JP7741860B2 - tube grinding equipment - Google Patents

Description

The present invention relates to a pipe grinding device for grinding the inner surface of a pipe.

A pipe grinding device is known that grinds the inner surface of a pipe.

For example, Patent Document 1 discloses an internal grinding device of this type. The device has a support section that supports a rod to which a grinding wheel for grinding the inner surface of the pipe is fixed, and the vertical and horizontal positions of the support section are controlled by controlling the fluid pressure in a fluid pressure cylinder, thereby controlling the position of the rod. This provides a simple internal grinding device that can grind the inner surface of a pipe with high precision.

Patent No. 7008770

For example, the inner circumferential surface of a water pipe has grooves formed in which a sealing member is placed when the pipes are joined together. In other words, pipes such as water pipes have unevenness on their inner circumferential surface that extends in the circumferential direction, for example.

When grinding the inner surface of the pipe having the irregularities by position control of the grinding unit, if the dimensional accuracy of the pipe or the accuracy of the position control is poor, the amount of movement of the grinding unit due to the position control may be greater than the amount of movement of the grinding unit required to grind the inner surface. As a result, a large load may be applied to the grinding unit. Therefore, it is desirable to prevent excessive loads from being applied to the grinding unit.

The object of the present invention is to provide a pipe grinding device that can prevent excessive load from being applied to the grinding section when grinding the inner surface of a pipe having multiple uneven portions.

A pipe grinding device according to one embodiment of the present invention is a device for grinding the inner surface of a pipe. The pipe grinding device includes a grinding unit that grinds uneven portions formed on the inner surface of the pipe; a grinding unit movement device that supports the grinding unit and moves relative to the inner surface of the pipe; a load detection unit located between the grinding unit movement device and the grinding unit and that can detect a load applied to the grinding unit; and a control unit that controls the operation of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion. The control unit controls the operation of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion so that the load detected by the load detection unit when the grinding unit grinds the uneven portion is equal to or less than a threshold value (first configuration).

With the above-described configuration, the load detection unit can detect the load applied to the grinding unit when grinding the uneven portion formed on the inner surface of the pipe. The control unit can then adjust the position of the grinding unit relative to the uneven portion so that the load is below a threshold.

This prevents the load applied to the grinding section from exceeding a threshold when grinding the uneven portion. Therefore, a pipe grinding device can be provided that can prevent excessive load from being applied to the grinding section when grinding the inner surface of a pipe having the uneven portion.

In the first configuration, the control unit controls the drive of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion so that the load detected by the load detection unit when the grinding unit grinds the uneven portion is equal to or greater than a set value (second configuration).

By adjusting the position of the grinding unit relative to the uneven portion, the load applied by the grinding unit when grinding the uneven portion can be set to a set value or greater. This prevents the load from being insufficient to sufficiently grind the uneven portion. This allows the pipe grinding device to more reliably grind the uneven portion.

In the second configuration, the threshold value and the set value are each set for a predetermined range of the uneven portion (third configuration).

As a result, for example, if the shape of the uneven portion varies for each specified range, the threshold and set value can be appropriately set for each specified range to match the shape of the uneven portion. Therefore, when grinding the uneven portion for each specified range, excessive load can be prevented from being applied to the grinding portion, and the uneven portion can be ground more reliably.

In the first configuration, the pipe grinding device further includes a vibration-damping member positioned between the grinding unit and the load detection unit to suppress the transmission of vibrations from the grinding unit to the load detection unit (fourth configuration).

When grinding uneven surfaces, vibrations occur in the grinding section. These vibrations propagate from the grinding section to the load detection section, where they are detected as load noise.

According to the above configuration, a vibration-damping member capable of suppressing the propagation of the vibration is positioned between the grinding unit and the load detection unit.

As a result, the vibration-damping member can prevent the vibrations generated in the grinding section during grinding from being transmitted to the load detection section. This reduces noise in the load detected by the load detection section. This allows the grinding section to grind the uneven portion with greater precision.

In the fourth configuration, the pipe grinding device further includes a support member between the grinding unit and the load detection unit, the support member being connected to the load detection unit and supporting the grinding unit. The vibration-damping member is provided at least either between the support member and the load detection unit or between the support member and the grinding unit (fifth configuration).

Because the grinding unit is supported by a support member, vibrations occurring in the grinding unit during grinding can be suppressed. Furthermore, the vibration-damping member more reliably prevents the vibrations from being transmitted from the grinding unit to the load detection unit via the support member.

This further reduces noise in the load detected by the load detection unit, allowing the grinding unit to grind uneven surfaces with greater precision.

