JP7435519B2 - Grinding device and method for manufacturing ground products using the same - Google Patents

Grinding device and method for manufacturing ground products using the same Download PDF

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JP7435519B2
JP7435519B2 JP2021054145A JP2021054145A JP7435519B2 JP 7435519 B2 JP7435519 B2 JP 7435519B2 JP 2021054145 A JP2021054145 A JP 2021054145A JP 2021054145 A JP2021054145 A JP 2021054145A JP 7435519 B2 JP7435519 B2 JP 7435519B2
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健太 枡田
成人 佐々木
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JFE Steel Corp
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Description

本発明は、研削装置及びそれを用いた研削加工品の製造方法に関する。 The present invention relates to a grinding device and a method for manufacturing a ground product using the same.

砥石や研磨布紙等からなる研削部材（例えば特許文献１参照）を支持する支持ヘッドを有し、支持ヘッドによって研削部材を鋼板、鋼管等のワークに押し付けてワークを研削する研削装置が知られている。 A grinding device is known that has a support head that supports a grinding member made of a grindstone, coated abrasive paper, etc. (see, for example, Patent Document 1), and that uses the support head to press the grinding member against a workpiece such as a steel plate or steel pipe to grind the workpiece. ing.

特開平６－１５５３１４号公報Japanese Patent Application Publication No. 6-155314

研削時に研削部材がワークに片当たりしていると、被加工面が片削り状態になるため、研削加工精度が低下する。このため、片当たりができるだけ抑制されるように研削加工前にワークの被加工面に対する支持ヘッド全体の傾斜角度をアライメント調整機構を介して調整することが一般的に行われている。しかし、ワーク毎に被加工面の傾斜角度がばらついていたり、ワークの被加工面内でも傾斜角度が不均一であったりする場合もあり、被加工面の傾斜角度が変わるたびにアライメント調整を実施することは非効率的であった。 If the grinding member contacts the workpiece unevenly during grinding, the surface to be machined becomes unevenly ground, resulting in a decrease in grinding accuracy. For this reason, in order to suppress uneven contact as much as possible, it is common practice to adjust the inclination angle of the entire support head with respect to the surface to be processed of the workpiece using an alignment adjustment mechanism before grinding. However, the inclination angle of the workpiece surface may vary depending on the workpiece, or the inclination angle may be uneven within the workpiece surface, so alignment adjustment is performed every time the inclination angle of the workpiece surface changes. It was inefficient to do so.

そこで、本発明は、片削りを効率的に抑制し、もって効率的な研削加工を可能にすることができる、研削装置及びそれを用いた研削加工品の製造方法を提供することを目的とする。 Therefore, an object of the present invention is to provide a grinding device and a method for manufacturing a ground product using the same, which can efficiently suppress chipping and thereby enable efficient grinding. .

本発明の要旨は次の通りである。 The gist of the invention is as follows.

１．ワークの被加工面を研削する研削面を備える研削部材と、
前記研削部材の前記研削面と前記ワークの前記被加工面とが互いに押し付けられることで平行に近づくように前記研削部材を傾動可能に支持する支持ヘッドと、
を有する、研削装置。 1. a grinding member having a grinding surface for grinding a processed surface of a workpiece;
a support head that tiltably supports the grinding member so that the grinding surface of the grinding member and the processed surface of the workpiece are pressed against each other and become parallel to each other;
A grinding device with.

２．前記研削部材が前記ワークからの反力によって傾動する、前記１．に記載の研削装置。 2. 1 above, wherein the grinding member is tilted by a reaction force from the workpiece. The grinding device described in .

３．前記支持ヘッドが、ベースと、前記研削部材を保持するホルダと、前記ホルダを前記ベースに回動可能に連結する回動連結部材と、を有する、前記１．又は２．に記載の研削装置。 3. 1. wherein the support head has a base, a holder that holds the grinding member, and a rotational connection member that rotatably connects the holder to the base. Or 2. The grinding device described in .

４．前記回動連結部材を介した前記研削部材の傾動を規制する規制部材を有する、前記３．に記載の研削装置。 4. Item 3 above, further comprising a regulating member that regulates tilting of the grinding member via the rotation connecting member. The grinding device described in .

５．前記規制部材が、前記研削部材を前記回動連結部材を介して所定位置に向けて傾動させる付勢部材を有する、前記４．に記載の研削装置。 5. Item 4 above, wherein the regulating member includes an urging member that tilts the grinding member toward a predetermined position via the rotational connection member. The grinding device described in .

６．前記回動連結部材が前記ホルダを前記ベースに回動軸線に沿って延びる軸部材を介して回動可能に連結する、前記３．～５．の何れか１項に記載の研削装置。 6. 3. The rotational connection member rotatably connects the holder to the base via a shaft member extending along a rotation axis. ~5. The grinding device according to any one of the above.

７．前記回動軸線が前記研削部材から見て前記ワークの反対側に位置する、前記６．に記載の研削装置。 7. 6. The rotation axis is located on the opposite side of the workpiece when viewed from the grinding member. The grinding device described in .

８．前記回動軸線が前記研削部材を通る、前記６．に記載の研削装置。 8. 6. The rotation axis passes through the grinding member. The grinding device described in .

９．前記研削部材が、回転によって前記ワークを研削する外周面を有する、前記１．～８．の何れか１項に記載の研削装置。 9. 1. wherein the grinding member has an outer circumferential surface that grinds the workpiece by rotation; ~8. The grinding device according to any one of the above.

