JPH09131655A - Automatic grinder device - Google Patents
Automatic grinder deviceInfo
- Publication number
- JPH09131655A JPH09131655A JP30968695A JP30968695A JPH09131655A JP H09131655 A JPH09131655 A JP H09131655A JP 30968695 A JP30968695 A JP 30968695A JP 30968695 A JP30968695 A JP 30968695A JP H09131655 A JPH09131655 A JP H09131655A
- Authority
- JP
- Japan
- Prior art keywords
- grinding
- grindstone
- grinder
- slide
- load cell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、鉄鋼製品の溶接継
手の余盛部の研削仕上げに適用される自動グラインダ装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grinder device applied to finish grinding of a welded joint of a steel product by welding.
【０００２】[0002]
【従来の技術】従来研削作業は作業姿勢、砥石の研削面
への当て方、動かし方さらに押付力や押付方向の微妙な
調整等熟練作業者のノウハウに頼り自動化が進んでおら
ず、平面や円筒内面等一部単純な研磨作業について研磨
工具をマニプレータや治具に搭載して行っていた。2. Description of the Related Art Conventionally, in the grinding work, automation has not progressed depending on the work posture, how to apply the grindstone to the grinding surface, how to move it, and delicate adjustment of the pressing force and the pressing direction. For some simple polishing work such as the inner surface of a cylinder, the polishing tool was mounted on a manipulator or jig.
【０００３】又押付力を制御する方法として電気グライ
ンダのモータ電流の変化を利用したものやばねを利用し
たものがある。Further, as a method of controlling the pressing force, there are a method utilizing a change in motor current of an electric grinder and a method utilizing a spring.
【０００４】[0004]
【発明が解決しようとする課題】ところで近年熟練作業
者が減っている一方、危険、きたない等の劣悪な作業い
わゆる３Ｋ作業対策のためにも研削作業の自動化が必要
となっている。By the way, while the number of skilled workers has decreased in recent years, automation of grinding work is required also for countermeasures against so-called 3K work, which is dangerous work such as danger and messy work.
【０００５】また前述のような従来の研削作業では、作
業者によって研削面の仕上り状態、精度が異なり均一な
研削面が得られない不具合がある。Further, in the above-described conventional grinding work, there is a problem that a uniform ground surface cannot be obtained depending on the finish state and accuracy of the ground surface depending on the operator.
【０００６】また、砥石の研削面への当て方、動かし
方、さらに押付力及び押付方向の微妙な調整等熟練作業
者のノウハウが有り、同じ条件を再現することが困難で
あると云う不具合もある。Further, there is a problem that it is difficult to reproduce the same condition because there is know-how of a skilled worker such as how to apply the grindstone to the grinding surface, how to move it, and delicate adjustment of pressing force and pressing direction. is there.
【０００７】そのため、従来から、押し付け力を検知し
自動的に一定の力になる様にモータによって押し付け軸
を移動、あるいはばね力により自動押し付け力制御をす
る機構を持った装置も開発されて来た。Therefore, conventionally, a device having a mechanism for detecting the pressing force and moving the pressing shaft by a motor so as to automatically obtain a constant force or automatically controlling the pressing force by a spring force has been developed. It was
【０００８】しかしながらこれらは、モータの振動その
ものを、押し付け力を検知するセンサ又はばねで拾って
しまいうまく制御が行えなかった。However, these cannot control well because the vibration of the motor itself is picked up by a sensor or a spring for detecting the pressing force.
【０００９】さらに研削面の左右の片減りや凹凸等が生
じていても押付力を一定にするだけであるため、是正さ
れることなく、そのまま最後まで同じ状態で研削され、
均一な面に仕上げることができない不具合を有してい
た。Further, even if unevenness or unevenness on the left and right of the ground surface is generated, the pressing force is only made constant, so that it is ground in the same state as it is without being corrected,
There was a problem that it could not be finished to a uniform surface.
【００１０】また、研削中に研削前の形状あるいは研削
後の形状の情報を得て研削条件を種々変更することが出
来ない不具合もある。Further, there is also a problem that the grinding conditions cannot be variously changed by obtaining information on the shape before grinding or the shape after grinding during grinding.
