JPS6219987B2 - - Google Patents
Info
- Publication number
- JPS6219987B2 JPS6219987B2 JP56062837A JP6283781A JPS6219987B2 JP S6219987 B2 JPS6219987 B2 JP S6219987B2 JP 56062837 A JP56062837 A JP 56062837A JP 6283781 A JP6283781 A JP 6283781A JP S6219987 B2 JPS6219987 B2 JP S6219987B2
- Authority
- JP
- Japan
- Prior art keywords
- pressing force
- substrate
- grinder
- pressing
- base
- 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.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Description
【発明の詳細な説明】
この発明は、基板の揺動によるグラインダの姿
勢変動に伴なつてばねの押付力を補正し、砥石の
研削面への押付力を常に一定に保つようにした砥
石の押付力制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a grinding wheel that corrects the pressing force of a spring as the posture of the grinder changes due to the rocking of the substrate, and keeps the pressing force of the grinding wheel against the grinding surface constant at all times. This invention relates to a pressing force control method.
一般に、２個の円筒工作物を端面で溶接する場
合、先ず、両工作物を突き合せて内周面を溶接し
た後、表面をガウジング成形し、つぎに、溶接開
先内面をグラインダに取付けた研削用砥石により
研削し、さらに、外周より開先部分を溶接して両
工作物を接合する。ところで、この溶接工程にお
いて、溶接開先内面にグラインダをかける場合に
は、グラインダの砥石を研削面に一定の力で押付
ける必要がある。 Generally, when welding two cylindrical workpieces at their end faces, first the two workpieces are butted together and their inner peripheral surfaces are welded, then the surfaces are gouged, and then the inner surface of the weld groove is attached to a grinder. The workpieces are ground using a grinding wheel, and then the grooves are welded from the outer periphery to join both workpieces together. By the way, in this welding process, when applying a grinder to the inner surface of the weld groove, it is necessary to press the grindstone of the grinder against the grinding surface with a constant force.
そして、従来の砥石の押付力制御方法は、図面
を参照して説明すると、基台ベース１上に立設さ
れた１対の支持壁２間に前後方向の支軸３が固定
されるとともに、該支軸３に基板４が揺動自在に
支持され、基台ベース１上に固定された減速機５
のクランク軸６にクランク腕７が軸着されるとと
もに、一端がクランク腕７に連結されたクランク
ロツド８の他端が基板４の右側に回転自在に支持
され、これにより、図示しないモータの回転力が
減速されてクランク機構に伝達され、基板４が上
下に揺動される。また、基板４上には、その左側
に支軸３に直交する方向、つまり左右方向に移動
自在のグラインダ９が設けられ、該グラインダ９
に円板状の研削用砥石１０が回転自在に取付けら
れ、さらに、基板４の右側にはサーボアクチユエ
ータとなる油圧シリンダ１１が固定され、そのシ
リンダロツド１２の先端に押付板１３が固着され
るとともに、押付板１３とグラインダ９との間
に、グラインダ９を左方へ付勢して砥石１０を研
削面に押付ける押付ばね１４が介在されている。
この押付ばね１４の押付力は、押付力検出器１５
により、押付ばね１４の伸張長さを検出すること
により検出され、比較器１６において、検出器１
５の押付力検出電圧Ｓと押付力設定電圧Ｐとが比
較されるとともに、比較器１６の出力がサーボ増
幅器１７で増幅され、このサーボ増幅器１７の出
力により油圧シリンダ１１が作動し、押付力検出
電圧Ｓが押付力設定電圧Ｐになるようサーボ機構
が構成され、押付ばね１４による砥石１０の押付
力が一定になるよう制御されている。 The conventional grindstone pressing force control method will be explained with reference to the drawings. A support shaft 3 in the front and rear direction is fixed between a pair of support walls 2 erected on a base 1, and A board 4 is swingably supported on the support shaft 3, and a reducer 5 is fixed on the base 1.
A crank arm 7 is pivotally attached to a crankshaft 6, and the other end of a crank rod 8 whose one end is connected to the crank arm 7 is rotatably supported on the right side of the base plate 4, whereby the rotational force of a motor (not shown) is supported. is decelerated and transmitted to the crank mechanism, and the board 4 is swung up and down. Further, a grinder 9 is provided on the left side of the substrate 4 and is movable in a direction perpendicular to the support shaft 3, that is, in a left-right direction.
