EP3354405B1 - Deburring machine - Google Patents

Deburring machine Download PDF

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Publication number
EP3354405B1
EP3354405B1 EP17210717.9A EP17210717A EP3354405B1 EP 3354405 B1 EP3354405 B1 EP 3354405B1 EP 17210717 A EP17210717 A EP 17210717A EP 3354405 B1 EP3354405 B1 EP 3354405B1
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EP
European Patent Office
Prior art keywords
grinding
carriage
axis
movement
grinding wheel
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EP17210717.9A
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German (de)
French (fr)
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EP3354405A1 (en
Inventor
Stefan Purrer
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Braun Maschinenfabrik GmbH
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Braun Maschinenfabrik GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/002—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor for travelling workpieces

Definitions

  • the invention relates to an apparatus for processing edges and surfaces of a roller conveyor formed by means of rollers in a transport direction movably mounted semi-finished products, in particular for deburring and debarking of rough blocks, blooms, slabs and the like, wherein a first carriage is provided, which on a stationary support is movably mounted in a vertical, first axis of movement, and the first carriage a grinding head is arranged with a grinding wheel rotatable about a grinding wheel, the grinding head by means of a pivoting device by 360 ° about a pivot axis which is aligned perpendicular to the first axis of movement, rotatable is mounted, and the grinding wheel axis spaced from the pivot axis and aligned parallel to the pivot axis, according to the preamble of claim 1.
  • liquid crude steel is converted into individual workable and solid raw products by first pouring the liquid crude steel into a copper mold defining the shape and size of the cross section of the resulting steel strand, and in a cooling zone the slowly solidifying steel strand using rolls a so-called roller table is deflected from the vertical in a horizontal transport direction and cooled. After complete solidification of the steel strand, it is subdivided into smaller raw products for further processing by means of moving flame cutting machines.
  • These semi-finished products will be Depending on the shape and size, for example, referred to as slabs, billets, blooms or forging blocks and must usually go through further forming stages, especially hot or cold rolling stages.
  • the flame cutting process produces fuel slag deposits on the upper and lower cut edges, as well as on the end faces of the semi-finished product.
  • This slag deposit which is also referred to as a burr, must be removed before the following forming process in order to avoid damage to the rollers of the rolling stands and the rollers of the conveyor rollers, which may occur due to the extremely hard structure of the slag deposits.
  • the rolling of the combustible into the rolling stock must be prevented because such rolling of the combustible reduces the quality of the rolling stock and thereby increases the scrap rate of the rolled product. Removal of the slag deposits is also referred to as deburring or decanting.
  • the continuous casting process usually results in a long slab (mother slab) having a comparatively low temperature, since it is not possible to subdivide it several times to shorter lengths in direct connection to the casting process due to cycle time problems.
  • the rolling mill but shorter slab lengths are needed.
  • Typical lengths are between 1,500 and 3,000 mm.
  • the firebeard is even more difficult to remove because they are split in the cold or warm state.
  • the tools or hammers wear out at an above-average speed in the case of conventional rotations.
  • the object of the present invention to provide a device for processing edges and surfaces of a semifinished product movably mounted in a transport direction, in particular for deburring and debarking, which does not have the described disadvantages.
  • the Device should be able to process both the upper edge, and the lower edge and the side edges of the end face, for example a slab, both the front end face and the rear end face. Furthermore, it should also be possible to edit the flame-cut faces, if it should be required by the process.
  • Claim 1 refers to a device for processing edges and surfaces of a roller conveyor formed by means of rollers in a transport direction movably mounted semifinished product, in particular for deburring and debarking of rough blocks, blooms, slabs and the like, wherein a first carriage is provided, which is provided on a stationary support is movably mounted in a vertical, first axis of movement, and the first carriage a grinding head is arranged with a grinding wheel rotatable about a grinding wheel, the grinding head by means of a pivoting device by 360 ° about a pivot axis which is aligned perpendicular to the first axis of movement, rotatable is mounted, and the grinding wheel axis spaced from the pivot axis and aligned parallel to the pivot axis.
  • the carrier is designed as a roller conveyor horizontally spanning and stationary part of a portal frame, which is perpendicular to the transport direction, wherein the first carriage is movable from an upper waiting position to a lower working position, and the pivot axis in the lower Working position is located below the carrier.
  • a grinding process in particular of a high-pressure grinding process in which a grinding wheel of bonded abrasive grains known per se under high contact pressure with a correspondingly high drive power is used.
  • the grinding wheel is guided by a grinding head, which is 360 ° around a Swivel axis is rotatably mounted, which is aligned parallel to the grinding wheel axis.
  • the contact pressure of the grinding wheel on the semi-finished product is thus applied in the course of a pivoting movement of the grinding head about the pivot axis, wherein the semifinished product is processed with the lateral surface of the grinding wheel rotating around the grinding wheel axis.
  • the positioning of the grinding wheel over the edge or surface to be machined is accomplished by an interaction of the first carriage with the rotation of the grinding head.
  • there is a possible processing space which is defined by the movement of the first carriage, and the span of the grinding head with grinding wheel.
  • each point can be achieved with the grinding wheel by appropriate control of the first carriage and the grinding head.
  • the movably mounted semi-finished product only has to be positioned with its front or rear end face to be machined in this processing space.
  • the 360 ° rotatable mounting of the grinding head is a decisive feature, since with fixed slab both the lower edge and the upper edge can be processed without moving the slab. Rather, after machining, for example, the upper edge of the front end surface of a slab, the grinding head is pivoted so that it pivots upward, makes a rotational movement and approaches from below the lower edge of the front face of the slab. After machining the lower edge of the grinding head can be removed by a movement of the grinding head and / or the carriage of the slab, so that the slab can be moved further in the transport direction until the rear end face of the slab in the processing area of the Grinding head has arrived. The slab can be stopped in this position, so that the side edges of the rear end face can be processed by appropriate pivoting movements of the grinding head. However, it is immediately apparent that the end faces themselves or the end faces of the semi-finished product adjoining the edges can also be machined, as far as they are within reach of the grinding wheel.
  • the first movement axis is aligned vertically and the second movement axis is thus horizontal.
  • the stationary support on which the second carriage is movably mounted in the second movement axis also run horizontally.
  • the carrier is designed as part of a portal, which is arranged in the roller conveyor between two rollers, wherein the semifinished product is moved through the portal.
  • the plane of movement of the first carriage is oriented vertically and perpendicular to the transport direction of the semifinished product.
  • the pivot plane of the grinding head is preferably perpendicular to this plane of movement and is also oriented vertically by the pivot axis and the grinding wheel axis are aligned horizontally.
  • the first carriage is also movable from an upper waiting position to a lower working position, wherein the pivot axis is located in the lower working position below the carrier.
  • the semi-finished product is moved below the carrier, wherein the first carriage with the grinding head approaches from above to the semi-finished product to be processed.
  • This configuration ensures a "rigidity" of the arrangement, with the same over the entire face of the semi-finished product, regardless of the positioning of the grinding wheel equally the desired contact pressure can be generated.
  • the grinding head and the first slide are protected from falling chips.
  • the first carriage may be disposed on a second carriage which is movably supported on the stationary carrier in a second movement axis orthogonal to the first movement direction, wherein the pivot axis and the grinding wheel axis are aligned parallel to a plane defined by the first and second movement axes.
  • the second carriage allows a removal movement in the direction of the second axis of movement with otherwise constant positioning of the grinding head and the first carriage.
  • a movement plane for the first carriage which is preferably arranged perpendicular to the transport direction of the semifinished product, so that the semifinished product "pierces" this plane of movement of the first carriage during its transport.
  • the pivoting device preferably comprises a toothed gear, which has a toothed rim arranged concentrically to the pivot axis on the grinding head and a pinion meshing with the ring gear and arranged on the first carriage, which pinion is driven by a pivoting drive arranged on the first carriage.
  • a grinding spindle drive for the grinding wheel, comprising a mounted in the first carriage grinding motor, which is connected via V-belt with a concentric to the pivot axis extending intermediate shaft extending from the first carriage to the grinding head and a toothed belt with the grinding spindle of the grinding wheel connected is.
  • the grinding motor is preferably mounted on a motor rocker or a motor or tensioning slide to ensure the necessary belt tension. With the help of the toothed belt, a retensioning of the belt can be omitted, which would be difficult to implement within the grinding head. Through the two belt drives a translation can be achieved quickly, thus converting the engine speed into a higher grinding wheel speed.
  • the control of the grinding drive motor is preferably carried out via a frequency converter in order to adjust the speed depending on the grinding wheel diameter and to ensure a constant peripheral speed of the grinding wheel.
  • a light barrier system may be provided which measures the diameter of the grinding wheel at regular intervals.
  • the slab must be moved in the transport direction so that it has been positioned with its front or rear end face within the processing area of the grinding head.
  • a detection and positioning unit for the semifinished product to be processed is preferably proposed, the optical sensors for determining the position of the semifinished product in the transport direction, optical Distance sensors for determining the thickness of the semifinished product, as well as optical distance sensors for determining the width of the semifinished product transverse to the transport direction comprises.
  • the roller table with the high masses of the slab can be controllably controlled to a standstill and at the same time the slab position in the transport direction can be monitored before and during the grinding process.
  • the measured values of the recognition and positioning unit are subsequently transferred to a control unit which, on the basis of this data, controls the movement of the two slides and of the grinding head and thus the grinding process.
  • the Fig. 1 shows a schematic representation of an embodiment of the device according to the invention and its arrangement in a roller conveyor formed by means of rollers 1 for transporting a semifinished product 2, such as a slab.
  • the semifinished product 2 can be moved by rotation of the corresponding drivable rollers 1 in a transport direction R, which runs in a horizontal axis x.
  • the device according to the invention has a roller conveyor horizontally spanning and stationary support 3, which is positioned above the semifinished product 2 and perpendicular to the transport direction R extends.
  • the carrier 3 is part of a portal frame, which is designed as a solid and immobile construction to absorb the forces of the grinding process and to be able to divert into the foundation can.
  • a heat protection device 5 is provided in order to protect the carrier 3 from the permanent radiant heat of the semifinished product 2.
  • a water-carrying heat sink made of welded steel profiles is attached to the support 3 and connected to the hot water system of the continuous casting.
  • the heat protection device 5 is, of course, only needed when working hot slabs, in cold applications, this is not required.
  • a chip collecting container 10 is arranged between two rollers of the roller table below the support 3 and the work area. The chip disposal can also be done via a conveyor, in which case between the Rollers 1 only one hopper is provided to direct the chips in the conveyor or in a deeper chip container.
  • a first carriage 6 is arranged on a second carriage 4, which in turn is arranged on the carrier 3.
  • the second carriage 4 is movably mounted on the carrier 3 by means of a linear guide system, so that it can be moved with a horizontal feed system in a horizontal movement axis y.
  • a horizontal feed system can be used about a rack-pinion combination, wherein the pinion is driven by a synchronous servo geared motor.
  • the rack is fixed to the carrier 3 and the synchronous servo geared motor with pinion on the second carriage 4.
  • the positioning of the second carriage may be via an absolute value encoder located directly on the synchronous servo geared motor. In this way, the measuring system is protected against external influences and avoids an additional sensor for referencing the second carriage 4.
  • the first carriage 6 is movably connected via a linear guide system, which can be moved by means of a vertical feed system in a vertical movement axis z.
  • a ball screw in combination with a synchronous servo geared motor is proposed for the vertical feed system.
  • the positioning of the first carriage 6, as in the case of the second carriage 4, can take place via an absolute value encoder which is arranged directly on the synchronous servo geared motor of the vertical feed system.
  • a brake may be provided so that the first carriage 6 at Power failure is held in place and does not sag down.
  • a Schleifantriebmotor 7 (see Fig. 3 and 4 ), which drives a grinding wheel 8, as will be explained in more detail.
  • the grinding wheel 8 is rotatably mounted on a grinding head 9 about a grinding wheel axis S 1 and preferably designed as a high-pressure grinding wheel.
  • a high pressure grinding wheel is understood to mean a synthetic resin bonded grinding wheel 8 which is compacted under high temperature and under high pressure. It consists of an abrasive layer, which is intended for the actual grinding process, and the fine grain center with inserted steel rings, which serve to increase the stability of the disc.
  • the abrasive layer consists in a conventional manner of the abrasive grain and binder, wherein the abrasive grain of different material can be incorporated in different grain spacing in the binder.
  • the grinding head 9 is rotatably mounted on the first carriage 6 about a pivot axis S 2 , this storage allows a stepless and endless rotational movement through 360 ° in both directions of rotation.
  • the first movement axis z and the second movement axis y define a movement plane for the first carriage 6, which is oriented vertically and is arranged perpendicular to the transport direction R.
  • the pivoting plane of the grinding head 9 is perpendicular to this plane of movement and is also oriented vertically by the pivot axis S 2 and the grinding wheel axis S 1 are aligned horizontally.
  • the contact pressure of the grinding wheel 8 on the semi-finished product 2 is thus in the course of a pivoting movement of the grinding head 9 to the Swivel axis S 2 applied, wherein the semifinished product 2 is machined with the lateral surface of the grinding wheel 8 rotating around the grinding wheel axis S 1 .
  • the removal movement ie the movement of the grinding wheel 8 over the edge or surface of the semifinished product 2 to be processed, is accomplished by means of the two carriages 4, 6.
  • a possible processing space which is defined by the plane of movement of the first carriage 6, as well as the aligned perpendicular to this plane of movement span of the grinding head 9 with the grinding wheel 8.
  • This processing space can be achieved by appropriate control of the first and second carriage 4, 6 and the grinding head 9 each point with the grinding wheel 8.
  • the movably mounted semi-finished product 2 only has to be positioned with its front or rear end face to be machined in this processing space.
  • FIGS Fig. 2 show the end-side lateral surfaces of the semifinished product adjoining the edges.
  • FIG. 2a-e First schematically a processing of the front end of a semifinished product 2, which was positioned in the processing space of the grinding wheel 8.
  • the Fig. 2a shows the processing of an adjacent to the upper side edge lateral surface of the semifinished product 2, and the Fig. 2b the processing of an adjacent to the lower side edge lateral surface of the semifinished product 2.
  • the change of the grinding position according to Fig. 2a in those of Fig. 2b can by rotating the grinding head 9 in the counterclockwise direction with respect to Fig. 2a under any height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product 2 to be processed.
  • the Fig. 2c shows the processing of the lower side edge of the semifinished product 2, and the Fig. 2d the processing of the upper side edge of the semifinished product 2.
  • Fig. 2d can by clockwise rotation of the grinding head 9 with respect to the Fig. 2c take place, again under any height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product 2 to be processed.
  • a feed movement of the second carriage 4 in the second direction of movement y in turn, the entire width of the semifinished product 2 can be processed transversely to the transport direction R.
  • the Fig. 2e finally shows the processing of the front end face of the semifinished product 2.
  • the change from the grinding position according to the Fig. 2d in those of Fig. 2e can be achieved by rotation of the grinding head 9 in the counterclockwise direction with respect to Fig.
  • the grinding head 8 can be removed from the semifinished product 2 by a movement of the grinding head 8 and / or the two carriages 4, 6 so that the semifinished product 2 can be moved further in the transport direction R until the rear end of the semifinished product 2 Semifinished product 2 has entered the processing area of the grinding head 8.
  • the semifinished product 2 can be stopped in this position, so that the edges of the rear end face, the rear end face itself, as well as the adjacent to the edges, end lateral surfaces of the semifinished product 2 can be processed by appropriate pivoting movements of the grinding head 8, as shown in FIGS Fig. 2f-j is explained.
  • the Fig. 2f shows the processing of an adjacent to the upper side edge lateral surface of the semifinished product 2, and the Fig. 2g the processing of an adjacent to the lower side edge lateral surface of the semifinished product 2, in each case the rear end face.
  • the change from the grinding position according to Fig. 2f in those of Fig. 2g can by clockwise rotation of the grinding head 9 with respect to the Fig.
  • the Fig. 2h shows the processing of the lower side edge of the semifinished product 2, and the Fig. 2i the processing of the upper side edge of the semifinished product 2.
  • the change from the grinding position according to the Fig. 2h in those of Fig. 2i can by rotating the grinding head 9 in the counterclockwise direction with respect to Fig.
  • the Fig. 2i finally shows the processing of the rear end face of the semifinished product 2.
  • the change from the grinding position according to the Fig. 2h in those of Fig. 2i can be approximately clockwise by rotation of the grinding head 9 with respect to the Fig. 2h under height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product to be processed 2.
  • the entire width of the semifinished product 2 can be processed transversely to the transport direction R.
  • the grinding head 8 can be removed from the semifinished product 2 by a movement of the grinding head 8 and / or the two carriages 4, 6, so that the semifinished product 2 can be moved further in the transport direction R. The process can subsequently be repeated on a subsequent semifinished product 2.
  • the grinding spindle drive comprises a grinding motor 7 which is arranged in the first carriage 6 and which is connected via V-belts 11 to an intermediate shaft 12 which runs concentrically with respect to the pivot axis S 2 .
  • a cover 18 is provided, which can be designed as a water-cooled protective cover, since this area in the processing of hot slabs in the waiting position of the heat radiation of the semifinished product. 2 is affected.
  • the intermediate shaft 12 extends from the first carriage 6 into the grinding head 9 and is connected via a toothed belt 13 with the grinding spindle 14 of the grinding wheel 8 (see also FIG Fig.
  • the grinding motor 7 may be designed as an asynchronous motor and is preferably mounted via a motor rocker 15 in the interior of the first carriage 6, with the required belt tension of the V-belt 11 is generated.
  • a toothed belt 13 between the intermediate shaft 12 and the grinding spindle 14 By using a toothed belt 13 between the intermediate shaft 12 and the grinding spindle 14, however, the tensioning of the belt can be omitted.
  • the asynchronous motor is controlled by a frequency converter. In this way, depending on the grinding wheel diameter, the speed can be adjusted to achieve a constant peripheral speed of the grinding wheel 8 of 60 to 80 m / s.
  • the grinding wheel 8 is measured at regular intervals with a light barrier system.
  • the grinding wheel 8 is designed as a high-pressure grinding wheel and is on the inner flange 16 of the grinding head 9, which in turn by means of a conical connection to the grinding spindle 14 is fixed (see Fig. 7 ), clamped.
  • the necessary clamping force is applied by an outer flange 17, which is fastened by means of hexagon socket screws on the inner flange 16.
  • the grinding head 9 is protected in hot applications on radiation shields and a corresponding insulation material from the heat radiation of the semifinished product 2.
  • the grinding head 9 has on its side facing the first carriage 6 side a sprocket 19 and is rotatably supported via a rolling bearing at the lower part of the first carriage 6.
  • a planetary gear 22 Inside the first carriage 6 is a planetary gear 22, which is connected via a arranged on the first carriage 6 pinion 20 with the arranged on the grinding head 9 ring gear 19 and is driven by a designed as a synchronous motor pivot drive 21.
  • the rotational movement of the grinding head 9 is thus generated starting from the pivot drive 21 and the planetary gear 22 by translation via the pinion 20 and the ring gear 19.
  • the translation of the gear transmission is made slow, so that about a nominal rotational speed of the pivot drive 21 of 3,000 min -1, a maximum rotational speed of the grinding head 9 is set below 20 min -1 .
  • an absolute value encoder is arranged directly on the pivot drive 21.
  • the pivoting device In addition to the rotational positioning of the grinding head 9, the pivoting device also has the essential task of producing the necessary contact pressure between the grinding wheel 8 and the semifinished product 2. So that even with uneven contours on the edge or surface to be ground, the desired microsection is achieved, a quick control of the pivoting device must be ensured, as will be explained in more detail below.
  • the semifinished product 2 has to be moved in the transporting direction R in such a way that it has been positioned with its front or rear end face within the machining area of the grinding head 9.
  • the optical sensors for determining the position of the semifinished product 2 in the transport direction R optical distance sensors for determining the thickness of the semifinished product 2
  • optical distance sensors for determining the width of the semifinished product 2 transversely to the transport direction R comprises.
  • an optical sensor for determining the position of the semifinished product 2 in the transport direction R a pair of light grids with a beam spacing of 20 mm is proposed.
  • the advantage of this non-contact measuring system is that the roller table controlled with the high masses of the slab controlled to a standstill and at the same time the slab position in the transport direction R before and during the grinding process can be monitored.
  • a laser distance sensor is proposed, which is fastened to the support 3 above the heat protection device 5, wherein the heat protection device 5 is of course optically transparent in the signal path of the laser distance sensor.
  • the value for the slab thickness is determined only immediately before the grinding of the front face and stored temporarily for the subsequent grinding cycle of the rear face.
  • optical distance sensors are provided for determining the width of the semifinished product 2 transversely to the transport direction R in order to determine where the grinding wheel 8 must begin to grind or stop in the second movement axis y.
  • this recognition and positioning unit are subsequently transferred to a control unit which, on the basis of this data, transmits the Movement of the two slides 4,6 and the grinding head 9 and thus controls the grinding process.
  • a grinding cycle is specified, that is to say which edges and / or surfaces of the semifinished product 2 are to be processed in which sequence.
  • the required grinding positions are calculated by the control or regulation unit for the desired grinding cycle, and the first carriage 6 and the second carriage 4 are moved into the necessary grinding positions by means of corresponding feed movements.
  • the pivot drive 21 can be specified, for example, that the grinding wheel 8, for example, to grind 30 mm below the semi-finished surface. Since the grinding head 9 can not reach the predetermined target position for the rotation angle x should , the grinding head 9 and the grinding wheel 8 with the limiting torque M operation on the semifinished product 2 is pressed, whereby the grinding wheel contact force is generated. At the same time, the current consumption I qIst of the rotary actuator 21 is continuously measured and fed back into the control unit. If the grinding head 9 strikes , for example, a depression on the semifinished product 2, the current consumption I qIst decreases. In this case, the grinding head 9 is actively readjusted to the semifinished product 2 until the grinding head 9 is again operated with the limiting torque M operation .
  • the readjustment force does not remain constant during the readjustment because some of the engine torque has to be expended for the acceleration of the mechanics (rotary actuator 21, planetary gear 22 and grinding head 9). If the grinding head 9 passes over an elevation on the semifinished product 2, the grinding head 9 deviates when a limiting current value Iq max is exceeded, but is not actively regulated back. In order to avoid damage to the rotary actuator 21 or the planetary gear 22, additional safety functions may be provided to prevent exceeding the permissible torque and speed values by reaching the grinding head 9 with a maximum torque-generating current Iq max and a maximum Speed n max is pivoted back into a safe position. In a grinding process with a grinding wheel clamping force of 4,000 N, the grinding head 9 can be accelerated to operating speed in less than a tenth of a second, thereby enabling grinding of uneven contours with relatively constant contact pressure of the grinding wheel 8.