In the fifth configuration, the support member has greater rigidity in the left-right direction than in the up-down direction. The control unit controls the drive of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion so that the grinding unit grinds the left-right portion of the uneven portion of the pipe arranged so that its axis extends horizontally (sixth configuration).

When grinding uneven portions located on the upper or lower side of the inner surface of a tube positioned so that its axis extends horizontally using a grinding unit, the grinding unit is affected by gravity, resulting in large vibrations during grinding.

With the above-described configuration, the grinding unit is supported by a support member that has greater rigidity in the left-right direction than in the up-down direction. The grinding unit's position is adjusted by a grinding unit movement device so that it grinds the left-right portions of the unevenness formed on the inner surface of the pipe.

This reduces the effects of gravity when the grinding unit grinds the unevenness on the inner surface of the pipe. Furthermore, because the grinding unit is supported by the support member, which has greater rigidity in the left-right direction than in the up-down direction, the occurrence of left-right vibrations during grinding can also be reduced.

This further reduces noise in the load detected by the load detection unit, allowing the grinding unit to grind the uneven portion with greater precision.

In the second configuration, the load detection unit detects the contact load generated when the grinding unit contacts the uneven portion. The control unit controls the drive of the grinding unit movement device to adjust the position of the grinding unit relative to the portion for which the contact load is detected so that the load applied when the grinding unit grinds the portion is equal to or less than the threshold value and equal to or greater than the set value (seventh configuration).

As a result, the grinding unit movement device adjusts the position of the grinding unit so that the area where the contact load is detected by the load detection unit is ground with the specified load.

Therefore, the grinding unit can grind the uneven parts where contact load is detected with an appropriate load.

A pipe grinding device according to one embodiment of the present invention is a device for grinding the inner surface of a pipe. The pipe grinding device includes a grinding unit that grinds uneven portions formed on the inner surface of the pipe; a grinding unit movement device that supports the grinding unit and moves relative to the inner surface of the pipe; a load detection unit located between the grinding unit movement device and the grinding unit and that can detect the load applied to the grinding unit; and a control unit that controls the drive of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion. The control unit controls the drive of the grinding unit movement device to adjust the position of the grinding unit relative to the uneven portion so that the load detected by the load detection unit when the grinding unit grinds the uneven portion is equal to or less than a threshold value.

This prevents the load applied to the grinding section from exceeding a threshold when grinding the uneven portion. Therefore, a pipe grinding device can be provided that can prevent excessive load from being applied to the grinding section when grinding the inner surface of a pipe having the uneven portion.

FIG. 1 is a diagram showing a schematic configuration of a pipe grinding device. FIG. 2 is a schematic diagram of the grinding wheel of the grinding section and the tube to be ground, viewed from one side in the axial direction. FIG. 3 is a cross-sectional view taken along line III-III in FIG. FIG. 4A is a cross-sectional view showing a state in which the grinding wheel of the grinding unit is moved radially outward. FIG. 4B is a cross-sectional view showing the state in which the bottom portion is being ground by the grinding unit. FIG. 5A is a cross-sectional view showing a state in which, in grinding the recess, the grindstone of the grinding unit is inserted into the recess and then moved in one axial direction. Figure 5B is a cross-sectional view showing how, during grinding of a recess, the grinding stone of the grinding part is moved radially outward after the load detection part detects that the grinding stone, which is moving in one axial direction, has come into contact with the side wall of the recess. Figure 5C is a cross-sectional view showing how, during grinding of a recess, grinding of the bottom is controlled after the load detection unit detects that the grinding stone of the grinding unit, moving radially outward, has come into contact with the bottom of the recess. FIG. 5D is a cross-sectional view showing a state in which a predetermined area of the bottom of the recess is being ground during grinding of the recess.

Each embodiment will be described below with reference to the drawings. In each drawing, identical parts will be assigned the same reference numerals, and descriptions of those identical parts will not be repeated. Note that the dimensions of the components in each drawing do not faithfully represent the actual dimensions of the components or the dimensional ratios of each component.

In the following description, the axial direction refers to the direction in which the axis P of the pipe 90 extends. The radial direction refers to the direction perpendicular to the axis P of the pipe 90. The circumferential direction refers to the direction in which the outer circumferential surface of the pipe 90 extends when viewing the pipe 90 in the axial direction.

In addition, in the following explanation, the expressions "fix," "connect," and "attach" (hereinafter referred to as "fixing") include not only cases where components are directly fixed to each other, but also cases where components are fixed via other components. In other words, in the following explanation, the expression "fixing" includes both direct and indirect fixing of components to each other.

