1 (ja) | 2013-11-28 |
Family
ID=49623872
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/064255 WO2013176187A1 (ja) | 2012-05-25 | 2013-05-22 | 溶接部材の平滑化方法及び平滑化装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9266211B2 (ja) |
JP (1) | JP5650357B2 (ja) |
CN (1) | CN104349867B (ja) |
WO (1) | WO2013176187A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101857771B1 (ko) * | 2016-06-16 | 2018-05-15 | (주)극동기계 | 자동화시스템용 벨트형 버핑 공구 |
KR20190054523A (ko) * | 2017-11-13 | 2019-05-22 | 주식회사 케이씨텍 | 웨이퍼 연마 시스템 |
JP2019155541A (ja) * | 2018-03-14 | 2019-09-19 | アミテック株式会社 | ベルトサンダー機 |
CN113618347A (zh) * | 2021-09-08 | 2021-11-09 | 徐久东 | 一种汽车底盘加工方法 |
CN117600976A (zh) * | 2024-01-16 | 2024-02-27 | 湖南湘洋铝业有限公司 | 一种铝合金型材表面处理装置及工艺 |
JP7464430B2 (ja) | 2020-04-03 | 2024-04-09 | 株式会社Subaru | 溶接部の良否判定方法及び溶接部の良否判定装置 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013176187A1 (ja) * | 2012-05-25 | 2013-11-28 | シロキ工業株式会社 | 溶接部材の平滑化方法及び平滑化装置 |
CN105068286B (zh) * | 2015-09-10 | 2019-06-14 | 京东方科技集团股份有限公司 | 一种彩膜基板涂布装置及涂布方法 |
CN105234769B (zh) * | 2015-11-16 | 2017-09-29 | 中国石油集团渤海石油装备制造有限公司 | 一种钢管内焊缝焊瘤磨削设备 |
KR101865726B1 (ko) * | 2016-05-04 | 2018-06-08 | 현대자동차 주식회사 | 루프 레이저 브레이징 시스템용 브레이징 후 공정 툴 |
CN206998602U (zh) * | 2017-07-03 | 2018-02-13 | 广州蓝圣智能科技有限公司 | 门框玻璃导槽撬开机构 |
CN111745504B (zh) * | 2020-05-20 | 2022-06-21 | 深圳市裕展精密科技有限公司 | 打磨机构、打磨装置及打磨方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0289001U (ja) * | 1988-12-27 | 1990-07-13 | ||
JPH06759A (ja) * | 1992-06-18 | 1994-01-11 | Shimura:Kk | 枠状部材のコーナー部研磨用プロフィールサンダ |
JP2000052211A (ja) * | 1998-07-31 | 2000-02-22 | Toshiba Mach Co Ltd | 溶接ビードの余盛除去方法及びその装置 |
JP2000061778A (ja) * | 1998-08-21 | 2000-02-29 | Okayama Pref Gov Shin Gijutsu Shinko Zaidan | 溶接部位仕上げ方法及び装置 |
JP2000288789A (ja) * | 1999-04-06 | 2000-10-17 | Hitachi Constr Mach Co Ltd | 溶接ビード研削装置 |
JP2006198710A (ja) * | 2005-01-19 | 2006-08-03 | Daido Steel Co Ltd | 溶接材の研磨方法、それに用いる研磨装置 |
JP2008173762A (ja) * | 2007-01-18 | 2008-07-31 | Snecma | 加工用エンドレスベルトを使用するロボット式工作機械 |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3429079A (en) * | 1965-06-08 | 1969-02-25 | Vaughn H Winebarger | Sanding platen |
US4084356A (en) * | 1976-06-01 | 1978-04-18 | Macmillan Bloedel Limited | Method of finishing a random contoured surface |
US4219720A (en) * | 1978-07-06 | 1980-08-26 | Steigerwald Strahltechnik Gmbh | Energy beam welding with filler material |
US4353236A (en) * | 1980-12-03 | 1982-10-12 | Byrd Philip G | Machine for flattening the internal bead of welded tubing |
