Tube grinding apparatus

Abstract

To provide a tube grinding apparatus capable of preventing an excessive load from being applied to a grinding section when grinding the inner surface of a tube having multiple uneven parts.SOLUTION: A tube grinding apparatus 1 includes: a grinding section 10 that grinds uneven parts 93 formed on the inner surface of a tube 90; a grinding section moving device 20 that is movable relative to the inner surface of the tube 90 while supporting the grinding section 10; a load detection section 30 that is positioned between the grinding section moving device 20 and the grinding section 10 and capable of detecting a load applied to the grinding section 10; and a control section 70 that controls the drive of the grinding section moving device 20 so as to adjust the position of the grinding section 10 relative to the uneven parts 93. The control section 70 controls the drive of the grinding section moving device 20 so that the load detected by the load detection section 30 when the grinding section 10 grinds the uneven parts 93 is kept below a threshold, and adjusts the position of the grinding section 10 relative to the uneven parts 93.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a pipe grinding device for grinding the inner surface of a pipe.

Background Art

[0002] A pipe grinding device for grinding the inner surface of a pipe is known.

[0003] As such a pipe grinding device, for example, Patent Document 1 discloses an inner surface grinding device having a support portion that supports a table body on which a grindstone for grinding the inner surface of a pipe is fixed, and the position of the table body in the vertical direction and the horizontal direction can be controlled by controlling the fluid pressure in a fluid pressure cylinder. Thereby, a simple inner surface grinding device capable of accurately grinding the inner surface of a pipe can be provided.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, for example, on the inner peripheral surface of a water pipe, there are formed groove portions and the like where a seal member is arranged when pipes are joined together. That is, a pipe such as a water pipe has uneven portions extending, for example, in the circumferential direction on the inner peripheral surface.

[0006] When grinding the inner peripheral surface of the pipe having the uneven portions by controlling the position of the grinding portion, if the dimensional accuracy of the pipe or the accuracy of the position control is not good, the movement amount of the grinding portion by the position control may be larger than the movement amount of the grinding portion required for grinding the inner peripheral surface. As a result, a large load may be applied to the grinding portion. Therefore, it is desired to prevent an excessive load from being applied to the grinding portion.

[0007] An object of the present invention is to provide a pipe grinding device capable of preventing an excessive load from being applied to a grinding unit when grinding the inner surface of a pipe having a plurality of uneven portions.

Means for Solving the Problems

[0008] A pipe grinding device according to an embodiment of the present invention is a device for grinding the inner surface of a pipe. The pipe grinding device includes a grinding unit for grinding uneven portions formed on the inner surface of the pipe, a grinding unit moving device that is movable with respect to the inner surface of the pipe while supporting the grinding unit, a load detection unit that is located between the grinding unit moving device and the grinding unit and is capable of detecting a load applied to the grinding unit, and a control unit that controls the drive of the grinding unit moving device so as to adjust the position of the grinding unit with respect to the uneven portions. The control unit controls the drive of the grinding unit moving device so that the load detected by the load detection unit when the grinding unit grinds the uneven portions becomes equal to or less than a threshold value, and adjusts the position of the grinding unit with respect to the uneven portions (first configuration).

[0009] According to the above configuration, when grinding the uneven portions formed on the inner surface of the pipe with the grinding unit, the load applied to the grinding unit can be detected by the load detection unit. Then, the control unit can adjust the position of the grinding unit with respect to the uneven portions so that the load becomes equal to or less than the threshold value.

[0010] Thereby, it is possible to prevent the load applied to the grinding unit from exceeding the threshold value when grinding the uneven portions. Therefore, it is possible to provide a pipe grinding device capable of preventing an excessive load from being applied to the grinding unit when grinding the inner surface of a pipe having the uneven portions.

[0011] In the first configuration, the control unit controls the drive of the grinding unit moving device so that the load detected by the load detection unit when the grinding unit grinds the uneven portions becomes equal to or greater than a set value, and adjusts the position of the grinding unit with respect to the uneven portions (second configuration).

[0012] By adjusting the position of the grinding part relative to the uneven part in this way, the load when the grinding part grinds the uneven part can be made equal to or greater than a set value. Therefore, it is possible to avoid a state where the load is insufficient and the uneven part cannot be sufficiently ground. Thus, the pipe grinding device can grind the uneven part more reliably.

[0013] In the second configuration, the threshold value and the set value are each set for each predetermined range of the uneven part (third configuration).

[0014] As a result, for example, when the shape of the uneven part is different for each predetermined range, the threshold value and the set value can be appropriately set for each predetermined range according to the shape of the uneven part. Therefore, when grinding the uneven part for each predetermined range, it is possible to prevent an excessive load from being applied to the grinding part and to grind the uneven part more reliably.

