JP2012152896A - Method and device for grinding slab - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a grinding method and a grinding device of a slab capable of precisely recognizing a shape of the slab and providing a favorable grinding surface state even on the slab diagonally arranged on a carrier passage with respect to the carrying direction or slab edges of both sides in the cross direction which is not rectilinear.SOLUTION: The grinding method includes steps of: picking up an image of the slab 17 carried in the X direction from above and to measure its shape; measuring a distance to both side surfaces in the cross direction of the slab 17 along its overall length by using a pair of distance measuring means arranged at prescribed distance positions at the outside in the cross direction of the slab 17; detecting an abnormal value included in data of the distance measured by the distance measuring means and to correct it by using data of the shape of the slab 17; and carrying out the chamfering work of the edge by controlling a grinding wheel free to move in the X direction and in the Y direction orthogonal with the X direction by using the corrected data of the distance.

Description

  The present invention relates to a slab grinding method and a grinding apparatus. More specifically, the present invention provides good grinding surface properties even for a slab that is slanted with respect to the conveying direction or a slab whose edges on both sides in the width direction are not straight. The present invention relates to a method for grinding a slab and a grinding apparatus.

  On the surface of the continuously cast slab (slab), wrinkles that cause defects during rolling may occur. Such surface defects are removed by a scraping device such as a machine scarf or a grinder before being conveyed to the rolling process. Conventionally, when removing surface flaws, grinding is generally performed by manual operation using a grinder device. Recently, however, an automatic device that links a grinder with a device that reads the position of surface flaws. Grinding is possible.

On the other hand, it is known that the quality of the steel sheet after rolling can be improved by performing chamfering of the edge portion on the continuously cast slab. For example, in Patent Document 1, the notch length in the width direction of the corner portion of the slab is 20 to 40 mm, and the notch length in the thickness direction of the corner portion of the slab formed by the side wall of the caliber groove is the width before the width press. A method for producing an austenitic stainless steel sheet having a slab thickness of 10 to 15% is disclosed.
When chamfering the edges of slabs by automatic grinding, slabs whose edges on both sides in the width direction are not straight due to variable width or variable width continuous casting, or edges on both sides in the width direction are oblique to the conveying direction Therefore, it is necessary to accurately control the position of the grindstone as compared with the grinding of the surface flaws. Conventionally, it has been difficult to control the position of the grindstone with high accuracy, so an operator gets on the cab installed on the grinder and manually checks the edge of the slab from the cab. Or it was common to grind by moving a slab.

In addition, an apparatus and a method for automatically recognizing a slab shape and cleaning the surface of the slab have been proposed.
For example, in Patent Document 2, in the automatic recognition of the slab shape for detecting the four corners of the slab online, the detected four points are compared with the specification of the slab to check whether there is a false detection. A slab shape automatic recognition backup method is disclosed that corrects a false detection value using the detection values of the other three points when there is only one point.
In Patent Document 3, when a slab surface is ground by grinding with a grinder, a distance from a predetermined position in a conveyance orthogonal direction perpendicular to the conveyance direction of the slab to the slab is measured over the entire circumference of the slab. The grinder grinding method for slab surface care and the grinder grinding device for slab surface care that recognizes the shape and position of the slab and controls the movement of the grindstone so that the grindstone does not fall off the slab according to the recognition result Is disclosed.
In Patent Document 4, a light receiving signal conversion device having a light selection means on a light receiving surface facing a surface of a red hot steel material is disposed, and illumination that emits oblique projection light to the steel material at a part of the light receiving signal conversion device. Disclosed is a steel surface cleaning device for disposing a device, detecting a defective portion existing on the surface of a red hot steel material by a signal from a light receiving signal conversion device, and operating a removing device by a signal relating to the defect as a result of the detection. .

JP 2001-212603 A JP-A-9-239660 JP-A-7-136929 Japanese Patent Laid-Open No. 52-11086

However, in the manufacturing method of the austenitic stainless steel sheet described in Patent Document 1, the length of the notch is set to the slab having a non-linear edge due to skewing or width variation or width variation when the slab is conveyed. It is difficult to keep it constant.
In the slab shape automatic recognition backup method described in Patent Document 2, since four corner points are recognized and the space between them is recognized as a straight line, it cannot be used for recognition of an edge position such as a variable width slab.