A disc-shaped grinding wheel 10 is rotatably attached to the base plate 4, and a hydraulic cylinder 11 serving as a servo actuator is fixed to the right side of the base plate 4, and a pressing plate 13 is fixed to the tip of the cylinder rod 12. At the same time, a pressing spring 14 is interposed between the pressing plate 13 and the grinder 9, which urges the grinder 9 to the left and presses the grindstone 10 against the grinding surface.
The pressing force of this pressing spring 14 is detected by a pressing force detector 15.
is detected by detecting the extension length of the pressing spring 14, and in the comparator 16, the detector 1
The pressing force detection voltage S of 5 and the pressing force setting voltage P are compared, and the output of the comparator 16 is amplified by the servo amplifier 17, and the hydraulic cylinder 11 is actuated by the output of this servo amplifier 17, and the pressing force is detected. The servo mechanism is configured so that the voltage S becomes the pressing force setting voltage P, and the pressing force of the grindstone 10 by the pressing spring 14 is controlled to be constant.
ところで、前記において、モータを駆動し、ク
ランク機構を介して基板４を支軸３を軸として揺
動し、砥石１０を上下に首振りさせることは、研
削仕上面を滑らかにし、砥石１０の目づまりを防
止するうえで極めて有益なものであるが、このよ
うにして基板４を揺動した際、その姿勢の変動に
伴い、グラインダ９の自重の影響で押付ばね１４
が伸び縮みし、砥石１０の押付力を一定に保つこ
とができなくなる欠点がある。 By the way, in the above description, driving the motor, swinging the substrate 4 about the spindle 3 via the crank mechanism, and swinging the grinding wheel 10 up and down smooths the finished surface of the grinding and improves the grain of the grinding wheel 10. This is extremely useful in preventing jams, but when the substrate 4 is oscillated in this way, the pressure spring 14 is damaged due to the influence of the grinder 9's own weight as its posture changes.
has the disadvantage that it expands and contracts, making it impossible to keep the pressing force of the grindstone 10 constant.
この発明は、前記の点に留意してなされたもの
であり、つぎにこの発明を、その１実施例を示し
た図面とともに詳細に説明する。 This invention has been made with the above points in mind, and will now be described in detail with reference to drawings showing one embodiment thereof.
図面において、前述と同一記号は同一物を示
し、１８は基板４の揺動変位を検出する揺動変位
検出器であり、基台ベース１と基台４とのそれぞ
れの左側部間に配置され、基台ベース１に対する
基板４の左側部の高さを検出することにより揺動
変位が検出される。そして、この揺動変位検出器
１８からの揺動変位検出電圧Ｏは比較器１６に入
力され、押付力設定電圧Ｐと押付力検出電圧Ｓと
による押付ばね１４の押付力制御に補正が加えら
れ、砥石１０の研削面への押付力が常に一定にな
るよう制御される。 In the drawings, the same symbols as those described above indicate the same things, and 18 is a swing displacement detector for detecting the swing displacement of the substrate 4, which is disposed between the left sides of the base base 1 and the base 4, respectively. , the swing displacement is detected by detecting the height of the left side of the substrate 4 with respect to the base 1. The swing displacement detection voltage O from the swing displacement detector 18 is input to the comparator 16, and correction is applied to the pressing force control of the pressing spring 14 based on the pressing force setting voltage P and the pressing force detection voltage S. , the pressing force of the grindstone 10 against the grinding surface is controlled to be always constant.
