JPH11188596A - Automatic grinding device for large work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grind a large work such as a ship part safely and automatically. SOLUTION: A robot 20 is operated by a teaching operation of a worker so that a grinder 50 can perform a grinding copying operation against a surface portion to be ground of a large work W, and the copying operation is stored in a control device 91. Thus the robot is controlled to a stored movement by an automatic grinding command and a grinding wheel 511 of a grinder is rotated for automatic grinding.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grinding apparatus for large workpieces, and more particularly to an apparatus for safely and automatically grinding large workpieces such as marine parts.

[0002]

2. Description of the Related Art Parts of large ships, such as screws and ladders, are often manufactured by a casting method using a steel material. Need to do.

[0003] By the way, the above-mentioned ship parts themselves are, for example, 5
Not only is it very large, such as 0 tons, but also the parts to be ground vary due to the different shapes of the parts. Therefore, when performing the surface finishing, a scaffold is assembled around the marine parts, and the operator grinds the surface by holding a grinder in his hand.

[0004]

However, the type of work used for this type of work is heavy, weighing 5 to 6 kg, which makes the work extremely difficult. It was bad, and the burden on the worker was very large and dangerous.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide an automatic grinding apparatus for a large work, which can safely and automatically grind a large work such as a ship part.

[0006]

SUMMARY OF THE INVENTION An automatic grinding apparatus for a large work according to the present invention is an automatic grinding apparatus for automatically grinding an arbitrary surface portion of a large work. A table to be placed, a robot arranged beside the table and capable of moving the tip of the arm to an arbitrary position in the space, and the large work piece mounted on the tip of the arm of the robot and using the rotating grindstone. A grinder for grinding the surface of the large work, a teaching operation unit for operating the robot in accordance with a teaching operation of an operator, thereby causing the grinder to perform a copying operation of the surface of the large workpiece to be ground; The movement of the robot during operation is stored, and the robot is controlled to the stored movement by an automatic grinding command. A control device for rotating operating the grindstone inductor, characterized by comprising a.

One of the features of the present invention is that a glider is attached to the end of the arm of the robot, the grinder is moved to perform teaching, and automatic grinding is started. As a result, any surface portion of the large work can be automatically and safely ground, and the burden on the operator can be greatly reduced.

[0008] Teaching may be performed by performing a copying operation over the entire surface portion to be ground, but the teaching takes time. Therefore, the copying operation of the grinder by the teaching operation unit is defined as the operation from the start end to the end of the start line of the plurality of grinding lines by the grinder, and the weaving amount of the grinder and the number of repetitions of the grinding are input to the control device, and It is preferable to move the start line from the start end to the end while weaving by the input amount so that the operation is repeated by the number of inputs.

The grinding operation of the grinder is often performed while weaving the grinder along each of a plurality of stages of grinding lines. Therefore, instead of performing the copying operation, the weaving amount of the grinder and the positional information of the three points of the starting end and the end of the starting line and the starting point of the final line of the plurality of grinding lines by the grinder are input to the control device, The movement of the robot with respect to the surface portion of the large workpiece to be ground may be calculated and stored from the position information of the three points and the weaving amount.

[0010] That is, the control device includes the weaving amount of the grinder and the start and end of the start line and the start of the last line among a plurality of grinding lines by the grinder.
The position information of the point can be input and the movement of the robot with respect to the surface portion of the large workpiece to be ground is calculated and stored from the position information of the three points and the input weaving amount,
A function of controlling the robot to the stored motion by the automatic grinding command may be further provided.

Further, according to the present invention, there is provided an automatic grinding apparatus for automatically grinding an arbitrary surface portion of a large work,
A table on which a large workpiece to be ground is placed, a robot arranged on the side of the table and capable of moving the tip of the arm to an arbitrary position in space, and a robot attached to the tip of the arm of the robot and rotating the robot A grinder for grinding the surface portion of the large work with a grindstone, the weaving amount of the grinder, and the positional information of the start and end of the start line and the start of the last line among the plurality of grinding lines by the grinder Can be input, and the motion of the robot with respect to the surface portion of the large workpiece to be ground is calculated and stored from the position information of the three points and the input weaving amount, and the robot is stored by the automatic grinding command. A control device for controlling the movement of the grinder and rotating the grindstone of the grinder. It is possible to provide a grinding apparatus.