In the grinder grinding method for slab surface care and the grinder grinding device for slab surface care described in Patent Document 3, measurement is performed because the reflectance of the laser changes depending on whether or not the machine scarf is applied to the side surface of the slab, the adhesion state of the scale, etc. The error becomes large, the detection accuracy of the edge position necessary for chamfering grinding of the edge portion cannot be ensured, and the grinding wheel grinds based on an incorrect slab shape, resulting in damage to the slab or equipment. There is a fear. Furthermore, as a result of the generation of discontinuous surfaces on the ground surface, wrinkles may occur during rolling.
In the surface care apparatus for steel materials described in Patent Document 4, there is no description regarding the use of the measurement result for chamfering grinding of the edge portion of the slab.

  The present invention has been made in view of such circumstances, and suppresses the generation of wrinkles due to irregularities in the shape of the care surface, and the coil edge portion when hot-rolling the continuously cast slab also in the width direction. A method for grinding a slab that provides an edge chamfering shape that can simultaneously suppress generation of edge seam wrinkles, and a shape of the slab can be accurately recognized, and is disposed on the conveyance path obliquely with respect to the conveyance direction. An object of the present invention is to provide a slab grinding device capable of obtaining the above-mentioned favorable edge chamfered shape even for a slab or a slab whose edge portions on both sides in the width direction are not straight.

  The grinding method of the slab according to the first invention that meets the above-mentioned object is to identify edges on both sides in the width direction of the slab using an image obtained by imaging the slab that is transported across the transport path from above. The distance to both side surfaces in the width direction of the slab is measured using the step A for measuring the shape of the slab and the distance measuring means arranged at a predetermined distance position outside the slab in the width direction. Using the process B measured over the entire length of the slab and the shape data of the slab measured in the process A, the abnormal value included in the distance data measured in the process B is detected and corrected. Using the data of the distance corrected in the process C and the process C, the grindstone that is movable in the X direction that is the conveyance direction of the slab and the Y direction that is orthogonal to the X direction is controlled, and Oh And a step D of performing chamfering parts.

  In the slab grinding method according to the first aspect of the invention, the angle α formed by the upper surface of the slab and the grinding surface by the grindstone always satisfies the relationship of 20 ° ≦ α ≦ 70 °, and the width W of the grinding surface. It is preferable to control the moving speed of the grindstone in the X direction and the Y direction so that a relationship of 10 mm ≦ W ≦ 40 mm is always established.

In the slab grinding method according to the first invention, in the step D, when the distance in the X direction between the side surface of the slab and the center of the short cylindrical grindstone is out of a certain grinding distance range, by controlling the moving speed v ₁ and the moving speed of the X and Y directions of the grinding wheel as the moving speed v ₂ satisfy the following formula to the X direction in the Y direction of the grinding wheel, said grinding wheel It is preferable to arrange within the grinding distance range.
a <v ₂ <b and 0.2 ≦ | v ₂ / v ₁ | ≦ √3
(A and b are constants determined by the device configuration)
“√3” represents the square root of 3 (hereinafter the same).

  A grinding apparatus for a slab according to a second aspect of the invention identifies an edge portion on both sides in the width direction of the slab using an image obtained by imaging the slab transported in the X direction across the transport path from above, A shape measuring means for measuring the shape of the slab, a portal-type carriage that is disposed so as to straddle the slab downstream from the shape-measuring means, and that can advance and retreat along the X direction, and the slab on the portal-type carriage The first and second distance measuring means, which are paired to measure the distance to both side surfaces in the width direction of the slab on the inside, over the entire length of the slab, A grindstone that is mounted on the portal-type carriage via a moving means so as to be movable in the Y-direction orthogonal to the X-direction on the portal-type carriage, and performs chamfering on the edge portions on both sides in the width direction of the slab simultaneously or sequentially. Grinder device provided and the shape Using the data of the shape of the slab measured by the measuring means, an arithmetic means for detecting and correcting an abnormal value included in the distance data measured by the distance measuring means, and a correction by the calculating means Control means for controlling the moving speed in the X direction of the portal trolley and the moving speed in the Y direction of the moving means using the distance data.