すなわち、第２図に示すように、基板４の左側
が上方へ揺動した際には、グラインダ９の自重の
影響により押付ばね１４が縮み、従来の制御方法
では、この縮みに対し、シリンダロツド１２を縮
めて押付ばね１４を伸ばし、押付ばね１４の伸張
長さを一定に制御するため、砥石１０の研削面へ
の押付力が減少するが、前記実施例では、基板４
の揺動に対して検出器１８から揺動変位検出電圧
Ｏが出力され、サーボ増幅器１７からの制御出力
によりシリンダロツド１２が伸び、押付ばね１４
をさらに縮めて砥石１０の研削面への押付力を増
している。また、逆に、基板４の左側が下方へ揺
動した際には、揺動変位検出電圧Ｏにより、シリ
ンダロツド１２を縮めて押付ばね１４を伸ばし、
砥石１０の押付力を補正している。つまり、基板
４の揺動に伴なうグラインダ９の自重の影響を、
押付ばね１４を伸び縮みさせることにより吸収
し、砥石１０の研削面への押付力を一定にするも
のである。なお、基板４が水平な場合には揺動変
位検出器１８の検出電圧Ｏは零である。 That is, as shown in FIG. 2, when the left side of the substrate 4 swings upward, the pressing spring 14 contracts due to the influence of the grinder 9's own weight, and in the conventional control method, the cylinder rod 12 is compressed to extend the pressing spring 14, and the extension length of the pressing spring 14 is controlled to be constant, so that the pressing force against the grinding surface of the grinding wheel 10 is reduced.
The detector 18 outputs a swing displacement detection voltage O in response to the swing, and the cylinder rod 12 is extended by the control output from the servo amplifier 17, and the pressing spring 14
is further reduced to increase the pressing force against the grinding surface of the grindstone 10. Conversely, when the left side of the board 4 swings downward, the swing displacement detection voltage O retracts the cylinder rod 12 and extends the pressing spring 14.
The pressing force of the grindstone 10 is corrected. In other words, the influence of the weight of the grinder 9 due to the rocking of the substrate 4 is
This is absorbed by expanding and contracting the pressing spring 14, thereby making the pressing force against the grinding surface of the grindstone 10 constant. Note that when the substrate 4 is horizontal, the detection voltage O of the swing displacement detector 18 is zero.
したがつて、前記実施例によると、基板４の揺
動変位に応じて押付ばね１４の押付力を補正する
ことができ、基板４の揺動、すなわちグラインダ
の姿勢変動にかかわらず、砥石１０の研削面への
押付力を常に一定にすることができ、研削仕上面
を良好なものにでき、しかも、基板４の揺動変位
を検出する検出器１８の検出信号、すなわち揺動
変位検出電圧Ｏをサーボ機構の比較器１６に入力
するのみの簡単な方法で押付力制御の補正が行な
える利点を有するものである。 Therefore, according to the embodiment, the pressing force of the pressing spring 14 can be corrected according to the rocking displacement of the substrate 4, and the grinding wheel 10 can be The pressing force on the grinding surface can always be kept constant, making it possible to obtain a good finished surface by grinding.Moreover, the detection signal of the detector 18 that detects the swing displacement of the substrate 4, that is, the swing displacement detection voltage O This has the advantage that the pressing force control can be corrected simply by inputting the value to the comparator 16 of the servo mechanism.
以上のように、この発明は、基台ベース上に立
設された１対の支持壁間に前後方向の支軸を固定
し、前記支軸に基板を揺動自在に支持し、減速機
のクランク軸をクランク腕、クランクロツドを介
して前記基板の右側に連結し、前記基板上の左側
に前記支軸に直交する方向に移動自在のグライン
ダを設け、前記グラインダに円板状の研削用砥石
を回転自在に取付け、前記基板の右側にサーボア
クチユエータとなる油圧シリンダを固定し、前記
油圧シリンダのシリンダロツドの先端に押付板を
固着し、前記押付板と前記グラインダとの間に前
記グラインダを左方へ付勢して前記砥石を研削面
に押付ける押付ばねを介在し、前記押付ばねの押
付力を押付力検出器により前記押付ばねの伸張長
さを検出することにより検出し、比較器により前
記検出器の押付力検出電圧と押付力設定電圧とを
比較し、前記比較器の出力をサーボ増幅器で増幅
し、前記サーボ増幅器の出力により前記油圧シリ
ンダを作動し、前記押付力検出電圧が前記押付力
設定電圧になるようサーボ機構を構成し、かつ、
前記基台ベースと前記基板とのそれぞれの左側部
間に前記基台ベースに対する前記基板の左側部の
高さを検出して前記基板の揺動変位を検出する揺
動変位検出器を設け、前記揺動変位検出器からの
揺動変位検出電圧を前記比較器に入力し、前記押
付力設定電圧と前記押付力検出電圧とによる前記
押付ばねの押付力制御に補正を加えることを特徴