[0015] In the first configuration, the pipe grinding device further includes a vibration isolation member that is located between the grinding part and the load detection part and suppresses the propagation of vibration from the grinding part to the load detection part (fourth configuration).

[0016] When grinding the uneven part, vibration occurs in the grinding part. Since the vibration propagates from the grinding part to the load detection part, it is detected by the load detection part as a load noise.

[0017] According to the above configuration, a vibration isolation member capable of suppressing the propagation of the vibration is located between the grinding part and the load detection part.

[0018] As a result, the vibration isolation member can suppress the propagation of the vibration generated in the grinding part during grinding to the load detection part. Therefore, the load noise detected by the load detection part can be reduced. Thus, the grinding part can grind the uneven part with higher accuracy.

[0019] In the fourth configuration, the pipe grinding device further includes a support member that supports the grinding unit while being connected to the load detection unit between the grinding unit and the load detection unit. The vibration damping member is provided at least on one of between the support member and the load detection unit and between the support member and the grinding unit (fifth configuration).

[0020] Since the grinding unit is supported by the support member, it is possible to suppress the occurrence of vibration in the grinding unit during grinding. And the vibration damping member can more reliably suppress the vibration from being propagated from the grinding unit to the load detection unit via the support member.

[0021] Therefore, it is possible to further reduce the noise of the load detected by the load detection unit. Thus, the uneven portion can be ground with higher accuracy by the grinding unit.

[0022] In the fifth configuration, the rigidity of the support member in the left - right direction is higher than the rigidity in the up - down direction. The control unit controls the drive of the grinding unit moving device so that the grinding unit grinds a portion of the uneven portion located in the left - right direction among the uneven portions in the pipe arranged such that the axis extends in the horizontal direction, and adjusts the position of the grinding unit with respect to the uneven portion (sixth configuration).

[0023] When grinding an uneven portion located on the upper side or the lower side of the inner surface of a pipe arranged such that the axis extends in the horizontal direction with the grinding unit, since the grinding unit is affected by gravity, the vibration generated during grinding becomes large.

[0024] According to the above - mentioned configuration, the grinding unit is supported by a support member having higher rigidity in the left - right direction than in the up - down direction. The grinding unit is position - adjusted by the grinding unit moving device to grind a portion of the uneven portion formed on the inner surface of the pipe that is located in the left - right direction.

[0025] This can suppress the influence of gravity when the grinding part grinds the uneven part on the inner surface of the pipe. Moreover, since the grinding part is supported by the support member that is more rigid in the left - right direction than in the up - down direction, the generation of vibration in the left - right direction during grinding can also be suppressed.

[0026] Therefore, the noise of the load detected by the load detection part can be further reduced. Thus, the uneven part can be ground with higher accuracy by the grinding part.

[0027] In the second configuration, the load detection part detects the contact load generated when the grinding part contacts the uneven part. The control part controls the drive of the grinding part moving device so that the load when the grinding part grinds the part where the contact load is detected is below the threshold value and above the set value, and adjusts the position of the grinding part with respect to the part. (Seventh configuration)

[0028] Thereby, the position of the grinding part is adjusted by the grinding part moving device so that the part where the contact load is detected by the load detection part is ground with a predetermined load.

[0029] Therefore, the part of the uneven part where the contact load is detected can be ground with an appropriate load by the grinding part.

Advantages of the Invention

[0030] A pipe grinding device according to an embodiment of the present invention is a device for grinding the inner surface of a pipe. The pipe grinding device includes a grinding part for grinding an uneven part formed on the inner surface of the pipe, a grinding part moving device that is movable with respect to the inner surface of the pipe while supporting the grinding part, a load detection part located between the grinding part moving device and the grinding part and capable of detecting a load applied to the grinding part, and a control part that controls the drive of the grinding part moving device so as to adjust the position of the grinding part with respect to the uneven part. The control part controls the drive of the grinding part moving device so that the load detected by the load detection part when the grinding part grinds the uneven part is below a threshold value, and adjusts the position of the grinding part with respect to the uneven part.

[0031] This makes it possible to prevent the load applied to the grinding portion from exceeding the threshold value when grinding the uneven portion. Therefore, it is possible to provide a pipe grinding device capable of preventing an excessive load from being applied to the grinding portion when grinding the inner surface of the pipe having the uneven portion.

Brief Description of the Drawings

[0032]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5A

Figure 5B

Figure 5C

Figure 5D

Embodiments for Carrying Out the Invention

[0033] Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same parts are denoted by the same reference numerals, and the description of the same parts will not be repeated. Note that the dimensions of the components in each figure do not faithfully represent the actual dimensions of the components and the dimensional ratios of the components.