In the slab grinding method according to any one of claims 1 to 3, and the slab grinding apparatus according to claim 4, the width direction of the slab that is transported on the transport path using the distance data measured by the distance measuring means. Since chamfering is performed on the edge parts on both sides, chamfering can be automatically and efficiently performed with high precision even for slabs that are slanted with respect to the transport direction or slabs that have edge parts on both sides in the width direction that are not straight. it can.
Furthermore, since the abnormal value included in the distance data measured by the distance measuring means is detected and corrected using the data of the shape of the slab measured using the image obtained by imaging the slab from above, the shape of the slab is changed. It can measure with high accuracy.
Further, in the slab grinding apparatus according to claim 4, since the shape measuring means is provided at a position away from the grinder apparatus, the shape of the slab can be obtained with high accuracy without being affected by sparks during grinding. Can be measured.

  In the slab grinding method according to claim 2, for the angle α formed between the upper surface of the slab and the grinding surface by the grindstone, a relationship of 20 ° ≦ α ≦ 70 ° is always established, and the width W of the grinding surface, The moving speed of the grindstone in the X direction and the Y direction is controlled so that the relationship of 10 mm ≦ W ≦ 40 mm is always established. Therefore, when rolling in the width direction before hot rolling of the slab, the contact area with the roll is reduced, so that the strain generated in the vicinity of the edge of the slab is reduced. The occurrence of i) can be suppressed.

In the slab grinding method according to claim 3, when the distance in the X direction between the side surface of the slab and the center of the short cylindrical grindstone is out of a certain grinding distance range, the moving speed of the grindstone in the Y direction. v ₁ and the moving speed v _{2 in the} X direction satisfy the relationship that a <v ₂ <b and 0.2 ≦ | v ₂ / v ₁ | ≦ √3 (a and b are constants determined by the device configuration). As described above, since the moving speed of the grindstone in the X direction and the Y direction is controlled and the grindstone is disposed within the grinding distance range, it is possible to reliably suppress the occurrence of a portion where the grinding surface shape fluctuates during grinding.

It is a schematic explanatory drawing of the grinding device of the slab which concerns on one embodiment of this invention. It is a schematic explanatory drawing of the grinder apparatus used for the grinding apparatus of the same slab. It is explanatory drawing which shows the flow of a measurement data process in the grinding device of the slab. It is explanatory drawing which shows the relationship between the distance of a laser distance meter and a slab. It is explanatory drawing which shows the relationship between the edge of a slab, and the locus | trajectory of a grindstone. It is explanatory drawing of the refraction point vicinity and edge part side surface vicinity of a slab. v _1, v is a graph showing the relationship between the quality of the ₂ and the grinding surface shape. It is explanatory drawing which shows the locus | trajectory of a grindstone in the case of performing simultaneously grinding of the edge part of the width direction and rolling direction both sides of a slab, and removal of surface flaws other than an edge part.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
Here, FIG. 1 is a schematic explanatory view of a slab grinding apparatus according to an embodiment of the present invention, FIG. 2 is a schematic explanatory view of a grinder apparatus used in the slab grinding apparatus, and FIG. 3 is a slab grinding apparatus. FIG. 4 is an explanatory diagram showing the relationship between the laser distance meter and the slab distance, FIG. 5 is an explanatory diagram showing the relationship between the edge of the slab and the trajectory of the grindstone, and FIG. FIG. 7 is a graph showing the relationship between v ₁ , v ₂ and the quality of the grinding surface, FIG. 8 is grinding of edge portions on both sides in the width direction and rolling direction of the slab, And it is explanatory drawing which shows the locus | trajectory of a grindstone in the case of removing simultaneously surface flaws other than an edge part.

A slab grinding apparatus 10 according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
As shown in FIG. 1, the slab grinding apparatus 10 is arranged so as to straddle a chain conveyor 16 which is an example of a conveyance path, and is an image obtained by imaging a slab 17 conveyed over the chain conveyor 16 from above. Is used to identify edge portions on both sides in the width direction of the slab 17 and to measure the shape of the slab 17, and on the floor surface on the downstream side of the shape measuring means 11 so as to straddle the slab 17, On the rail 14 arranged in parallel with the conveyor 16, the gate-type carriage 12 that can move in the X direction, which is the conveying direction of the slab 17, via the gate-type carriage moving means (not shown), and the gate-type carriage 12 on the X And a grinder device 13 movable in the Y direction orthogonal to the direction.
The slab 17 conveyed on the roller table 15 is conveyed to the slab grinding device 10 by the chain conveyor 16 that conveys the slab 17 in a direction orthogonal to the roller table 15.
Although there is no restriction | limiting in particular in the magnitude | size of the slab 17, In this Embodiment, the slab of width 1000-1600mm, thickness 120-300mm, and length 5000-10000mm was used.