The table may be a fixed table, but when the portion of the large work to be ground is located on the opposite side of the robot, the large work needs to be suspended by a crane or the like and rotated. Therefore, it is preferable that the table be a turntable or a combination table of a turntable and a fixed table arranged around the turntable in consideration of a case where a super-large work is placed.

When a turntable or a combination table is employed, the rotation position of the turntable may be automatically controlled during automatic grinding. Therefore, a function of rotating the turntable in accordance with the operation is added to the teaching operation unit, and the control device stores the rotation position of the turntable during the copying operation and the operation of the robot during the copying operation at the rotation position, and performs grinding. It is preferable that the turntable be rotated to the rotational position during the copying operation and the robot be controlled to the movement during the copying operation by the command.

In the case of the method of inputting the position information of the three points and the weaving amount of the glider, the position information of the rotation position of the turntable can also be input, and the calculated movement of the robot is stored in correspondence with the rotation position. Preferably, the turntable is rotated by an automatic grinding command and the robot is controlled to the stored motion.

Although the robot may be fixed to the floor, the surface to be ground may be out of the movable range of the robot depending on the shape of the large work. Therefore, it is preferable to mount the robot on a slider mechanism that can move forward and backward with respect to the table. In this case, the advance / retreat position of the slider mechanism may be automatically controlled during the automatic grinding.

That is, the teaching operation unit is provided with a function of moving the slider mechanism forward and backward by an operation of an operator, and the control unit is provided with a function for determining the position of the slider mechanism during the copying operation or inputting the weaving amount and the position information of the three points. The robot movement during the copying operation at the position or calculated is stored, and the slider mechanism is operated by an automatic grinding command to move the robot back and forth to the position during the copying operation or at the time of input, and to control the robot to the stored movement. Is good.

The grinder may be attached to the end of the robot arm with a jig and bolts and nuts, and the operator may replace the grinder manually. However, from the viewpoint of simplification of attachment and detachment, the grinder can be connected and detached by a changer mechanism. Preferably, it is mounted. In particular, if a changer mechanism that can be automatically contacted and separated is adopted and a sensor that detects the grindstone diameter of the grinder is provided, the change of the grinder can be further simplified by controlling the changer mechanism.

Further, there are a straight type and an angle type in the grinder, and it is preferable to select one depending on the shape of the large work. Therefore, the controller can input the type of grinder at the time of the copying operation or at the time of inputting the weaving amount and the position information of the three points. Before controlling the robot to the memorized motion, the grinder of the input type is set at the robot. It is preferable to attach to the end of the arm.

It is preferable that the grinder can be automatically replaced when the grindstone is worn. Therefore, a sensor for detecting the grindstone diameter of the grinder is further provided, and the control device operates the changer mechanism when the grinder reaches a predetermined grindstone diameter, and a grinder having a worn grindstone and a grinder having a new grindstone are provided. It is preferable to provide an exchange function.

In this case, the operator may carry the grinder, but from the viewpoint of workability, it is preferable to provide a transfer mechanism for transferring the grinder between the outside and the inside of the movable range of the arm of the robot.

Further, from the viewpoint of ensuring safety, it is preferable to further include a safety fence surrounding the table and the robot.
In this case, it is preferable to form an opening in the safety fence, and to provide a transfer mechanism for transferring the grinder between the outside and the inside of the safety fence.

When the transfer mechanism is provided, the replacement of the grinder can be completely automated. That is, the control device has a function of controlling the robot and the changer mechanism, removing the grinder having the worn grindstone toward the transfer mechanism, and attaching the grinder having the new grindstone transferred by the transfer mechanism to the tip of the arm of the robot. can do.

In addition, a single table may be provided, and a plurality of tables may be provided, and the robot may be moved to perform a grinding operation. In this case, while one table is automatically grinding a large work, In addition, a large work that has been worked can be carried out at another table, and the next large work can be carried in and placed on the table, thereby improving work efficiency.