JPS58109263A (ja) | 1981-12-23 | 1983-06-29 | Shimura Tekkosho:Kk | 木工用プロフイルサンダ |
US4602732A (en) * | 1984-10-03 | 1986-07-29 | Black & Decker, Inc. | Method of sealing an aluminum cover to a drip coffeemaker hot water generator aluminum casting |
JPS6422467A (en) * | 1987-07-20 | 1989-01-25 | Nippon Kokan Kk | Automatic arc welding method |
US5303514A (en) | 1988-12-27 | 1994-04-19 | Sumikin Osaka Plant Engineering Co., Ltd. | Rail grinding apparatus |
US5386665A (en) * | 1992-09-28 | 1995-02-07 | Clupak, Inc. | Automated/remote control apparatus and method for grinding rubber belts used to compact paper and other web material |
DE19739895C2 (de) * | 1997-09-11 | 2001-02-22 | Gerhard Ziemek | Verfahren und Vorrichtung zum Entfernen der Oxidhaut an Metallbändern |
US6375556B1 (en) * | 1998-09-08 | 2002-04-23 | Fritz L. Wenger | Grinding apparatus for grinding workpieces |
JP2002307268A (ja) * | 2001-04-19 | 2002-10-23 | Toyoda Mach Works Ltd | 測定装置を用いた工作物の偏心円筒部の加工方法及び加工装置 |
JP3711095B2 (ja) * | 2002-07-30 | 2005-10-26 | 日東工器株式会社 | ベルト式研削工具 |
CN2758003Y (zh) * | 2004-12-23 | 2006-02-15 | 严瑞其 | 不锈钢焊管内外焊缝在线整平装置 |
CN2799153Y (zh) * | 2005-01-27 | 2006-07-26 | 吕海辉 | 一种焊管焊缝整平设备 |
CN1850446A (zh) * | 2006-05-18 | 2006-10-25 | 上海理工大学附属二厂 | 钢轨焊缝数控精磨机及应用方法 |
TWM319119U (en) * | 2007-02-02 | 2007-09-21 | Double Dynasty Co Ltd | Direction adjustable device of front guard for grinding machine |
CN100537137C (zh) * | 2007-04-09 | 2009-09-09 | 杭州肯莱特传动工业有限公司 | 一种v型胶带磨边整形机 |
CN201055971Y (zh) * | 2007-05-08 | 2008-05-07 | 重庆三磨海达磨床有限公司 | 龙门磨锉机床 |
CN201664864U (zh) * | 2009-12-11 | 2010-12-08 | 河北华油钢管设计研究院有限公司 | 直缝焊管外焊缝磨削机 |
CN201693434U (zh) * | 2010-05-18 | 2011-01-05 | 李洪彬 | 钢轨砂带打磨机 |
JP5620721B2 (ja) | 2010-06-18 | 2014-11-05 | シロキ工業株式会社 | 車両ドアフレーム及びその製造方法 |
WO2012162242A1 (en) * | 2011-05-20 | 2012-11-29 | Shaw Industries Group, Inc. | Pattern sander device, system and method |
WO2013176187A1 (ja) * | 2012-05-25 | 2013-11-28 | シロキ工業株式会社 | 溶接部材の平滑化方法及び平滑化装置 |
-
2013
- 2013-05-22 WO PCT/JP2013/064255 patent/WO2013176187A1/ja active Application Filing
- 2013-05-22 US US14/403,300 patent/US9266211B2/en active Active
- 2013-05-22 JP JP2014516833A patent/JP5650357B2/ja active Active
- 2013-05-22 CN CN201380026710.5A patent/CN104349867B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0289001U (ja) * | 1988-12-27 | 1990-07-13 | ||
JPH06759A (ja) * | 1992-06-18 | 1994-01-11 | Shimura:Kk | 枠状部材のコーナー部研磨用プロフィールサンダ |
JP2000052211A (ja) * | 1998-07-31 | 2000-02-22 | Toshiba Mach Co Ltd | 溶接ビードの余盛除去方法及びその装置 |