[0034] In the following description, the axial direction means the direction in which the axis P of the pipe 90 extends. The radial direction means the direction perpendicular to the axis P of the pipe 90. The circumferential direction means the direction in which the outer peripheral surface of the pipe 90 extends when viewed in the axial direction of the pipe 90.

[0035] Also, in the following description, expressions such as "fix", "connect", and "attach" (hereinafter, "fix", etc.) include not only the case where members are directly fixed, etc., but also the case where they are fixed, etc. via other members. That is, in the following description, the expressions of "fix", etc. include the meanings of direct and indirect fixing, etc. of members to each other.

[0036] [Embodiment 1] (Overall configuration) FIG. 1 is a diagram showing a schematic configuration of a pipe grinding device 1 according to an embodiment of the present invention. The 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 the axis P. The pipe 90 has an insertion port (not shown) and a receiving port 92. The inner diameter of the receiving port 92 is larger than the outer diameter of the insertion port. By inserting and fixing the insertion port of another pipe 90 into the receiving port 92 of the pipe 90, the pipes 90 can be connected in the axial direction.

[0037] Concavo-convex portions 93 are formed on the inner surface 92a of the receiving port 92. The concavo-convex portions 93 have a plurality of concave portions 94a and convex portions 94b in the axial direction. The concave portions 94a and the convex portions 94b are part of the concavo-convex portions 93. The concavo-convex portions 93 extend annularly in the circumferential direction. A detachment prevention member (not shown) for holding the insertion port in the inserted state when the insertion port is inserted into the concavo-convex portions 93 and a seal member (not shown) for preventing water leakage at the connection portion between the insertion port and the receiving port 92 are fitted into the concavo-convex portions 93. Thereby, it is possible to prevent water leakage at the connection portion while maintaining the inserted state of the pipes 90.

[0038] The tube 90 has its outer peripheral surface supported by a plurality of rotating rollers 97 and inclined rollers 98. The plurality of rotating rollers 97 can be switched between a rotating state and a stopped state by a rotation driving device (not shown). That is, the tube 90 is rotatably supported about the axis P by the plurality of rotating rollers 97. The inclined rollers 98 position the rotating tube 90 in the axial direction.

[0039] The tube grinding device 1 is a device for grinding the uneven portions 93 formed on the inner surface 92a of the receiving port 92 of the rotating tube 90. Specifically, the tube grinding device 1 includes a grinding unit 10, a grinding unit moving device 20, a load detection unit 30, a support member 50, a vibration isolation member 55, and a control unit 70.

[0040] The grinding unit 10 includes a grinding wheel 11 and a driving unit 12. The grinding unit 10 is, for example, a disk grinder or the like. The grinding wheel 11 is a rotating body with hard particles or the like fixed to its surface. The grinding wheel 11 is attached to the tip of the shaft 12a of the driving unit 12. The driving unit 12 rotates the grinding wheel 11 by rotating the shaft 12a. The driving unit 12 includes a rotation driving device such as a motor. Thereby, the grinding unit 10 can grind the uneven portions 93 on the inner surface 92a of the receiving port 92 that come into contact with the rotating grinding wheel 11. Since the grinding unit 10 has the same configuration as a known grinding device, a detailed description of its configuration is omitted.

[0041] The grinding unit moving device 20 is a device capable of moving the position of the grinding unit 10 relative to the tube 90 while supporting the grinding unit 10. The grinding unit moving device 20 may be constituted by, for example, a vertical articulated robot, an orthogonal robot, other industrial robots, or a combination thereof.

[0042] The grinding unit moving device 20 has an arm portion 21. The load detection unit 30 and the support member 50 are connected to the tip 21a of the arm portion. The grinding unit 10 is supported by the tip 21a of the arm portion via the load detection unit 30 and the support member 50.

[0043] 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 later. That is, 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 the grinding unit moving device 20 can utilize a known industrial robot or the like, the description of its detailed configuration is omitted.

[0044] The load detection unit 30 is a multi-axis force sensor that can measure forces in multiple axial directions. The load detection unit 30 can measure, for example, the axial forces of the X-axis (left-right direction), Y-axis (axial direction), and Z-axis (up-down direction), and the moments around each axis. Since the load detection unit 30 can utilize a known multi-axis force sensor, the description of its detailed configuration is omitted.

[0045] 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. A support member 50 that supports the grinding unit 10 is attached to the lower part of the load detection unit 30. The load detection unit 30 can detect the load applied to the grinding unit 10.

[0046] The support member 50 is connected to the lower part of the load detection unit 30 and supports the grinding unit 10. The vibration damping member 55 is provided between the grinding unit 10 and the load detection unit 30 to suppress the propagation of vibrations generated in the grinding unit 10 from the grinding unit 10 to the load detection unit 30. The details of the configurations of the support member 50 and the vibration damping member 55 will be described later.