Description

Die Erfindung bezieht sich auf eine Vorrichtung zur Bearbeitung von Kanten und Flächen eines mithilfe von Rollen gebildeten Rollenganges in einer Transportrichtung bewegbar gelagerten Halbzeuges, insbesondere zum Entgraten und Entbarten von Rohblöcken, Vorblöcken, Brammen und dergleichen, wobei ein erster Schlitten vorgesehen ist, der an einem unbewegten Träger in einer vertikalen, ersten Bewegungsachse beweglich gelagert ist, und am ersten Schlitten ein Schleifkopf mit einer um eine Schleifscheibenachse drehbaren Schleifscheibe angeordnet ist, wobei der Schleifkopf mittels einer Schwenkeinrichtung um 360° um eine Schwenkachse, die senkrecht zur ersten Bewegungsachse ausgerichtet ist, rotierbar gelagert ist, und die Schleifscheibenachse von der Schwenkachse beabstandet und parallel zur Schwenkachse ausgerichtet ist, gemäß dem Oberbegriff von Anspruch 1.The invention relates to an apparatus for processing edges and surfaces of a roller conveyor formed by means of rollers in a transport direction movably mounted semi-finished products, in particular for deburring and debarking of rough blocks, blooms, slabs and the like, wherein a first carriage is provided, which on a stationary support is movably mounted in a vertical, first axis of movement, and the first carriage a grinding head is arranged with a grinding wheel rotatable about a grinding wheel, the grinding head by means of a pivoting device by 360 ° about a pivot axis which is aligned perpendicular to the first axis of movement, rotatable is mounted, and the grinding wheel axis spaced from the pivot axis and aligned parallel to the pivot axis, according to the preamble of claim 1.