[Embodiment 1]
(Overall structure)
FIG. 1 is a diagram showing a schematic configuration of a pipe grinding device 1 according to an embodiment of the present invention. A pipe 90 is, for example, a cast iron pipe used for a water pipe. As shown in FIG. 1 , the pipe 90 has a cylindrical shape extending along an axis P. The pipe 90 has a spigot (not shown) and a socket 92. The inner diameter of the socket 92 is larger than the outer diameter of the spigot. The pipes 90 can be connected to each other in the axial direction by inserting and fixing the spigot of one pipe 90 into the socket 92 of another pipe 90.

An uneven portion 93 is formed on the inner surface 92a of the socket 92. The uneven portion 93 has multiple recesses 94a and protrusions 94b in the axial direction. The recesses 94a and protrusions 94b are part of the uneven portion 93. The uneven portion 93 extends in a ring shape in the circumferential direction. A non-detachment prevention member (not shown) that holds the insertion port in the inserted state when the insertion port is inserted, and a sealing member (not shown) that prevents water leakage at the connection between the insertion port and socket 92 are fitted into the uneven portion 93. This makes it possible to prevent water leakage at the connection while maintaining the inserted state between the pipes 90.

The outer periphery of the tube 90 is supported by a plurality of rotating rollers 97 and inclined rollers 98. The rotating rollers 97 are switched between a rotating state and a stationary state by a rotation drive device (not shown). In other words, the tube 90 is supported by the rotating rollers 97 so that it can rotate around the axis P. The inclined rollers 98 position the rotating tube 90 in the axial direction.

The pipe grinding device 1 is a device for grinding the uneven portion 93 formed on the inner surface 92a of the socket 92 of a rotating pipe 90. Specifically, the pipe grinding device 1 has a grinding unit 10, a grinding unit movement device 20, a load detection unit 30, a support member 50, a vibration-damping member 55, and a control unit 70.

The grinding unit 10 has a grinding wheel 11 and a drive unit 12. The grinding unit 10 is, for example, a disc grinder. The grinding wheel 11 is a rotating body with hard particles or the like adhered to its surface. The grinding wheel 11 is attached to the tip of the shaft 12a of the drive unit 12. The drive unit 12 rotates the shaft 12a, thereby rotating the grinding wheel 11. The drive unit 12 includes, for example, a rotation drive device such as a motor. This allows the grinding unit 10 to grind the uneven portion 93 on the inner surface 92a of the socket 92, which comes into contact with the rotating grinding wheel 11. The grinding unit 10 has a configuration similar to that of known grinding devices, so a detailed description of its configuration will be omitted.

The grinding unit moving device 20 is a device that can move the position of the grinding unit 10 relative to the pipe 90 while supporting the grinding unit 10. The grinding unit moving device 20 may be configured, for example, as a vertical articulated robot, a Cartesian robot, other industrial robots, or a combination of these.

The grinding unit moving device 20 has an arm unit 21. A load detection unit 30 and a support member 50 are connected to the tip 21a of the arm unit. The grinding unit 10 is supported by the tip 21a of the arm unit via the load detection unit 30 and the support member 50.

The grinding unit moving device 20 moves the position of the arm unit 21 relative to the pipe 90 based on the control of the control unit 70 (described below). In other words, the grinding unit moving device 20 can move the position of the grinding unit 10 attached to the tip 21a of the arm unit relative to the pipe 90. Since a known industrial robot or the like can be used as the grinding unit moving device 20, a detailed description of its configuration will be omitted.

The load detection unit 30 is a multi-axis force sensor that can measure forces in multiple axial directions. For example, the load detection unit 30 can measure axial forces along the X axis (left-right direction), Y axis (axial direction), and Z axis (up-down direction), as well as moments around each axis. Since the load detection unit 30 can utilize a known multi-axis force sensor, a detailed description of its configuration will be omitted.

The load detection unit 30 is provided between the tip 21a of the arm unit and the support member 50. The upper part of the load detection unit 30 is connected to the tip 21a of the arm unit. The support member 50, which supports the grinding unit 10, is attached to the lower part of the load detection unit 30. The load detection unit 30 is capable of detecting the load applied to the grinding unit 10.

The support member 50 is connected to the lower part of the load detection unit 30 and supports the grinding unit 10. The vibration-isolating member 55 is provided between the grinding unit 10 and the load detection unit 30 and prevents vibrations generated in the grinding unit 10 from being transmitted from the grinding unit 10 to the load detection unit 30. Details of the configuration of the support member 50 and the vibration-isolating member 55 will be described later.