[0047] Based on the detection result of the load detection unit 30, the control unit 70 controls the drive of the grinding unit moving device 20 to move the tip 21a of the arm unit and adjust the position of the grinding wheel 11 of the grinding unit 10 relative to the uneven portion 93. The details of the control of the grinding unit moving device 20 performed by the control unit 70 will be described later.

[0048] (Support member) As shown in FIG. 1, the support member 50 is a member having a substantially L-shaped configuration when viewed from the side. The support member 50 is connected to the tip 21a of the arm portion via the load detection portion 30 and supports the grinding portion 10. With the support member 50 supporting the grinding portion 10, the support member 50 and the grinding portion 10 can be inserted into the receiving port 92. The support member 50 is made of a rigid metal material such as stainless steel or aluminum, for example. The support member 50 has a support portion main body 50a and a mounting portion 50b.

[0049] The support portion main body 50a is connected to the load detection portion 30 supported by the tip 21a of the arm portion. The support portion main body 50a is in the form of a flat plate extending in one direction from one end portion connected to the load detection portion 30. The support portion main body 50a has a greater thickness in the left-right direction than in the up-down direction. Thus, the support portion main body 50a is configured to have higher rigidity in the left-right direction than in the up-down direction. The mounting portion 50b is connected to the other end side of the support portion main body 50a.

[0050] The mounting portion 50b extends downward from the other end portion of the support portion main body 50a. As shown in FIG. 3, the mounting portion 50b is formed in a substantially U-shaped configuration that opens downward when viewed from the one direction. Specifically, the mounting portion 50b has an upper portion 501b, and a left portion 502b and a right portion 503b that extend downward from the upper portion 501b, respectively. The mounting portion 50b is formed along the outer shape of one end side 12b in the axial direction of the drive portion 12 of the grinding portion 10.

[0051] A plurality of bolts 52 for fixing one end side 12b in the axial direction of the drive portion 12 of the grinding portion 10 penetrate through the upper portion 501b, the left portion 502b, and the right portion 503b of the mounting portion 50b. Thereby, the grinding portion 10 is attached to the mounting portion 50b. Note that the support portion main body 50a and the grinding portion 10 may also be connected by bolts or the like (not shown). With the above configuration, the grinding portion 10 is supported by the support member 50 below the support portion main body 50a.

[0052] FIG. 2 is a schematic view when the grinding wheel 11 of the grinding unit 10 and the pipe 90 to be ground are viewed in one axial direction. As shown in FIG. 2, the pipe grinding device 1 inserts the grinding wheel 11 of the grinding unit 10 into the receiving port 92 of the pipe 90, and presses the outer peripheral surface of the grinding wheel 11 of the grinding unit 10 against one of the uneven portions 93 located on either the left or right of the uneven portions 93 on the inner surface of the rotating pipe 90 to grind the uneven portions 93.

[0053] As described above, the support portion main body 50a is configured to have higher rigidity in the left - right direction than in the up - down direction. Thereby, the grinding unit 10 is supported by the support member 50 in a more stable state in the left - right direction. Therefore, when pressing the grinding wheel 11 of the grinding unit 10 against one of the uneven portions 93 located on either the left or right of the uneven portions 93 on the inner surface of the rotating pipe 90 in the left - right direction, the support member 50 can grind the uneven portions 93 while supporting the grinding unit 10 in a more stable state.

[0054] When grinding the uneven portions 93 on the inner surface of the rotating pipe 90, the grinding unit 10 vibrates under a reaction force. The vibration generated in the grinding unit 10 is transmitted to the load detection unit 30 via the support member 50. The load detection unit 30 detects the transmitted vibration as load noise. The load noise affects the grinding control based on the load by the control unit 70 described later.

[0055] In order to suppress the propagation of vibration to the load detection unit 30 as described above, as described above, a vibration - proof member 55 is provided between the grinding unit 10 and the load detection unit 30. Specifically, as shown in FIG. 3, the vibration - proof member 55 is provided between the attachment portion 50b of the support member 50 and a plurality of bolts 52 that fix the grinding unit 10 to the attachment portion 50b. The vibration - proof member 55 can suppress the vibration from propagating from the grinding unit 10 to the support member 50. Therefore, it is possible to suppress the vibration from propagating from the grinding unit 10 to the load detection unit 30 via the support member 50.

[0056] Further, although not particularly shown, the vibration isolation member 55 may also be provided between the other end side in the axial direction of the support portion main body 50a of the support member 50 and a plurality of bolts that fix the other end side in the axial direction to the load detection portion 30. Thereby, the vibration isolation member 55 can suppress the transmission of the vibration from the support member 50 to the load detection portion 30.