【００１１】また、従来の装置では砥石の研削面への当
て角度の調整が手動式による半固定で、研削中での変更
が不可能な為、特に長時間の場合、砥石の目つぶれや目
づまりが生じ、砥石の寿命や研削面に対して悪影響を及
ぼしていた。Further, in the conventional apparatus, the contact angle of the grindstone with respect to the grinding surface is manually fixed semi-fixed and cannot be changed during grinding. Clogs were generated, which adversely affected the life of the grindstone and the grinding surface.
【００１２】さらに、砥石の研削面への当て方、姿勢を
変えた場合、押し付け力を検知するセンサ又はばねの位
置も変わり、装置が専用化されていたので、汎用性がな
かった。Further, when the method of applying the grindstone to the grinding surface or the posture is changed, the position of the sensor or the spring for detecting the pressing force is also changed, and the device is dedicated, so that it is not versatile.
【００１３】本発明は上記従来装置の各不具合点を解消
し、研削作業の全自動化を図り、工数の低減と、均一な
研削面の確保による仕上がり精度、品質の向上を図った
新たな自動グラインダ装置を提供することを目的として
いる。The present invention eliminates the above-mentioned problems of the conventional apparatus, fully automates the grinding work, reduces the man-hours, and improves the finishing accuracy and quality by ensuring a uniform ground surface. The purpose is to provide a device.
【００１４】[0014]
【課題を解決するための手段】前記目的を達成するため
の構成として本発明の自動グラインダ装置は、鉄鋼製品
の側面に位置する溶接継手の余盛部を砥石により研削し
仕上げを行う自動グラインダ装置において、砥石を取り
付けたグラインダを横向き姿勢とし研削方向に対して左
右に移動し位置決めする左右スライド機構と、それらを
搭載し、研削方向に対して砥石の先端を支点にして前後
に傾斜させ砥石を任意の角度で研削面に当てる前後傾斜
スライド機構と、該機構を片持ちにて支持する旋回機構
と、該旋回機構の軸心を中心として天秤式に前後対称に
設け砥石の押付時の荷重を検出するロードセルと、これ
らを砥石の押付方向に移動し位置決めする出入機構と、
これらを搭載し、溶接線方向と平行に設けた軌道上を研
削しながら前後に移動する走行機構と、防振ゴムを介し
てグラインダの前方に設け研削量制御及び位置決め制御
を行うために溶接継手余盛部の光切断線画像を得るため
のレーザスリット光源及びＣＣＤカメラと、研削時の火
花、粉塵からＣＣＤカメラを保護し火花の外乱光を除去
する遮へいシート及びエアーノズルにより構成すること
を特徴としている。As an arrangement for achieving the above object, an automatic grinder apparatus according to the present invention is an automatic grinder apparatus for finishing a welded joint located on a side surface of a steel product by grinding with a grindstone. In the above, the left and right slide mechanisms that move the grinder with the grindstone in a horizontal position and move to the left and right with respect to the grinding direction and position them are mounted, and the grindstone is tilted back and forth with the tip of the grindstone as the fulcrum in the grinding direction. A front-back tilt slide mechanism that is applied to the grinding surface at an arbitrary angle, a swivel mechanism that supports the mechanism in a cantilevered manner, and a balance type front-rear symmetry centered on the axis of the swivel mechanism to load the wheel when pressing. A load cell to detect, and an in / out mechanism that moves and positions them in the pressing direction of the grindstone,
A traveling mechanism that is equipped with these and moves forward and backward while grinding on an orbit provided parallel to the welding line direction, and a welding joint that is provided in front of the grinder via a vibration-proof rubber to control the grinding amount and positioning. It is composed of a laser slit light source and a CCD camera for obtaining a light cut line image of the extra portion, a shield sheet and an air nozzle that protect the CCD camera from sparks and dust during grinding and remove ambient light of sparks. I am trying.
【００１５】[0015]
【発明の実施の形態】以下本発明の最良と思われる実施
の形態の１例につき図面により説明する。BEST MODE FOR CARRYING OUT THE INVENTION An example of the best mode for carrying out the present invention will be described below with reference to the drawings.