  The shape measuring means 11 includes an optical inspection device 19 that can move in the Y direction on a gantry 18 that is arranged so as to straddle the chain conveyor 16. Any known device can be used as the optical inspection device 19.

As shown in FIG. 2, the grinder device 13 is disposed on the portal carriage 12 so as to be movable in the Y direction.
The portal trolley 12 includes a leg 25, a frame 26 provided on the leg 25, and a gate trolley moving means (not shown) that moves the entire portal trolley 12 in the X direction while being guided by the rail 14. ing. There is no particular limitation on the moving method of the portal trolley 12, and it may be self-propelled by various means, or any publicly known method such as rack and pinion, screw transmission, winding transmission using a chain or wire, etc. Mechanical means can be used. The moving speed of the portal carriage 12 in the X direction is, for example, 0.5 to 15 m / min.

The grinder device 13 is mounted on a short cylindrical grindstone 20 for chamfering the edge portions on both sides in the width direction of the slab 17 while rotating, a cylinder 21 for pressing the grindstone 20 against the surface of the slab 17, and a frame body 26. Further, a grinder device frame 24, a grinder device moving means (not shown) for moving the entire grinder device in the Y direction on the frame 26, and a grindstone position detecting device (not shown) are provided.
In the grinder device 13, the cylinder 21 may be a hydraulic cylinder or an air cylinder. The grinder device moving means may be self-propelled like the portal trolley moving means, or any mechanical means such as screw transmission or winding transmission may be used. The moving speed of the grinder device 13 in the Y direction is, for example, 0 to 30 m / min.
The grindstone 20 can be made of any material usually used for grinding steel sheets. The diameter of the grindstone 20 is, for example, 700 to 900 mm.

  Further, the grinder device frame 24 includes a first laser distance meter 22 and a second laser distance meter 23 (first and second laser distance meters 23) that measure the distance to both side surfaces in the width direction of the slab 17 on the inner side over the entire length of the slab 17. An example of the second distance measuring means is fixed with a certain distance longer than the width of the slab 17.

As shown in FIG. 3, the data of the shape of the slab 17 measured for each sample point by the optical inspection device 19 and the first laser distance meter 22 and the second laser distance meter 23 for each sample point. The distance data of the slab 17 respectively measured is transferred to the calculation means 27, and the calculation processing necessary for detection and correction of the abnormal value included in the distance data is performed.
The distance data for which the abnormal value is corrected is transferred to the control means 28. Based on the distance data transferred from the calculation means 27 and the signal from the grindstone position detection device, the control means 28 moves the gate-type carriage moving means, the grinder device moving means, the position and rotation speed of the grindstone 20, and the cylinder. The pressing force of 21 is controlled, and the edge portions in the width direction of the slab 17 are ground.

Next, a slab grinding method using the slab grinding apparatus 10 will be described step by step for each step.
In step A, the optical inspection device 19 uses the image data obtained by imaging the slab 17 conveyed by the chain conveyor 16 from above to identify the edge portion of the slab 17 based on the luminance difference from the background. The position coordinates of the sample points at predetermined intervals on the edge are stored as shape data. Next, in step B, the first laser rangefinder 22 and the second laser rangefinder 23 move in the Y direction together with the grinder device mount 24, as shown in FIG. a direction between the one side surface of the slab 17 L _a, and the distance L _B between the other side surface of the second laser rangefinder 23 and slabs 17, the rolling direction (slab in the next step of the slab 17 is rolled The same applies to the following), and the sample points at predetermined intervals are measured over the entire length, and the values are stored as distance data.

In step C, an abnormal value included in the distance data is detected and corrected using the shape data according to the following procedure.
First, the calculating unit 27 calculates the difference between the X coordinates of the two sample points is equal Y coordinates measured by the optical inspection apparatus 19 obtains the width L ₁ of the slab 17 at each Y-coordinate.
Next, the arithmetic unit 27, for each Y coordinate, using _{L B} measured by the first laser rangefinder 22 from the measured _{L A,} and the second laser rangefinder _23, L 2 = d- (L _A + L _B ) is calculated. Here, d is the distance between the first laser distance meter 22 and the second laser distance meter 23.