[0057] The vibration isolation member 55 is constituted by a material that suppresses the propagation of vibration, such as rubber or silicon. The vibration isolation member 55 is not limited to these materials, and any material may be used as long as it is a material that suppresses the propagation of vibration.

[0058] (Grinding control by the control unit) FIG. 4A is a cross-sectional view showing a state in which the grinding wheel 11 of the grinding unit 10 is moving radially outward. FIG. 4B is a cross-sectional view showing a state in which the bottom portion 941 is being ground. Specifically, in FIGS. 4A and 4B, the uneven portion 93 located on the left among the uneven portions 93 on the inner surface of the rotating tube 90 is being ground.

[0059] The control unit 70 controls the driving of the grinding unit moving device 20 so that the grinding wheel 11 of the grinding unit 10 grinds the target portion of the uneven portion 93, and moves the tip 21a of the arm portion. The control unit 70 may be configured to be able to switch between the rotating state and the stopped state of the grinding wheel 11 by controlling the driving of the grinding unit 10. Note that the control unit 70 may control the movement of the tip 21a of the arm portion by a program or the like.

[0060] More specifically, the control unit 70 moves the tip 21a of the arm portion to the target portion of the concave portion 94a on the inner surface of the tube 90 by controlling the driving of the grinding unit moving device 20 based on the information regarding the tube 90 input in advance. Thereafter, as shown in FIG. 4A, for example, the control unit 70 moves the grinding wheel 11 of the grinding unit 10 radially outward toward the surface of the concave portion 94a by controlling the driving of the grinding unit moving device 20.

[0061] As shown in FIG. 4B, when the grinding wheel 11 of the grinding unit 10 contacts the concave portion 94a on the inner surface of the pipe 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.

[0062] When the load detected by the load detection unit 30 reaches a reference value or more, 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, for example, the average value of the load generated when the grinding wheel 11 of the grinding unit 10 contacts the inner surface of the pipe 90. Note that the reference value can be arbitrarily set. 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 pipe 90 as long as it is a value that can determine that the grinding wheel 11 of the grinding unit 10 has contacted the inner surface of the pipe 90. The load of the reference value is the contact load in the present invention.

[0063] In the grinding control, the control unit 70 controls the grinding of the grinding wheel 11 of the grinding unit 10 with respect to 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 with respect to the target portion so that the load becomes equal to or greater than the set value and equal to or less than the threshold value. Thereby, the load applied to the grinding unit 10 when grinding the target portion can be made equal to or greater than the set value and equal to or less than the threshold value. The control unit 70 completes the grinding by the grinding wheel 11 of the grinding unit 10, for example, after continuing for a predetermined time.

[0064] Note that the threshold value is the upper limit value of the allowable value of the load detected by the load detection unit 30 during grinding. The set value is the lower limit value of the allowable value of the load detected by the load detection unit 30 during grinding. The threshold value and the set value are values greater than the reference value. The threshold value is a value greater than the set value. The threshold value and the set value can be arbitrarily set.

[0065] When the load detected by the load detection unit 30 exceeds the threshold value, the control unit 70 moves the grindstone 11 of the grinding unit 10 away from the target site or stops the rotation of the grindstone 11 of the grinding unit 10. On the other hand, when the load detected by the load detection unit 30 is below the set value, the control unit 70 moves the grindstone 11 of the grinding unit 10 radially outward so as to approach the target site.

[0066] Note that the pipe grinding device 1 can adjust the grinding amount of the target site by adjusting the values of the threshold value and the set value or by changing the roughness of the grindstone 11 of the grinding unit 10 with respect to the pipe 90 to be ground.

[0067] In addition, 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 conditions of the same threshold value and the same set value. The predetermined range includes the entire uneven portion 93, or among the uneven portion 93, the concave portion 94a, a part of the concave portion 94a, the convex portion 94b, a part of the convex 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 concave portion 94a or each convex portion 94b of the uneven portion 93. For example, the threshold value and the set value may be set for each part of the concave portion 94a or each part of the convex portion 94b.

[0068] (Grinding of concave portion) Next, as an example of grinding the predetermined range, the grinding control performed by the control unit 70 on the bottom 941 of the concave portion 94a will be described. FIG. 5A is a cross-sectional view showing a state where the grinding wheel 11 of the grinding unit 10 is inserted into the concave portion 94a and then moved in one axial direction. FIG. 5B is a cross-sectional view showing a state where the grinding wheel 11 of the grinding unit 10 during movement in one axial direction has contacted the side wall portion 942 of the concave portion 94a and then the grinding wheel 11 of the grinding unit 10 is moved radially outward. FIG. 5C is a cross-sectional view showing a state where the grinding wheel 11 of the grinding unit 10 during movement radially outward has contacted the bottom 941 of the concave portion 94a and then the grinding of the bottom 941 is being controlled. FIG. 5D is a cross-sectional view showing a state where a predetermined range of the bottom 941 of the concave portion 94a is being ground.