１０．前記１．～９．の何れか１項に記載の研削装置を用いて前記研削部材の前記研削面と前記ワークの前記被加工面とが互いに押し付けられることで平行に近づくように前記研削部材を傾動させながら前記ワークを研削する工程を有する、研削加工品の製造方法。 10. Said 1. ~9. Using the grinding device according to any one of the above, the workpiece is tilted while the grinding member is tilted so that the grinding surface of the grinding member and the processed surface of the workpiece are pressed against each other and become parallel to each other. A method for manufacturing a ground product, which includes a grinding process.

本発明によれば、片削りを効率的に抑制し、もって効率的な研削加工を可能にすることができる、研削装置及びそれを用いた研削加工品の製造方法を提供することができる。 According to the present invention, it is possible to provide a grinding device and a method for manufacturing a ground product using the same, which can efficiently suppress chipping and thereby enable efficient grinding.

本発明の第１実施形態に係る研削装置を示す外観図である。1 is an external view showing a grinding device according to a first embodiment of the present invention. 本発明の第２実施形態に係る研削装置の回動連結部材を示す平面図である。It is a top view which shows the rotation connection member of the grinding device based on 2nd Embodiment of this invention. 図２Ａに示す回動連結部材の斜視図である。FIG. 2B is a perspective view of the pivoting connection member shown in FIG. 2A. 本発明の第３実施形態に係る研削装置を示す外観図である。It is an external view showing the grinding device concerning a 3rd embodiment of the present invention. 図３に示す研削装置の一部を９０°異なる角度から見た時の外観図である。FIG. 4 is an external view of a part of the grinding device shown in FIG. 3 when viewed from a 90° different angle. 図３に示す研削装置の研削部材の被加工面への押し付け開始時の状態を示す外観図である。FIG. 4 is an external view showing the state of the grinding device shown in FIG. 3 when the grinding member starts to be pressed against the workpiece surface. 図５Ａに示す状態から押し付けを完了した時の状態を示す外観図である。5A is an external view showing a state when pressing is completed from the state shown in FIG. 5A. FIG. 比較例としての研削装置を示す外観図である。FIG. 3 is an external view showing a grinding device as a comparative example. 実施例としての図３に示す研削装置を用いて作成した被加工面を示す外観図である。FIG. 4 is an external view showing a processed surface created using the grinding apparatus shown in FIG. 3 as an example. 比較例に対する実施例の片削り抑制効果を示す実験データであり、横軸をパス回数、縦軸を被加工面の研削幅として示すグラフである。This is experimental data showing the effect of suppressing chipping of the example in comparison with the comparative example, and is a graph in which the horizontal axis represents the number of passes and the vertical axis represents the grinding width of the processed surface. 比較例に対する実施例の片削り抑制効果を示す実験データであり、横軸を研削幅方向位置、縦軸を研削深さとして示すグラフである。This is experimental data showing the effect of suppressing chipping of the example in comparison with the comparative example, and is a graph in which the horizontal axis represents the position in the width direction of grinding, and the vertical axis represents the grinding depth.

以下、図面を参照して、本発明の実施形態について例示説明する。なお、図１中において、前後方向をＸ方向、Ｘ方向に垂直な方向（左右方向）をＹ方向、Ｘ方向及びＹ方向に垂直な方向（上下方向）をＺ方向とする。 Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, the front-rear direction is the X direction, the direction perpendicular to the X direction (left-right direction) is the Y direction, and the direction perpendicular to the X and Y directions (up-down direction) is the Z direction.

図１に示すように、本発明の第１実施形態に係る研削装置１は、平板状の鋼材であるワーク２（被加工材）を研削することにより、研削加工品として表面が研削加工された鋼板を製造する装置である。なおワーク２は平板状に限らず例えば、湾曲板状であってもよいし、管状であってもよい。またワーク２は鋼製に限らず例えば、鋼以外の金属製等であってもよい。 As shown in FIG. 1, the grinding device 1 according to the first embodiment of the present invention grinds a workpiece 2 (workpiece), which is a flat steel material, so that the surface of the grinding product is ground. This is equipment that manufactures steel plates. Note that the workpiece 2 is not limited to a flat plate shape, and may be, for example, a curved plate shape or a tubular shape. Moreover, the workpiece 2 is not limited to steel, and may be made of metal other than steel, for example.

研削装置１は、研削部材４と支持ヘッド５とで構成される研削ヘッド３を有している。 The grinding device 1 has a grinding head 3 composed of a grinding member 4 and a support head 5.

研削部材４は例えば砥石からなる砥石車で構成され、図１中のＹ方向に延びる回転軸線Ｏを中心に回転することで円柱面状の外周面によってワーク２を研削することができる。つまり、研削部材４は、回転によってワーク２を研削する外周面で構成される研削面４ａを有している。研削部材４は図示しないアクチュエータを含む駆動装置６により、回転軸線Ｏに沿って延びる回転軸７を介して回転駆動される。回転軸７は、回転軸線Ｏに沿う方向（以下、説明の便宜上、左右方向ともいう）において研削部材４からその両側に突出する２つの突出部７ａを有している。なお、研削部材４の研削面４ａを構成する外周面は、図示するように周方向（或いはＺ方向）に向けて直線状に延びる直線形帯状をなしているが、これに限らず例えば、周方向に向けて左右に蛇行して延びる波形帯状をなしていてもよい。 The grinding member 4 is composed of a grinding wheel, for example, and can grind the workpiece 2 with its cylindrical outer circumferential surface by rotating around a rotation axis O extending in the Y direction in FIG. That is, the grinding member 4 has a grinding surface 4a formed of an outer circumferential surface that grinds the workpiece 2 by rotation. The grinding member 4 is rotationally driven via a rotation shaft 7 extending along a rotation axis O by a drive device 6 including an actuator (not shown). The rotation shaft 7 has two protrusions 7a that protrude from the grinding member 4 on both sides in a direction along the rotation axis O (hereinafter also referred to as a left-right direction for convenience of explanation). Note that the outer circumferential surface constituting the grinding surface 4a of the grinding member 4 has a linear band shape extending linearly in the circumferential direction (or Z direction) as shown in the figure, but is not limited to this, for example, It may be in the form of a wavy band extending in a meandering manner from side to side in the direction.