【００１６】図１は本発明の自動グラインダ装置の正面
図、図２は本装置の側面図、図３は本装置の平面図を示
す。FIG. 1 is a front view of the automatic grinder apparatus of the present invention, FIG. 2 is a side view of the apparatus, and FIG. 3 is a plan view of the apparatus.
【００１７】これらの図において、砥石１を取り付けた
グラインダ２を横向きにして垂直に設けた電動モータ３
で駆動される左右スライド４に搭載している。In these figures, an electric motor 3 having a grinder 2 having a grindstone 1 mounted sideways and provided vertically.
It is mounted on the left and right slides 4 driven by.
【００１８】そして、この左右スライド４により溶接継
手余盛部幅方向の位置決め制御を行う。Then, the left and right slides 4 perform positioning control in the width direction of the welded joint excess portion.
【００１９】この時、グラインダ２はメンテナンス等の
際容易に着脱可能なように上方よりはめ込み式で２ケ所
のクランプレバーで固定している。At this time, the grinder 2 is fixed from above by two clamp levers so that it can be easily attached and detached for maintenance or the like.
【００２０】そして該グラインダ２を電動モータ６で駆
動し、砥石１の先端を支点として円弧状に移動し任意の
傾斜角度の姿勢にする水平に設けた前後傾斜スライド７
に搭載している。Then, the grinder 2 is driven by an electric motor 6 to move horizontally in a circular arc shape with the tip of the grindstone 1 as a fulcrum to make a posture of an arbitrary inclination angle.
It is installed in.
【００２１】前後傾斜スライド７の裏面は、回転可能な
軸受８の可動部と取り合っており、これにより前後傾斜
スライド７等は軸受８を中心に旋回可能となっている。The back surface of the front-rear tilt slide 7 is in contact with the movable part of the rotatable bearing 8 so that the front-rear tilt slide 7 and the like can rotate about the bearing 8.
【００２２】さらに軸受８の可動部には当て座９が設け
てありまた軸受８の固定部には当て座９と対抗してロー
ドセル１０を設けており、押しボルト１１によりロード
セル１０を当て座９に接触させ若干押し当て固定してい
る。Further, a bearing seat 9 is provided on the movable portion of the bearing 8, and a load cell 10 is provided on the fixed portion of the bearing 8 so as to oppose the bearing seat 9, and the load cell 10 is attached to the bearing seat 9 by a push bolt 11. It is fixed by pressing it slightly against.
【００２３】これらは、電動モータ１２で駆動される被
研削物１３に向かって水平に設けた出入スライド１４上
に搭載し、さらにこれを大まかな位置決めのための手動
の位置決めスライド１５上に搭載している。These are mounted on an in / out slide 14 provided horizontally toward the object 13 to be driven driven by the electric motor 12, and further mounted on a manual positioning slide 15 for rough positioning. ing.
【００２４】出入スライド１４を出方向に移動して砥石
１を被研削物１３に押し当てていくと軸受８の可動部に
回転力が働き当て座９がロードセル１０に押し付けられ
荷重が掛かり、これを押し付け力として検出する。When the inward / outward slide 14 is moved in the outward direction and the grindstone 1 is pressed against the object to be ground 13, a rotating force acts on the movable part of the bearing 8 to press the contact seat 9 against the load cell 10 to apply a load. Is detected as the pressing force.
【００２５】この出入スライド１４の移動速度及び位置
決め制御を行うことで、研削面の凹凸に押し付け力一定
で倣い、あるいは研削量を制御する。By controlling the moving speed and the positioning of the slide-in / out slide 14, the unevenness of the grinding surface is copied with a constant pressing force, or the grinding amount is controlled.
【００２６】次にこれらは電動モータ１６で駆動される
水平に設けた走行台車１７上に搭載される。Next, these are mounted on a horizontally traveling carriage 17 driven by an electric motor 16.
【００２７】走行台車１７は、溶接線と平行に配置した
レール１８上を前方あるいは後方に走行しながら研削を
行う。この時余盛部の高さに応じて移動速度を制御する
ことで研削量を制御でき、研削面の凹凸をなくすことが
できる。The traveling carriage 17 grinds while traveling forward or backward on a rail 18 arranged parallel to the welding line. At this time, the amount of grinding can be controlled by controlling the moving speed according to the height of the extra-filled portion, and the irregularities on the ground surface can be eliminated.