[0069] As shown in FIG. 5A, the control unit 70 moves the grinding wheel 11 of the grinding unit 10 in one axial direction after inserting it into the concave portion 94a. As shown in FIG. 5B, when the grinding wheel 11 of the grinding unit 10 during movement in one axial direction contacts the side wall portion 942 of the concave portion 94a, the load on the Y-axis (axial direction) detected by the load detection unit 30 increases. The control unit 70 that has detected the increase in the load on the Y-axis (axial direction) moves the grinding wheel 11 of the grinding unit 10 toward the bottom 941 of the concave portion 94a.

[0070] As shown in FIG. 5C, when the grinding wheel 11 of the grinding unit 10 during movement radially outward contacts the bottom 941 of the concave portion 94a, the load on the X-axis (radial direction) detected by the load detection unit 30 increases. The control unit 70 determines that the grinding wheel 11 of the grinding unit 10 has contacted the target portion to be ground when the load on the X-axis detected by the load detection unit 30 reaches the reference value. The control unit 70 adjusts the position of the grinding wheel 11 of the grinding unit 10 with respect 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. Thereby, based on the load detected by the load detection unit 30, the target portion is ground.

[0071] As shown in FIG. 5D, after the grinding of the target part by the control unit 70 is completed, the control unit 70 controls the drive of the grinding part moving device 20 to move the grinding wheel 11 of the grinding part 10 by a predetermined distance in the axial direction. Thereafter, the control unit 70 adjusts the position of the grinding wheel 11 of the grinding part 10 with respect to another target part 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. Thereby, the pipe grinding device 1 can grind the bottom 941 of the concave part 94a which is the predetermined range.

[0072] The pipe grinding device 1 according to the present embodiment includes a grinding part 10 for grinding the uneven part 93 formed on the inner surface of the pipe 90, a grinding part moving device 20 that is movable with respect to the inner surface of the pipe 90 while supporting the grinding part 10, and a load detection unit 30 that is located between the grinding part moving device 20 and the grinding part 10 and can detect the load applied to the grinding part 10, and a control unit 70 that controls the drive of the grinding part moving device 20 so as to adjust the position of the grinding part 10 with respect to the uneven part 93. The control unit 70 controls the drive of the grinding part moving device 20 to adjust the position of the grinding part 10 with respect to the uneven part 93 so that the load detected by the load detection unit 30 is equal to or less than the threshold value when the grinding part 10 grinds the uneven part 93.

[0073] According to the above configuration, the load applied to the grinding part 10 when the uneven part 93 formed on the inner surface of the pipe 90 is ground by the grinding part 10 can be detected by the load detection unit 30. Then, the control unit 70 can adjust the position of the grinding part 10 with respect to the uneven part 93 so that the load is equal to or less than the threshold value.

[0074] Thereby, it is possible to prevent the load applied to the grinding part 10 from exceeding the threshold value when grinding the uneven part 93. Therefore, it is possible to provide a pipe grinding device 1 that can prevent an excessive load from being applied to the grinding part 10 when grinding the inner surface of the pipe 90 having the uneven part 93.

[0075] Further, in the present embodiment, the control unit 70 controls the drive of the grinding part moving device 20 to adjust the position of the grinding part 10 with respect to the uneven part 93 so that the load detected by the load detection unit 30 is equal to or greater than the set value when the grinding part 10 grinds the uneven part 93.

[0076] Thus, by adjusting the position of the grinding unit 10 with respect to the uneven portion 93, the load when the grinding unit 10 grinds the uneven portion 93 can be made equal to or greater than the set value. Therefore, it is possible to avoid a state where the load is insufficient and the uneven portion 93 cannot be sufficiently ground. Thus, the pipe grinding device 1 can grind the uneven portion 93 more reliably.

[0077] Further, in the present embodiment, the threshold value and the set value are set for each predetermined range of the uneven portion 93.

[0078] Thereby, for example, even when the shape of the uneven portion 93 is different for each predetermined range, the threshold value and the set value can be appropriately set for each predetermined range according to the shape of the uneven portion 93. Therefore, when grinding the uneven portion 93 for each predetermined range, it is possible to prevent an excessive load from being applied to the grinding unit 10 and to grind the uneven portion 93 more reliably.

[0079] Further, in the present embodiment, the pipe grinding device 1 further includes a vibration isolation member 55 that is located between the grinding unit 10 and the load detection unit 30 and suppresses the propagation of vibration from the grinding unit 10 to the load detection unit 30.