[0024]

According to the present invention, the glider is attached to the end of the arm of the robot, the grinder is moved by the manual operation of the operator, and the movement is stored or the three-point position information of the grinder is stored. Automatic grinding is performed after calculating and memorizing the movement of the grinder by inputting the weaving amount and the amount of work. Can be greatly reduced and safety can be greatly improved.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to specific examples shown in the drawings. 1 to 17 show a preferred embodiment of an automatic grinding apparatus for large-sized work according to the present invention. In the figure, a table 10, a robot 20, and a traverser (transfer mechanism) 30 are laid out on a floor, and a safety fence 40 is arranged around the area.

The table 10 comprises a combination of a turntable 11 and a pair of fixed tables 12, 12 arranged on both sides of the turntable 11.
In FIG. 4, a base 110 is fixed on the floor as shown in FIG. 4, and a vertical support shaft 111 is rotatably supported by bearings on the base 110.
While the center of 2 is fixed, the rotation of the drive motor 113 with a reduction gear is transmitted to the support shaft 111. Further, two limit switches (not shown) are provided between the table 112 and the base 111, and an origin position and an index position are detected and the table 112 is detected.
Is divided into six equal parts every 60 °.

A 6-axis vertical articulated robot is used as the robot 20, and a grinder 50 is provided at the tip of the arm.
The robot 20 is mounted on a slider mechanism 21. In this slider mechanism 21, as shown in FIGS. 5A and 5B, the base table 21 is placed on the floor.
A table 214 is slidably supported on the base 210 and a ring gear 211 is fixed.
Is fixed, and the robot 20 is mounted on the table 214. A screw rod 212 is screwed into the ring gear 211, and the screw rod 212 is rotatably supported below the table 213. Table 21
4, a drive motor 213 with a speed reducer is attached, and an output shaft of the drive motor 213 and the screw rod 212 are connected by a belt mechanism (or a chain mechanism).
Is rotated so that the table 214 and therefore the robot 20 can advance and retreat by a predetermined distance, for example, 700 mm.

As shown in FIGS. 6 and 7, the traverser 30 is disposed outside and inside the opening formed in the safety fence 40, and the outside of the safety fence 40 of the traverser 30 is provided with an openable / closable safety cover. 31.
In this traverser 30, a base table 32 is fixed on the floor, and a pair of front and rear brackets are fixed on both left and right sides of the base table 32 at a predetermined interval, and a pair of guide shafts are provided between the front and rear brackets. 34, 34 are fixed, and two pairs of guide shafts 34, 34 respectively have first,
Second sliders 35, 35 are slidably supported. Air cylinders 33, 33 are attached to a bracket located inside the safety fence 40, and rods of the air cylinders 33, 33 are attached to the first and second sliders 3.
5, 35, the first and second sliders 35, 35
Is slidable between a tool supply / extraction position outside the safety fence 40 (see a two-dot chain line in FIG. 7) and an automatic tool change position inside (see a solid line in FIG. 7). Also,
The base table 32 has two pairs of sensors 316... For detecting the presence or absence of the slider 50 on the first and second sliders 35 and 35 by transmitting light, and a pair of sensors 317 and 317 for determining the type of the grinder 50. Is arranged, and the signal is input to a control device 91 described later.

As shown in FIG. 9, a table 36 is supported on the slider 35 on its main body 310 so as to be swingable around a support pin 37 on the distal end side. The pin 39 is fixed. A guide pin 311 is provided between the table 36 and the slider body 310 at the rear end side.
A stopper 313 for leveling is mounted on the upper part of the coil spring 31, and a coil spring 31 is mounted on the outer periphery of the guide pin 311.
2 is compressed and the table 36 is urged in a horizontal state, while a stopper 314 that regulates downward swing of the table 36 is fixed to the slider body 310,
A sensor 315 is attached, and its signal is input to a control device 91 to be described later to protect the mechanism when the attachment 51 of the grinder 50 and the positioning pin 36 of the slider 35 are displaced. It is designed to stop.

FIG. 8 shows a side top surface of the base table 32.
(A) and (b), a pair of sensors 60, 60
Are provided at predetermined heights and at predetermined intervals from each other by brackets 61, 61, and a signal thereof is input to a control device 91 described later.
Calculates the wear amount of the grindstone 52 from the position of the grinder 50 when the light between the sensors 60 and 60 is shut off, and is detected.

As shown in FIG. 10, a clutch mechanism 70 for absorbing an excessive eccentric load of the grinder 50 and a grinder 50 are provided between the robot 20 and the grinder 50.
A changer mechanism 80 for automatically contacting / separating is provided.

