JP2009196037A - Grinder and grinding control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem with a conventional grinder wherein a failure to grind occurs when the surface of a cast piece with an unequal width is automatically ground. <P>SOLUTION: This grinder 10 for grinding the surface of a cast piece with an unequal width comprises: a grinding wheel 32; a grinding wheel 32 moving part for moving the grinding wheel 32; a measuring part for measuring the profile of the surface of the cast piece with the unequal width; and a control part for calculating a first grinding path for linearly grinding the surface of the cast piece at a specified grinding angle using the grinding wheel 32 and a second grinding path for grinding the surface of the cast piece at an angle different from the specified grinding angle using the grinding wheel 32, linearly grinding the surface of the cast piece along the first grinding path using the grinding wheel 32 of the grinder 10, repeatedly performing the linear grinding by moving the grinding wheel 32 at intervals in the direction perpendicular to the linear direction, and so controlling as to grind the end of the surface of the cast piece as a remaining part after the linear grinding along the second grinding path using the grinding wheel 32. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present application relates to a grinding apparatus and a grinding control method, and more particularly, to a grinding apparatus and a grinding control method for performing a combination of linear grinding with a constant grinding angle and unground grinding end grinding on a slab.

  In recent years, a grinding apparatus that grinds the surface of a slab (a rectangular steel material obtained by cutting continuously cast steel at a certain length) in a steelmaking process reduces the amount of grinding residue that requires a manually controlled grinding process. Therefore, it is required to improve the processing speed of the grinding process.

  Since the grinding wheel of the grinding apparatus grinds the slab by reciprocating linear movement in automatic control, if the slab S is a perfect rectangle, no grinding residue is generated. However, as shown in FIG. 8 (a), the grinding locus is a straight line. Therefore, when the slab S that is not a complete rectangular shape is ground by linear movement, the slab is ground as shown in FIG. 8 (b). There is a remaining b1. By grinding with the angle of the grinding wheel always kept constant, the surface of the slab S is ground at a constant pitch and the finish is good. However, if the angle between the slab S and the grindstone is kept constant, the unground grinding B1 exists physically. Therefore, after completion of the automatic control, it is necessary for an operator to move the grinding wheel by manual control to grind the remaining grinding b1, and this manual control has caused a problem that the speed of the slab grinding process is reduced.

  In order to perform grinding by automatic control as much as possible for a slab that is not rectangular, a grinding apparatus that measures the grinding surface of the slab and enlarges the grinding area by automatic control has been proposed (Patent Document 1 below). . In this grinding apparatus, as shown in FIG. 8C, the direction of linear grinding is changed so that the remaining grinding portion is minimized.

JP 2003-334746 A

  However, this proposed grinding apparatus requires a grinding process by manual control of an operator because the grinding remaining portion b2 is small, but a grinding residue is still generated. Moreover, since the angle between the slab S and the grindstone varies depending on the shape of the slab S, there is a problem that the grinding quality is not constant.

  In view of the above-described problems, there is a demand for a grinding apparatus that reduces the time required for the grinding process by eliminating the grinding residue and performing the slab grinding process step fully automatically.

  In order to solve the above problems, a grinding apparatus for grinding a slab surface of unequal width, measuring a contour of a grinding wheel, a grinding wheel moving portion for moving the grinding wheel, and a slab surface of unequal width A first grinding trajectory for linear grinding at a constant grinding angle using a grinding wheel on a slab surface, and a grinding wheel at an angle different from the constant grinding angle The second grinding trajectory is calculated, and the slab surface is linearly ground using the grinding wheel of the grinding device according to the first grinding trajectory, and the grinding wheel is moved at a constant interval in a direction orthogonal to the linear direction. There is provided a grinding device having a control unit that repeats grinding and controls so as to grind an end portion of a slab surface, which is a remaining grinding portion of linear grinding, using a grinding wheel in accordance with a second grinding locus.

  Furthermore, in order to solve the above-mentioned problem, a grinding control method using a grinding device for grinding a slab surface of unequal width, measuring the contour of the slab surface of unequal width, Calculating a first grinding trajectory for linear grinding at a constant grinding angle using a grinding wheel and a second grinding trajectory for grinding using a grinding wheel at an angle different from the constant grinding angle; According to the first grinding locus, the surface of the slab is linearly ground using the grinding wheel of the grinding device, and the grinding wheel is moved at regular intervals in a direction orthogonal to the linear direction, and linear grinding is repeated, and according to the second grinding locus. There is provided a grinding control method for grinding an end portion of a slab surface, which is a remaining grinding portion of linear grinding, using a grinding wheel.

  The first and second grinding trajectories may include a grinding trajectory immediately before the grinding wheel falls from the surface of the slab to the lower part.