[0080] When grinding the uneven portion 93, vibration is generated in the grinding unit 10. Since the vibration propagates from the grinding unit 10 to the load detection unit 30, it is detected by the load detection unit 30 as a load noise. According to the above-described configuration, the vibration isolation member 55 capable of suppressing the propagation of the vibration is located between the grinding unit 10 and the load detection unit 30.

[0081] Thereby, the vibration isolation member 55 can suppress the vibration generated in the grinding unit 10 during grinding from propagating from the grinding unit 10 to the load detection unit 30. Therefore, the load noise detected by the load detection unit 30 can be reduced. Thus, the grinding unit 10 can grind the uneven portion 93 with higher accuracy.

[0082] In addition, in the present embodiment, the pipe grinding device 1 further includes a support member 50 that supports the grinding unit 10 while being connected to the load detection unit 30 between the grinding unit 10 and the load detection unit 30. The vibration isolation member 55 is provided at least on one of between the support member 50 and the load detection unit 30 and between the support member 50 and the grinding unit 10.

[0083] As a result, since the grinding unit 10 is supported by the support member 50, it is possible to suppress the occurrence of vibration in the grinding unit 10 during grinding. And the vibration isolation member 55 can more surely suppress the vibration from being propagated from the grinding unit 10 to the load detection unit 30 via the support member 50.

[0084] Therefore, the noise of the load detected by the load detection unit 30 can be further reduced. Thus, the uneven portion 93 can be ground with higher accuracy by the grinding unit 10.

[0085] In addition, in the present embodiment, the lateral rigidity of the support member 50 is higher than the vertical rigidity. The control unit 70 controls the drive of the grinding unit moving device 20 so that the grinding unit 10 grinds a portion of the uneven portion 93 located in the lateral direction among the uneven portions 93 in the pipe 90 arranged such that the axis P extends in the lateral direction, and adjusts the position of the grinding unit 10 with respect to the uneven portion 93.

[0086] When the grinding unit 10 grinds the uneven portion 93 located on the upper side or the lower side of the inner surface of the pipe 90 arranged such that the axis P extends in the lateral direction, the grinding unit 10 is affected by gravity, so the vibration generated during grinding becomes large.

[0087] According to the above configuration, the grinding unit 10 is supported by the support member 50 having higher lateral rigidity than vertical rigidity. The grinding unit 10 is position - adjusted by the grinding unit moving device 20 to grind a portion of the uneven portion 93 formed on the inner surface of the pipe 90 that is located in the lateral direction.

[0088] This can suppress the influence of gravity when the grinding unit 10 grinds the uneven portion 93 on the inner surface of the pipe 90. Moreover, since the grinding unit 10 is supported by the support member 50 having higher rigidity in the left - right direction than in the up - down direction, the generation of vibration in the left - right direction during grinding can also be suppressed.

[0089] Therefore, the noise of the load detected by the load detection unit 30 can be further reduced. Thus, the uneven portion 93 can be ground with higher accuracy by the grinding unit 10.

[0090] Moreover, since the lower side of the inner surface of the pipe 90 is not ground, interference between the grinding unit 10 and the inclined roller 98 during grinding can be avoided.

[0091] Also, in this embodiment, the load detection unit 30 detects the load (contact load) generated when the grinding unit 10 contacts the uneven portion 93. The control unit 70 controls the drive of the grinding unit moving device 20 so that the load when the target portion where the contact load is detected is ground by the grinding unit 10 is below the threshold value and above the set value, and adjusts the position of the grinding unit 10 with respect to the target portion.

[0092] Thereby, the position of the grinding unit 10 is adjusted by the grinding unit moving device 20 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 target portion of the uneven portion 93 where the contact load is detected can be ground with an appropriate load by the grinding unit 10.

[0093] (Other Embodiments) The embodiments of the present invention have been described above, but the above - described embodiments are merely examples for implementing the present invention. Therefore, without being limited to the above - described embodiments, it is possible to appropriately modify the above - described embodiments within the scope not departing from the gist thereof and implement them.

[0094] Also, the pipe grinding device does not necessarily have to grind the uneven portion of the receiving port of the pipe. The pipe grinding device may grind the inner surface of the receiving port where no uneven portion is formed, or may grind the inner surface of the insertion port of the pipe.

[0095] In the above embodiment, the pipe grinding device 1 grinds the uneven portion 93 by pressing the grindstone 11 of the grinding unit 10 against the uneven portion 93 located on one of the left and right sides among the uneven portions 93 on the inner surface of the rotating pipe 90. However, the pipe grinding device may grind the uneven portions located other than the left and right among the uneven portions on the inner surface of the rotating pipe. For example, the pipe grinding device may grind the uneven portions located vertically. Further, the pipe grinding device may simultaneously grind a plurality of different locations in the radial direction by a plurality of grinding units.