If any measurement value of the first laser distance meter 22 and the second laser distance meter 23 does not include an abnormal value, L ₁ and L ₂ should match within the range of the measurement error. Therefore, an abnormal value is detected by comparing the absolute value of L ₁ -L ₂ with a predetermined threshold value D. The value of the threshold value D is appropriately determined according to the size of the slab, the measurement accuracy of the optical inspection device 19 used, the first laser distance meter 22 and the second laser distance meter 23, and the like. Is preferably 10 to 70 mm, more preferably 20 to 50 mm, and still more preferably 30 to 40 mm.
When | L ₁ −L ₂ |> D for a certain sample point, it is determined that the distance data (coordinate value) at that sample point includes an abnormal value, and the abnormal value is corrected. The correction of the abnormal value is performed, for example, by replacing the X coordinate of the sample point including the abnormal value with the X coordinate of the adjacent sample point.
The corrected distance data is stored as corrected distance data.

In step D, using the corrected distance data and the signal from the grindstone position detection device, the control means 28 controls the position of the grindstone 20, the pressing force by the cylinder 21, the portal carriage 12 and the grinder device 13, respectively. The chamfering of the edge portions on both sides in the width direction of the slab 17 is performed by controlling the moving speed in the direction and the Y direction.
When the edges at both ends in the width direction of the slab 17 are straight lines and the directions thereof are parallel to the Y direction, the cutting amount in the width direction and the thickness direction is always constant by moving the grindstone 20 only in the Y direction. (For example, 10 mm). As a result, the ridgeline between the upper surface of the slab 17 and the grinding surface by the grindstone 20 is always parallel to the rolling direction of the slab 17.

If at least a part of the edges at both ends in the width direction of the slab 17 is not parallel to the Y direction due to the skew of the slab 17 on the chain conveyor 16, the presence of a variable width portion or a variation in the width of the slab 17, chamfering is performed. In this case, it is necessary to perform grinding while moving the grindstone 20 not only in the Y direction but also in the X direction. The moving means for the grinder device cannot change the position of the grindstone 20 in the X direction steplessly, and since the finite step width exists, the grindstone 20 moves intermittently in the X direction. Therefore, the trajectory of the grindstone 20 does not become a single straight line parallel to the edge of the slab 17 indicated by a broken line in FIG. 5, but is parallel to the Y direction as indicated by a solid line with an arrow in FIG. A straight line segment A and a line segment B accompanying displacement in the X direction are connected to each other in a broken line shape. The arrow represents the moving direction of the grindstone 20.
As described above, the grinding amount of the edge portion of the slab 17 by the grindstone 20 is not constant throughout the rolling direction, but varies locally.

Accordingly, the ridgeline between the upper surface of the slab 17 and the grinding surface by the grindstone 20 does not become a straight line, but has one or more refraction points as shown in the partially enlarged view in the vicinity of the refraction point in FIG. It becomes the shape of a polygonal line consisting of a plurality of line segments connected together. Here, θ is the smaller of the angles formed by two line segments adjacent to each other at the refraction point (thus, 0 ° <θ ≦ 90 °).
When the variation of the shape of the cut surface at the refraction point becomes significant, a steep edge is formed, and the generation rate of wrinkles during the rolling process increases. Therefore, at all refraction points, θ is always kept below a certain value, or the shorter one of adjacent line segments at a refraction point larger than a certain value (when the grindstone 20 moves in the X direction). If the length λ of the slab 17 is not kept below a certain value, the steep edge portion formed near the refraction point where the variation of the shape of the cutting surface is remarkable at the time of rolling the slab 17 And can cause new defects in the product.

  Further, as the amount of grinding of the edge portion of the slab 17 by the grindstone 20 is locally varied, the angle (chamfer angle) α formed between the upper surface of the slab 17 and the grinding surface and the width W of the grinding surface (the edge portion in FIG. 6). Each of these values also fluctuates. However, if these values are not maintained within a predetermined range, there is a risk that edge seams will occur and the product yield will be reduced.

  First, using a slab satisfying 30 ° ≦ α ≦ 45 ° and 15 mm ≦ W ≦ 35 mm, the refraction point of the ridgeline between the upper surface of the slab 17 and the grinding surface by the grindstone 20 (sometimes referred to as “grinding surface shape variation portion”). The relation between θ and λ and the occurrence of edge collapse during rolling of the slab 17 due to the above was investigated. The results are shown in Table 1 below.