Eine gattungsgemäße Vorrichtung wurde in der JP S57 138572 A beschrieben. Weitere Vorrichtungen zur Bearbeitung und Vermessung eines Werkstücks wurden in der US 3 667 165 A , DE 10 2014 104337 B3 , DE 22 04 159 A1 , EP 2 408 594 B1 und der DE 17 52 149 A1 beschrieben.A generic device was in the JP S57 138572 A described. Other devices for processing and measuring a workpiece were in the US Pat. No. 3,667,165 . DE 10 2014 104337 B3 . DE 22 04 159 A1 . EP 2 408 594 B1 and the DE 17 52 149 A1 described.

Das Entgraten und Entbarten von Brennschnittkanten an Halbzeugen von beispielsweise Stahlprodukten spielt in der Stahlindustrie für die Weiterverarbeitung der Vorprodukte in Walzwerken eine große Rolle. Im Stranggießverfahren etwa wird flüssiger Rohstahl in einzelne verarbeitungsfähige und feste Roherzeugnisse umgewandelt, indem der flüssige Rohstahl zunächst in eine Kupferkokille gegossen wird, die in ihrer Form und Größe den Querschnitt des entstehenden Stahlstrangs definiert, und in einer Abkühlzone der langsam erstarrende Stahlstrang mit Hilfe von Rollen eines so genannten Rollganges aus der senkrechten in eine waagrechte Transportrichtung umgelenkt und gekühlt wird. Nach dem vollständigen Erstarren des Stahlstrangs wird er mithilfe von mitfahrenden Brennschneidmaschinen in kleinere Roherzeugnisse zur weiteren Verarbeitung unterteilt. Diese Halbzeuge werden je nach Form und Größe beispielsweise als Brammen, Knüppel, Vorblöcke oder Schmiedeblöcke bezeichnet und müssen in der Regel weitere Umformungsstufen durchlaufen, insbesondere Warm- oder Kaltwalzstufen.The deburring and deburring of flame cutting edges on semi-finished products of, for example, steel products plays a major role in the steel industry for the further processing of the precursors in rolling mills. In the continuous casting process, for example, liquid crude steel is converted into individual workable and solid raw products by first pouring the liquid crude steel into a copper mold defining the shape and size of the cross section of the resulting steel strand, and in a cooling zone the slowly solidifying steel strand using rolls a so-called roller table is deflected from the vertical in a horizontal transport direction and cooled. After complete solidification of the steel strand, it is subdivided into smaller raw products for further processing by means of moving flame cutting machines. These semi-finished products will be Depending on the shape and size, for example, referred to as slabs, billets, blooms or forging blocks and must usually go through further forming stages, especially hot or cold rolling stages.

Durch den Brennschnittprozess entstehen Brennschlackenablagerungen an der oberen und unteren Schnittkante, sowie an den Stirnflächen des Halbzeugs. Diese Schlackenablagerung, die auch als Brennbart bezeichnet wird, muss vor dem folgenden Umformprozess entfernt werden, um Beschädigungen an den Walzen der Walzgerüste und den Rollen der Förderrollgänge, die aufgrund des extrem harten Gefüges der Schlackenablagerungen auftreten können, zu vermeiden. Des Weiteren muss das Einwalzen des Brennbarts in das Walzgut verhindert werden, da ein solches Einwalzen des Brennbarts die Qualität des Walzgutes mindert und die Ausschussrate des Walzerzeugnisses dadurch ansteigt. Das Entfernen der Schlackenablagerungen wird auch als Entgraten oder Entbarten bezeichnet.The flame cutting process produces fuel slag deposits on the upper and lower cut edges, as well as on the end faces of the semi-finished product. This slag deposit, which is also referred to as a burr, must be removed before the following forming process in order to avoid damage to the rollers of the rolling stands and the rollers of the conveyor rollers, which may occur due to the extremely hard structure of the slag deposits. Furthermore, the rolling of the combustible into the rolling stock must be prevented because such rolling of the combustible reduces the quality of the rolling stock and thereby increases the scrap rate of the rolled product. Removal of the slag deposits is also referred to as deburring or decanting.

Zur Entfernung von Schlackenablagerungen werden in herkömmlicher Weise zwei Verfahren eingesetzt, nämlich das Abscheren des Brennbartes mittels eines Messers und das Abschlagen mittels rotierender Hämmer. Bei Entgratmaschinen, die nach dem Abscherprinzip verfahren, ist ein heb- und senkbares Messer zwischen zwei Rollgangsrollen im Anschluss an die Brennschneidmaschine installiert. Um die vordere Schnittkante der Bramme zu entgraten, fährt diese zunächst über das Messer hinweg und wird gestoppt. Anschließend wird das Messer angehoben und an die Bramme gedrückt. Durch das folgende Reversieren der Bramme wird der Brennbart abgeschert und fällt nach unten weg. Danach wird das Messer wieder in die abgesenkte Position gebracht und die Bramme kann in die Transportrichtung weiterfahren. Ein wesentlicher Nachteil dieses Verfahrens ist, dass nur die Brammenunterseite entgratet werden kann. Der an der Brammenoberseite haftende Brennbart muss somit separat, zumeist per Hand, entfernt werden. Des Weiteren kann durch eine ungleichmäßige Abnutzung des Messers kein gleichmäßiges Entgraten über die gesamte Schnittkante sichergestellt werden.For the removal of slag deposits, two methods are conventionally used, namely shearing the burnt bit by means of a knife and knocking by means of rotating hammers. In deburring machines that use the shearing principle, a knife that can be raised and lowered is installed between two roller table rollers following the flame cutting machine. To deburr the front cutting edge of the slab, it first passes over the knife and stops. Then the knife is lifted and pressed against the slab. By subsequently reversing the slab, the firebeard is sheared off and falls down. Thereafter, the knife is returned to the lowered position and the slab can continue in the transport direction. A major disadvantage of this method is that only the bottom of the slab can be deburred. The stick on the top of the slab must therefore be removed separately, usually by hand. Furthermore, it can be due to uneven wear the knife does not ensure uniform deburring over the entire cutting edge.

Beim Abschlagen mittels rotierender Hämmer sind einseitig gelagerte Hämmer in Reihe am Umfang einer rotierenden Walze befestigt. Im Zuge der Rotation richten sich die Hämmer aufgrund der wirkenden Fliehkraft nach außen hin aus. Die gesamte Welle ist zudem heb- und senkbar ausgeführt. Bei Annäherung einer Bramme wird die rotierende Welle angehoben. Sobald die Bramme mit den rotierenden Hämmern in Kontakt kommt, wird der Brennbart aufgrund der Massenträgheit der Hämmer von der Bramme abgeschlagen. Danach wird die Welle wieder abgesenkt. Dieses Verfahren verfügt über den Nachteil, dass stark anhaftende Brennbärte nicht abgeschlagen, sondern mitunter noch tiefer in das Materialgefüge der Bramme eingeschlagen werden, was die Ausschussrate des Walzerzeugnisses wiederum erhöht.When hammering off by means of rotating hammers, hammers supported on one side are fastened in series on the circumference of a rotating roller. In the course of the rotation, the hammers align themselves outward due to the centrifugal force acting on them. The entire shaft is also designed to raise and lower. When approaching a slab, the rotating shaft is raised. As soon as the slab comes into contact with the rotating hammers, the burr is knocked off the slab due to the inertia of the hammers. After that, the shaft is lowered again. This method has the disadvantage that strongly adhering fuel burns are not knocked off, but sometimes even deeper penetrated into the material structure of the slab, which in turn increases the reject rate of the rolled product.

Zudem geht aus dem Stranggießprozess zumeist eine lange Bramme (Mutterbramme) mit vergleichsweise geringer Temperatur hervor, da ein mehrfaches Unterteilen auf kürzere Längen im direkten Anschluss an den Gießprozess aufgrund von Taktzeitproblemen nicht möglich ist. Im Walzwerk werden aber kürzere Brammenlängen benötigt. Es wird daher die Mutterbramme mittels parallel arbeitender Brennschneidanlagen, die in einer eigenständigen Anlage zusammengefasst sind, in sogenannte Tochterbrammen unterteilt. Typische Längen sind zwischen 1.500 und 3.000 mm. Bei diesen Werkstücken ist der Brennbart noch schwieriger zu entfernen, da diese im kalten bzw. warmen Zustand zerteilt werden. Bei herkömmlichen Rotationsentbarter verschleißen in diesem Fall im Gegensatz zu heißen Entbartungsprozessen die Werkzeuge bzw. Hämmer überdurchschnittlich schnell.In addition, the continuous casting process usually results in a long slab (mother slab) having a comparatively low temperature, since it is not possible to subdivide it several times to shorter lengths in direct connection to the casting process due to cycle time problems. In the rolling mill but shorter slab lengths are needed. It is therefore the parent slab by means of parallel working cutting machines, which are summarized in a separate system, divided into so-called daughter slabs. Typical lengths are between 1,500 and 3,000 mm. In these workpieces, the firebeard is even more difficult to remove because they are split in the cold or warm state. In this case, in contrast to hot decolorization processes, the tools or hammers wear out at an above-average speed in the case of conventional rotations.

Es ist daher das Ziel der vorliegenden Erfindung eine Vorrichtung zur Bearbeitung von Kanten und Flächen eines in einer Transportrichtung bewegbar gelagerten Halbzeuges, insbesondere zum Entgraten und Entbarten, bereitzustellen, die die beschriebenen Nachteile nicht aufweist. Die Vorrichtung soll dabei sowohl die Oberkante, als auch die Unterkante sowie die Seitenkanten der Stirnfläche beispielsweise einer Bramme bearbeiten können, und zwar sowohl der vorderen Stirnfläche als auch der hinteren Stirnfläche. Des Weiteren soll es auch möglich sein, die brenngeschnittenen Stirnflächen zu bearbeiten, falls es prozessbedingt erforderlich sei sollte.It is therefore the object of the present invention to provide a device for processing edges and surfaces of a semifinished product movably mounted in a transport direction, in particular for deburring and debarking, which does not have the described disadvantages. The Device should be able to process both the upper edge, and the lower edge and the side edges of the end face, for example a slab, both the front end face and the rear end face. Furthermore, it should also be possible to edit the flame-cut faces, if it should be required by the process.