The control unit 70 controls the driving of the grinding unit moving device 20 based on the detection results of the load detection unit 30, thereby moving the tip 21a of the arm unit and adjusting the position of the grinding wheel 11 of the grinding unit 10 relative to the uneven portion 93. Details of the control of the grinding unit moving device 20 performed by the control unit 70 will be explained later.

(Support member)
As shown in Fig. 1, the support member 50 is a member that is substantially L-shaped when viewed from the side. The support member 50 is connected to the tip 21a of the arm portion via the load detection unit 30, and supports the grinding unit 10. With the support member 50 supporting the grinding unit 10, the support member 50 and the grinding unit 10 can be inserted into the socket 92. The support member 50 is made of a rigid metal material, such as stainless steel or aluminum. The support member 50 has a support main body 50a and an attachment portion 50b.

The support body 50a is connected to the load detection unit 30, which is supported on the tip 21a of the arm. The support body 50a is flat and extends in one direction from one end connected to the load detection unit 30. The support body 50a is thicker in the left-right direction than in the up-down direction. Therefore, the support body 50a is configured to have higher rigidity in the left-right direction than in the up-down direction. An attachment portion 50b is connected to the other end of the support body 50a.

The mounting portion 50b extends downward from the other end of the support body 50a. As shown in Figure 3, the mounting portion 50b is formed in a generally U-shape that opens downward when viewed from the same direction. Specifically, the mounting portion 50b has an upper portion 501b and left and right portions 502b and 503b that extend downward from the upper portion 501b. The mounting portion 50b is formed to fit the outer shape of the axial end 12b of the drive unit 12 of the grinding unit 10.

Multiple bolts 52 for securing the axial end 12b of the drive unit 12 of the grinding unit 10 pass through the upper portion 501b, left portion 502b, and right portion 503b of the mounting portion 50b. This allows the grinding unit 10 to be attached to the mounting portion 50b. Note that the support unit main body 50a and the grinding unit 10 may also be connected by bolts or the like (not shown). With the above configuration, the grinding unit 10 is supported by the support member 50 below the support unit main body 50a.

Figure 2 is a schematic diagram of the grinding wheel 11 of the grinding unit 10 and the tube 90 being ground, viewed from one side in the axial direction. As shown in Figure 2, the tube grinding device 1 inserts the grinding wheel 11 of the grinding unit 10 into the receiving port 92 of the tube 90, and grinds the uneven portion 93 by pressing the outer surface of the grinding wheel 11 of the grinding unit 10 against one of the uneven portions 93 located on the left or right side of the inner surface of the rotating tube 90.

As described above, the support unit main body 50a is configured to have greater rigidity in the left-right direction than in the up-down direction. This allows the grinding unit 10 to be supported by the support member 50 in a more stable left-right manner. Therefore, when the grinding wheel 11 of the grinding unit 10 is pressed left-right against one of the uneven portions 93 located on the left or right of the uneven portions 93 on the inner surface of the rotating tube 90, the support member 50 can grind the uneven portion 93 while more stably supporting the grinding unit 10.

When grinding the uneven portion 93 on the inner surface of the rotating pipe 90, the grinding unit 10 receives a reaction force and vibrates. The vibrations generated by the grinding unit 10 are transmitted to the load detection unit 30 via the support member 50. The load detection unit 30 detects the transmitted vibrations as load noise. This load noise affects the load-based grinding control performed by the control unit 70, which will be described later.

In order to suppress the propagation of vibrations to the load detection unit 30, as described above, a vibration-damping member 55 is provided between the grinding unit 10 and the load detection unit 30. Specifically, as shown in FIG. 3, the vibration-damping member 55 is provided between the mounting portion 50b of the support member 50 and the plurality of bolts 52 that secure the grinding unit 10 to the mounting portion 50b. The vibration-damping member 55 suppresses the propagation of the vibrations from the grinding unit 10 to the support member 50. Therefore, the propagation of the vibrations from the grinding unit 10 to the load detection unit 30 via the support member 50 can be suppressed.

In addition, although not specifically shown, the vibration-damping member 55 may also be provided between the other axial end of the support portion main body 50a of the support member 50 and the multiple bolts that secure the other axial end to the load detection unit 30. This allows the vibration-damping member 55 to prevent the vibrations from being transmitted from the support member 50 to the load detection unit 30.

The vibration-damping member 55 is made of a material that suppresses the propagation of vibrations, such as rubber or silicone. The vibration-damping member 55 is not limited to these materials and can be made of any material that suppresses the propagation of vibrations.

(Grinding control by the control unit)
Fig. 4A is a cross-sectional view showing the grinding wheel 11 of the grinding unit 10 being moved radially outward. Fig. 4B is a cross-sectional view showing the grinding of the bottom portion 941. Specifically, in Figs. 4A and 4B, the left-side uneven portion 93 of the uneven portion 93 on the inner surface of the rotating tube 90 is being ground.