とする砥石の押付力制御方法である。 As described above, the present invention fixes a support shaft in the front and back direction between a pair of support walls erected on a base, supports a board on the support shaft in a swingable manner, and operates a reduction gear. A crankshaft is connected to the right side of the board via a crank arm and a crank rod, and a grinder movable in a direction perpendicular to the spindle is provided on the left side of the board, and a disc-shaped grinding wheel is attached to the grinder. A hydraulic cylinder serving as a servo actuator is fixed to the right side of the board, a pressing plate is fixed to the tip of the cylinder rod of the hydraulic cylinder, and the grinder is mounted on the left side between the pressing plate and the grinder. A pressing spring is provided which biases the grindstone against the grinding surface, the pressing force of the pressing spring is detected by detecting the extension length of the pressing spring with a pressing force detector, and a comparator detects the pressing force of the pressing spring. The pressing force detection voltage of the detector is compared with the pressing force setting voltage, the output of the comparator is amplified by a servo amplifier, the hydraulic cylinder is actuated by the output of the servo amplifier, and the pressing force detection voltage is The servo mechanism is configured to achieve the pressing force setting voltage, and
A swing displacement detector is provided between the left side of each of the base base and the substrate, and the swing displacement detector detects the height of the left side of the board with respect to the base base to detect the swing displacement of the board; A grindstone characterized in that a swing displacement detection voltage from a swing displacement detector is input to the comparator, and correction is applied to the pressing force control of the pressing spring based on the pressing force setting voltage and the pressing force detection voltage. This is a pressing force control method.
したがつて、この発明によると、基板の揺動の
際のグラインダの自重の影響によるばねの伸び縮
みを補正し、基板の揺動、すなわちグラインダの
姿勢変動にかかわらず、砥石の研削面への押付力
を一定に制御でき、簡単な方法でばねの押付力の
補正が行なえ、研削仕上面も良好にできる。 Therefore, according to the present invention, the expansion and contraction of the spring due to the influence of the grinder's own weight when the substrate oscillates is corrected, and regardless of the oscillation of the substrate, that is, the attitude change of the grinder, the impact on the grinding surface of the grindstone is maintained. The pressing force can be controlled at a constant level, the spring pressing force can be corrected with a simple method, and a good ground surface can be obtained.
図面はこの発明の砥石の押付力制御方法の１実
施例の正面図を示し、第１図は基板を水平状態に
保持した状態、第２図は基板の左側を上方へ揺動
した状態である。
３……支軸、４……基板、９……グラインダ、
１０……砥石、１４……押付ばね、１５……押付
力検出器、１８……揺動変位検出器。
The drawings show a front view of one embodiment of the method for controlling the pressing force of a grindstone according to the present invention, and FIG. 1 shows a state in which the substrate is held horizontally, and FIG. 2 shows a state in which the left side of the substrate is swung upward. . 3... Support shaft, 4... Board, 9... Grinder,
10... Grindstone, 14... Pressing spring, 15... Pressing force detector, 18... Rocking displacement detector.