Diese Ziele werden mit einer Vorrichtung gemäß Anspruch 1 erreicht. Anspruch 1 bezieht sich auf eine Vorrichtung zur Bearbeitung von Kanten und Flächen eines mithilfe von Rollen gebildeten Rollenganges in einer Transportrichtung bewegbar gelagerten Halbzeuges, insbesondere zum Entgraten und Entbarten von Rohblöcken, Vorblöcken, Brammen und dergleichen, wobei ein erster Schlitten vorgesehen ist, der an einem unbewegten Träger in einer vertikalen, ersten Bewegungsachse beweglich gelagert ist, und am ersten Schlitten ein Schleifkopf mit einer um eine Schleifscheibenachse drehbaren Schleifscheibe angeordnet ist, wobei der Schleifkopf mittels einer Schwenkeinrichtung um 360° um eine Schwenkachse, die senkrecht zur ersten Bewegungsachse ausgerichtet ist, rotierbar gelagert ist, und die Schleifscheibenachse von der Schwenkachse beabstandet und parallel zur Schwenkachse ausgerichtet ist. Erfindungsgemäß wird dabei vorgeschlagen, dass der Träger als ein den Rollengang horizontal überspannender und unbewegter Teil eines Portalgestells ausgeführt ist, der senkrecht zur Transportrichtung verläuft, wobei der erste Schlitten von einer oberen Warteposition in eine untere Arbeitsposition bewegbar ist, und sich die Schwenkachse in der unteren Arbeitsposition unterhalb des Trägers befindet. Erfindungsgemäß wird somit von einem Schleifprozess Gebrauch gemacht, insbesondere von einem Hochdruckschleifverfahren, bei dem eine an sich bekannte Schleifscheibe aus gebundenen Schleifkörnern unter hohem Anpressdruck mit entsprechend hoher Antriebsleistung verwendet wird. Die Schleifscheibe wird von einem Schleifkopf geführt, der um 360° um eine Schwenkachse rotierbar gelagert ist, die parallel zur Schleifscheibenachse ausgerichtet ist. Der Anpressdruck der Schleifscheibe auf das Halbzeug wird somit im Zuge einer Schwenkbewegung des Schleifkopfes um die Schwenkachse aufgebracht, wobei das Halbzeug mit der Mantelfläche der um die Schleifscheibenachse rotierenden Schleifscheibe bearbeitet wird. Die Positionierung der Schleifscheibe über die zu bearbeitende Kante oder Fläche wird mithilfe eines Zusammenspiels des ersten Schlittens mit der Rotation des Schleifkopfes bewerkstelligt. Auf diese Weise ergibt sich ein möglicher Bearbeitungsraum, der durch die Bewegung des ersten Schlittens, sowie die Spannweite des Schleifkopfes mit Schleifscheibe definiert ist. Innerhalb dieses Bearbeitungsraumes kann durch entsprechende Steuerung des ersten Schlittens sowie des Schleifkopfes jeder Punkt mit der Schleifscheibe erreicht werden. Das beweglich gelagerte Halbzeug muss lediglich mit seiner zu bearbeitenden vorderen oder hinteren Stirnfläche in diesem Bearbeitungsraum positioniert werden.These objects are achieved with a device according to claim 1. Claim 1 refers to a device for processing edges and surfaces of a roller conveyor formed by means of rollers in a transport direction movably mounted semifinished product, in particular for deburring and debarking of rough blocks, blooms, slabs and the like, wherein a first carriage is provided, which is provided on a stationary support is movably mounted in a vertical, first axis of movement, and the first carriage a grinding head is arranged with a grinding wheel rotatable about a grinding wheel, the grinding head by means of a pivoting device by 360 ° about a pivot axis which is aligned perpendicular to the first axis of movement, rotatable is mounted, and the grinding wheel axis spaced from the pivot axis and aligned parallel to the pivot axis. According to the invention it is proposed that the carrier is designed as a roller conveyor horizontally spanning and stationary part of a portal frame, which is perpendicular to the transport direction, wherein the first carriage is movable from an upper waiting position to a lower working position, and the pivot axis in the lower Working position is located below the carrier. According to the invention, use is thus made of a grinding process, in particular of a high-pressure grinding process in which a grinding wheel of bonded abrasive grains known per se under high contact pressure with a correspondingly high drive power is used. The grinding wheel is guided by a grinding head, which is 360 ° around a Swivel axis is rotatably mounted, which is aligned parallel to the grinding wheel axis. The contact pressure of the grinding wheel on the semi-finished product is thus applied in the course of a pivoting movement of the grinding head about the pivot axis, wherein the semifinished product is processed with the lateral surface of the grinding wheel rotating around the grinding wheel axis. The positioning of the grinding wheel over the edge or surface to be machined is accomplished by an interaction of the first carriage with the rotation of the grinding head. In this way, there is a possible processing space, which is defined by the movement of the first carriage, and the span of the grinding head with grinding wheel. Within this processing space, each point can be achieved with the grinding wheel by appropriate control of the first carriage and the grinding head. The movably mounted semi-finished product only has to be positioned with its front or rear end face to be machined in this processing space.

Die um 360° rotierbare Lagerung des Schleifkopfes stellt dabei ein entscheidendes Merkmal dar, da bei feststehender Bramme sowohl die Unterkante als auch die Oberkante bearbeitet werden kann, ohne die Bramme zu bewegen. Es wird vielmehr nach einer Bearbeitung beispielsweise der oberen Kante der vorderen Stirnfläche einer Bramme der Schleifkopf so verschwenkt, dass er nach oben wegschwenkt, eine Drehbewegung vollzieht und sich von unten der unteren Kante der vorderen Stirnfläche der Bramme annähert. Nach Bearbeitung der unteren Kante kann der Schleifkopf durch eine Bewegung des Schleifkopfes und/oder des Schlittens von der Bramme entfernt werden, sodass die Bramme in Transportrichtung weiter bewegt werden kann, bis die hintere Stirnfläche der Bramme in den Bearbeitungsbereich des Schleifkopfes gelangt ist. Die Bramme kann in dieser Position gestoppt werden, sodass die Seitenkanten der hinteren Stirnfläche durch entsprechende Schwenkbewegungen des Schleifkopfes bearbeitet werden können. Es ist aber unmittelbar ersichtlich, dass auch die Stirnflächen selbst oder die an die Kanten angrenzenden, endseitigen Mantelflächen des Halbzeugs bearbeitet werden können, soweit sie sich in Reichweite der Schleifscheibe befinden.The 360 ° rotatable mounting of the grinding head is a decisive feature, since with fixed slab both the lower edge and the upper edge can be processed without moving the slab. Rather, after machining, for example, the upper edge of the front end surface of a slab, the grinding head is pivoted so that it pivots upward, makes a rotational movement and approaches from below the lower edge of the front face of the slab. After machining the lower edge of the grinding head can be removed by a movement of the grinding head and / or the carriage of the slab, so that the slab can be moved further in the transport direction until the rear end face of the slab in the processing area of the Grinding head has arrived. The slab can be stopped in this position, so that the side edges of the rear end face can be processed by appropriate pivoting movements of the grinding head. However, it is immediately apparent that the end faces themselves or the end faces of the semi-finished product adjoining the edges can also be machined, as far as they are within reach of the grinding wheel.

Erfindungsgemäß ist des Weiteren die erste Bewegungsachse vertikal ausgerichtet und die zweite Bewegungsachse somit horizontal. Somit wird auch der unbewegte Träger, an dem der zweite Schlitten in der zweiten Bewegungsachse beweglich gelagert ist, horizontal verlaufen. Der Träger ist dabei als Teil eines Portals ausgeführt, das in den Rollengang zwischen zwei Rollen angeordnet wird, wobei das Halbzeug durch das Portal durchbewegt wird. Die Bewegungsebene des ersten Schlittens ist dabei vertikal und senkrecht zur Transportrichtung des Halbzeugs orientiert. Die Schwenkebene des Schleifkopfes steht vorzugsweise senkrecht auf diese Bewegungsebene und ist ebenfalls vertikal orientiert, indem die Schwenkachse und die Schleifscheibenachse horizontal ausgerichtet sind.Furthermore, according to the invention, the first movement axis is aligned vertically and the second movement axis is thus horizontal. Thus, the stationary support on which the second carriage is movably mounted in the second movement axis, also run horizontally. The carrier is designed as part of a portal, which is arranged in the roller conveyor between two rollers, wherein the semifinished product is moved through the portal. The plane of movement of the first carriage is oriented vertically and perpendicular to the transport direction of the semifinished product. The pivot plane of the grinding head is preferably perpendicular to this plane of movement and is also oriented vertically by the pivot axis and the grinding wheel axis are aligned horizontally.

Erfindungsgemäß ist zudem der erste Schlitten von einer oberen Warteposition in eine untere Arbeitsposition bewegbar, wobei sich die Schwenkachse in der unteren Arbeitsposition unterhalb des Trägers befindet. Das Halbzeug wird dabei unterhalb des Trägers bewegt, wobei sich der erste Schlitten mit dem Schleifkopf von oben an das zu bearbeitende Halbzeug annähert. Diese Konfiguration stellt eine "Steifigkeit" der Anordnung sicher, mit der über die gesamte Stirnfläche des Halbzeugs unabhängig von der Positionierung der Schleifscheibe gleichermaßen der gewünschte Anpressdruck erzeugt werden kann. Zudem sind der Schleifkopf und der erste Schlitten vor herabfallenden Schleifspänen geschützt.According to the invention, the first carriage is also movable from an upper waiting position to a lower working position, wherein the pivot axis is located in the lower working position below the carrier. The semi-finished product is moved below the carrier, wherein the first carriage with the grinding head approaches from above to the semi-finished product to be processed. This configuration ensures a "rigidity" of the arrangement, with the same over the entire face of the semi-finished product, regardless of the positioning of the grinding wheel equally the desired contact pressure can be generated. In addition, the grinding head and the first slide are protected from falling chips.

Der erste Schlitten kann an einem zweiten Schlitten angeordnet sein, der am unbewegten Träger in einer zur ersten Bewegungsrichtung orthogonalen, zweiten Bewegungsachse beweglich gelagert ist, wobei die Schwenkachse und die Schleifscheibenachse parallel zu einer von der ersten und der zweiten Bewegungsachse definierten Ebene ausgerichtet sind. Der zweite Schlitten ermöglicht eine Abziehbewegung in Richtung der zweiten Bewegungsachse bei ansonsten gleichbleibender Positionierung des Schleifkopfes und des ersten Schlittens. Auf diese Weise ergibt sich eine Bewegungsebene für den ersten Schlitten, die vorzugsweise senkrecht zur Transportrichtung des Halbzeugs angeordnet wird, sodass das Halbzeug während seines Transportes diese Bewegungsebene des ersten Schlittens "durchstößt".The first carriage may be disposed on a second carriage which is movably supported on the stationary carrier in a second movement axis orthogonal to the first movement direction, wherein the pivot axis and the grinding wheel axis are aligned parallel to a plane defined by the first and second movement axes. The second carriage allows a removal movement in the direction of the second axis of movement with otherwise constant positioning of the grinding head and the first carriage. In this way, a movement plane for the first carriage, which is preferably arranged perpendicular to the transport direction of the semifinished product, so that the semifinished product "pierces" this plane of movement of the first carriage during its transport.

Die Schwenkeinrichtung umfasst vorzugsweise ein Zahnradgetriebe, das einen am Schleifkopf konzentrisch zur Schwenkachse angeordneten Zahnkranz und ein mit dem Zahnkranz kämmendes und am ersten Schlitten angeordnetes Ritzel aufweist, das von einem am ersten Schlitten angeordneten Schwenkantrieb angetrieben wird. Durch diese Schwenkeinrichtung ist es möglich den Schleifkopf stufenlos und endlos um 360° in beide Drehrichtungen zu rotieren. Neben der rotatorischen Positionierung des Schleifkopfs hat die Schwenkeinrichtung auch die Aufgabe, den gewünschten Anpressdruck zwischen Schleifscheibe und dem zu bearbeitenden Halbzeug zu erzeugen. Damit auch bei unebenen Konturen an der zu schleifenden Kante oder Fläche das gewünschte Schliffbild erreicht wird, muss eine schnelle Regelung der Schwenkeinrichtung gewährleistet sein, wie im Folgenden noch ausführlicher erläutert werden wird.The pivoting device preferably comprises a toothed gear, which has a toothed rim arranged concentrically to the pivot axis on the grinding head and a pinion meshing with the ring gear and arranged on the first carriage, which pinion is driven by a pivoting drive arranged on the first carriage. By this pivoting device, it is possible to rotate the grinding head infinitely and endlessly through 360 ° in both directions of rotation. In addition to the rotational positioning of the grinding head, the pivoting device also has the task of producing the desired contact pressure between the grinding wheel and the semi-finished product to be processed. Thus, even with uneven contours on the edge or surface to be ground the desired microsection image is achieved, a fast control of the pivoting device must be ensured, as will be explained in more detail below.

Vorzugsweise ist für die Schleifscheibe ein Schleifspindelantrieb vorgesehen, der einen im ersten Schlitten angeordneten Schleifantriebmotor umfasst, der über Keilriemen mit einer konzentrisch zur Schwenkachse verlaufenden Zwischenwelle verbunden ist, die sich vom ersten Schlitten bis in den Schleifkopf erstreckt und über einen Zahnriemen mit der Schleifspindel der Schleifscheibe verbunden ist. Der Schleifantriebmotor ist dabei vorzugsweise auf einer Motorwippe oder einem Motor- oder Spannschlitten gelagert, um die notwendige Riemenspannung sicher zu stellen. Mithilfe des Zahnriemens kann ein Nachspannen des Riemens entfallen, was innerhalb des Schleifkopfes nur schwierig umzusetzen wäre. Durch die beiden Riementriebe kann eine Übersetzung ins Schnelle erreicht werden, um somit die Motordrehzahl in eine höhere Schleifscheibendrehzahl umzuwandeln. Die Ansteuerung des Schleifantriebmotors erfolgt dabei vorzugsweise über einen Frequenzumrichter, um je nach Schleifscheibendurchmesser die Drehzahl anpassen zu können und eine konstante Umfangsgeschwindigkeit der Schleifscheibe sicher zu stellen. Zur Sollwertermittlung der Motordrehzahl des Schleifantriebmotors kann etwa ein Lichtschrankensystem vorgesehen sein, das den Durchmesser der Schleifscheibe in regelmäßigen Abständen vermisst.Preferably, a grinding spindle drive is provided for the grinding wheel, comprising a mounted in the first carriage grinding motor, which is connected via V-belt with a concentric to the pivot axis extending intermediate shaft extending from the first carriage to the grinding head and a toothed belt with the grinding spindle of the grinding wheel connected is. The grinding motor is preferably mounted on a motor rocker or a motor or tensioning slide to ensure the necessary belt tension. With the help of the toothed belt, a retensioning of the belt can be omitted, which would be difficult to implement within the grinding head. Through the two belt drives a translation can be achieved quickly, thus converting the engine speed into a higher grinding wheel speed. The control of the grinding drive motor is preferably carried out via a frequency converter in order to adjust the speed depending on the grinding wheel diameter and to ensure a constant peripheral speed of the grinding wheel. For determining the target value of the motor speed of the grinding drive motor, a light barrier system may be provided which measures the diameter of the grinding wheel at regular intervals.