  This grinding control method or grinding apparatus automatically grinds the remaining grinding portion on the surface of the slab of unequal width, so that manual grinding of the remaining grinding portion is not required and the processing speed of the grinding process is increased. Can be improved.

  In addition, since this grinding control method or grinding apparatus performs surface grinding of the slab at a constant angle as much as possible by measuring the contour of the slab surface, even in automatic grinding, most of the slab surface is removed. Grinding at a constant grinding pitch can provide high quality grinding.

Hereinafter, an embodiment of a grinding apparatus of the present application will be described with reference to the drawings.
FIG. 1 is a plan view showing an outline of the grinding apparatus 10. An example of the grinding apparatus 10 will be described with reference to FIG. In the following, the left-right direction in FIG. 1 is referred to as the X-axis direction, the up-down direction in FIG. 1 is referred to as the Y-axis direction, and the direction orthogonal to the plane of FIG.

The grinding device 10 is disposed on the two conveyors 12 and 14 that convey the slab S. When the surface of the slab S is ground by the grinding device, the slab S is conveyed from the right side to the left side in FIG.
The grinding apparatus 10 is connected to the grinding wheel 32, the support 34, the grinding wheel rotating motor 35, the first and second laser distance meters 42 and 43, and the support 34 to move the grinding wheel 32 in the Y-axis direction. And a carriage 20 for loading the carriage 30 and moving the grinding wheel 32 in the X-axis direction, and a control device 70 (see FIG. 2).

The two slabs S are conveyed from the right side to the left side in FIG. The carriage 20 moves the grinding wheel 32 in the X-axis direction by moving the wheels on the two X-axis rails 16 and 18 with wheels. The carriage 30 moves the grinding wheel 32 in the X-axis direction by moving on the Y-axis rails 53 and 54 on the carriage 20.
First and second laser distance meters 42 and 43 for measuring the distance from the side surface of the slab S are attached to the carriage 30. The first and second laser distance meters 42 and 43 are used for measuring the distance from the side surface of the slab S while moving the carriage 20 in the X-axis direction, as will be described later.

FIG. 2 is a side view showing the outline of the grinding apparatus 10 from the left side of the X axis.
The carriage 20 is driven by an X-axis servomotor 25 which is a servomotor shown in FIG. The amount of movement of the carriage 20 is detected by the X-axis encoder 26. The X-axis encoder 26 has a gear, and the amount of movement of the carriage 20 is measured when the gear meshes with a rack provided in parallel with the X-axis rail 16. The movement amount data measured by the X-axis encoder 26 is transmitted to the control device 70. The carriage 30 moves in the Y-axis direction using the wheels 55 and 56 on the Y-axis rails 53 and 54 on the rail beams 51 and 52 supported by the support columns 57 and 58. Since the operation accuracy of the grinding wheel 32 on the X axis is less required than the operation accuracy on the Y axis, the X axis motor may be an inverter control motor.

FIG. 3 is a side view showing the outline of the grinding apparatus 10 from the lower side of the Y-axis.
The carriage 30 is placed on the Y-axis rails 53 and 54 so as to be movable in the Y-axis direction by wheels 55 and 56. The Y-axis motor is a servo motor 61. Therefore, fine position control of the carriage 30 in the Y-axis direction can be executed with high accuracy. The amount of movement of the carriage 30 is detected by the Y-axis encoder 63. The Y-axis encoder 63 has a gear, and when this gear meshes with a rack provided in parallel with the inner side surface of the rail beam 51, the movement amount of the carriage 30 is measured. The data of the movement amount measured by the Y-axis encoder 63 is also transmitted to the control device 70.

  The grinding wheel 32 is attached to the support column 34. The column 34 is attached to the carriage 30 by a Z-axis cylinder 38 so as to be movable up and down. Further, the carriage 30 is provided with a grinding wheel rotating motor 35 for rotating the grinding wheel 32 via a V belt 33 and a grinding pressing cylinder 36 for pressing the grinding wheel 32 during grinding. Further, as shown in FIG. 3, a Z-axis encoder 62 for detecting the height of the grinding wheel 32 is attached to the Z-axis cylinder 38. The Z-axis encoder 62 has a gear. When this gear meshes with a rack provided along the column 34, the amount of movement of the column 34 is measured, and the height of the grinding wheel 32 is detected.

  Further, the height position of the grinding wheel 32 is raised and lowered by the grinding pressing cylinder 36 independently of the height of the column 34. Therefore, a crimping position detecting device 37 for detecting the height position of the grinding wheel 32 from the inclination of the V belt 33 is provided. The control device 70 can calculate the position of the grinding wheel 32 on the Z-axis by acquiring both the detection positions from the Z-axis encoder 62 and the crimping position detection device 37.

  Further, although not shown in the drawings, a duct for collecting dust generated during grinding is attached to the grinding apparatus 10 at a position facing the grinding wheel 32, and the duct is connected to a dust collector.