The control unit 70 controls the driving of the grinding unit moving device 20 to move the tip 21a of the arm unit so that the grinding wheel 11 of the grinding unit 10 grinds the target portion of the uneven portion 93. The control unit 70 may be configured to control the driving of the grinding unit 10 and switch the grinding wheel 11 between a rotating state and a stopped state. The control unit 70 may also control the movement of the tip 21a of the arm unit using a program or the like.

More specifically, the control unit 70 controls the driving of the grinding unit moving device 20 based on information about the tube 90 that has been input in advance, thereby moving the tip 21a of the arm unit to the target location in the recess 94a on the inner surface of the tube 90. Then, as shown in FIG. 4A, for example, the control unit 70 controls the driving of the grinding unit moving device 20 to move the grinding wheel 11 of the grinding unit 10 radially outward toward the surface of the recess 94a.

As shown in Figure 4B, when the grinding wheel 11 of the grinding unit 10 comes into contact with the recess 94a on the inner surface of the tube 90, a load is applied to the grinding wheel 11 of the grinding unit 10. This load is detected by the load detection unit 30.

When the load detected by the load detection unit 30 reaches or exceeds a reference value, the control unit 70 determines that the grinding wheel 11 of the grinding unit 10 has contacted the target portion to be ground, and performs grinding control. The reference value is a predetermined value, such as the average value of the load generated when the grinding wheel 11 of the grinding unit 10 contacts the inner surface of the tube 90. The reference value can be set arbitrarily. The reference value may be a value other than the average value of the load generated when the grinding wheel 11 of the grinding unit 10 contacts the inner surface of the tube 90, as long as it is a value that can be used to determine that the grinding wheel 11 of the grinding unit 10 has contacted the inner surface of the tube 90. The load of the reference value is the contact load in this invention.

In the grinding control, the control unit 70 controls the grinding of the grinding wheel 11 of the grinding unit 10 against the target portion based on the load detected by the load detection unit 30. Specifically, the control unit 70 adjusts the position of the grinding wheel 11 of the grinding unit 10 relative to the target portion so that the load is equal to or greater than a set value and equal to or less than a threshold value. This allows the load applied to the grinding unit 10 when grinding the target portion to be equal to or greater than the set value and equal to or less than the threshold value. The control unit 70 continues grinding with the grinding wheel 11 of the grinding unit 10 for, for example, a predetermined period of time, and then completes it.

The threshold value is the upper limit of the allowable load value detected by the load detection unit 30 during grinding. The set value is the lower limit of the allowable load value detected by the load detection unit 30 during grinding. The threshold value and the set value are greater than the reference value. The threshold value is greater than the set value. The threshold value and the set value can be set arbitrarily.

When the load detected by the load detection unit 30 exceeds the threshold value, the control unit 70 moves the grinding wheel 11 of the grinding unit 10 away from the target portion or stops the rotation of the grinding wheel 11 of the grinding unit 10. On the other hand, when the load detected by the load detection unit 30 falls below the set value, the control unit 70 moves the grinding wheel 11 of the grinding unit 10 radially outward so as to approach the target portion.

The tube grinding device 1 can adjust the amount of grinding of the target portion by adjusting the threshold value and the set value, or by changing the roughness of the grinding wheel 11 of the grinding unit 10 relative to the tube 90 being ground.

The threshold value and the set value can be set for each predetermined range of the uneven portion 93. The predetermined range is a partial unit of the uneven portion 93 where grinding is performed under the same threshold value and set value conditions. The predetermined range includes the entire uneven portion 93, or the recessed portion 94a, a portion of the recessed portion 94a, the protruding portion 94b, a portion of the protruding portion 94b, or a combination thereof. For example, the threshold value and the set value may be set for the entire uneven portion 93. For example, the threshold value and the set value may be set for each recessed portion 94a or each protruding portion 94b of the uneven portion 93. For example, the threshold value and the set value may be set for each portion of the recessed portion 94a or each portion of the protruding portion 94b.

(Grinding of recesses)
Next, as an example of grinding the predetermined range, grinding control performed by the control unit 70 on the bottom 941 of the recess 94a will be described. FIG. 5A is a cross-sectional view showing the grinding wheel 11 of the grinding unit 10 being inserted into the recess 94a and then moved in one axial direction. FIG. 5B is a cross-sectional view showing the grinding wheel 11 of the grinding unit 10 being moved radially outward after the load detection unit 30 detects that the grinding wheel 11 of the grinding unit 10 has contacted the side wall 942 of the recess 94a while moving in one axial direction. FIG. 5C is a cross-sectional view showing the grinding of the bottom 941 being controlled after the load detection unit 30 detects that the grinding wheel 11 of the grinding unit 10 has contacted the bottom 941 of the recess 94a while moving radially outward. FIG. 5D is a cross-sectional view showing the grinding of a predetermined range of the bottom 941 of the recess 94a being ground.