Claims (1)
前後方向の支軸を固定し、前記支軸に基板を揺動
自在に支持し、減速機のクランク軸をクランク
腕、クランクロツドを介して前記基板の右側に連
結し、前記基板上の左側に前記支軸に直交する方
向に移動自在のグラインダを設け、前記グライン
ダに円板状の研削用砥石を回転自在に取付け、前
記基板の右側にサーボアクチユエータとなる油圧
シリンダを固定し、前記油圧シリンダのシリンダ
ロツドの先端に押付板を固着し、前記押付板と前
記グラインダとの間に前記グラインダを左方へ付
勢して前記砥石を研削面に押付ける押付ばねを介
在し、前記押付ばねの押付力を、押付力検出器に
より前記押付ばねの伸張長さを検出することによ
り検出し、比較器により前記検出器の押付力検出
電圧と押付力設定電圧とを比較し、前記比較器の
出力をサーボ増幅器で増幅し、前記サーボ増幅器
の出力により前記油圧シリンダを作動し、前記押
付力検出電圧が前記押付力設定電圧になるようサ
ーボ機構を構成し、かつ、前記基台ベースと前記
基板とのそれぞれの左側部間に前記基台ベースに
対する前記基板の左側部の高さを検出して前記基
板の揺動変位を検出する揺動変位検出器を設け、
前記揺動変位検出器からの揺動変位検出電圧を前
記比較器に入力し、前記押付力設定電圧と前記押
付力検出電圧とによる前記押付ばねの押付力制御
に補正を加えることを特徴とする砥石の押付力制
御方法。1 A support shaft in the front and back direction is fixed between a pair of support walls erected on the base, a board is swingably supported on the support shaft, and the crankshaft of the reducer is connected to the crank arm and the crank rod is connected to the support shaft. A grinder is connected to the right side of the substrate via the substrate, and a grinder is provided on the left side of the substrate and is movable in a direction perpendicular to the spindle, and a disc-shaped grinding wheel is rotatably attached to the grinder. A hydraulic cylinder serving as a servo actuator is fixed on the right side, a pressing plate is fixed to the tip of the cylinder rod of the hydraulic cylinder, and the grinder is urged to the left between the pressing plate and the grinder, and the grinding wheel is pressed against the grinding wheel. The pressing force of the pressing spring is detected by detecting the extension length of the pressing spring with a pressing force detector, and the pressing force of the detector is detected with a comparator. The voltage is compared with a pressing force setting voltage, the output of the comparator is amplified by a servo amplifier, and the hydraulic cylinder is actuated by the output of the servo amplifier, so that the pressing force detection voltage becomes the pressing force setting voltage. A rocker constitutes a servo mechanism and detects the height of the left side portion of the substrate with respect to the base base between the left side portions of the base base and the substrate to detect the rocking displacement of the substrate. A dynamic displacement detector is installed,
A swing displacement detection voltage from the swing displacement detector is input to the comparator, and correction is applied to the pressing force control of the pressing spring based on the pressing force setting voltage and the pressing force detection voltage. Grinding wheel pressing force control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6283781A JPS57178663A (en) | 1981-04-24 | 1981-04-24 | Control method of pressing force by grinding wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6283781A JPS57178663A (en) | 1981-04-24 | 1981-04-24 | Control method of pressing force by grinding wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57178663A JPS57178663A (en) | 1982-11-02 |
| JPS6219987B2 true JPS6219987B2 (en) | 1987-05-01 |
Family
ID=13211819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6283781A Granted JPS57178663A (en) | 1981-04-24 | 1981-04-24 | Control method of pressing force by grinding wheel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57178663A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04121274U (en) * | 1991-04-16 | 1992-10-29 | 鐘淵化学工業株式会社 | Foam containers for freezing and cold storage |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59140154U (en) * | 1983-03-09 | 1984-09-19 | 日本電気株式会社 | disk polishing equipment |
| JPS59232769A (en) * | 1983-06-15 | 1984-12-27 | Tadashi Kasai | Polishing device |
| FR2553323B1 (en) * | 1983-10-18 | 1986-07-25 | Essilor Int | METHOD AND MACHINE FOR BEVELING OR SLOTTING AN OPHTHALMIC LENS |
| JPS63127827A (en) * | 1986-11-18 | 1988-05-31 | Kobe Steel Ltd | Electrolytic buffing compound polishing device |
| CA2319041C (en) * | 1998-01-22 | 2007-06-12 | Nitta Corporation | Grinder pressing device |
-
1981
- 1981-04-24 JP JP6283781A patent/JPS57178663A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04121274U (en) * | 1991-04-16 | 1992-10-29 | 鐘淵化学工業株式会社 | Foam containers for freezing and cold storage |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57178663A (en) | 1982-11-02 |
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| JPH0222Y2 (en) | ||
| JPH0451961Y2 (en) | ||
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| JPH061347Y2 (en) | Tool mounting device for robot | |
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| JPS599841Y2 (en) | Band saw tensioning device of band saw machine | |
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