The hardware configuration of the control device 70 will be described with reference to FIG.
The control device 70 includes a processor 71 connected to each other via a bus 78, a storage device 72 such as a memory and a hard disk, an external storage device 73 such as a DVD drive, an output device 74 such as a display and a printer, and an input such as a keyboard. A device 75 and an input / output interface unit 76 are included.
The input / output interface unit 76 includes an X-axis servomotor 25, a Y-axis servomotor 61, a Z-axis cylinder 38, a grindstone rotating motor 35, a grindstone pressing cylinder 36, an X-axis encoder 26, and a Y-axis encoder 63. Are connected to the Z-axis encoder 62 and the first and second laser distance meters 42 and 43.

  The processor 71 uses the input data from the X-axis encoder 26, the Y-axis encoder 63, the Z-axis encoder 62, and the first and second laser distance meters 42 and 43 to store a control program stored in the storage device 72. Thus, output control of the X-axis servomotor 25, the Y-axis servomotor 61, the Z-axis cylinder 38, the grindstone rotating motor 35, and the grindstone pressing cylinder 36 is performed.

  The processor 71 also determines the movement distance in the X-axis direction of the first and second laser distance meters 42 and 43 and the distance in the Y-axis direction between the first and second laser distance meters 42 and 43 and the slab side surface. Corresponding in the coordinate system. The X-axis position coordinates and the measured Y-axis coordinates of the first laser rangefinder 42 that measures each time at a pitch of about 10 mm are received and stored in the storage device 72 as XY coordinate data. The same applies to the second laser distance meter 43. As a result, the position of each part of the outline of the slab S can be specified on the XY coordinates.

The grinding process flow by the control device 70 of the grinding apparatus 10 will be described with reference to FIG.
First, the control program stored in the storage device 72 is activated. Based on the control program, the processor 71 performs a measurement process of the contour of the slab S (step S101). In this process, the processor 71 drives the X-axis servomotor 25 to move the carriage 20 in the X-axis direction, thereby moving the first and second laser distance meters 42 and 43 attached to the carriage 20 to X. Move in the axial direction. Subsequently, the processor 71 performs control so as to measure the distance from the side surface of the slab S every time the first and second laser rangefinders 42 and 43 move by a predetermined distance in the X-axis direction. Thereby, the outline of the slab S is stored in the storage device 72 as XY coordinate data.

Next, the processor 71 executes a grinding locus calculation process of the grinding wheel 32 (step S102). The calculated grinding locus is divided into a first grinding locus and a second grinding locus.
The first and second grinding trajectories will be described with reference to FIG. The first grinding trajectory is shown in FIG. As illustrated, the first grinding trajectory is a grinding trajectory that repeats the reciprocating linear grinding of the X axis while gradually shifting to the Y axis.
The processor 71 executes control processing for the grinding wheel 32 until the grinding end point 202 is reached from the grinding start point 201.
As shown by an arrow 211 in FIG. 6A, the grinding wheel 32 can be ground with respect to the slab S at a constant angle (45 degrees). Therefore, by grinding the most part of the slab surface along the first grinding locus, the ground surface is formed in a constant pattern, and high quality grinding can be performed.

  On the other hand, the grinding that traces the first grinding locus results in the unground portion 203 of FIG. 6B. For this reason, the second grinding locus shown in FIG. 6C performs grinding of the unground grinding portion 203 at the end of the slab.

The movement locus of the grinding wheel 32 in the second grinding locus will be described with reference to FIG. In the motion trajectory shown in (a), since the grinding wheel 32 moves on the X axis after moving a certain distance on the X axis, and moves on the X axis, a grinding residue is inevitably generated. End up.
On the other hand, as shown in (b), by simultaneously displacing both positions on the XY axes, the end portion of the slab can be moved by an angle different from the constant angle in the first grinding trajectory. can do.

  Returning to step S103 of FIG. 5, the processor 71 executes grinding control of the grinding wheel 32 in accordance with the first grinding locus. At this time, the grinding wheel 32 is ground by simultaneously displacing the X and Y axes with respect to the slab. The processor 71 controls the movement of the X-axis servomotor 25 in the reciprocal grinding of the X-axis, and controls the movement of the Y-axis servomotor 61 in the movement operation of the Y-axis. As a result, as shown in FIG. 6B, a grinding residue 201 as shown in FIG. 6B is generated.

Next, the processor 71 executes grinding control of the grinding wheel 32 according to the second grinding locus. The processor 71 moves the grinding wheel 32 from the grinding start point 204 to the grinding end point 205 and from the grinding start point 206 to the grinding end point 207 to grind the end portion with the unground portion 201. The movement at this time is performed by operating both the X-axis servomotor 25 and the Y-axis servomotor 61.
In this way, by moving the grinding wheel 32 along the second grinding locus, the unground portion 203 can be ground as shown in FIG. And the whole grinding process of the slab surface is complete | finished.