支持ヘッド５は、ベース８と、研削部材４を回転軸７を介して保持するホルダ９と、ホルダ９をベース８に回動可能に連結する回動連結部材１０と、を有している。 The support head 5 includes a base 8, a holder 9 that holds the grinding member 4 via a rotating shaft 7, and a rotational connection member 10 that rotatably connects the holder 9 to the base 8.

ベース８は、支持部材１１と、アクチュエータ１２と、図１中にＺ方向に延びる両方向矢印で示すようにアクチュエータ１２によって支持部材１１に対して被加工面２ａに向かう方向である押し付け方向とその反対方向（以下、説明の便宜上、押し付け方向を下方ともいい、その反対方向を上方ともいう）に直線的に相対移動させられる可動部材１３と、を有している。つまり可動部材１３はアクチュエータ１２によってワーク２に対して相対的に上下方向に沿って平行移動することができる。なお押し付け方向は例えば鉛直下方である。支持部材１１は、アクチュエータ１２を支持するとともに図示しないヘッド移動装置に取り付けられており、ヘッド移動装置を介して押し付け方向に垂直な任意の方向に移動可能である。ヘッド移動装置は、押し付け方向に垂直な第１方向（例えば、Ｘ方向とＹ方向の一方）に支持部材１１を平行移動させる第１並進機構と、押し付け方向と第１方向の両方に垂直な第２方向（例えば、Ｘ方向とＹ方向の他方）に支持部材１１を平行移動させる第２並進機構と、を有する構成であってよい。なお、ヘッド移動装置はこれに限らず、例えばロボットアームで構成してもよい。ベース８全体の傾斜角度は、押し付け方向がワーク２の被加工面２ａに略垂直となるように図示しないアライメント調整機構を介して適宜調整される。 The base 8 is supported by a support member 11, an actuator 12, and a pressing direction in which the actuator 12 presses the support member 11 toward the workpiece surface 2a and vice versa, as shown by the double-headed arrow extending in the Z direction in FIG. It has a movable member 13 that can be relatively moved linearly in a direction (hereinafter, for convenience of explanation, the pressing direction is also referred to as downward, and the opposite direction is also referred to as upward). That is, the movable member 13 can be moved in parallel in the vertical direction relative to the workpiece 2 by the actuator 12. Note that the pressing direction is, for example, vertically downward. The support member 11 supports the actuator 12 and is attached to a head moving device (not shown), and is movable in any direction perpendicular to the pressing direction via the head moving device. The head moving device includes a first translation mechanism that translates the support member 11 in a first direction perpendicular to the pressing direction (for example, one of the X direction and the Y direction), and a first translation mechanism that is perpendicular to both the pressing direction and the first direction. The configuration may include a second translation mechanism that moves the support member 11 in parallel in two directions (for example, the other of the X direction and the Y direction). Note that the head moving device is not limited to this, and may be configured with a robot arm, for example. The inclination angle of the entire base 8 is appropriately adjusted via an alignment adjustment mechanism (not shown) so that the pressing direction is substantially perpendicular to the processed surface 2a of the workpiece 2.

ホルダ９は、回転軸７の２つの突出部７ａを軸受け部を介して回転可能に支持する左右方向（Ｙ方向）に垂直な平板状の２つの側方部材９ａと、これらの側方部材９ａの上端を一体に連結する上下方向（Ｚ方向）に垂直な平板状の上方部材９ｂと、を有している。一方の側方部材９ａは左右方向の一方側から研削部材４に対向するとともに一方の突出部７ａを支持し、他方の側方部材９ａは左右方向の他方側から研削部材４に対向するとともに他方の突出部７ａを支持している。上方部材９ｂは上方側から研削部材４に対向するとともに可動部材１３よりも下方に位置している。なお、側方部材９ａは必ずしも研削部材４の左右方向両側に設けられている必要はなく、研削部材４の片側のみ（例えば駆動装置６が設けられている側のみ）に設けられていてもよい。 The holder 9 includes two side members 9a in the form of a flat plate perpendicular to the left-right direction (Y direction) that rotatably supports the two protrusions 7a of the rotating shaft 7 via bearings, and these side members 9a. It has a flat plate-shaped upper member 9b perpendicular to the up-down direction (Z direction) that integrally connects the upper ends. One side member 9a faces the grinding member 4 from one side in the left-right direction and supports one protrusion 7a, and the other side member 9a faces the grinding member 4 from the other side in the left-right direction and supports the other protrusion 7a. The protrusion 7a is supported. The upper member 9b faces the grinding member 4 from above and is located below the movable member 13. Note that the side members 9a do not necessarily need to be provided on both sides of the grinding member 4 in the left-right direction, and may be provided only on one side of the grinding member 4 (for example, only on the side where the drive device 6 is provided). .

回動連結部材１０は、上下方向（押し付け方向に沿う方向）と左右方向（回転軸線Ｏに沿う方向）との両方に垂直な回動軸線Ｐ（図１中のＸ方向に延びる軸線）に沿って延びる軸部材である回動軸１４を介して上方部材９ｂを可動部材１３に回動可能に連結している。したがって、ホルダ９とホルダ９に保持された研削部材４とは、回動軸線Ｐを中心にワーク２の被加工面２ａに対して傾動することができる。 The rotation connecting member 10 is arranged along a rotation axis P (an axis extending in the X direction in FIG. 1) that is perpendicular to both the vertical direction (direction along the pressing direction) and the horizontal direction (direction along the rotation axis O). The upper member 9b is rotatably connected to the movable member 13 via a rotation shaft 14 that is a shaft member that extends. Therefore, the holder 9 and the grinding member 4 held by the holder 9 can tilt relative to the processed surface 2a of the workpiece 2 about the rotation axis P.