【００２８】また、グラインダ２と左右スライド４との
取合部よりグラインダ２の前方に位置決め治具１９及び
防振ゴム２０を介してセンサヘッド２１を設けている。Further, a sensor head 21 is provided in front of the grinder 2 from the joining portion of the grinder 2 and the left and right slides 4 with a positioning jig 19 and a vibration isolating rubber 20 interposed therebetween.
【００２９】これはセンサヘッド２１の軸受とグライン
ダ２の軸心を合わせグラインダ２の左右への移動に合う
位置に取り付けている。This is mounted at a position where the bearing of the sensor head 21 and the shaft center of the grinder 2 are aligned with each other and the grinder 2 moves to the left and right.
【００３０】センサヘッド２１にはレーザスリット光源
２２及びＣＣＤカメラ２３を進行方向に配置している。A laser slit light source 22 and a CCD camera 23 are arranged on the sensor head 21 in the traveling direction.
【００３１】レーザスリット光源２２は砥石１直近の溶
接継手余盛部の鉛直上に配置され、スリット光を溶接線
と直角に照射し、斜め前方に配したＣＣＤカメラ２３に
より光切断線画像をとらえ図４に示すような余盛部形状
として得られる。The laser slit light source 22 is disposed vertically above the weld joint extra-proximal portion in the vicinity of the grindstone 1, irradiates slit light at a right angle to the welding line, and captures an image of the optical cutting line by the CCD camera 23 arranged diagonally forward. It is obtained as an extra-height portion shape as shown in FIG.
【００３２】これより余盛部の母材面からの高さ、幅、
幅中心と画面中心（ＣＣＤカメラ２３中心）すなわちグ
ラインダ２軸心とのずれ偏位量等を求める。From this, the height, width, and
A shift amount and the like between the width center and the screen center (the center of the CCD camera 23), that is, the axis of the grinder 2 are obtained.
【００３３】これを基に研削量制御及び位置決め、速度
制御を行いつつ研削する。Based on this, grinding is performed while controlling the amount of grinding, positioning and speed control.
【００３４】尚、研削時の火花や粉塵のセンサヘッド２
１への影響を抑える為に耐熱性シートの先端にスリット
を入れ数枚重ねた遮へい治具２４とエアーで吹き飛ばす
エアーノズル２５をセンサヘッド２１に取り付けてい
る。The sensor head 2 for sparks and dust during grinding
In order to suppress the influence on No. 1, the sensor head 21 is equipped with a shielding jig 24 having a slit formed at the front end of the heat resistant sheet and an air nozzle 25 blown off by air.
【００３５】また、グラインダ２は電気グラインダ又は
エアーグラインダを用いることが出来る。As the grinder 2, an electric grinder or an air grinder can be used.
【００３６】つぎに本発明自動グラインダ装置の作用に
つき説明する。Next, the operation of the automatic grinder device of the present invention will be described.
【００３７】砥石の押し付け力は、１方向のみの力が伝
わる構造としてロードセルにより検出するようにしたの
で、砥石を研削面に当てた際に押し付け方向のみの力が
ロードセルに作用するため荷重とモーメントの複数軸の
センサが不要となり１軸のロードセルで対応可能で取り
扱い制御が容易となる。Since the pressing force of the grindstone is detected by the load cell as a structure in which the force is transmitted in only one direction, when the grindstone is applied to the grinding surface, the force only in the pressing direction acts on the load cell, so that the load and the moment. Since multiple axis sensors are not required, a single axis load cell can be used and handling control becomes easy.
【００３８】また、グラインダ左右機構及び前後傾斜機
構は回転軸受により支持してロードセルに装置の自重や
振動が伝わらないようにしたので、容量の小さいロード
セルで対応可能で精度良く押し付け力を検出できる。Further, since the grinder left and right mechanism and the front and rear tilting mechanism are supported by the rotary bearings so that the weight and vibration of the device are not transmitted to the load cell, it is possible to cope with the load cell having a small capacity and the pressing force can be accurately detected.