  As described above, by grinding the remaining grinding portion automatically, the grinding motion is completed without any manual control by the operator after starting the slab grinding. Therefore, the grinding apparatus 10 is capable of fully fully automatic surface grinding of a slab. As a result, completely unattended operation that does not require an operator to enter the grinding facility after the completion of automatic control, as found in conventional facilities, has become possible.

  Further, by grinding the slab S by moving the X axis as much as possible as the first grinding locus, the slab S can be ground at a constant angle (45 degrees). And, by grinding only the ungrinded part at an angle different from the above-mentioned fixed angle by moving the XY axis, it is possible to grind most of the grinding marks on the surface of the slab S at a fixed grinding pitch even in fully automatic grinding. It became.

  Moreover, the slab S is moved to the conveyors 12 and 14 of the grinding apparatus 10 by a crane, and the conveyors 12 and 14 are moved to start the grinding operation of the grinding apparatus 10. Therefore, if there is a device for detecting the movement of the slab S to the conveyors 12 and 14 and the movement of the slab S to the grinding device 10 by the conveyors 12 and 14, the above-described grinding process can be started according to the movement detection. can do. Therefore, it is possible to fully automate the surface grinding process of the slab S related to the grinding apparatus 10.

  In addition, the slab to be the subject of the present application is not limited to a slab of unequal width, and if it is a slab that can be ground by reciprocating grinding operation on the X axis and grinding operation on the XY plane of the end, It becomes a grinding target.

  The embodiments described above are merely given as typical examples, and variations and variations thereof will be apparent to those skilled in the art. Those skilled in the art will depart from the principles of the present invention and the scope of the invention described in the claims. Obviously, various modifications of the above-described embodiment can be made.

FIG. 1 is a plan view showing an outline of the grinding apparatus 10. FIG. 2 is a side view showing the outline of the grinding apparatus 10 from the left side of the X axis. FIG. 3 is a side view showing the outline of the grinding apparatus 10 from the lower side of the Y-axis. FIG. 4 is a diagram illustrating a hardware configuration of the control device 70. FIG. 5 is a flowchart of a grinding process performed by the control device 70 of the grinding device 10. FIG. 6 is a diagram showing the first and second grinding trajectories. FIG. 7 is a diagram showing a motion locus of the grinding wheel 32 in the second grinding locus. FIG. 8 is a diagram showing a conventional grinding locus.

Explanation of symbols

S Slab 10 Grinding device 12, 14 Conveyor 16, 18 X-axis rail 20 Cart 25 X-axis servo motor 30 Carriage 32 Grinding wheel 33 V-belt 34, 57, 58 Strut 35 Grinding wheel rotation motor 36 Grinding wheel pressing cylinder 37 Crimping Position detection device 38 Z-axis cylinder 42, 43 First and second laser distance meters 51, 52 Rail beam 53, 54 Y-axis rail 61 Y-axis servo motor 70 Control device

Claims (4)

A grinding device for grinding a slab surface of unequal width,
A grinding wheel,
A grinding wheel moving unit for moving the grinding wheel;
A measuring part for measuring the contour of the slab surface of unequal width;
A first grinding locus for linearly grinding the slab surface using a grinding wheel at a constant grinding angle, and a first grinding locus for grinding using the grinding wheel at an angle different from the constant grinding angle. 2 grinding trajectory, and
In accordance with the first grinding trajectory, the slab surface is linearly ground using a grinding wheel of the grinding device, the grinding wheel is moved at regular intervals in a direction orthogonal to the linear direction, and the linear grinding is repeated. And a control unit configured to control the end portion of the slab surface, which is a remaining grinding portion of the linear grinding, to be ground using the grinding wheel in accordance with the second grinding trajectory.   2. The grinding apparatus according to claim 1, wherein the first and second grinding trajectories include a grinding trajectory immediately before the grinding wheel is dropped from a surface of the slab to a lower portion. A grinding control method using a grinding device for grinding a slab surface of unequal width,
Measure the contour of the unequal width slab surface,
A first grinding locus for linearly grinding the slab surface using a grinding wheel at a constant grinding angle, and a first grinding locus for grinding using the grinding wheel at an angle different from the constant grinding angle. 2 grinding trajectory,
According to the first grinding trajectory, the slab surface is linearly ground using a grinding wheel of the grinding device,
Moving the grinding wheel at regular intervals in a direction perpendicular to the linear direction and repeating the linear grinding,
A grinding control method for grinding an end portion of the slab surface, which is a remaining grinding portion of the linear grinding, using the grinding wheel in accordance with the second grinding locus.   The method according to claim 2, wherein the first and second grinding trajectories include a grinding trajectory until immediately before the grinding wheel falls from a surface of the slab to a lower portion.

Images