また、回動連結部材１０は、回動連結部材１０を介した研削部材４の傾動を規制する規制部材として、所定位置に向けて研削部材４を回動連結部材１０を介して傾動させる付勢部材１５を有している。付勢部材１５は回動軸線Ｐの左右方向両側に設けられた２つの引張ばねで構成されている。所定位置は、回転軸線Ｏが押し付け方向、すなわち上下方向（Ｚ方向）に垂直となる中立位置にできるだけ近いことが好ましく、本実施形態では中立位置とされている。規制部材を設けることにより、被加工面２ａへの研削部材４の非押し付け時に前後方向（或いは回動軸線Ｐ）に垂直な面内において研削面４ａを被加工面２ａに略平行に保つことができる。 The rotational connection member 10 also functions as a regulating member that restricts the tilting of the grinding member 4 via the rotation connection member 10, and serves as an urging member that tilts the grinding member 4 toward a predetermined position via the rotation connection member 10. It has a member 15. The biasing member 15 is composed of two tension springs provided on both sides of the rotation axis P in the left-right direction. The predetermined position is preferably as close as possible to a neutral position where the rotation axis O is perpendicular to the pressing direction, that is, the up-down direction (Z direction), and in this embodiment, it is set as the neutral position. By providing the regulating member, it is possible to keep the grinding surface 4a approximately parallel to the workpiece surface 2a in a plane perpendicular to the front-rear direction (or the rotation axis P) when the grinding member 4 is not pressed against the workpiece surface 2a. can.

駆動装置６、アクチュエータ１２及びヘッド移動装置は、図示しないコンピュータで構成される制御装置によって統合制御される。制御装置により、研削部材４が回転状態でワーク２の被加工面２ａ（板厚方向の一方側の面）にアクチュエータ１２を介して例えば位置制御又は力制御によって押し付けられ、研削ヘッド３が被加工面２ａを研削しながらヘッド移動装置を介して上下方向に垂直な方向（例えば、左右方向及び前後方向）に所定の経路に沿って走査させられる。走査は例えば一定速度で行われる。 The drive device 6, the actuator 12, and the head moving device are integrally controlled by a control device including a computer (not shown). The control device presses the grinding member 4 in a rotating state against the workpiece surface 2a (one side in the thickness direction) of the workpiece 2 via the actuator 12, for example, by position control or force control, and the grinding head 3 While grinding the surface 2a, it is scanned along a predetermined path in a direction perpendicular to the up-down direction (eg, left-right direction and front-back direction) via a head moving device. Scanning is performed, for example, at a constant speed.

なお、第１実施形態では上述したように回動連結部材１０の付勢部材１５は回動軸線Ｐの左右方向両側に位置する２つの引張ばねで構成されているが、付勢部材１５は図２Ａ～図２Ｂに示す第２実施形態のように、回動軸線Ｐの左右方向両側に位置する部分を含むゴム製等の塊状の弾性部材で構成してもよい。弾性部材は図示するように２つの部分からなっていてもよいし、これらの２つの部分が一体に連なった１つの部分からなっていてもよい。また、塊状でなく圧縮コイルばね状などの弾性部材を用いてもよい。付勢部材１５に代えてオイルダンパ等のダンパ部材を規制部材として設けてもよい。第２実施形態では回動軸１４は前後方向に分離した２つの部分からなっている。また、これらの部分により、前後方向に分離した２つのヒンジ１６が構成されている（図２Ａ～図２Ｂでは１つのヒンジ１６のみ図示）。 In addition, in the first embodiment, as described above, the biasing member 15 of the rotational connection member 10 is composed of two tension springs located on both sides of the rotational axis P in the left-right direction. As in the second embodiment shown in FIGS. 2A and 2B, it may be constructed of a block-like elastic member made of rubber or the like, including portions located on both sides of the rotation axis P in the left-right direction. The elastic member may consist of two parts as shown in the figure, or it may consist of one part in which these two parts are continuous. Furthermore, an elastic member such as a compressed coil spring may be used instead of a block shape. Instead of the biasing member 15, a damper member such as an oil damper may be provided as a regulating member. In the second embodiment, the rotation shaft 14 consists of two parts separated in the front and back direction. Further, these parts constitute two hinges 16 separated in the front-rear direction (only one hinge 16 is shown in FIGS. 2A and 2B).

また、第１実施形態では回動軸線Ｐは研削部材４から見てワーク２の反対側に位置しており、これにより、回動軸線Ｐは研削部材４よりも上方に位置している。しかし、図３～図５Ｂに示す第３実施形態の場合のように、回動軸線Ｐは研削部材４を通り、これにより、研削部材４の上端と同じ高さ又はそれより下方に位置していてもよい。 Further, in the first embodiment, the rotation axis P is located on the opposite side of the workpiece 2 when viewed from the grinding member 4, and thus the rotation axis P is located above the grinding member 4. However, as in the case of the third embodiment shown in FIGS. 3 to 5B, the pivot axis P passes through the grinding member 4 and is thereby located at the same height as or below the upper end of the grinding member 4. It's okay.