As shown in FIG. 5A, the control unit 70 inserts the grinding wheel 11 of the grinding unit 10 into the recess 94a and then moves it in one axial direction. As shown in FIG. 5B, when the grinding wheel 11 of the grinding unit 10 comes into contact with the side wall 942 of the recess 94a while moving in one axial direction, the load in the Y-axis (axial direction) detected by the load detection unit 30 increases. Upon detecting this increase in the load in the Y-axis (axial direction), the control unit 70 moves the grinding wheel 11 of the grinding unit 10 toward the bottom 941 of the recess 94a.

As shown in FIG. 5C , when the grinding wheel 11 of the grinding unit 10 moves radially outward and contacts the bottom 941 of the recess 94a, the load in the X-axis (radial direction) detected by the load detection unit 30 increases. When the X-axis load detected by the load detection unit 30 reaches the reference value, the control unit 70 determines that the grinding wheel 11 of the grinding unit 10 has contacted the target portion to be ground. The control unit 70 adjusts the position of the grinding wheel 11 of the grinding unit 10 relative to the target portion so that the load detected by the load detection unit 30 is equal to or greater than the set value and equal to or less than the threshold value. As a result, the target portion is ground based on the load detected by the load detection unit 30.

As shown in FIG. 5D, after the control unit 70 has finished grinding the target portion, the control unit 70 controls the driving of the grinding unit moving device 20 to move the grinding wheel 11 of the grinding unit 10 a predetermined distance in the axial direction. The control unit 70 then adjusts the position of the grinding wheel 11 of the grinding unit 10 relative to another target portion so that the load detected by the load detection unit 30 is equal to or greater than the set value and equal to or less than the threshold value. This allows the tube grinding device 1 to grind the bottom 941 of the recess 94a, which is within the predetermined range.

The pipe grinding device 1 according to this embodiment includes a grinding unit 10 that grinds the uneven portion 93 formed on the inner surface of the pipe 90; a grinding unit moving device 20 that supports the grinding unit 10 and can move relative to the inner surface of the pipe 90; a load detection unit 30 that is positioned between the grinding unit moving device 20 and the grinding unit 10 and can detect the load applied to the grinding unit 10; and a control unit 70 that controls the operation of the grinding unit moving device 20 to adjust the position of the grinding unit 10 relative to the uneven portion 93. The control unit 70 controls the operation of the grinding unit moving device 20 to adjust the position of the grinding unit 10 relative to the uneven portion 93 so that the load detected by the load detection unit 30 is below a threshold when the grinding unit 10 grinds the uneven portion 93, thereby adjusting the position of the grinding unit 10 relative to the uneven portion 93.

With the above-described configuration, the load detection unit 30 can detect the load applied to the grinding unit 10 when the grinding unit 10 grinds the uneven portion 93 formed on the inner surface of the pipe 90. The control unit 70 can then adjust the position of the grinding unit 10 relative to the uneven portion 93 so that the load is below a threshold value.

This prevents the load applied to the grinding unit 10 from exceeding a threshold when grinding the uneven portion 93. Therefore, a pipe grinding device 1 can be provided that can prevent excessive load from being applied to the grinding unit 10 when grinding the inner surface of a pipe 90 having an uneven portion 93.

In addition, in this embodiment, the control unit 70 controls the driving of the grinding unit moving device 20 to adjust the position of the grinding unit 10 relative to the uneven portion 93 so that the load detected by the load detection unit 30 becomes equal to or greater than a set value when the grinding unit 10 grinds the uneven portion 93.

As a result, by adjusting the position of the grinding unit 10 relative to the uneven portion 93, the load applied by the grinding unit 10 when grinding the uneven portion 93 can be set to be equal to or greater than the set value. This prevents the uneven portion 93 from being sufficiently ground due to insufficient load. This allows the pipe grinding device 1 to more reliably grind the uneven portion 93.

In addition, in this embodiment, the threshold value and setting value are each set for a predetermined range of the uneven portion 93.

As a result, even if the shape of the uneven portion 93 varies for each specified range, the threshold value and set value can be appropriately set for each specified range to match the shape of the uneven portion 93. Therefore, when grinding the uneven portion 93 for each specified range, it is possible to prevent excessive load from being applied to the grinding unit 10 and to more reliably grind the uneven portion 93.