As shown in FIG. 11, in the changer mechanism 80, a guide rod 82 is built in a housing 81, and a receiving hole 83 is formed in the guide rod 82 so that the positioning pin 54 of the grinder 50 is fitted therein. Ball chucks 84 are provided so as to be able to protrude and retract from the receiving holes 83. A piston 85 is interposed between the guide rod 82 and the housing 81, and the piston 8
The air passage 86,
87 are formed so as to communicate with each other, and air is supplied to the air passages 86 and 87 so that the piston 85 slides up and down. When the piston 85 slides down, the ball chucks 84 fit into the concave grooves of the positioning pins 54 on the grinder 50 side. The grinder 50 is attached to the robot 20 by being stuck.
An air passage 88 for driving the grinder is formed in the housing 81, and the air passage 88 is connected to the grinder 50.
Grinder 50 when the robot is mounted on the arm of the robot 20
Is automatically communicated with the air passage 55. Further, an O-ring 89 is provided on the outlet side of the air passage 88 so as to be in close contact with the peripheral edge of the air passage 55 during communication to prevent air leakage. Reference numeral 810 denotes a detent hole into which the detent pin 56 of the grinder 50 is fitted.

On the other hand, in the clutch mechanism 70, as shown in FIG.
1 is fixed, a piston 72 is built in the housing 71, and a mounting flange 73 is swingably mounted on a hemispherical portion at the tip of the piston 72.
Is fixed to a housing 81 of the changer mechanism 80. The lower end of the housing 71 has
Positioning pins 75 are mounted at 20 ° intervals, and the positioning pins 75 are fitted into positioning holes of the mounting flange 73 to position the mounting flange 73. Further, a spring member 74 is contracted between the piston 72 and the housing 71, and an air passage 76 for decreasing the spring pressure and an air passage 77 for increasing the spring pressure are provided in the housing 71 defined by the piston 72. The spring pressure of the spring member 74 can be adjusted by adjusting the amount of air supplied from the air passages 76 and 77, and an excessive bias load is applied to the changer mechanism 80 from the grinder 50 side. When acting, the mounting flange 73 swings around the hemispherical portion at the tip of the piston 72 against the spring force of the spring member 74 to absorb an excessive eccentric load and avoid the influence on the robot 20 side. Has become. In addition, the mounting flange 73 has the outer peripheral edge 120.
The sensors 78 are attached at the positions at an angle of .degree., And their signals are input to a control device 91 which will be described later.
Is to be stopped.

On the other hand, in the grinder 50, FIGS.
As shown in FIG. 17, the attachment 51 has a box shape, and the front part and the rear part of the grinder body 510 are clamped by the upper and lower holder pairs 513, 514 and 516, 517 in the attachment 51 and bolted. The holder 514 at the front portion is provided with mounting pins 515.
Is attached to the attachment 51 so as to be swingable. On the other hand, a pair of guide shafts 518, 518 are erected on the holder 516 at the rear part, and the guide shaft 518 is inserted upward through the attachment 51, and a cylindrical stopper 521 is attached to the upper end thereof. A coil spring 520 is contracted between the armature and the attachment 51, and the holder 516 at the rear part, that is, the rear part of the grinder body 510 is urged upward. A bracket 522 is fixed to a front portion of the upper surface of the attachment 51, and a stopper 523 is mounted in the bracket 522 so as to be swingable around a front mounting pin 525, and between the stopper 523 and the attachment 51. Is provided with a spring member for urging the stopper 523 upward. A lock lever 526 is attached to the bracket 522 so as to be slidable back and forth by a guide pin 527, and the stopper 523 can be locked in a downward swinging state by inserting the lock lever 526 into the bracket 522. Also,
The tool mount 53 is fixed to the upper surface of the attachment 51 as described above, and a positioning pin 54 and a detent pin 56 are fixed to the tool mount 53 and an air passage 55 is formed.

In FIG. 1, reference numeral 90 denotes a teaching operation unit, and 91 denotes a control device. For example, a teaching pendant operation box is used for the teaching operation unit 91, and the turntable 11 is operated in accordance with a teaching operation by an operator. Rotate and Robot 2
0 and the slider mechanism 21 are operated so that the grinder 50 performs the copying operation of the grinding of the surface of the large workpiece W to be ground.