第３実施形態では、ホルダ９は、前後方向（Ｘ方向）に垂直な平板状の２つの対向部材９ｃを有している。一方の対向部材９ｃは前後方向の一方側から研削部材４に対向し、他方の対向部材９ｃは前後方向の他方側から研削部材４に対向している。２つの対向部材９ｃの上端は上方部材９ｂによって一体に連結されている。また、可動部材１３は、前後方向に垂直な平板状の２つの支持壁１３ａと、これらの支持壁１３ａの上端を一体に連結する上下方向（Ｚ方向）に垂直な平板状の天壁１３ｂと、を有している。天壁１３ｂは上方部材９ｂに上方から対向し、２つの支持壁１３ａの間には２つの対向部材９ｃが位置している。また、回動軸１４は研削部材４の前後方向両側に位置する２つの部分（以下、部分軸１４ａともいう）からなっている。また、これらの部分軸１４ａにより、前後方向に分離した２つのヒンジ１６が構成されている。研削部材４に対して前後方向の一方側に位置する部分軸１４ａ、対向部材９ｃ及び支持壁１３ａによって一方のヒンジ１６が構成され、研削部材４に対して前後方向の他方側に位置する部分軸１４ａ、対向部材９ｃ及び支持壁１３ａによって他方のヒンジ１６が構成されている。 In the third embodiment, the holder 9 has two flat plate-shaped opposing members 9c that are perpendicular to the front-rear direction (X direction). One opposing member 9c faces the grinding member 4 from one side in the front-rear direction, and the other opposing member 9c faces the grinding member 4 from the other side in the front-rear direction. The upper ends of the two opposing members 9c are integrally connected by an upper member 9b. Furthermore, the movable member 13 includes two flat support walls 13a perpendicular to the front-rear direction, and a flat top wall 13b perpendicular to the up-down direction (Z direction) that integrally connects the upper ends of these support walls 13a. ,have. The ceiling wall 13b faces the upper member 9b from above, and two opposing members 9c are located between the two supporting walls 13a. Further, the rotation shaft 14 is composed of two parts (hereinafter also referred to as partial shafts 14a) located on both sides of the grinding member 4 in the front and back direction. Further, these partial shafts 14a constitute two hinges 16 separated in the front-rear direction. One hinge 16 is constituted by a partial shaft 14a located on one side in the front-back direction with respect to the grinding member 4, the opposing member 9c, and the support wall 13a, and a partial shaft located on the other side in the front-back direction with respect to the grinding member 4. 14a, the opposing member 9c, and the support wall 13a constitute the other hinge 16.

上方部材９ｂと天壁１３ｂとの間には規制部材として、回動軸線Ｐの左右方向両側に位置する部分を含むゴム製等の塊状の弾性部材で構成される付勢部材１５が設けられている。 Between the upper member 9b and the top wall 13b, a biasing member 15 made of a block-like elastic member made of rubber or the like and including portions located on both sides of the rotation axis P in the left-right direction is provided as a regulating member. There is.

図５Ａに示すように、研削加工時に前後方向（或いは回動軸線Ｐ）に垂直な面内においてワーク２の被加工面２ａが研削面４ａに対して傾斜している（つまり押し付け方向に垂直でない）場合、研削部材４が被加工面２ａに押し付けられる時に被加工面２ａから受ける反力Ｆは、研削部材４を回動軸線Ｐを中心に研削面４ａとワーク２の被加工面２ａとが平行に近づくように傾動させる、すなわち片当たりを抑制する方向に傾動させる回転モーメントを生じさせる。そしてこの回転モーメントにより、図５Ｂ中に白抜き矢印で示すように、付勢部材１５の付勢力に抗して研削部材４がホルダ９とともに回動軸１４を介して傾動させられる。このように、研削部材４の研削面４ａとワーク２の被加工面２ａとが互いに押し付けられることで平行に近づくように研削部材４を回動連結部材１０を介して傾動、すなわち、被加工面２ａからの反力Ｆによって研削部材４を受動的に傾動させながら研削ヘッド３を走査させて研削加工を行うことにより、片削りを効率的に抑制し、もって効率的な研削加工を可能にすることができる。 As shown in FIG. 5A, during grinding, the workpiece surface 2a of the workpiece 2 is inclined with respect to the grinding surface 4a in a plane perpendicular to the front-rear direction (or the rotational axis P) (that is, it is not perpendicular to the pressing direction). ), the reaction force F received from the workpiece surface 2a when the grinding member 4 is pressed against the workpiece surface 2a causes the grinding member 4 to rotate around the rotation axis P between the grinding surface 4a and the workpiece surface 2a of the workpiece 2. A rotational moment is generated to tilt the shaft so that it approaches parallelism, that is, to tilt it in a direction that suppresses uneven contact. Due to this rotational moment, the grinding member 4 is tilted together with the holder 9 via the rotation shaft 14 against the urging force of the urging member 15, as shown by the white arrow in FIG. 5B. In this way, the grinding member 4 is tilted via the rotary connection member 10 so that the grinding surface 4a of the grinding member 4 and the surface to be processed 2a of the workpiece 2 are pressed against each other and become parallel to each other, that is, the surface to be processed is By performing grinding by scanning the grinding head 3 while passively tilting the grinding member 4 by the reaction force F from 2a, chipping is efficiently suppressed, thereby enabling efficient grinding. be able to.

このように片削りを抑制できる点は第１、第２実施形態においても第３実施形態の場合と同様であるが、第３実施形態では回動軸線Ｐが研削部材４を通る構成とされており、それにより回動軸線Ｐがより下方に位置していることから、傾動時の研削面４ａの左右方向へのずれ幅がより小さいため、研削部材４が被加工面２ａの傾斜角度の変化に対してよりスムーズに追従して傾動することができるので、片削りをより効率的に抑制することができる。なお、回動軸線Ｐは回転軸線Ｏと同じ高さ又はそれより下方に位置することが好ましい。 In the first and second embodiments, chipping can be suppressed in the same way as in the third embodiment, but in the third embodiment, the rotation axis P passes through the grinding member 4. As a result, since the rotational axis P is located further downward, the deviation width of the grinding surface 4a in the left-right direction during tilting is smaller, so that the grinding member 4 can change the inclination angle of the workpiece surface 2a. Since the tip can be tilted more smoothly following the tip, it is possible to more efficiently suppress chipping. Note that the rotation axis P is preferably located at the same height as the rotation axis O or below it.