In addition, in this embodiment, the pipe grinding device 1 further includes a vibration-damping member 55 located between the grinding unit 10 and the load detection unit 30, which suppresses the transmission of vibrations from the grinding unit 10 to the load detection unit 30.

When grinding the uneven portion 93, vibrations occur in the grinding unit 10. These vibrations propagate from the grinding unit 10 to the load detection unit 30 and are detected by the load detection unit 30 as load noise. According to the above-described configuration, the vibration-damping member 55, which can suppress the propagation of these vibrations, is positioned between the grinding unit 10 and the load detection unit 30.

As a result, the vibration-damping member 55 can prevent the vibrations generated in the grinding unit 10 during grinding from being transmitted from the grinding unit 10 to the load detection unit 30. This reduces noise in the load detected by the load detection unit 30. This allows the grinding unit 10 to grind the uneven portion 93 with greater precision.

In addition, in this embodiment, the pipe grinding device 1 further includes a support member 50 between the grinding unit 10 and the load detection unit 30, which is connected to the load detection unit 30 and supports the grinding unit 10. A vibration-damping member 55 is provided at least either between the support member 50 and the load detection unit 30 or between the support member 50 and the grinding unit 10.

As a result, the grinding unit 10 is supported by the support member 50, which helps prevent vibrations from occurring in the grinding unit 10 during grinding. Furthermore, the vibration-damping member 55 more reliably prevents the vibrations from being transmitted from the grinding unit 10 to the load detection unit 30 via the support member 50.

This further reduces noise in the load detected by the load detection unit 30. This allows the grinding unit 10 to grind the uneven portion 93 with greater precision.

In addition, in this embodiment, the rigidity of the support member 50 in the left-right direction is greater than its rigidity in the up-down direction. The control unit 70 controls the drive of the grinding unit moving device 20 to adjust the position of the grinding unit 10 relative to the uneven portion 93 so that the grinding unit 10 grinds the left-right portion of the uneven portion 93 of the tube 90, which is arranged so that the axis P extends horizontally.

When grinding uneven portions 93 located on the upper or lower side of the inner surface of a tube 90 arranged so that its axis P extends horizontally using the grinding unit 10, the grinding unit 10 is affected by gravity, resulting in increased vibrations during grinding.

With the above-described configuration, the grinding unit 10 is supported by a support member 50 that has greater rigidity in the left-right direction than in the up-down direction. The grinding unit 10 is positioned by the grinding unit movement device 20 so that it grinds the left-right portions of the unevenness 93 formed on the inner surface of the pipe 90.

This reduces the effects of gravity when the grinding unit 10 grinds the unevenness 93 on the inner surface of the pipe 90. Furthermore, because the grinding unit 10 is supported by a support member 50 that has greater rigidity in the left-right direction than in the up-down direction, the occurrence of left-right vibrations during grinding can also be reduced.

This further reduces noise in the load detected by the load detection unit 30. This allows the grinding unit 10 to grind the uneven portion 93 with greater precision.

Furthermore, since the underside of the inner surface of the tube 90 is not ground, interference between the grinding unit 10 and the inclined roller 98 during grinding can be avoided.

In addition, in this embodiment, the load detection unit 30 detects the load (contact load) generated when the grinding unit 10 comes into contact with the uneven portion 93. The control unit 70 controls the drive of the grinding unit movement device 20 to adjust the position of the grinding unit 10 relative to the target portion so that the load when the grinding unit 10 grinds the target portion for which the contact load is detected is below a threshold value and above a set value.

As a result, the grinding unit moving device 20 adjusts the position of the grinding unit 10 so that the portion where the contact load is detected by the grinding unit moving device 20 is ground with a predetermined load. Therefore, the grinding unit 10 can grind the target portion of the uneven portion 93 where the contact load is detected with an appropriate load.

(Other embodiments)
Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiments, and it is possible to appropriately modify the above-described embodiments within the scope of the spirit of the present invention.

Furthermore, the pipe grinding device does not necessarily have to grind the uneven portion of the pipe socket. The pipe grinding device may grind the inner surface of the socket, which does not have uneven portions, or the inner surface of the pipe insertion port.

In the above embodiment, the pipe grinding device 1 grinds the uneven portions 93 by pressing the grinding wheel 11 of the grinding unit 10 against the uneven portions 93 located on either the left or right side of the uneven portions 93 on the inner surface of the rotating pipe 90. However, the pipe grinding device may also grind uneven portions located on other sides of the uneven portions on the inner surface of the rotating pipe. For example, the pipe grinding device may grind uneven portions located above and below. Furthermore, the pipe grinding device may simultaneously grind multiple radially different locations using multiple grinding units.