The control device 91 stores the type of the grinder 50 at the time of the copying operation and also stores the rotational position of the turntable 11 during the copying operation and the movements of the robot 20 and the slider mechanism 21 during the copying operation at the rotational position. The robot 20 is controlled by the automatic grinding command, the grinder 50 is moved to the traverser 30 by using the changer mechanism 80, and the grinder 50 of the stored type is mounted or replaced during the copying operation. Is rotated to the rotational position during the copying operation, the slider mechanism 21 and the robot 20 are controlled to the memorized movement, and the grindstone 511 of the grinder 50 is rotated. Further, the control device 90 stops the grinding operation at predetermined time intervals during the control of the grinding operation, and
The outer periphery of the grindstone 511 of the grinder 50 is positioned between 0 and 60, and the grindstone 51 is determined from the position information of the robot 20 at that time.
1 is calculated, and when a predetermined amount of wear is reached, the robot 20 is controlled and the grinder 5 having the wear grindstone 511 is controlled.
0 to the traverser 30 and changer mechanism 8
Grinder 50 having a new grindstone 511 utilizing
Is to be replaced.

Here, the copying operation of the grinder by the teaching operation section 90 is, for example, an operation from the start end to the end of the start line of a plurality of grinding lines by the grinder, and the controller 91 controls the weaving amount of the grinder 50 and the grinding. A method of inputting the feed rate and the number of repetitions of grinding, moving the grinder 50 from the start end to the end of the start line while weaving the grinder 50 by the input amount by the control device 91, and repeating the operation by the number of inputs can be adopted.

Next, a method for automatically grinding a large workpiece, for example, a marine component W will be described. When grinding the ship part W, the ship part W is placed on the turntable 11 at the origin position, and the control device 91 operates under the operating conditions, specifically, the front-back position of the slider mechanism 21, the rotational position of the turntable 11, The type of the grinder 50 and the feed rate of the grinder 50 (for example, 5 mm / s to 30 mm / s,
mm / s to 20 mm / s), the weaving amount of the grinder 50 (for example, 20 mm to 60 m).
m, but 40 mm is practically preferable), while inputting the number of repetitions of grinding, and controlling the robot 20 using the teaching operation unit 90, the upper (starting) grinding line of a plurality of stages. The grinder 50 is moved from the beginning to the end of the ship part W based on the position data at that time and the input weaving amount and the number of repetitions.
Is calculated and stored in the control device 91. At the time of teaching, the grinder 50 pushes the lock lever 526 to lock the stopper 523 in the downward swinging state as shown in FIGS. 16 and 17 (d), and the grinder body 511 is locked in the horizontal position. .

Similarly, input and copying operations of various conditions are performed on other surface portions of the marine component W to be ground at the origin position of the turntable 11. Turntable 1
When the teaching at the origin position of 1 is completed, the turntable 11 is rotated by 60 °, various conditions are input and the copying operation is performed in the same manner as described above, and teaching at each rotational position of the turntable 11 is performed in the same manner. Note that the type of the grinder 50, the feed speed of the grinder 50, and the weaving amount of the grinder 50 can be set to the same value unless it is necessary to change them in a series of operations.

When the preparation is completed, the grinder 5
0 lock lever 526 is pulled out and stopper 523 is pulled out.
Is set to the upper swing state, and as shown in FIGS. 14 and 16, the grinder main body 511 can swing. As a result, an excessive load acting on the grinder 50 or the marine component W
It is possible to absorb the influence on the grinding work due to the unevenness of the surface. In addition, the robot 20, the turntable 11, and the slider mechanism 21 return to the origin position (the rear end position of the slider mechanism 21 is the origin position) according to the control signal of the control device 91. The grinder 50 of the selected type is set on the first slider 35 of the 30.