被加工面２ａがどちらに傾いている場合でも片削りを抑制できるようにする観点から、回動軸線Ｐは研削面４ａの幅範囲内（研削面４ａの右端よりも左側で且つ研削面４ａの左端よりも右側）に位置することが好ましい。すなわち、回動軸線Ｐが研削部材４の上端と同じ高さ又はそれより下方に位置している場合は第３実施形態のように回動軸線Ｐが研削部材４を通ることが好ましく、回動軸線Ｐが研削部材４の上端より上方に位置している場合は第１、第２実施形態のように回動軸線Ｐが研削部材４から見てワーク２の反対側に位置することが好ましい。 From the perspective of suppressing chipping no matter which direction the workpiece surface 2a is inclined, the rotation axis P is within the width range of the grinding surface 4a (to the left of the right end of the grinding surface 4a and It is preferable to be located on the right side of the left end. That is, when the rotation axis P is located at the same height as the upper end of the grinding member 4 or below it, it is preferable that the rotation axis P passes through the grinding member 4 as in the third embodiment, and the rotation When the axis P is located above the upper end of the grinding member 4, it is preferable that the rotation axis P is located on the opposite side of the workpiece 2 when viewed from the grinding member 4, as in the first and second embodiments.

また、研削時に研削面４ａから被加工面２ａに作用する荷重をより均一化し、それにより片削りをより抑制する観点から、回動軸線Ｐは研削面４ａの幅範囲の中央のできるだけ近くに位置することが好ましい。 In addition, from the viewpoint of making the load acting from the grinding surface 4a to the workpiece surface 2a more uniform during grinding and thereby further suppressing chipping, the rotation axis P is positioned as close as possible to the center of the width range of the grinding surface 4a. It is preferable to do so.

上述したように、第１～第３実施形態のいずれかの研削装置１を用いて、研削部材４の研削面４ａとワーク２の被加工面２ａとが互いに押し付けられることで平行に近づくように研削部材４を傾動させながらワーク２を研削する工程を経ることにより、片削りを効率的に抑制し、もって効率的な研削加工を可能にすることができる。 As described above, using the grinding device 1 of any of the first to third embodiments, the grinding surface 4a of the grinding member 4 and the processed surface 2a of the workpiece 2 are pressed against each other so that they become parallel to each other. By performing the step of grinding the workpiece 2 while tilting the grinding member 4, it is possible to efficiently suppress chipping, thereby enabling efficient grinding.

本発明は前記実施形態に限定されず、その要旨を逸脱しない限り種々変更可能である。 The present invention is not limited to the embodiments described above, and can be modified in various ways without departing from the gist thereof.

したがって、前記実施形態の研削装置１及びそれを用いた研削加工品の製造方法は、例えば以下に述べるような種々の変更が可能である。 Therefore, the grinding device 1 of the embodiment and the method of manufacturing a ground product using the same can be modified in various ways, such as those described below.

前記実施形態の研削装置１は、ワーク２の被加工面２ａを研削する研削面４ａを備える研削部材４と、研削部材４の研削面４ａとワーク２の被加工面２ａとが互いに押し付けられることで平行に近づくように研削部材４を傾動可能に支持する支持ヘッド５と、を有する限り、種々変更可能である。 The grinding device 1 of the embodiment includes a grinding member 4 having a grinding surface 4a for grinding a processed surface 2a of the work 2, and a grinding surface 4a of the grinding member 4 and the processed surface 2a of the work 2 being pressed against each other. Various modifications are possible as long as the support head 5 tiltably supports the grinding member 4 so as to be nearly parallel to each other.

例えば、研削部材４は、上下方向（Ｚ方向）に沿って延びる回転軸線Ｏを中心に回転するとともに回転軸線Ｏに垂直な平面状の研削面４ａを有する型式であってもよいし、ベルト状の研削材を複数のローラで駆動する型式であってもよい。また、研削部材の材質や形状についても、全体が砥石から構成されているものであってもよいし、砥粒が接着された研磨布紙を回転軸線Ｏに沿う方向に複数積層したディスクホイールタイプのものや、砥粒が接着された研磨布紙を回転軸線Ｏを中心に周方向に複数並べて固定（つまり、放射状に複数配置し固定）したフラップホイールタイプのものであってもよい。 For example, the grinding member 4 may be of a type that rotates around a rotation axis O extending in the vertical direction (Z direction) and has a planar grinding surface 4a perpendicular to the rotation axis O, or may be of a belt-like type. The abrasive material may be driven by a plurality of rollers. Regarding the material and shape of the grinding member, it may be made entirely of a grindstone, or it may be a disc wheel type in which a plurality of coated abrasive papers to which abrasive grains are bonded are laminated in the direction along the rotation axis O. Alternatively, it may be a flap wheel type in which a plurality of coated abrasive papers to which abrasive grains are adhered are arranged and fixed circumferentially around the rotation axis O (that is, a plurality of them are arranged and fixed radially).

なお、研削装置１は、研削部材４がワーク２からの反力によって傾動することが好ましい。 In addition, in the grinding device 1, it is preferable that the grinding member 4 is tilted by a reaction force from the workpiece 2.

また、研削装置１は、支持ヘッド５が、ベース８と、研削部材４を保持するホルダ９と、ホルダ９をベース８に回動可能に連結する回動連結部材１０と、を有することが好ましい。 Further, in the grinding device 1, it is preferable that the support head 5 has a base 8, a holder 9 that holds the grinding member 4, and a rotation connecting member 10 that rotatably connects the holder 9 to the base 8. .