In the above embodiment, the grinding unit 10 is, for example, a disc grinder. However, the grinding unit is not limited to a disc grinder and may be any device capable of performing grinding.

In the above embodiment, the load detection unit 30 is provided between the tip 21a of the arm unit and the support member 50. However, the load detection unit may be provided at any other position between the grinding unit and the tip of the arm unit, as long as it is capable of detecting the load acting on the grinding unit. The load detection unit may be provided, for example, between the grinding unit and the support member.

In the above embodiment, the grinding unit 10 is supported by a support member 50. However, the pipe grinding device does not have to have a support member. For example, the grinding unit may be supported directly by the load detection unit.

In the above embodiment, the support member 50 is generally L-shaped. However, the support member may have any shape as long as it can support the grinding portion.

In the above embodiment, the support member 50 is configured to have higher rigidity in the left-right direction than in the up-down direction. However, the rigidity of the support member in the up-down direction may be higher than the rigidity in the left-right direction. The rigidity of the support member in the left-right direction may also be equal to the rigidity in the up-down direction.

In the above embodiment, the material of the support member 50 is a metal material such as stainless steel or aluminum. However, the material of the support member may be any material that is rigid enough to support the grinding portion. For example, the material of the support member may be a resin other than metal.

In the above embodiment, the tube grinding device 1 has a vibration-damping member 55. However, the tube grinding device does not necessarily have to have a vibration-damping member.

The present invention can be used in a pipe grinding device that grinds the inner surface of a pipe.

1 Pipe grinding device 10 Grinding unit 11 Grinding wheel 12 Drive unit 12a Shaft (drive unit)
12b One end side (drive part)
20 Grinding unit moving device 21 Arm unit 21a Tip of arm unit 30 Load detection unit 50 Support member 52 Plural bolts 55 Vibration-isolating member 70 Control unit 90 Pipe 92 Socket 92a Inner surface (socket)
93 Concave and convex portion 94a Concave portion 94b Convex portion 97 Multiple rotating rollers 98 Inclined roller 941 Bottom portion (concave portion)
942 Side wall portion (recess)
P axis line

Claims (5)

A pipe grinding device for grinding the inner surface of a pipe,
a grinding unit that comes into contact with a portion of a surface of the uneven portion formed on the inner surface of the pipe and grinds the surface of the uneven portion;
a grinding unit moving device that supports the grinding unit and is movable relative to the inner surface of the pipe;
a load detection unit located between the grinding unit moving device and the grinding unit, the load detection unit being capable of detecting a load applied to the grinding unit in a radial direction of the pipe;
a control unit that controls driving of the grinding unit moving device so as to adjust the position of the grinding unit with respect to the surface of the uneven portion in at least the radial direction;
and
The control unit
controlling the driving of the grinding unit moving device so that the radial load detected by the load detection unit when the grinding unit grinds the surface of the uneven portion is equal to or less than a threshold value and equal to or greater than a set value , thereby moving the position of the grinding unit in the radial direction relative to the surface of the uneven portion ;
the threshold value and the set value are set for each predetermined range of the uneven portion ,
Pipe grinding equipment . 2. The tube grinding apparatus according to claim 1,
The grinding machine further includes a vibration-damping member positioned between the grinding portion and the load detection portion, for suppressing transmission of vibration from the grinding portion to the load detection portion.
Pipe grinding equipment. 3. The tube grinding apparatus according to claim 2 ,
a support member connected to the load detection unit and supporting the grinding unit between the grinding unit and the load detection unit;
The vibration-isolating member is
The support member is provided between the support member and the load detection unit, or between the support member and the grinding unit,
Pipe grinding equipment. 4. The tube grinding apparatus according to claim 3 ,
the control unit controls the driving of the grinding unit moving device to move the position of the grinding unit in the left-right direction relative to the surface of the uneven portion so that the grinding unit grinds a portion of the surface of the uneven portion of the pipe arranged so that its axis extends in the left-right direction as the radial direction,
The support member is configured so that its rigidity in the left-right direction is higher than its rigidity in the up-down direction, which is a direction perpendicular to the left-right direction.
Pipe grinding equipment. 2. The tube grinding apparatus according to claim 1 ,
The load detection unit
detecting a contact load generated when the grinding portion comes into contact with the uneven portion;
The control unit
controlling the driving of the grinding unit moving device to move the position of the grinding unit in the radial direction relative to the part where the contact load has been detected so that the load in the radial direction when the part where the contact load has been detected is ground by the grinding unit is equal to or less than the threshold value and equal to or more than the set value;
Pipe grinding equipment.