Next, when the automatic grinding switch is turned on,
The first and second sliders 35, 35 are both slid inward by the control signal of the control device 91, and the first slider 3
The grinder 50 is provided by the sensors 316 and 316 on the fifth side.
Is detected to have reached the predetermined position, the control device 9
The robot 20 starts operating according to the first control signal, and the already attached grinder 50 at the tip of the arm is moved to the second position.
, The changer mechanism 80 is opened, and the grinder 50 is returned onto the second slider 35. At this time, when the grinder 50 at the tip of the arm is displaced with respect to the second slider 35, the table 36 of the slider 35 resists the spring force of the coil spring 312 as shown in FIG. Swing downward to stop the stopper 31
In the case of No. 4, the sensor 315 detects the displacement and stops the robot 20, so that no excessive load acts on the robot 20. Further, since the robot 20 is stopped, the operator can manually position the grinder 50 on the second slider 35. This operation is not performed when the grinder 50 is not attached to the tip of the arm of the robot 20. When the grinder 50 at the tip of the arm is removed, the robot 20 moves the arm toward the first slider 35, and similarly sets the grinder 50 on the first slider 35 at the tip of the arm using the changer mechanism 80. I do.

When the setting of the grinder 50 is completed in this way, the first and second sliders 35, 35 slide to the outside of the safety fence 40.
The upper grinder 50 is taken out, and the next grinder 50 is set on the first slider 35, thereby enabling the repetitive operation.

When the grinder 50 is set at the end of the arm, the robot 20 moves the grinder 50 between the sensors 60, 60, and obtains the position information of the robot 20 when the light between the sensors 60, 60 is cut off. The diameter of the grindstone 511 is calculated. The grinder 50 includes a straight type and an angle type. In the case of the straight type, the grinder 50 is moved between the sensors 60 and 60 as shown in FIG. As shown in (2), the wheel is moved between the sensors 60 and 60 to calculate the grindstone diameter.

After the calculation of the grindstone diameter is completed, the robot 20 returns to the home position, and the turntable 11 receives the control signal of the control device 91 and rotates to the rotational position stored in the control device 91 for grinding. Then, the slider mechanism 21 also moves to the front and rear position where the grinding is to be performed. However, when the position to be ground is the rear end position, the slider mechanism 21 does not operate.

Next, the robot 20 receives the control signal from the control device 91 and moves from the start end to the end while weaving the input amount for the upper grinding line in accordance with the stored motion. And perform grinding,
Similarly, grinding is performed while shifting the position downward by the number of times of input.

At this time, every predetermined time, for example, every 30 minutes, that is, every time the grinding time is up, the robot 20 receives the control signal of the control device 91, stops the grinding operation, and reduces the wear amount of the grindstone 511 of the grinder 50. The measurement is performed, and if not worn to a predetermined amount, the grinding operation is continued again. Grinder 50
When the grindstone 511 is worn to a predetermined amount, the control device 91 measures the wear amount for a shorter time than the above, for example, every 10 minutes, and the grindstone 511 is worn to a predetermined limit amount. Then, the control device 91 performs the same control as in the case of setting the grinder 50, returns the robot 20, the turntable 11, and the slide mechanism 21 to the original position, and replaces the grinder 50 with the new grindstone 511.

When a new grinder 50 is set at the tip of the arm, the grinding is continued as described above. When the grinding of one surface portion is completed, the grinding of the next surface portion at the rotation position of the turntable 11 is performed in the same manner. When the work is completed, the robot 20 and the slider mechanism 21 return to the origin position. , The turntable 11 is rotated to the next rotation position, and the turntable 11 is rotated in the same manner as described above.
The grinding operation at the next rotation position is started.

When the necessary grinding work has been performed on all the marine parts W, the robot 20, the slider mechanism 2
1 and the turntable 11 all return to the origin positions, the second slider 35 of the traverser 30 advances, and the robot 20 moves the grinder 50 at the tip of the arm to the second slider 3.
5 and the second slider 35 is retracted to complete the automatic operation.

When the workpiece W to be ground is a very large workpiece, the ultra-large workpiece W is mounted on the fixed tables 12 and 12 using a crane or the like. Is controlled to perform grinding. Outside the reach of the robot 20, the ultra-large work W can be lifted and rotated using a crane or the like, and the surface portion coming to the robot 20 side can be automatically ground.

FIG. 18 shows a second embodiment of the present invention.
In this example, two combination tables 10 and 10 are arranged on the floor, while traveling rails 90 and 90 are combined with the combination table 1.
0, 10 in the arrangement direction, and the running rail 9
The slider mechanism 21 is movably mounted on the sliders 0 and 90. In addition, the safety fence 40 is provided with an opening facing the combination tables 10, 10, and the traversers 30, 30 are arranged.