例えば、回動連結部材１０は、玉継手等の自在継手であってもよいし、ゴム製等の塊状の弾性部材であってもよい。 For example, the rotation connecting member 10 may be a universal joint such as a ball joint, or may be a block-like elastic member made of rubber or the like.

また、研削装置１は、回動連結部材１０を介した研削部材４の傾動を規制する規制部材を有することが好ましい。 Further, it is preferable that the grinding device 1 includes a regulating member that regulates the tilting movement of the grinding member 4 via the rotational connection member 10.

また、研削装置１は、規制部材が、研削部材４を回動連結部材１０を介して所定位置に向けて傾動させる付勢部材１５を有することが好ましい。 Further, in the grinding device 1, it is preferable that the regulating member includes an urging member 15 that tilts the grinding member 4 toward a predetermined position via the rotational connection member 10.

また、研削装置１は、回動連結部材１０がホルダ９をベース８に回動軸線Ｐに沿って延びる軸部材を介して回動可能に連結することが好ましい。 Further, in the grinding device 1, it is preferable that the rotation connecting member 10 rotatably connects the holder 9 to the base 8 via a shaft member extending along the rotation axis P.

また、研削装置１は、回動軸線Ｐが研削部材４から見てワーク２の反対側に位置することが好ましい。 Further, in the grinding device 1, it is preferable that the rotation axis P is located on the opposite side of the workpiece 2 when viewed from the grinding member 4.

また、研削装置１は、回動軸線Ｐが研削部材４を通ることが好ましい。 Further, in the grinding device 1, it is preferable that the rotation axis P passes through the grinding member 4.

また、研削装置１は、研削部材４が、回転によってワーク２を研削する外周面を有することが好ましい。 Further, in the grinding device 1, it is preferable that the grinding member 4 has an outer circumferential surface that grinds the workpiece 2 by rotation.

前記実施形態の研削加工品の製造方法は、研削装置１を用いて研削部材４の研削面４ａとワーク２の被加工面２ａとが互いに押し付けられることで平行に近づくように研削部材４を傾動させながらワーク２を研削する工程を有する限り、種々変更可能である。 The method for manufacturing a ground product according to the embodiment includes tilting the grinding member 4 using the grinding device 1 so that the grinding surface 4a of the grinding member 4 and the processed surface 2a of the workpiece 2 become parallel to each other by being pressed against each other. Various modifications are possible as long as the process includes the step of grinding the workpiece 2 while grinding.

本発明の実施例として第３実施形態の研削装置を用い、図６に示す比較例としての研削装置を用いた場合に対する片削り抑制効果を評価した。その評価は、図７にハッチングで示す研削痕の長手方向中央の研削幅Ｗとそのプロファイルで行った。比較例は、可動部材を回動連結部材を介さずにホルダに一体に連結した点以外は実施例と同じ構成とした。実施例、比較例ともに同一条件で研削痕を作成した。具体的には、引張強度５９０ＭＰａ級、板厚１０ｍｍの平板状の鋼板の板厚方向の一方側の表面を、研削部材として直径３００ｍｍ、幅１００ｍｍの砥石車を用いて研削し、長手方向に１０００ｍｍの長さとなる帯状の研削痕を作成した。その際、アクチュエータを押し付け荷重が４０Ｎとなるように、また駆動装置を研削部材の回転速度が３０００ｒｐｍとなるように、またヘッド移動装置を研削ヘッドが前後方向に沿って１０ｍｍ／ｓで移動するように制御装置に設定し、作動させた。 The grinding device of the third embodiment was used as an example of the present invention, and the effect of suppressing chipping was evaluated when using the grinding device as a comparative example shown in FIG. The evaluation was performed using the grinding width W at the center in the longitudinal direction of the grinding mark shown by hatching in FIG. 7 and its profile. The comparative example had the same configuration as the example except that the movable member was integrally connected to the holder without using a rotational connecting member. Grinding marks were created under the same conditions in both Examples and Comparative Examples. Specifically, one surface in the thickness direction of a flat steel plate with a tensile strength of 590 MPa class and a plate thickness of 10 mm was ground using a grinding wheel with a diameter of 300 mm and a width of 100 mm as a grinding member, and the surface was ground by 1000 mm in the longitudinal direction. A strip-shaped grinding mark with a length of was created. At that time, the actuator was pressed so that the load was 40 N, the drive device was set so that the rotation speed of the grinding member was 3000 rpm, and the head moving device was set so that the grinding head moved at 10 mm/s in the front-rear direction. was set in the control device and activated.

実施例と比較例とで同じ方向に同じ場所を繰り返し研削し、研削回数（以下、パス回数ともいう）毎に研削幅Ｗを測定した。その際、実施例、比較例ともに、分解能０．１度のデジタル勾配計の測定値が被加工面と回転軸とで同一となるようにアライメント調整機構を介してアライメントを精密調整した。また、比較例では、目視でアライメントを荒調整した場合の測定も行った。その結果を図８に示す。 The same location was repeatedly ground in the same direction in the example and the comparative example, and the grinding width W was measured for each number of times of grinding (hereinafter also referred to as number of passes). At that time, in both Examples and Comparative Examples, the alignment was precisely adjusted via an alignment adjustment mechanism so that the measured values of the digital gradiometer with a resolution of 0.1 degree were the same on the workpiece surface and the rotation axis. In addition, in the comparative example, measurements were also performed when the alignment was roughly adjusted visually. The results are shown in FIG.