【００３９】また、研削中において砥石の前後の当て角
度を調整可能な様に位置決め制御可能な前後傾斜機構を
設けたので、砥石の同じ面に当たることなく、長時間で
も砥石の目つぶれや目づまりが生じず砥石の寿命や研削
面に対して影響を及ぼさない。Further, since the front and rear tilting mechanism capable of positioning control is provided so that the front and rear contact angles of the grindstone can be adjusted during grinding, the grindstone is not crushed or clogged even for a long time without hitting the same surface of the grindstone. It does not occur and does not affect the life of the grindstone or the grinding surface.
【００４０】また、研削面の凹凸に倣いあるいは研削量
を制御するためにロードセルから得られる押し付け力が
常に一定となるように、移動速度及び位置決め制御可能
な出入機構を設けたので、出入機構の移動速度及び位置
制御により押し付け力（研削量）の一定化制御及び倣い
が可能となる。Further, since an in / out mechanism capable of controlling the moving speed and the positioning is provided so that the pressing force obtained from the load cell in order to follow the unevenness of the grinding surface or to control the grinding amount is always constant, By controlling the moving speed and the position, the pressing force (grinding amount) can be controlled to be constant and the copying can be performed.
【００４１】さらに出入機構と走行機構の２軸同時位置
制御により研削面の円弧補間をすることが出来る。Further, the circular interpolation of the grinding surface can be performed by the simultaneous biaxial position control of the moving mechanism and the traveling mechanism.
【００４２】また、研削面を研削方向に分割し複数回移
動ピッチを設定して往復させ、さらに、左右に蛇行して
いる場合それに倣いが可能となる様に移動速度及び位置
決め制御可能な左右機構を設けている。Further, the grinding surface is divided in the grinding direction, the movement pitch is set a plurality of times to reciprocate, and further, in the case of meandering left and right, a left and right mechanism capable of controlling the moving speed and the positioning so as to follow it Is provided.
【００４３】また、研削中に研削速度を変更したり、研
削面の形状状態と研削位置（軌道上の位置）を対応させ
る為に移動速度及び位置決め制御可能な走行機構を設け
た。Further, a traveling mechanism capable of controlling the moving speed and the positioning is provided in order to change the grinding speed during grinding or to make the shape of the grinding surface correspond to the grinding position (position on the track).
【００４４】レーザスリット光源とＣＣＤカメラによる
余盛部の光切断線画像から得られる余盛部形状について
母材面からの高さ、幅及び画面中心（カメラ中心）すな
わちグラインダ軸心と余盛部中心とのずれを求めまた左
右の傾き（片減り）を得てこれらの情報から左右機構に
よりずれ量を補正することで余盛部の左右倣いが可能と
なり、また、軸方向に任意の移動ピッチと移動回数を設
定することで研削パターンを任意に設定することができ
る。Concerning the shape of the extra portion obtained from the light cutting line image of the extra portion by the laser slit light source and the CCD camera, the height from the base material surface, the width and the screen center (camera center), that is, the grinder axis and the extra portion By obtaining the deviation from the center and obtaining the left and right inclination (one-sided reduction) and correcting the deviation amount with the left and right mechanism from this information, it is possible to trace the left and right of the extra part, and it is also possible to move in the axial direction at an arbitrary movement pitch. The grinding pattern can be arbitrarily set by setting the number of movements and.
【００４５】さらに溶接継手余盛部の形状を得て研削量
制御及び位置決め制御を行うためにレーザスリット光源
とＣＣＤカメラにより構成するセンサヘッドをグライン
ダの振動が伝わらないように防振ゴムを介してグライン
ダの軸心と合わせ、グラインダの前方に設けた。Further, in order to obtain the shape of the welded joint extraneous portion and perform the grinding amount control and the positioning control, a sensor head composed of a laser slit light source and a CCD camera is provided with a vibration-proof rubber so as not to transmit the vibration of the grinder. Aligned with the axis of the grinder, it was installed in front of the grinder.
【００４６】さらに押し付け力制御において研削中に設
定した押し付け力に達した時の軌道上の各位置での各機
構の位置座標と余盛部形状を記憶することで研削面（製
品）と軌道との設置の平行度がラフであっても精度よく
研削量を制御することができる。Further, in the pressing force control, the position coordinate of each mechanism at each position on the track when reaching the pressing force set during grinding and the shape of the extra portion are stored, so that the grinding surface (product) and the track are Even if the parallelism of the installation is rough, the grinding amount can be controlled with high accuracy.