[0096] In the above embodiment, the grinding unit 10 is, for example, a disk grinder. However, the grinding unit is not limited to a disk grinder, and any configuration may be used as long as it can perform grinding.

[0097] In the above embodiment, the load detection unit 30 is provided between the tip 21a of the arm portion and the support member 50. However, the position where the load detection unit is provided may be other positions as long as it is between the grinding unit and the tip of the arm portion and can detect the load applied to the grinding unit. The load detection unit may be provided, for example, between the grinding unit and the support member.

[0098] In the above embodiment, the grinding unit 10 is supported by the support member 50. However, the pipe grinding device may not have a support member. For example, the grinding unit may be directly supported by the load detection unit.

[0099] In the above embodiment, the shape of the support member 50 is substantially L-shaped. However, the shape of the support member may be any shape as long as it can support the grinding unit.

[0100] 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 up-down rigidity of the support member may be higher than the left-right rigidity. The left-right rigidity of the support member may be equivalent to the up-down rigidity.

[0101] In the above-described embodiment, the material of the support member 50 is, for example, a metal material such as stainless steel or aluminum. However, the material of the support member may be any material having rigidity capable of supporting the grinding portion. For example, the material of the support member may be a resin other than metal.

[0102] In the above-described embodiment, the pipe grinding apparatus 1 has the vibration isolation member 55. However, the pipe grinding apparatus may not have the vibration isolation member.

Industrial Applicability

[0103] The present invention can be used for a pipe grinding apparatus for grinding the inner surface of a pipe.

Explanation of Reference Numerals

[0104] 1 Pipe grinding apparatus 10 Grinding portion 11 Grinding wheel 12 Driving portion 12a Shaft (driving portion) 12b One end side (driving portion) 20 Grinding portion moving device 21 Arm portion 21a Tip of the arm portion 30 Load detection portion 50 Support member 52 A plurality of bolts 55 Vibration isolation member 70 Control portion 90 Pipe 92 Socket 92a Inner surface (socket) 93 Concavo-convex portion 94a Concave portion 94b Convex portion 97 A plurality of rotating rollers 98 Tilt roller 941 Bottom portion (concave portion) 942 Side wall portion (concave portion) P Axis

Claims

1. A tube grinding device for grinding the inner surface of a tube, comprising: a grinding part for grinding the uneven part formed on the inner surface of the tube; a grinding part moving device that can move relative to the inner surface of the tube while supporting the grinding part; a load detection part located between the grinding part moving device and the grinding part, capable of detecting the load applied to the grinding part; a control part for controlling the drive of the grinding part moving device so as to adjust the position of the grinding part with respect to the uneven part; and having wherein the control part controls the drive of the grinding part moving device so that the load detected by the load detection part when the grinding part grinds the uneven part becomes equal to or less than a threshold value, and adjusts the position of the grinding part with respect to the uneven part. Tube grinding device.

2. In the tube grinding device according to Claim 1, wherein the control part controls the drive of the grinding part moving device so that the load detected by the load detection part when the grinding part grinds the uneven part becomes equal to or greater than a set value, and adjusts the position of the grinding part with respect to the uneven part. Tube grinding device.

3. In the tube grinding device according to Claim 2, wherein the threshold value and the set value are respectively set for each predetermined range of the uneven part. Tube grinding device.

4. In the tube grinding device according to Claim 1, further comprising a vibration damping member located between the grinding part and the load detection part, for suppressing the propagation of vibration from the grinding part to the load detection part. Tube grinding device.

5. In the tube grinding device according to Claim 4, further comprising a support member that supports the grinding part while being connected to the load detection part, between the grinding part and the load detection part, wherein the vibration damping member is provided at least in one of between the support member and the load detection part and between the support member and the grinding part. Tube grinding device.

6. In the tube grinding device according to Claim 5, the rigidity of the support member in the left - right direction is higher than the rigidity in the up - down direction, wherein the control part controls the drive of the grinding part moving device so that the grinding part grinds the portion located in the left - right direction among the uneven parts in the tube arranged with its axis extending in the horizontal direction, and adjusts the position of the grinding part with respect to the uneven part. Tube grinding device.

7. In the tube grinding device according to Claim 2, wherein the load detection part detects the contact load generated when the grinding part contacts the uneven part, wherein the control part Control the drive of the grinding unit moving device so that the load when grinding the portion where the contact load is detected by the grinding unit is equal to or less than the threshold value and equal to or greater than the set value, and adjust the position of the grinding unit with respect to the portion. Tube grinding device.

Images