In this example, while the large workpiece W is being ground on one combination table 10, the other combination table 1 is being ground.
0, the large workpiece W which has been completely ground can be carried out, and the next large workpiece W can be set on the combination table 10;
Work efficiency can be greatly improved.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a preferred embodiment of an automatic grinding apparatus for large workpieces according to the present invention.

FIG. 2 is a side view showing the configuration of the grinding device.

FIG. 3 is a front configuration diagram showing the grinding device.

FIG. 4 is a configuration diagram showing a turntable in the grinding device.

FIG. 5 is a diagram showing a front configuration (a) and a side configuration (b) of a slider mechanism 21 in the grinding device.

FIG. 6 is a side view showing a traverser in the grinding device.

FIG. 7 is a plan view showing the traverser.

FIG. 8 is a view showing a method of detecting the wear amount of the grinding wheel of the straight type (a) and the angle type (b) grinders in the above-mentioned grinding apparatus.

FIG. 9 is a diagram showing a plane (a), a side surface (b), and a state (c) of the traverser at the time of a displacement of a mechanism of a portion for preventing displacement.

FIG. 10 is a diagram showing a relationship between a clutch mechanism, a changer mechanism, and a grinder in the grinding device.

11 is an enlarged sectional view of a main part of FIG.

FIG. 12 is a diagram showing a state when an excessive load acts on the grinder in FIG. 11;

FIG. 13 is a plane view of a grinder in the grinding device.
(a), It is a figure which shows the side structure (b) and the bottom surface (c).

FIG. 14 is a view for explaining an operation for absorbing a load in the grinder.

FIG. 15 is a front view (a) of the grinder of FIG. 13;
FIG. 4 is a sectional view of a main part of a rear part (b).

FIG. 16 is a view showing a grinder to which a straight type is attached.

FIG. 17 is a view showing a main body locking mechanism in the grinder.

FIG. 18 is a diagram showing a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Union table 11 Turntable 12 Fixed table 20 Robot 21 Slider mechanism 30 Traverser (transfer mechanism) 35 Slider 40 Safety fence 50 Grinder 51 Attachment 510 Grinder main body 511 Grinding wheel 60 Wheel wear amount detection sensor 70 Clutch mechanism 80 Changer mechanism 90 Teaching operation Part 91 Control device W Large work

Claims (17)