【００４７】また、余盛部の高さに合わして走行機構の
移動速度を制御することで例えば、余盛部の一番低い所
を最高速度に設定してこれを基準に０．１ｍｍ高くなる
ごとに１５０ｍｍ／ｍｉｎずつ減速していき低い所は速
く、高い所は遅くすることで研削量を制御でき、凹凸を
無くし均一な平面にすることができる。Further, by controlling the moving speed of the traveling mechanism in accordance with the height of the extra portion, for example, the lowest portion of the extra portion is set to the maximum speed, and the maximum speed is increased by 0.1 mm. The amount of grinding can be controlled by decelerating by 150 mm / min each time and increasing the speed in the low places and decreasing the speed in the high places, so that unevenness can be eliminated and a uniform flat surface can be obtained.
【００４８】[0048]
【発明の効果】以上説明したように本発明の自動グライ
ンダ装置によれば次のような効果を奏する。As described above, the automatic grinder device of the present invention has the following effects.
【００４９】（１）従来熟練作業者のノウハウに頼り、
困難であった研削作業の自動化が図れ、工数低減が可能
となる。(1) Relying on the know-how of conventional skilled workers,
The difficult grinding work can be automated and the number of man-hours can be reduced.
【００５０】（２）常に均一な研削面が得られ、仕上が
り精度、品質の向上を図ることが出来る。(2) A uniform ground surface can always be obtained, and finishing accuracy and quality can be improved.
【図１】本発明の好適な実施形態の一例に係る自動グラ
インダ装置の正面図である。FIG. 1 is a front view of an automatic grinder device according to an example of a preferred embodiment of the present invention.
【図２】同装置の側面図である。FIG. 2 is a side view of the device.
【図３】同装置の平面図である。FIG. 3 is a plan view of the same device.
【図４】本発明における余盛部の光切断線画像図であ
る。FIG. 4 is a light section line image diagram of the extra-height portion in the present invention.
１ 砥石 ２ グラインダ ３，６，１２，１６ 電動モータ ４ 左右スライド ５ クランプレバー ７ 前後傾斜スライド ８ 軸受 ９ 当て座 １０ ロードセル １１ 押しボルト １３ 被研削物 １４ 出入スライド １５ 位置決めスライド １７ 走行台車 １８ レール １９ 位置決め治具 ２０ 防振ゴム ２１ センサヘッド ２２ レーザスリット光源 ２３ ＣＣＤカメラ ２４ 遮へい治具 ２５ エアーノズル 1 Grindstone 2 Grinder 3, 6, 12, 16 Electric motor 4 Left and right slide 5 Clamp lever 7 Front-back tilt slide 8 Bearing 9 Bearing seat 10 Load cell 11 Push bolt 13 Grinding object 14 Entry / exit slide 15 Positioning slide 17 Traveling trolley 18 Rail 19 Positioning Jig 20 Anti-vibration rubber 21 Sensor head 22 Laser slit light source 23 CCD camera 24 Shielding jig 25 Air nozzle
───────────────────────────────────────────────────── フロントページの続き (72)発明者 岡田 孝哉 神戸市兵庫区和田崎町一丁目１番１号 三 菱重工業株式会社神戸造船所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takaya Okada 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe Sanritsu Heavy Industries Ltd. Kobe Shipyard
Claims (1)
盛部を砥石により研削し仕上げを行う自動グラインダ装
置において、砥石を取り付けたグラインダを横向き姿勢
とし研削方向に対して左右に移動し位置決めする左右ス
ライド機構と、それらを搭載し、研削方向に対して砥石
の先端を支点にして前後に傾斜させ砥石を任意の角度で
研削面に当てる前後傾斜スライド機構と、該機構を片持
ちにて支持する旋回機構と、該旋回機構の軸心を中心と
して天秤式に前後対称に設け砥石の押付時の荷重を検出
するロードセルと、これらを砥石の押付方向に移動し位
置決めする出入機構と、これらを搭載し、溶接線方向と
平行に設けた軌道上を研削しながら前後に移動する走行
機構と、防振ゴムを介してグラインダの前方に設け研削
量制御及び位置決め制御を行うために溶接継手余盛部の
光切断線画像を得るためのレーザスリット光源及びＣＣ
Ｄカメラと、研削時の火花、粉塵からＣＣＤカメラを保
護し火花の外乱光を除去する遮へいシート及びエアーノ
ズルにより構成することを特徴とする自動グラインダ装
置。1. An automatic grinder apparatus for grinding and finishing an extra portion of a welded joint located on a side surface of a steel product with a grindstone so that the grinder with the grindstone is placed in a horizontal position and moved left and right with respect to the grinding direction for positioning. The left and right slide mechanisms, and the front and rear tilt slide mechanism that mounts them and tilts the grindstone forward and backward with the tip of the grindstone as a fulcrum against the grinding direction and hits the grindstone against the