実施例では１パス目から比較例（精密調整）に比べて顕著に研削幅が広がり、３パス目ですでに研削部材の略全幅で研削できていることが分かる。一方、比較例（精密調整）では全てのパス回数において実施例の結果を下回り、６パス目でも研削部材の全幅の６０％程度までしか到達しなかった。また、比較例（精密調整）と比較例（荒調整）との結果を比較すると、幅１００ｍｍの研削部材をできるだけ幅広に被加工面に接触させて研削するためには極めて精密なアライメント調整が必要であることが分かる。 It can be seen that in the example, the grinding width is noticeably wider from the first pass compared to the comparative example (precision adjustment), and that substantially the entire width of the grinding member can already be ground by the third pass. On the other hand, in the comparative example (precision adjustment), the results were lower than those of the example in all the passes, and even in the sixth pass, only about 60% of the total width of the grinding member was reached. In addition, when comparing the results of the comparative example (fine adjustment) and the comparative example (rough adjustment), extremely precise alignment adjustment is required in order to grind the 100 mm wide grinding member in contact with the workpiece surface as wide as possible. It turns out that it is.

また、実施例と比較例（精密調整）との４パス目での研削断面プロファイルを図９に示す。図９から分かるように、比較例では幅方向に研削深さが不均一であるのに対し、実施例では幅方向に略全幅にわたって研削深さが均一となっている。 Further, FIG. 9 shows the grinding cross-sectional profiles in the fourth pass of the example and the comparative example (precision adjustment). As can be seen from FIG. 9, in the comparative example, the grinding depth is non-uniform in the width direction, whereas in the example, the grinding depth is uniform across substantially the entire width in the width direction.

以上の評価結果から、実施例によれば顕著な片削り抑制効果を得られることが確認された。 From the above evaluation results, it was confirmed that according to the examples, a remarkable effect of suppressing chipping can be obtained.

１ 研削装置
２ ワーク
２ａ 被加工面
３ 研削ヘッド
４ 研削部材
４ａ 研削面
５ 支持ヘッド
６ 駆動装置
７ 回転軸
７ａ 突出部
８ ベース
９ ホルダ
９ａ 側方部材
９ｂ 上方部材
９ｃ 対向部材
１０ 回動連結部材
１１ 支持部材
１２ アクチュエータ
１３ 可動部材
１３ａ 支持壁
１３ｂ 天壁
１４ 回動軸
１４ａ 部分軸
１５ 付勢部材
１６ ヒンジ
Ｆ 反力
Ｏ 回転軸線
Ｐ 回動軸線
Ｗ 研削幅 1 Grinding device 2 Workpiece 2a Processed surface 3 Grinding head 4 Grinding member 4a Grinding surface 5 Support head 6 Drive device 7 Rotating shaft 7a Projection part 8 Base 9 Holder 9a Side member 9b Upper member 9c Opposing member 10 Rotation connecting member 11 Support member 12 Actuator 13 Movable member 13a Support wall 13b Top wall 14 Rotation shaft 14a Partial shaft 15 Biasing member 16 Hinge F Reaction force O Rotation axis P Rotation axis W Grinding width

Claims (7)

回転によってワークの被加工面を研削する研削面を備え且つ回転軸を介して回転駆動される研削部材と、
前記研削部材の前記研削面と前記ワークの前記被加工面とが互いに押し付けられることで平行に近づくように前記研削部材を傾動可能に支持する支持ヘッドと、
を有し、
前記支持ヘッドが、ベースと、前記研削部材を前記回転軸を介して保持するホルダと、前記ホルダを前記ベースに前記研削部材を通る回動軸線に沿って延びる軸部材を介して回動可能に連結する回動連結部材と、を有する、研削装置。 a grinding member that is provided with a grinding surface that grinds the processed surface of the workpiece by rotation and is rotationally driven via a rotation shaft ;
a support head that tiltably supports the grinding member so that the grinding surface of the grinding member and the processed surface of the workpiece are pressed against each other and become parallel to each other;
has
The support head is rotatable via a base, a holder that holds the grinding member via the rotation shaft, and a shaft member that connects the holder to the base and extends along a rotation axis passing through the grinding member. A grinding device comprising: a rotary connecting member for connecting . 前記研削部材が前記ワークからの反力によって傾動する、請求項１に記載の研削装置。 The grinding device according to claim 1, wherein the grinding member is tilted by a reaction force from the workpiece. 前記回動連結部材を介した前記研削部材の傾動を規制する規制部材を有する、請求項１又は２に記載の研削装置。 The grinding device according to claim 1 or 2 , further comprising a regulating member that regulates tilting of the grinding member via the rotational connection member. 前記規制部材が、前記研削部材を前記回動連結部材を介して所定位置に向けて傾動させる付勢部材を有する、請求項３に記載の研削装置。 The grinding device according to claim 3 , wherein the regulating member includes an urging member that tilts the grinding member toward a predetermined position via the rotational connection member. 前記研削部材が、回転によって前記ワークを研削する外周面を有する、請求項１～４の何れか１項に記載の研削装置。 The grinding device according to any one of claims 1 to 4 , wherein the grinding member has an outer peripheral surface that grinds the workpiece by rotation. 前記回動軸線が前記回転軸より下方に位置する、請求項１～５の何れか１項に記載の研削装置。 The grinding device according to any one of claims 1 to 5, wherein the rotation axis is located below the rotation axis. 請求項１～６の何れか１項に記載の研削装置を用いて前記研削部材の前記研削面と前記ワークの前記被加工面とが互いに押し付けられることで平行に近づくように前記研削部材を傾動させながら前記ワークを研削する工程を有する、研削加工品の製造方法。 The grinding device according to any one of claims 1 to 6 is used to tilt the grinding member so that the grinding surface of the grinding member and the processed surface of the workpiece become parallel to each other by being pressed against each other. A method for manufacturing a ground product, comprising the step of grinding the workpiece while grinding the workpiece.
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