JP2000061778A (ja) * | 1998-08-21 | 2000-02-29 | Okayama Pref Gov Shin Gijutsu Shinko Zaidan | 溶接部位仕上げ方法及び装置 |
JP2000288789A (ja) * | 1999-04-06 | 2000-10-17 | Hitachi Constr Mach Co Ltd | 溶接ビード研削装置 |
JP2006198710A (ja) * | 2005-01-19 | 2006-08-03 | Daido Steel Co Ltd | 溶接材の研磨方法、それに用いる研磨装置 |
JP2008173762A (ja) * | 2007-01-18 | 2008-07-31 | Snecma | 加工用エンドレスベルトを使用するロボット式工作機械 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101857771B1 (ko) * | 2016-06-16 | 2018-05-15 | (주)극동기계 | 자동화시스템용 벨트형 버핑 공구 |
KR20190054523A (ko) * | 2017-11-13 | 2019-05-22 | 주식회사 케이씨텍 | 웨이퍼 연마 시스템 |
KR102483003B1 (ko) | 2017-11-13 | 2022-12-30 | 주식회사 케이씨텍 | 웨이퍼 연마 시스템 |
JP2019155541A (ja) * | 2018-03-14 | 2019-09-19 | アミテック株式会社 | ベルトサンダー機 |
JP7464430B2 (ja) | 2020-04-03 | 2024-04-09 | 株式会社Subaru | 溶接部の良否判定方法及び溶接部の良否判定装置 |
CN113618347A (zh) * | 2021-09-08 | 2021-11-09 | 徐久东 | 一种汽车底盘加工方法 |
CN117600976A (zh) * | 2024-01-16 | 2024-02-27 | 湖南湘洋铝业有限公司 | 一种铝合金型材表面处理装置及工艺 |
Also Published As
Publication number | Publication date |
---|---|
CN104349867A (zh) | 2015-02-11 |
US9266211B2 (en) | 2016-02-23 |
JPWO2013176187A1 (ja) | 2016-01-14 |
US20150111471A1 (en) | 2015-04-23 |
JP5650357B2 (ja) | 2015-01-07 |
CN104349867B (zh) | 2016-09-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5650357B2 (ja) | 溶接部材の平滑化方法及び平滑化装置 | |
US7171735B2 (en) | Shape member manufacturing apparatus and shape member manufacturing method | |
TWI681842B (zh) | 研磨裝置及其控制方法、以及修整條件輸出方法 | |
KR102414685B1 (ko) | 금속가공물의 버 제거장치 | |
US9011208B2 (en) | Dual-spindle grinder | |
KR20190019333A (ko) | 배관 용접부 그라인딩 장치 | |
JP4560071B2 (ja) | 形材加工方法 | |
JP5456550B2 (ja) | レンズ加工装置 | |
JP6453228B2 (ja) | 研磨工具、研磨方法および研磨装置 | |
JP6899182B2 (ja) | 研磨装置 | |
TWI580522B (zh) | 拋光設備 | |
JP2006516933A (ja) | 研磨装置 | |
JPH08336746A (ja) | ガラス板の数値制御研削機械 | |
JP5093650B2 (ja) | 研磨装置及び研磨方法 | |
CN210998194U (zh) | 导轮修整装置 | |
CN210188855U (zh) | 多轴焊接装置 | |
JP6813406B2 (ja) | 門型工作機械 | |
TWI722458B (zh) | 多軸焊接裝置及焊頭高度補償方法 | |
JP7405563B2 (ja) | クリープフィード研削方法及び研削装置 | |
JPH0683254U (ja) | 溶接余盛の自動研削装置 | |
CN114310536B (zh) | 一种拼接浴缸接缝打磨方法及打磨装置 | |
JP2022014898A (ja) | 自走式疵取り装置および疵取り方法、ならびに金属板の製造方法 | |
JP2006159309A (ja) | 研磨装置 | |
JP3004433U (ja) | プロフィールサンダ | |
JP2003103463A (ja) | 高速研削盤 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2014516833 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13793573 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14403300 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13793573 Country of ref document: EP Kind code of ref document: A1 |