Wie bereits ausgeführt wurde, muss die Bramme in Transportrichtung so bewegt werden, dass sie mit ihrer vorderen oder hinteren Stirnfläche innerhalb des Bearbeitungsbereiches des Schleifkopfes positioniert wurde. Für diese Positionierung wird vorzugsweise eine Erkennungs- und Positionierungseinheit für das zu bearbeitende Halbzeug vorgeschlagen, die optische Sensoren zur Ermittlung der Lage des Halbzeugs in Transportrichtung, optische Distanzsensoren zur Ermittlung der Dicke des Halbzeugs, sowie optische Distanzsensoren zur Ermittlung der Breite des Halbzeugs quer zur Transportrichtung umfasst. Mithilfe dieses berührungslosen Messsystems kann der Rollgang mit den hohen Massen der Bramme kontrolliert zum Stillstand geregelt und gleichzeitig die Brammenposition im Transportrichtung vor und während des Schleifprozesses überwacht werden. Die Messwerte der Erkennungs- und Positionierungseinheit werden in weiterer Folge einer Steuer- oder Regelungseinheit übergeben, die auf Basis dieser Daten die Bewegung der beiden Schlitten und des Schleifkopfes und somit den Schleifprozess regelt.As already stated, the slab must be moved in the transport direction so that it has been positioned with its front or rear end face within the processing area of the grinding head. For this positioning, a detection and positioning unit for the semifinished product to be processed is preferably proposed, the optical sensors for determining the position of the semifinished product in the transport direction, optical Distance sensors for determining the thickness of the semifinished product, as well as optical distance sensors for determining the width of the semifinished product transverse to the transport direction comprises. With the aid of this non-contact measuring system, the roller table with the high masses of the slab can be controllably controlled to a standstill and at the same time the slab position in the transport direction can be monitored before and during the grinding process. The measured values of the recognition and positioning unit are subsequently transferred to a control unit which, on the basis of this data, controls the movement of the two slides and of the grinding head and thus the grinding process.

Im Folgenden wird die Erfindung anhand bevorzugter Ausführungsformen mithilfe der beiliegenden Zeichnungen näher erläutert. Hierbei zeigen

  • Fig. 1 eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Vorrichtung und dessen Anordnung in einem Rollengang zum Transport eines Halbzeugs mit teilweise geöffnetem ersten Schlitten,
  • Fig. 2a-j schematische Darstellungen zur Erläuterung möglicher Schleifpositionen des Schleifkopfes,
  • Fig. 3 eine Darstellung einer Innenansicht des ersten Schlittens und des Schleifkopfes,
  • Fig. 4 eine weitere Darstellung einer Innenansicht des ersten Schlittens und des Schleifkopfes in geänderter Perspektive,
  • Fig. 5 eine perspektivische Ansicht einer Ausführungsform der Schwenkeinrichtung,
  • Fig. 6 eine Seitenansicht der Schwenkeinrichtung gemäß der Fig. 5, und die
  • Fig. 7 eine Schnittansicht gemäß der Schnittebene A-A der Fig. 6.
In the following the invention will be explained in more detail by means of preferred embodiments with the aid of the accompanying drawings. Show here
  • Fig. 1 a schematic representation of an embodiment of the device according to the invention and its arrangement in a roller conveyor for transporting a semifinished product with partially opened first carriage,
  • Fig. 2a-j schematic representations for explaining possible grinding positions of the grinding head,
  • Fig. 3 a representation of an interior view of the first carriage and the grinding head,
  • Fig. 4 a further representation of an interior view of the first carriage and the grinding head in a different perspective,
  • Fig. 5 a perspective view of an embodiment of the pivoting device,
  • Fig. 6 a side view of the pivoting device according to the Fig. 5 , and the
  • Fig. 7 a sectional view according to the sectional plane AA of Fig. 6 ,

Die Fig. 1 zeigt eine schematische Darstellung einer Ausführungsform der erfindungsgemäßen Vorrichtung und dessen Anordnung in einem mithilfe von Rollen 1 gebildeten Rollengangs zum Transport eines Halbzeugs 2, etwa einer Bramme. Das Halbzeug 2 kann durch Rotation der entsprechend antreibbaren Rollen 1 in eine Transportrichtung R bewegt werden, die in einer horizontalen Achse x verläuft. Die erfindungsgemäße Vorrichtung weist einen den Rollengang horizontal überspannenden und unbewegten Träger 3 auf, der oberhalb des Halbzeugs 2 positioniert ist und senkrecht zur Transportrichtung R verläuft. Der Träger 3 ist Teil eines Portalgestells, das als massive und unbewegte Konstruktion ausgeführt ist, um die Kräfte des Schleifprozesses aufnehmen und in das Fundament ableiten zu können. Da das Halbzeug 2 Materialtemperaturen von bis zu 900°C aufweist, ist eine Hitzeschutzvorrichtung 5 vorgesehen, um den Träger 3 vor der permanenten Strahlungswärme des Halbzeugs 2 zu schützen. Hierfür wird etwa ein wasserdurchflossener Kühlkörper aus geschweißten Stahlprofilen am Träger 3 befestigt und an das Brauchwassersystem der Stranggießanlage angeschlossen. Die Hitzeschutzvorrichtung 5 wird freilich nur bei der Bearbeitung von heißen Brammen benötigt, bei Kaltanwendungen ist diese nicht erforderlich. Um das abgeschliffene Material zu sammeln, ist unterhalb des Trägers 3 und des Arbeitsbereiches ein Spänesammelbehälter 10 zwischen zwei Rollen des Rollganges angeordnet. Die Späneentsorgung kann wahlweise auch über einen Förderer geschehen, wobei in diesem Fall zwischen den Rollen 1 nur ein Trichter vorgesehen ist, um die Späne in den Förderer oder in einen tieferliegenden Spänebehälter zu leiten.The Fig. 1 shows a schematic representation of an embodiment of the device according to the invention and its arrangement in a roller conveyor formed by means of rollers 1 for transporting a semifinished product 2, such as a slab. The semifinished product 2 can be moved by rotation of the corresponding drivable rollers 1 in a transport direction R, which runs in a horizontal axis x. The device according to the invention has a roller conveyor horizontally spanning and stationary support 3, which is positioned above the semifinished product 2 and perpendicular to the transport direction R extends. The carrier 3 is part of a portal frame, which is designed as a solid and immobile construction to absorb the forces of the grinding process and to be able to divert into the foundation can. Since the semifinished product 2 has material temperatures of up to 900 ° C., a heat protection device 5 is provided in order to protect the carrier 3 from the permanent radiant heat of the semifinished product 2. For this purpose, a water-carrying heat sink made of welded steel profiles is attached to the support 3 and connected to the hot water system of the continuous casting. The heat protection device 5 is, of course, only needed when working hot slabs, in cold applications, this is not required. To collect the abraded material, a chip collecting container 10 is arranged between two rollers of the roller table below the support 3 and the work area. The chip disposal can also be done via a conveyor, in which case between the Rollers 1 only one hopper is provided to direct the chips in the conveyor or in a deeper chip container.

Ein erster Schlitten 6 ist an einem zweiten Schlitten 4 angeordnet, der wiederum am Träger 3 angeordnet ist. Der zweite Schlitten 4 ist dabei am Träger 3 mithilfe eines Linearführungssystems beweglich gelagert, sodass er mit einem horizontalen Vorschubsystem in einer horizontalen Bewegungsachse y bewegt werden kann. Als horizontales Vorschubsystem kann etwa eine Zahnstangen-Ritzel-Kombination verwendet werden, wobei das Ritzel von einem Synchron-Servogetriebemotor angetrieben wird. Die Zahnstange ist dabei am Träger 3 und der Synchron-Servogetriebemotor mit Ritzel am zweiten Schlitten 4 befestigt. Die Positionierung des zweiten Schlittens kann über einen Absolutwertencoder erfolgen, der direkt am Synchron-Servogetriebemotor angeordnet ist. Auf diese Weise ist das Messsystem vor äußeren Einflüssen geschützt und vermeidet einen zusätzlichen Sensor zur Referenzierung des zweiten Schlittens 4.A first carriage 6 is arranged on a second carriage 4, which in turn is arranged on the carrier 3. The second carriage 4 is movably mounted on the carrier 3 by means of a linear guide system, so that it can be moved with a horizontal feed system in a horizontal movement axis y. As a horizontal feed system can be used about a rack-pinion combination, wherein the pinion is driven by a synchronous servo geared motor. The rack is fixed to the carrier 3 and the synchronous servo geared motor with pinion on the second carriage 4. The positioning of the second carriage may be via an absolute value encoder located directly on the synchronous servo geared motor. In this way, the measuring system is protected against external influences and avoids an additional sensor for referencing the second carriage 4.

Mit dem zweiten Schlitten 4 ist der erste Schlitten 6 über ein Linearführungssystem beweglich verbunden, der mittels eines vertikalen Vorschubsystems in einer vertikalen Bewegungsachse z bewegt werden kann. Für das vertikale Vorschubsystem wird ein Kugelgewindetrieb in Kombination mit einem Synchron-Servogetriebemotor vorgeschlagen. Die Positionierung des ersten Schlittens 6 kann wie beim zweiten Schlitten 4 über einen Absolutwertencoder erfolgen, der direkt am Synchron-Servogetriebemotor des vertikalen Vorschubsystems angeordnet ist. Gegebenenfalls kann eine Bremse vorgesehen sein, damit der erste Schlitten 6 bei Spannungsausfall in Position gehalten wird und nicht nach unten sackt.With the second carriage 4, the first carriage 6 is movably connected via a linear guide system, which can be moved by means of a vertical feed system in a vertical movement axis z. For the vertical feed system, a ball screw in combination with a synchronous servo geared motor is proposed. The positioning of the first carriage 6, as in the case of the second carriage 4, can take place via an absolute value encoder which is arranged directly on the synchronous servo geared motor of the vertical feed system. Optionally, a brake may be provided so that the first carriage 6 at Power failure is held in place and does not sag down.

Im ersten Schlitten 6 befindet sich ein Schleifantriebmotor 7 (siehe Fig. 3 und 4), der eine Schleifscheibe 8 antreibt, wie noch näher ausgeführt werden wird. Die Schleifscheibe 8 ist an einem Schleifkopf 9 um eine Schleifscheibenachse S1 drehbar gelagert und vorzugsweise als Hochdruckschleifscheibe ausgeführt. Unter einer Hochdruckschleifscheibe wird eine unter hoher Temperatur und unter hohem Druck verdichtete, kunstharzgebundene Schleifscheibe 8 verstanden. Sie besteht aus einer Schleifschicht, die für den eigentlichen Schleifprozess vorgesehen ist, und dem Feinkornzentrum mit eingelegten Stahlringen, die zur Stabilitätserhöhung der Scheibe dienen. Die Schleifschicht besteht in an sich bekannter Weise aus dem Schleifkorn und Bindemittel, wobei das Schleifkorn unterschiedlichen Materials in unterschiedlichem Kornabstand im Bindemittel eingelagert sein kann.In the first carriage 6 is a Schleifantriebmotor 7 (see Fig. 3 and 4 ), which drives a grinding wheel 8, as will be explained in more detail. The grinding wheel 8 is rotatably mounted on a grinding head 9 about a grinding wheel axis S 1 and preferably designed as a high-pressure grinding wheel. A high pressure grinding wheel is understood to mean a synthetic resin bonded grinding wheel 8 which is compacted under high temperature and under high pressure. It consists of an abrasive layer, which is intended for the actual grinding process, and the fine grain center with inserted steel rings, which serve to increase the stability of the disc. The abrasive layer consists in a conventional manner of the abrasive grain and binder, wherein the abrasive grain of different material can be incorporated in different grain spacing in the binder.