[Claims] 1. An automatic grinding apparatus for automatically grinding an arbitrary surface portion of a large work, comprising: a table on which a large work to be ground is mounted; A robot capable of moving the robot to an arbitrary position in the space, a grinder attached to an end of the arm of the robot, and a grinder for grinding a surface portion of the large work with a rotating grindstone. A teaching operation unit for operating a robot, thereby causing the grinder to perform a copying operation on the surface of the large workpiece to be ground, and storing the movement of the robot during the copying operation, and controlling the robot by an automatic grinding command. A control device for controlling the stored movement and rotating the grindstone of the grinder. Automatic grinding apparatus of large workpiece to be. 2. The copying operation of a grinder by the teaching operation unit is an operation from a start end to a termination of a start line among a plurality of grinding lines by the grinder, and the control device determines a weaving amount of the grinder and a grinding amount. 2. The large workpiece according to claim 1, wherein a repetition number can be input, and the operation is repeated from the start end to the end of the start line by weaving the grinder by the input amount to repeat the operation by the input number. Automatic grinding equipment. 3. The control device is capable of inputting the weaving amount of the grinder and positional information of three points of a starting point and an ending point of a start line and a starting point of a final line among a plurality of grinding lines by the grinder. A function of calculating and storing the movement of the robot with respect to the surface portion of the large workpiece to be ground from the position information of the three points and the input weaving amount, and controlling the robot to the stored movement by an automatic grinding command. The automatic grinding apparatus for a large workpiece according to claim 1, further comprising: 4. An automatic grinding apparatus for automatically grinding an arbitrary surface portion of a large work, comprising: a table on which a large work to be ground is placed; A robot capable of moving the robot to an arbitrary position in a space, a grinder attached to an arm tip of the robot, and grinding a surface portion of the large work with a rotating grindstone; and a weaving amount of the grinder and the grinder. Of the plurality of grinding lines, it is possible to input the position information of the three points of the start and end of the start line and the start of the last line, and the position information of the three points and the input weaving amount are used to determine the size of the large workpiece. Calculate and store the movement of the robot with respect to the surface part to be ground, and control the robot to the stored movement by an automatic grinding command, Automatic grinding apparatus of large workpieces, characterized in that it and a control device for rotating operating the grindstone Rainda. 5. The automatic grinding apparatus for a large workpiece according to claim 1, wherein the table is a turntable or a combination table of a turntable and a fixed table arranged around the turntable. 6. The teaching operation unit further has a function of rotating a turntable in the turntable or the combination table by an operation of an operator, and the control device controls a rotation position of the turntable during the copying operation. The movement of the robot during the copying operation at the rotation position is stored, the turntable is rotated to the rotation position during the copying operation by an automatic grinding command, and the robot is controlled to the stored movement. An automatic grinding apparatus for a large workpiece according to claim 5. 7. The start information, the start and end of a start line, and the last line of a plurality of grinding lines by the grinder at a position information of a rotation position of the turntable, a weaving amount of the grinder at the rotation position, and a plurality of grinding lines. Position information of the three points at the starting end of the large workpiece can be input, and the movement of the robot with respect to the surface portion of the large workpiece to be ground is calculated from the position information of the three points and the input weaving amount to obtain the rotation position. Correspondingly stored, the robot was controlled to the stored motion while rotating the turntable by an automatic grinding command,
An automatic grinding apparatus for a large workpiece according to claim 5. 8. The apparatus for automatically grinding a large workpiece according to claim 1, wherein said robot is mounted on a slider mechanism capable of moving back and forth with respect to said table. 9. The teaching operation unit has a function of moving the slider mechanism forward and backward by an operation of an operator, and the controller operates the slider during the copying operation or when inputting the weaving amount and three-point position information. The position of the mechanism and the movement of the robot during or during the copying operation at the position are stored, and the slider mechanism is operated by an automatic grinding command to move the robot back and forth to the position during the copying operation or at the time of the input, and 9. The apparatus for automatically grinding a large workpiece according to claim 8, wherein the robot is controlled to the stored motion. 10. The automatic grinding apparatus for a large workpiece according to claim 1, wherein an end of the arm of the robot and a grinder are attached via a changer mechanism capable of automatically approaching and separating. 11. The grinder type can be inputted by the control device at the time of the copying operation or at the time of inputting the weaving amount and the position information of three points, and before the robot is controlled to the stored motion, 11. The robot according to claim 10, wherein a grinder is attached to an end of the arm of the robot.
Automatic grinding device for large workpieces as described. 12. A grinder having a worn grindstone, further comprising a sensor for detecting a grindstone diameter of the grinder, wherein the control device causes the changer mechanism to move toward and away from the grinder when the grinder reaches a predetermined grindstone diameter. 2. A grinder having a new grindstone is replaceable.
An automatic grinding apparatus for large-sized workpieces as described in Item 0. 13. The automatic grinding apparatus for a large workpiece according to claim 10, further comprising a transfer mechanism for transferring a grinder between an outside and an inside of an arm movable range of the robot. 14. The apparatus for automatically grinding a large workpiece according to claim 1, further comprising a safety fence surrounding the table and the robot. 15. The large workpiece according to claim 14, wherein an opening is formed in the safety fence, and the opening is provided with a transfer mechanism for transferring a grinder between the outside and the inside of the safety fence. Automatic grinding equipment. 16. The control device controls the robot and the changer mechanism, removes the grinder having the worn grindstone toward the transfer mechanism, and removes the grinder having the new grindstone transferred by the transfer mechanism. 16. The automatic grinding apparatus for a large workpiece according to claim 11, wherein the apparatus is mounted on a tip end of a robot arm. 17. A plurality of said tables are arranged at a predetermined interval from each other, and a running rail is laid on one side of said plurality of tables so as to extend in a direction in which said plurality of tables are arranged. The automatic grinding apparatus for a large workpiece according to any one of claims 1 to 16, wherein the automatic grinding apparatus is provided so as to be able to travel along the traveling rail.