In Table 1, “◯” indicates that the rate of occurrence of wrinkles that occur when the grinding surface shape variation portion collapses during rolling of the slab is 0.5% or less, and “×” indicates that the grinding surface It shows that the generation rate of wrinkles that the shape variation part collapses during rolling of the slab exceeds 0.5%.
As shown in Table 1, regardless of the size of λ, if θ can be kept at 60 ° or less, or if λ can be kept at 25 mm or less for a portion where θ exceeds 60 °, the slab 17 can be rolled. It was found that the occurrence rate of the edge collapse in can be suppressed to 0.5% or less.

  Next, using a slab satisfying 30 ° ≦ θ ≦ 45 ° and 15 mm ≦ λ ≦ 20 mm, the occurrence of edge collapse during rolling of the slab 17 and the relationship between α and W were examined. The results are shown in Table 2 below.

In Table 2, “◎” indicates that the occurrence rate of edge seam wrinkles is 0.5% or less, and “◯” indicates that the occurrence rate of edge seam wrinkles is 0.5% or less. This means that the product yield is reduced due to the large amount of cutting. In addition, “Δ” indicates that although the occurrence rate of edge seam wrinkles is improved as compared with the slab that has not been chamfered, the value exceeds 0.5%.
As shown in Table 2, α is kept at 20 degrees or more and 70 degrees or less, and W is kept at 10 mm or more and 40 mm or less (from the viewpoint of improving product yield, W is more preferably 10 mm or more and 30 mm or less). If it was possible, it turned out that the generation rate of the edge seam wrinkle at the time of the rolling process of the slab 17 can be suppressed to 0.5% or less.

As a result of examining the control method of the grinder device 13 in which θ, λ, α, and W satisfy the above-described conditions, the distance in the X direction between the edge (side surface) of the slab 17 and the center of the grindstone 20 is within a predetermined range. Only when exceeding (grinding distance range) (for example, 300 ± 30 mm, preferably 300 ± 20 mm), the portal trolley 12 is moved in the X direction, and X between the edge (side surface) of the slab 17 and the center of the grindstone 20 It turned out that it is preferable to arrange | position the grindstone 20 so that the distance of a direction may be in the predetermined range.
Furthermore, the movement speed v ₁ of the grinder apparatus 13 in the Y direction when the portal carriage 12 is moved in the X direction, and the relationship between the movement speed v _{2 of the} portal carriage 12 in the X direction and θ were also examined. As a result, when the moving speeds of the portal trolley 12 and the grinder device 13 are controlled so that a relationship of 0.2 ≦ | v ₂ / v ₁ | ≦ √3 is established between v ₁ and v ₂ , θ It was also found that can be kept below 60 degrees. In particular, as shown in FIG. 7, when the relationship of 0.2 ≦ | v ₂ / v ₁ | ≦ 1 holds, the shape of the grinding surface is good (in FIG. 7, “surface shape ○” Description). When the relationship 1 <| v ₂ / v ₁ | ≦ √3 holds, θ is kept at 60 degrees or less although there are slight steps and discontinuous surfaces on the ground surface (see FIG. 7). And described as “surface shape Δ”).
As for the moving speed v _{2 in} the X direction of the grinder device, there are a lower limit value a and an upper limit value b determined by the device configuration, so that v ₁ and v are within the range where the relationship of a <v ₂ <b holds. v needs to be controlled by ₂ the control means 28.

Further, when the portal carriage 12 is moved in the X direction so that the relationship of 0.2 ≦ | v ₂ / v ₁ | ≦ √3 is established between v ₁ and v _2, the amount of movement in the X direction It was found that when (step width) is controlled to 20 mm or less, λ can be kept to 25 mm or less.

Simultaneously with the grinding of the edge portions on both sides in the width direction of the slab 17 as described above, the grinding of the edge portions on both sides in the rolling direction of the slab 17 and the removal of surface defects other than the edge portions may be performed. FIG. 8 shows an example of the trajectory of the grindstone 20 when grinding the edge portions on both sides in the width direction and the rolling direction of the slab 17 and removing surface defects other than the edge portions. In this case, the optical inspection device 19 also detects the position of the surface defect of the slab 17.
First, (1) the distance to the side surface of the slab 17 is measured by the first laser distance meter 22 and the second laser distance meter 23 while moving the grinder device 13 in the Y direction.
Next, (2) the rotating grindstone 20 is moved to the position of the surface flaw and pressed by the cylinder 21 to perform grinding to remove the surface flaw (shaded portion in FIG. 8).
Finally, (3) the edge portions on both sides in the width direction and the rolling direction of the slab 17 are ground.