Der Schleifkopf 9 ist am ersten Schlitten 6 um eine Schwenkachse S2 drehbar gelagert, wobei diese Lagerung eine stufenlose und endlose Drehbewegung um 360° in beide Drehrichtungen ermöglicht. Die erste Bewegungsachse z und die zweite Bewegungsachse y definieren eine Bewegungsebene für den ersten Schlitten 6, die vertikal orientiert ist und senkrecht zur Transportrichtung R angeordnet ist. Die Schwenkebene des Schleifkopfes 9 steht senkrecht auf diese Bewegungsebene und ist ebenfalls vertikal orientiert, indem die Schwenkachse S2 und die Schleifscheibenachse S1 horizontal ausgerichtet sind. Der Anpressdruck der Schleifscheibe 8 auf das Halbzeug 2 wird somit im Zuge einer Schwenkbewegung des Schleifkopfes 9 um die Schwenkachse S2 aufgebracht, wobei das Halbzeug 2 mit der Mantelfläche der um die Schleifscheibenachse S1 rotierenden Schleifscheibe 8 bearbeitet wird. Die Abziehbewegung, also die Bewegung der Schleifscheibe 8 über die zu bearbeitende Kante oder Fläche des Halbzeugs 2, wird mithilfe der beiden Schlitten 4, 6 bewerkstelligt. Auf diese Weise ergibt sich ein möglicher Bearbeitungsraum, der durch die Bewegungsebene des ersten Schlittens 6, sowie die senkrecht zu dieser Bewegungsebene ausgerichtete Spannweite des Schleifkopfes 9 mit der Schleifscheibe 8 definiert ist. Innerhalb dieses Bearbeitungsraumes kann durch entsprechende Steuerung des ersten und zweiten Schlittens 4, 6 sowie des Schleifkopfes 9 jeder Punkt mit der Schleifscheibe 8 erreicht werden. Das beweglich gelagerte Halbzeug 2 muss lediglich mit seiner zu bearbeitenden vorderen oder hinteren Stirnfläche in diesem Bearbeitungsraum positioniert werden.The grinding head 9 is rotatably mounted on the first carriage 6 about a pivot axis S 2 , this storage allows a stepless and endless rotational movement through 360 ° in both directions of rotation. The first movement axis z and the second movement axis y define a movement plane for the first carriage 6, which is oriented vertically and is arranged perpendicular to the transport direction R. The pivoting plane of the grinding head 9 is perpendicular to this plane of movement and is also oriented vertically by the pivot axis S 2 and the grinding wheel axis S 1 are aligned horizontally. The contact pressure of the grinding wheel 8 on the semi-finished product 2 is thus in the course of a pivoting movement of the grinding head 9 to the Swivel axis S 2 applied, wherein the semifinished product 2 is machined with the lateral surface of the grinding wheel 8 rotating around the grinding wheel axis S 1 . The removal movement, ie the movement of the grinding wheel 8 over the edge or surface of the semifinished product 2 to be processed, is accomplished by means of the two carriages 4, 6. In this way, a possible processing space, which is defined by the plane of movement of the first carriage 6, as well as the aligned perpendicular to this plane of movement span of the grinding head 9 with the grinding wheel 8. Within this processing space can be achieved by appropriate control of the first and second carriage 4, 6 and the grinding head 9 each point with the grinding wheel 8. The movably mounted semi-finished product 2 only has to be positioned with its front or rear end face to be machined in this processing space.

Auf diese Weise können Schleifpositionen der Schleifscheibe 8 verwirklicht werden, die eine Bearbeitung der oberen Kante, der unteren Kante und der Seitenkanten der vorderen Stirnfläche als auch der hinteren Stirnfläche des Halbzeugs 2 erlauben, wie anhand der Fig. 2 erläutert wird. Zudem können auch die an die Kanten angrenzenden, endseitigen Mantelflächen des Halbzeugs bearbeitet werden, soweit sie sich in Reichweite der Schleifscheibe 8 befinden. So zeigen die Fig. 2a-e zunächst schematisch eine Bearbeitung des vorderen Endes eines Halbzeugs 2, das im Bearbeitungsraum der Schleifscheibe 8 positioniert wurde. Die Fig. 2a zeigt dabei die Bearbeitung einer an die obere Seitenkante angrenzenden Mantelfläche des Halbzeugs 2, und die Fig. 2b die Bearbeitung einer an die untere Seitenkante angrenzenden Mantelfläche des Halbzeugs 2. Der Wechsel von der Schleifposition gemäß der Fig. 2a in jene der Fig. 2b kann durch Rotation des Schleifkopfes 9 entgegen dem Uhrzeigersinn in Bezug auf die Fig. 2a unter allfälliger Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z erfolgen, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden. Die Fig. 2c zeigt die Bearbeitung der unteren Seitenkante des Halbzeugs 2, und die Fig. 2d die Bearbeitung der oberen Seitenkante des Halbzeugs 2. Der Wechsel von der Schleifposition gemäß der Fig. 2c in jene der Fig. 2d kann durch Rotation des Schleifkopfes 9 im Uhrzeigersinn in Bezug auf die Fig. 2c erfolgen, wiederum unter allfälliger Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann wiederum die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden. Die Fig. 2e zeigt schließlich die Bearbeitung der vorderen Stirnfläche des Halbzeugs 2. Der Wechsel von der Schleifposition gemäß der Fig. 2d in jene der Fig. 2e kann etwa durch Rotation des Schleifkopfes 9 entgegen dem Uhrzeigersinn in Bezug auf die Fig. 2d unter Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z erfolgen, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann wiederum die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden. Nach Bearbeitung des vorderen Endes des Halbzeugs 2 kann der Schleifkopf 8 durch eine Bewegung des Schleifkopfes 8 und/oder der beiden Schlitten 4, 6 vom Halbzeug 2 entfernt werden, sodass das Halbzeug 2 in Transportrichtung R weiter bewegt werden kann, bis das hintere Ende des Halbzeugs 2 in den Bearbeitungsbereich des Schleifkopfes 8 gelangt ist. Das Halbzeug 2 kann in dieser Position gestoppt werden, sodass die Kanten der hinteren Stirnfläche, die hintere Stirnfläche selbst, sowie die an die Kanten angrenzenden, endseitigen Mantelflächen des Halbzeugs 2 durch entsprechende Schwenkbewegungen des Schleifkopfes 8 bearbeitet werden können, wie anhand der Fig. 2f-j erläutert wird. Die Fig. 2f zeigt dabei die Bearbeitung einer an die obere Seitenkante angrenzenden Mantelfläche des Halbzeugs 2, und die Fig. 2g die Bearbeitung einer an die untere Seitenkante angrenzenden Mantelfläche des Halbzeugs 2, und zwar jeweils der hinteren Stirnfläche. Der Wechsel von der Schleifposition gemäß der Fig. 2f in jene der Fig. 2g kann durch Rotation des Schleifkopfes 9 im Uhrzeigersinn in Bezug auf die Fig. 2g unter allfälliger Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z erfolgen, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden. Die Fig. 2h zeigt die Bearbeitung der unteren Seitenkante des Halbzeugs 2, und die Fig. 2i die Bearbeitung der oberen Seitenkante des Halbzeugs 2. Der Wechsel von der Schleifposition gemäß der Fig. 2h in jene der Fig. 2i kann durch Rotation des Schleifkopfes 9 entgegen dem Uhrzeigersinn in Bezug auf die Fig. 2h erfolgen, wiederum unter allfälliger Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann wiederum die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden. Die Fig. 2i zeigt schließlich die Bearbeitung der hinteren Stirnfläche des Halbzeugs 2. Der Wechsel von der Schleifposition gemäß der Fig. 2h in jene der Fig. 2i kann etwa durch Rotation des Schleifkopfes 9 im Uhrzeigersinn in Bezug auf die Fig. 2h unter Höhenjustierung des ersten Schlittens 6 in der ersten Bewegungsachse z erfolgen, ohne dabei das zu bearbeitende Halbzeug 2 bewegen zu müssen. Mithilfe einer Vorschubbewegung des zweiten Schlittens 4 in die zweite Bewegungsrichtung y kann wiederum die gesamte Breite des Halbzeugs 2 quer zur Transportrichtung R bearbeitet werden.In this way, grinding positions of the grinding wheel 8 can be realized, which allow processing of the upper edge, the lower edge and the side edges of the front end face and the rear end face of the semifinished product 2, as shown in FIGS Fig. 2 is explained. In addition, the end-side lateral surfaces of the semifinished product adjoining the edges can also be processed insofar as they are within reach of the grinding wheel 8. So show the Fig. 2a-e First schematically a processing of the front end of a semifinished product 2, which was positioned in the processing space of the grinding wheel 8. The Fig. 2a shows the processing of an adjacent to the upper side edge lateral surface of the semifinished product 2, and the Fig. 2b the processing of an adjacent to the lower side edge lateral surface of the semifinished product 2. The change of the grinding position according to Fig. 2a in those of Fig. 2b can by rotating the grinding head 9 in the counterclockwise direction with respect to Fig. 2a under any height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product 2 to be processed. By means of a feed movement of the second carriage 4 in the second direction of movement y, the entire width of the semifinished product 2 can be processed transversely to the transport direction R. The Fig. 2c shows the processing of the lower side edge of the semifinished product 2, and the Fig. 2d the processing of the upper side edge of the semifinished product 2. The change from the grinding position according to the Fig. 2c in those of Fig. 2d can by clockwise rotation of the grinding head 9 with respect to the Fig. 2c take place, again under any height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product 2 to be processed. By means of a feed movement of the second carriage 4 in the second direction of movement y, in turn, the entire width of the semifinished product 2 can be processed transversely to the transport direction R. The Fig. 2e finally shows the processing of the front end face of the semifinished product 2. The change from the grinding position according to the Fig. 2d in those of Fig. 2e can be achieved by rotation of the grinding head 9 in the counterclockwise direction with respect to Fig. 2d under height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product to be processed 2. By means of a feed movement of the second carriage 4 in the second direction of movement y, in turn, the entire width of the semifinished product 2 can be processed transversely to the transport direction R. After machining the front end of the semifinished product 2, the grinding head 8 can be removed from the semifinished product 2 by a movement of the grinding head 8 and / or the two carriages 4, 6 so that the semifinished product 2 can be moved further in the transport direction R until the rear end of the semifinished product 2 Semifinished product 2 has entered the processing area of the grinding head 8. The semifinished product 2 can be stopped in this position, so that the edges of the rear end face, the rear end face itself, as well as the adjacent to the edges, end lateral surfaces of the semifinished product 2 can be processed by appropriate pivoting movements of the grinding head 8, as shown in FIGS Fig. 2f-j is explained. The Fig. 2f shows the processing of an adjacent to the upper side edge lateral surface of the semifinished product 2, and the Fig. 2g the processing of an adjacent to the lower side edge lateral surface of the semifinished product 2, in each case the rear end face. The change from the grinding position according to Fig. 2f in those of Fig. 2g can by clockwise rotation of the grinding head 9 with respect to the Fig. 2g under any height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product 2 to be processed. By means of a feed movement of the second carriage 4 in the second direction of movement y, the entire width of the semifinished product 2 can be processed transversely to the transport direction R. The Fig. 2h shows the processing of the lower side edge of the semifinished product 2, and the Fig. 2i the processing of the upper side edge of the semifinished product 2. The change from the grinding position according to the Fig. 2h in those of Fig. 2i can by rotating the grinding head 9 in the counterclockwise direction with respect to Fig. 2h take place, again under any height adjustment of the first carriage 6 in the first Movement axis z without having to move the semi-finished product 2 to be processed. By means of a feed movement of the second carriage 4 in the second direction of movement y, in turn, the entire width of the semifinished product 2 can be processed transversely to the transport direction R. The Fig. 2i finally shows the processing of the rear end face of the semifinished product 2. The change from the grinding position according to the Fig. 2h in those of Fig. 2i can be approximately clockwise by rotation of the grinding head 9 with respect to the Fig. 2h under height adjustment of the first carriage 6 in the first axis of movement z, without having to move the semi-finished product to be processed 2. By means of a feed movement of the second carriage 4 in the second direction of movement y, in turn, the entire width of the semifinished product 2 can be processed transversely to the transport direction R.