grinding surface at an arbitrary angle. A turning mechanism that supports the load cell, a load cell that is provided symmetrically about the axis of the turning mechanism in the front-rear direction and that detects a load when the grindstone is pressed, and a moving mechanism that moves and positions the grindstone in the pressing direction of the grindstone. Equipped with a traveling mechanism that moves back and forth while grinding on an orbit provided parallel to the welding line direction, and is installed in front of the grinder via a vibration-proof rubber to control and position the grinding amount. Laser slit light source and CC for obtaining an optical cutting line image of a welded joint surplus portion for controlling
An automatic grinder device comprising a D camera, a shielding sheet for protecting the CCD camera from sparks and dust at the time of grinding and removing ambient light of sparks, and an air nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30968695A JPH09131655A (en) | 1995-11-06 | 1995-11-06 | Automatic grinder device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30968695A JPH09131655A (en) | 1995-11-06 | 1995-11-06 | Automatic grinder device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09131655A true JPH09131655A (en) | 1997-05-20 |
Family
ID=17996067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30968695A Pending JPH09131655A (en) | 1995-11-06 | 1995-11-06 | Automatic grinder device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09131655A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100859330B1 (en) * | 2007-01-10 | 2008-09-19 | 삼성중공업 주식회사 | Apparatus and method for weld toe grinding |
| JP2009513375A (en) * | 2005-10-31 | 2009-04-02 | ティーアールアイ・トゥール・インコーポレーテッド | Method and apparatus for weld shaping |
| JP2011206859A (en) * | 2010-03-29 | 2011-10-20 | Cooperative Association Of Japan Shipbuilders | Self-propelled weld bead cutter |
| CN107971865A (en) * | 2017-12-07 | 2018-05-01 | 郭斌 | A kind of sanding apparatus for being capable of uniform grinding for rail manufacture |
| CN109108763A (en) * | 2018-09-26 | 2019-01-01 | 湖州练市飞迪电器塑料有限公司 | A kind of ironware edging device that accuracy is high |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN117506611A (en) * | 2024-01-05 | 2024-02-06 | 陕西宝昱科技工业股份有限公司 | Integrated shearing and edging device for copper-clad laminate |
-
1995
- 1995-11-06 JP JP30968695A patent/JPH09131655A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009513375A (en) * | 2005-10-31 | 2009-04-02 | ティーアールアイ・トゥール・インコーポレーテッド | Method and apparatus for weld shaping |
| KR100859330B1 (en) * | 2007-01-10 | 2008-09-19 | 삼성중공업 주식회사 | Apparatus and method for weld toe grinding |
| JP2011206859A (en) * | 2010-03-29 | 2011-10-20 | Cooperative Association Of Japan Shipbuilders | Self-propelled weld bead cutter |
| CN107971865A (en) * | 2017-12-07 | 2018-05-01 | 郭斌 | A kind of sanding apparatus for being capable of uniform grinding for rail manufacture |
| CN109108763A (en) * | 2018-09-26 | 2019-01-01 | 湖州练市飞迪电器塑料有限公司 | A kind of ironware edging device that accuracy is high |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN117506611A (en) * | 2024-01-05 | 2024-02-06 | 陕西宝昱科技工业股份有限公司 | Integrated shearing and edging device for copper-clad laminate |
| CN117506611B (en) * | 2024-01-05 | 2024-04-02 | 陕西宝昱科技工业股份有限公司 | Edge grinding device for copper-clad laminate |
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