The present invention is not limited to the above-described embodiment, and can be changed without changing the gist of the present invention. For example, some or all of the above-described embodiments and modifications are possible. The slab grinding method and the slab grinding apparatus of the present invention are combined to form the slab grinding apparatus of the present invention, and are also included in the scope of the right of the present invention.
For example, in the slab grinding apparatus of the above-described embodiment, the shape measuring unit and the grinder device are arranged on the chain conveyor orthogonal to the roller table, but may be arranged on the roller table.
In the slab grinding apparatus of the above-described embodiment, mechanical means using a gear or a link mechanism may be used as the grinding stone pressing means.
In the slab grinding apparatus of the above embodiment, the chamfering is performed using one grinder apparatus, but the chamfering of the edge portions on both sides in the width direction of the slab is simultaneously performed using two grinder apparatuses. It can also be set as the structure performed simultaneously.
Further, in the above embodiment, the distance was measured by moving the laser distance meter in the Y direction together with the grinder device, but the measurement can also be performed by moving the slab in the Y direction.

10: slab grinding device, 11: shape measuring means, 12: portal trolley, 13: grinder device, 14: rail, 15: roller table, 16: chain conveyor, 17: slab, 18: mount, 19: optical Inspection device, 20: grinding wheel, 21: cylinder, 22: first laser distance meter, 23: second laser distance meter, 24: grinder device mount, 25: leg, 26: frame, 27: calculation means, 28: Control means

Claims (4)

Using the image obtained by imaging the slab transported across the transport path from above, identifying the edge portions on both sides in the width direction of the slab, and measuring the shape of the slab,
Step B of measuring the distance to both side surfaces in the width direction of the slab over the entire length of the slab, using distance measuring means located outside the slab in the width direction and arranged at a predetermined distance position;
Using the shape data of the slab measured in the step A, the step C for detecting an abnormal value included in the distance data measured in the step B and correcting it,
Using the distance data corrected in the step C, the grindstone that is movable in the X direction that is the conveyance direction of the slab and in the Y direction that is orthogonal to the X direction is controlled to chamfer the edge portion of the slab. A slab grinding method comprising: a process D for performing processing.   2. The slab grinding method according to claim 1, wherein an angle α formed between an upper surface of the slab and a grinding surface by the grindstone always satisfies a relationship of 20 ° ≦ α ≦ 70 ° and a width W of the grinding surface. A method for grinding a slab, wherein the moving speed of the grindstone in the X direction and the Y direction is controlled so that a relationship of 10 mm ≦ W ≦ 40 mm is always established. 3. The slab grinding method according to claim 2, wherein, in the step D, when the distance in the X direction between the side surface of the slab and the center of the short cylindrical grindstone is out of a fixed grinding distance range, wherein by controlling the moving speed of the X and Y directions of the grinding wheel as the moving velocity v ₂ of the moving speed v ₁ and said X-direction in the Y direction satisfies the following equation, the said grinding wheel A method for grinding a slab, wherein the grinding method is arranged within a grinding distance range.
a <v ₂ <b and 0.2 ≦ | v ₂ / v ₁ | ≦ √3
(A and b are constants determined by the device configuration) A shape measuring means for identifying edge portions on both sides in the width direction of the slab and measuring the shape of the slab using an image obtained by imaging the slab transported in the X direction across the transport path from above.
A portal-type carriage that is arranged so as to straddle the slab on the downstream side of the shape measuring means, and that can advance and retreat along the X direction;
A first and second pair that are disposed on the portal trolley with a distance longer than the width of the slab and measure the distance to both side surfaces of the inner slab in the width direction over the entire length of the slab. Distance measuring means,
A grindstone that is mounted on the portal-type carriage via a moving means so as to be movable in the Y-direction orthogonal to the X-direction on the portal-type carriage, and simultaneously or sequentially chamfers the edge portions on both sides in the width direction of the slab. A grinder device comprising:
Using the shape data of the slab measured by the shape measuring means, an arithmetic means for detecting and correcting an abnormal value included in the distance data measured by the distance measuring means,
Control means for controlling the moving speed of the portal carriage in the X direction and the moving speed of the moving means in the Y direction using the distance data corrected by the calculating means. Grinding equipment.

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