Nach Bearbeitung des hinteren Endes des Halbzeugs 2 kann der Schleifkopf 8 durch eine Bewegung des Schleifkopfes 8 und/oder der beiden Schlitten 4, 6 vom Halbzeug 2 entfernt werden, sodass das Halbzeug 2 in Transportrichtung R weiter bewegt werden kann. Der Vorgang kann in weiterer Folge an einem nachfolgenden Halbzeug 2 wiederholt werden.After machining the rear end of the semifinished product 2, the grinding head 8 can be removed from the semifinished product 2 by a movement of the grinding head 8 and / or the two carriages 4, 6, so that the semifinished product 2 can be moved further in the transport direction R. The process can subsequently be repeated on a subsequent semifinished product 2.

Anhand der Fig. 3 bis 7 werden nun der Schleifspindelantrieb für die Schleifscheibe 8 und die Schwenkeinrichtung für den Schleifkopf 9 näher erläutert. Der Schleifspindelantrieb umfasst einen im ersten Schlitten 6 angeordneten Schleifantriebmotor 7, der über Keilriemen 11 mit einer konzentrisch zur Schwenkachse S2 verlaufenden Zwischenwelle 12 verbunden ist. Für die Keilriemen 11 ist eine Abdeckung 18 vorgesehen, die als wassergekühlte Schutzabdeckung ausgeführt werden kann, da dieser Bereich bei der Bearbeitung heißer Brammen auch in der Warteposition von der Wärmeabstrahlung des Halbzeugs 2 betroffen ist. Die Zwischenwelle 12 erstreckt sich vom ersten Schlitten 6 bis in den Schleifkopf 9 und ist über einen Zahnriemen 13 mit der Schleifspindel 14 der Schleifscheibe 8 (siehe auch Fig. 7) verbunden ist. Der Schleifantriebmotor 7 kann etwa als Asynchronmotor ausgeführt sein und ist vorzugsweise über eine Motorwippe 15 im Inneren des ersten Schlittens 6 befestigt, mit der die erforderliche Riemenspannung der Keilriemen 11 erzeugt wird. Durch den Einsatz eines Zahnriemens 13 zwischen der Zwischenwelle 12 und der Schleifspindel 14 kann das Nachspannen des Riemens hingegen entfallen. Durch die beiden Riementriebe kann eine Gesamtübersetzung ins Schnelle erreicht werden, bei der etwa eine maximale Motordrehzahl von 3.000 min-1 auf eine maximale Schleifscheibendrehzahl von 6.500 min-1 umgewandelt wird. Die Ansteuerung des Asynchronmotors erfolgt über einen Frequenzumrichter. Auf diese Weise kann je nach Schleifscheibendurchmesser die Drehzahl angepasst werden, um eine konstante Umfangsgeschwindigkeit der Schleifscheibe 8 von 60 bis 80 m/s zu erreichen. Zur Sollwertermittlung der Motordrehzahl wird die Schleifscheibe 8 in regelmäßigen Abständen mit einem Lichtschrankensystem vermessen.Based on Fig. 3 to 7 now the grinding spindle drive for the grinding wheel 8 and the pivoting device for the grinding head 9 are explained in more detail. The grinding spindle drive comprises a grinding motor 7 which is arranged in the first carriage 6 and which is connected via V-belts 11 to an intermediate shaft 12 which runs concentrically with respect to the pivot axis S 2 . For the V-belt 11, a cover 18 is provided, which can be designed as a water-cooled protective cover, since this area in the processing of hot slabs in the waiting position of the heat radiation of the semifinished product. 2 is affected. The intermediate shaft 12 extends from the first carriage 6 into the grinding head 9 and is connected via a toothed belt 13 with the grinding spindle 14 of the grinding wheel 8 (see also FIG Fig. 7 ) connected is. The grinding motor 7 may be designed as an asynchronous motor and is preferably mounted via a motor rocker 15 in the interior of the first carriage 6, with the required belt tension of the V-belt 11 is generated. By using a toothed belt 13 between the intermediate shaft 12 and the grinding spindle 14, however, the tensioning of the belt can be omitted. Through the two belt drives a total ratio may be achieved to high speed, such as a maximum engine speed of 3,000 min -1 is converted to a maximum grinding wheel speed of 6,500 min -1 for the. The asynchronous motor is controlled by a frequency converter. In this way, depending on the grinding wheel diameter, the speed can be adjusted to achieve a constant peripheral speed of the grinding wheel 8 of 60 to 80 m / s. To determine the target value of the engine speed, the grinding wheel 8 is measured at regular intervals with a light barrier system.

Die Schleifscheibe 8 ist als Hochdruckschleifscheibe ausgeführt und wird auf den Innenflansch 16 des Schleifkopfes 9, der wiederum mittels einer Kegelverbindung an der Schleifspindel 14 befestigt ist (siehe Fig. 7), aufgespannt. Die notwendige Spannkraft wird durch einen Außenflansch 17, der mittels Innensechskantschrauben am Innenflansch 16 befestigt ist, aufgebracht. Der Schleifkopf 9 wird bei Heißanwendungen über Strahlenschutzbleche und einem entsprechenden Isolationsmaterial vor der Wärmestrahlung des Halbzeugs 2 geschützt.The grinding wheel 8 is designed as a high-pressure grinding wheel and is on the inner flange 16 of the grinding head 9, which in turn by means of a conical connection to the grinding spindle 14 is fixed (see Fig. 7 ), clamped. The necessary clamping force is applied by an outer flange 17, which is fastened by means of hexagon socket screws on the inner flange 16. The grinding head 9 is protected in hot applications on radiation shields and a corresponding insulation material from the heat radiation of the semifinished product 2.

Der Schleifkopf 9 weist auf seiner dem ersten Schlitten 6 zugewandten Seite einen Zahnkranz 19 auf und ist über eine Wälzlagerung am unteren Teil des ersten Schlittens 6 drehbar gelagert. Im Inneren des ersten Schlittens 6 befindet sich ein Planetengetriebe 22, das über ein am ersten Schlitten 6 angeordnetes Ritzel 20 mit dem am Schleifkopf 9 angeordneten Zahnkranz 19 verbunden ist und von einem als Synchronmotor ausgeführten Schwenkantrieb 21 angetrieben wird. Die Rotationsbewegung des Schleifkopfes 9 wird somit ausgehend vom Schwenkantrieb 21 und das Planetengetriebe 22 durch Übersetzung über das Ritzel 20 und den Zahnkranz 19 erzeugt. Die Übersetzung des Zahnradgetriebes wird ins Langsame vorgenommen, sodass etwa bei einer Nenndrehzahl des Schwenkantriebes 21 von 3.000 min-1 eine maximale Rotationsgeschwindigkeit des Schleifkopfs 9 von unter 20 min-1 eingestellt wird. Um permanent die Position des Schleifkopfs 9 messen zu können, ist direkt am Schwenkantrieb 21 ein Absolutwertencoder angeordnet.The grinding head 9 has on its side facing the first carriage 6 side a sprocket 19 and is rotatably supported via a rolling bearing at the lower part of the first carriage 6. Inside the first carriage 6 is a planetary gear 22, which is connected via a arranged on the first carriage 6 pinion 20 with the arranged on the grinding head 9 ring gear 19 and is driven by a designed as a synchronous motor pivot drive 21. The rotational movement of the grinding head 9 is thus generated starting from the pivot drive 21 and the planetary gear 22 by translation via the pinion 20 and the ring gear 19. The translation of the gear transmission is made slow, so that about a nominal rotational speed of the pivot drive 21 of 3,000 min -1, a maximum rotational speed of the grinding head 9 is set below 20 min -1 . In order to permanently measure the position of the grinding head 9, an absolute value encoder is arranged directly on the pivot drive 21.

Neben der rotatorischen Positionierung des Schleifkopfs 9 hat die Schwenkeinrichtung auch die wesentliche Aufgabe, den notwendigen Anpressdruck zwischen Schleifscheibe 8 und dem Halbzeug 2 zu erzeugen. Damit auch bei unebenen Konturen an der zu schleifenden Kante oder Fläche das gewünschte Schliffbild erreicht wird, muss eine schnelle Regelung der Schwenkeinrichtung gewährleistet sein, wie im Folgenden ausführlicher erläutert werden soll.In addition to the rotational positioning of the grinding head 9, the pivoting device also has the essential task of producing the necessary contact pressure between the grinding wheel 8 and the semifinished product 2. So that even with uneven contours on the edge or surface to be ground, the desired microsection is achieved, a quick control of the pivoting device must be ensured, as will be explained in more detail below.

Zunächst muss hierfür das Halbzeug 2 in Transportrichtung R so bewegt werden, dass sie mit ihrer vorderen oder hinteren Stirnfläche innerhalb des Bearbeitungsbereiches des Schleifkopfes 9 positioniert wurde. Für diese Positionierung ist eine Erkennungs- und Positionierungseinheit für das zu bearbeitende Halbzeug 2 vorgesehen, die optische Sensoren zur Ermittlung der Lage des Halbzeugs 2 in Transportrichtung R, optische Distanzsensoren zur Ermittlung der Dicke des Halbzeugs 2, sowie optische Distanzsensoren zur Ermittlung der Breite des Halbzeugs 2 quer zur Transportrichtung R umfasst. Als optischer Sensor zur Ermittlung der Lage des Halbzeugs 2 in Transportrichtung R wird etwa ein Lichtgitterpaar mit einem Strahlenabstand von 20 mm vorgeschlagen. Um die Lichtgitter vor den rauen Umgebungsbedingungen zu schützen, sollten sie vorzugsweise in einem luftgespültem Schutzgehäuse verbaut werden. Der Vorteil dieses berührungslosen Messsystems liegt darin, dass der Rollgang mit den hohen Massen der Bramme kontrolliert zum Stillstand geregelt und gleichzeitig die Brammenposition im Transportrichtung R vor und während des Schleifprozesses überwacht werden kann. Zur Erfassung der Brammendicke wird ein Laserdistanzsensor vorgeschlagen, der am Träger 3 oberhalb der Hitzeschutzvorrichtung 5 befestigt wird, wobei die Hitzeschutzvorrichtung 5 im Signalweg des Laserdistanzsensors freilich optisch transparent ausgeführt ist. Der Wert für die Brammendicke wird nur unmittelbar vor dem Schleifen der vorderen Stirnfläche ermittelt und für den nachfolgenden Schleifzyklus der hinteren Stirnfläche zwischengespeichert. Zusätzlich sind optische Distanzsensoren zur Ermittlung der Breite des Halbzeugs 2 quer zur Transportrichtung R vorgesehen um zu ermitteln, wo die Schleifscheibe 8 in der zweiten Bewegungsachse y zu schleifen beginnen oder aufhören muss.First of all, the semifinished product 2 has to be moved in the transporting direction R in such a way that it has been positioned with its front or rear end face within the machining area of the grinding head 9. For this positioning is a recognition and Positioning unit for the semi-finished product 2 to be processed, the optical sensors for determining the position of the semifinished product 2 in the transport direction R, optical distance sensors for determining the thickness of the semifinished product 2, and optical distance sensors for determining the width of the semifinished product 2 transversely to the transport direction R comprises. As an optical sensor for determining the position of the semifinished product 2 in the transport direction R, a pair of light grids with a beam spacing of 20 mm is proposed. To protect the light curtains from the harsh environmental conditions, they should preferably be installed in an air-ridden protective housing. The advantage of this non-contact measuring system is that the roller table controlled with the high masses of the slab controlled to a standstill and at the same time the slab position in the transport direction R before and during the grinding process can be monitored. For detecting the slab thickness, a laser distance sensor is proposed, which is fastened to the support 3 above the heat protection device 5, wherein the heat protection device 5 is of course optically transparent in the signal path of the laser distance sensor. The value for the slab thickness is determined only immediately before the grinding of the front face and stored temporarily for the subsequent grinding cycle of the rear face. In addition, optical distance sensors are provided for determining the width of the semifinished product 2 transversely to the transport direction R in order to determine where the grinding wheel 8 must begin to grind or stop in the second movement axis y.

Die Messwerte dieser Erkennungs- und Positionierungseinheit werden in weiterer Folge einer Steuer- oder Regelungseinheit übergeben, die auf Basis dieser Daten die Bewegung der beiden Schlitten 4,6 und des Schleifkopfes 9 und somit den Schleifprozess regelt. Zudem wird ein Schleifzyklus vorgegeben, also welche Kanten und/oder Flächen des Halbzeugs 2 in welcher Abfolge bearbeitet werden sollen. Ausgehend von der Position und der Dicke des Halbzeugs 2 werden für den gewünschten Schleifzyklus von der Steuer- oder Regelungseinheit die erforderlichen Schleifpositionen errechnet, und der erste Schlitten 6 und der zweite Schlitten 4 mithilfe entsprechender Vorschubbewegungen in die notwendigen Schleifpositionen verfahren. Gleichzeitig werden der vom Schleifkopf 9 anzusteuernde Rotationswinkel xsoll, seine Rotationsgeschwindigkeit vsoll und das begrenzende Drehmoment MBetrieb des Schleifkopfs 9, welches aufgrund der Schwerpunktverlagerung wiederum vom Rotationswinkel xsoll abhängig ist, von der Steuer- oder Regelungseinheit an den Schwenkantrieb 21 der Schwenkeinheit übermittelt. Der Strom ist bei Servo-Synchronmotoren proportional zum Drehmoment, wodurch die begrenzende Stromgröße für den Schleifbetrieb IqBetrieb durch eine Multiplikation aus dem begrenzenden Drehmoment MBetrieb und einem Proportionalitätsfaktor KMI errechnet werden kann. Um einen konstanten Schleifdruck zu erzeugen wird der Schwenkantrieb 21 in der Betriebsart Moment- bzw. Stromregelung betrieben. Durch die Steuer- oder Regelungseinheit wird der anzusteuernde Rotationswinkel xsoll so gewählt, dass dieser Sollwert durch den Schleifkopf 9 nie erreicht werden kann. Dem Schwenkantrieb 21 kann etwa vorgegeben werden, dass die Schleifscheibe 8 beispielsweise 30 mm unterhalb der Halbzeugoberfläche schleifen soll. Da der Schleifkopf 9 die vorgegebene Sollposition für den Rotationswinkel xsoll somit nicht erreichen kann, wird der Schleifkopf 9 bzw. die Schleifscheibe 8 mit dem begrenzenden Drehmoment MBetrieb an das Halbzeug 2 gepresst, wodurch die Schleifscheibenanpresskraft erzeugt wird. Gleichzeitig wird permanent die Stromaufnahme IqIst des Schwenkantriebes 21 gemessen und in die Steuer- oder Regelungseinheit rückgeführt. Trifft der Schleifkopf 9 beispielsweise auf eine Vertiefung am Halbzeug 2, nimmt die Stromaufnahme IqIst ab. In diesem Fall wird der Schleifkopf 9 zum Halbzeug 2 hin aktiv nachgeregelt, bis der Schleifkopf 9 wieder mit dem begrenzenden Drehmoment MBetrieb betrieben wird. Während der Nachregelung bleibt die Anpresskraft jedoch nicht konstant, da ein Teil des Motorendrehmoments für die Beschleunigung der Mechanik (Schwenkantrieb 21, Planetengetriebe 22 und Schleifkopf 9) aufgewendet werden muss. Fährt der Schleifkopf 9 über eine Erhebung am Halbzeug 2 hinweg, weicht der Schleifkopf 9 bei Überschreitung eines begrenzenden Stromwerts Iqmax zurück, wird aber nicht aktiv zurückgeregelt. Um Beschädigungen am Schwenkantrieb 21 oder dem Planetengetriebe 22 zu vermeiden, können des Weiteren noch zusätzliche Sicherheitsfunktionen vorgesehen sein, die eine Überschreitung der zulässigen Moment- und Drehzahlwerte unterbinden, indem bei Erreichen kritischer Werte der Schleifkopf 9 mit einem maximalen drehmomenterzeugenden Strom Iqmax und einer maximalen Drehzahl nmax in eine sichere Position zurückgeschwenkt wird. Bei einem Schleifprozess mit einer Schleifscheibenanpresskraft von 4.000 N kann der Schleifkopf 9 in weniger als einer Zehntelsekunde auf Betriebsdrehzahl beschleunigt werden, wodurch ein Schleifen von unebenen Konturen mit relativ konstantem Anpressdruck der Schleifscheibe 8 ermöglicht wird.The measured values of this recognition and positioning unit are subsequently transferred to a control unit which, on the basis of this data, transmits the Movement of the two slides 4,6 and the grinding head 9 and thus controls the grinding process. In addition, a grinding cycle is specified, that is to say which edges and / or surfaces of the semifinished product 2 are to be processed in which sequence. Based on the position and the thickness of the semifinished product 2, the required grinding positions are calculated by the control or regulation unit for the desired grinding cycle, and the first carriage 6 and the second carriage 4 are moved into the necessary grinding positions by means of corresponding feed movements. At the same to be driven by the grinding head 9 rotational angle x should, its rotational speed v soll and the limiting torque M operation of the grinding head 9, which due to the focus shift x will turn the rotation angle is dependent, transmitted by the control or regulation unit to the rotary actuator 21 of the swivel unit , The current is proportional to the torque in servo synchronous motors, whereby the limiting current magnitude for the grinding operation I qBetrieb can be calculated by a multiplication of the limiting torque M operation and a proportionality factor K MI . In order to generate a constant grinding pressure, the rotary actuator 21 is operated in the operating mode torque or current control. By the control or regulation unit to be controlled rotation angle x is chosen so that this target value can never be reached by the grinding head 9. The pivot drive 21 can be specified, for example, that the grinding wheel 8, for example, to grind 30 mm below the semi-finished surface. Since the grinding head 9 can not reach the predetermined target position for the rotation angle x should , the grinding head 9 and the grinding wheel 8 with the limiting torque M operation on the semifinished product 2 is pressed, whereby the grinding wheel contact force is generated. At the same time, the current consumption I qIst of the rotary actuator 21 is continuously measured and fed back into the control unit. If the grinding head 9 strikes , for example, a depression on the semifinished product 2, the current consumption I qIst decreases. In this case, the grinding head 9 is actively readjusted to the semifinished product 2 until the grinding head 9 is again operated with the limiting torque M operation . However, the readjustment force does not remain constant during the readjustment because some of the engine torque has to be expended for the acceleration of the mechanics (rotary actuator 21, planetary gear 22 and grinding head 9). If the grinding head 9 passes over an elevation on the semifinished product 2, the grinding head 9 deviates when a limiting current value Iq max is exceeded, but is not actively regulated back. In order to avoid damage to the rotary actuator 21 or the planetary gear 22, additional safety functions may be provided to prevent exceeding the permissible torque and speed values by reaching the grinding head 9 with a maximum torque-generating current Iq max and a maximum Speed n max is pivoted back into a safe position. In a grinding process with a grinding wheel clamping force of 4,000 N, the grinding head 9 can be accelerated to operating speed in less than a tenth of a second, thereby enabling grinding of uneven contours with relatively constant contact pressure of the grinding wheel 8.

Durch dieses Regelkonzept und der Möglichkeit den Schleifkopf 9 um 360° in beide Drehrichtungen stufenlos und endlos zu rotieren, können alle in der Fig. 2 gezeigten Anwendungen auf einfache Weise verwirklicht werden.Through this control concept and the possibility of the grinding head 9 by 360 ° in both directions continuously and can rotate endlessly, all in the Fig. 2 shown applications can be realized in a simple manner.

Bezugszeichenliste:LIST OF REFERENCE NUMBERS

11
Rollenroll
22
Halbzeugsemis
33
Trägercarrier
44
zweiter Schlittensecond sled
55
HitzeschutzvorrichtungHeat protection device
66
erster Schlittenfirst sled
77
SchleifantriebmotorGrinding drive motor
88th
Schleifscheibegrinding wheel
99
Schleifkopfgrinding head
1010
Spänesammelbehälterchip collection
1111
Keilriemenfan belt
1212
Zwischenwelleintermediate shaft
1313
Zahnriementoothed belt
1414
Schleifspindelgrinding spindle
1515
Motorwippemotorbase
1616
Innenflanschinner flange
1717
Außenflanschouter flange
1818
Abdeckungcover
1919
Zahnkranzsprocket
2020
Ritzelpinion
2121
SchwenkantriebRotary actuator
xx
horizontale Achsehorizontal axis
yy
zweite Bewegungsachsesecond axis of movement
zz
erste Bewegungsachsefirst movement axis
RR
Transportrichtungtransport direction
S1 S 1
SchleifscheibenachseGrinding wheel axis
S2 S 2
Schwenkachseswivel axis
2222
Planetengetriebeplanetary gear

Claims (6)

  1. Device for machining edges and surfaces of a semi-finished product (2), which is movably mounted in a transport direction (R) by means of a roller conveyor formed by rollers (1), in particular for deflashing and deburring raw blocks, blooms, slabs and the like, wherein a first carriage (6) is provided, which is movably mounted on a stationary carrier (3) in a vertical, first axis of movement (z), and on the first carriage (6) a grinding head (9) is provided having a grinding wheel (8) which is rotatable about a grinding wheel axis (S1), wherein the grinding head (9) is rotatably mounted by means of a pivot device by 360° about a pivot axis (S2) which is aligned perpendicularly to the first axis of movement (z), and the grinding wheel axis (S1) is spaced apart from the pivot axis (S2) and aligned parallel to the pivot axis (S2), characterized in that the carrier (3) is designed as a stationary part of a portal frame which spans the roller conveyor horizontally and extends perpendicularly to the transport direction (R), wherein the first carriage (6) is movable from an upper waiting position into a lower working position, and the pivot axis (S2) in the lower working position is located below the carrier (3).
  2. Device according to claim 1, characterized in that the first carriage (6) is arranged on a second carriage (4) which is movably mounted on the stationary carrier (3) in a second axis of movement (y) orthogonally to the first direction of movement (z), wherein the pivot axis (S2) and the grinding wheel axis (S1) are aligned parallel to a plane defined by the first and second axes of movement (y, z).
  3. Device according to claim 1 or 2, characterized in that the pivot device comprises a gear transmission which has a toothed rim (19) arranged on the grinding head (9) concentrically to the pivot axis (S2) and a pinion (20) which meshes with the toothed rim (19), is arranged on the first carriage (6) and is driven by a pivot drive (21) arranged on the first carriage (6).
  4. Device according to one of the preceding claims, characterized in that a grinding spindle drive is provided for the grinding wheel (8), which grinding spindle drive comprises a grinding drive motor (7) which is arranged in the first carriage (6) and is connected via V-belts (11) to an intermediate shaft (12) which extends concentrically to the pivot axis (S2) and which runs from the first carriage (6) into the grinding head (9) and is connected via a toothed belt (13) to the grinding spindle (14) of the grinding wheel (8).
  5. Device according to claim 4, characterized in that the grinding drive motor (7) is mounted on a motor rocker (15).
  6. Device according to one of the preceding claims, characterized in that a recognition and positioning unit is provided for the semi-finished product (2) to be processed, which comprises optical sensors for determining the position of the semi-finished product (2) in the transport direction (R), optical distance sensors for determining the thickness of the semi-finished product (2), and optical distance sensors for determining the width of the semi-finished product (2) transversely to the transport direction (R).
EP17210717.9A 2017-01-05 2017-12-27 Deburring machine Active EP3354405B1 (en)

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CN113664682A (en) * 2021-08-03 2021-11-19 苏州泥盆纪环保科技有限公司 Mold inner cavity hole grinding machine and working method thereof
CN113714878A (en) * 2021-09-22 2021-11-30 河南中孚技术中心有限公司 A die-casting aluminum plate burr grinding device for processing of wave filter casing
CN114393507B (en) * 2021-12-10 2022-11-29 迈格仪器(苏州)有限公司 Quantitative grinding machine based on machine vision
CN114888642B (en) * 2022-03-23 2022-12-30 深圳市赛特尔通讯技术有限公司 Polishing device for metal frame of mobile phone
CN115365970B (en) * 2022-08-22 2023-05-16 江苏小太阳技术发展有限公司 Rust removing method and rust removing equipment for cloth clips for spinning
CN117444743B (en) * 2023-12-25 2024-02-23 河北库比车业有限公司 Frame burr polisher of children balance car

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DE1752149A1 (en) * 1968-04-10 1971-05-19 Wilhelm Schlueter Schleifmasch Method and device for grinding bevels on rolling stock
US3667165A (en) * 1971-02-16 1972-06-06 G & B Automated Equipment Ltd Conditioning grinder
JPS57138572A (en) * 1981-02-20 1982-08-26 Taiyo Chuki Kk Grinding machine
TWI490061B (en) * 2009-03-19 2015-07-01 Siemag Gmbh Verfahren und vorrichtung zum schleifen eines stranggussprodukts
DE102014104337B3 (en) * 2014-03-27 2015-07-23 Ke-Ma-Tec Gmbh Ketterer-Maschinen-Technologie Device, machine tool and method for measuring a workpiece

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