JP2018039050A - Cutting method of thick steel plate - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cutting method of a thick steel plate capable of automatically cutting the thick steel plate off line without a cutting operator.SOLUTION: In a cutting method of a thick steel plate of the present invention, when carrying the respective steel plates onto a stand from a temporary yard, it is identified which thick steel plate is placed at which position on the stand on the basis of identification information on the respective thick steel plates and position information on a crane. Afterwards, accurate position information on the respective thick steel plates on the stand is provided by photographing a plurality of thick steel plates placed on the stand by an imaging device. Thus, the thick steel plate can be automatically cut off line without teaching by a cutting operator.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a thick steel plate cutting method for cutting a thick steel plate offline.

  In a steel mill, a thick steel plate manufactured by hot rolling is cut using a cutting machine to become a product thick steel plate having a predetermined product size. This cutting step starts with a line cutting step of cutting a rolled steel plate as it is on the line.

  In the line cutting step, various types of cutting are performed while conveying the rolled thick steel plate on the line. Various cutting means cutting the portion of the thick steel plate that does not become the tip and tail products, cutting the portion of the thick steel plate that does not become the product at both ends in the width direction, and cutting the thick steel plate vertically and horizontally. And including. The thick steel plate is cut in this line cutting step in consideration of the final product thick steel plate dimensions. That is, many cut steel plates that have undergone the line cutting process become product thick steel plates having final product dimensions. However, considering what kind of product steel plate is to be cut from one steel plate (this is called plate cutting), it is difficult to cut the steel plate to the final product size in the line cutting process. Sometimes. Therefore, some of the cut thick steel plates that have undergone the line cutting step become semi-finished thick steel plates that have been cut to a certain shape. The product thick steel plate obtained in this line cutting process is shipped after inspection of dimensions and surface properties, and the semi-finished steel plate is removed from the line after inspection of dimensions and surface properties, and temporarily placed in the cutting plant. Placed on.

  Thereafter, the semi-finished steel plate obtained in the line cutting process is cut off-line to the final product dimensions to become a product thick steel plate. In this off-line cutting process, the semi-finished steel plate placed on the temporary storage site is transported by a crane and placed on a gantry, and the semi-finished steel plate is cut on the gantry to obtain a product thick steel plate.

  Here, Patent Document 1 is known as a technique related to the line cutting step. In Patent Document 1, a process of recognizing the shape and placement state of a thick steel plate by photographing a thick steel plate flowing on the line with a CCD camera installed above the line, and the recognized shape of the thick steel plate And a step of determining a planned cutting line from the mounting state, a step of transporting the thick steel plate on a slat conveyor on the line and stopping it at a predetermined position, and the thick steel plate on the slat conveyor as the planned cutting line A method of cutting a thick steel plate having a gas cutting step is described.

Moreover, the offline cutting process has been conventionally performed according to the following procedure.
(1) A crane operator lifts a semi-finished thick steel plate placed on a temporary storage site with a crane and places it on a gantry.
(2) The cutting operator gets on the gantry and confirms the identification number of the thick steel plate placed on the gantry.
(3) The cutting operator inputs the confirmed identification number into the computer, and the steel plate cutting instruction document (what size product steel plate is to be cut out from the thick steel plate) stored in the computer in advance. Information, that is, information on the planned cutting line of the thick steel plate) is output and printed.
(4) Based on the cutting instruction, the cutting operator inputs the cutting position on the CAD and creates a cutting plan.
(5) Based on the cutting plan, the cutting operator goes up to the cab on the cutting machine, runs the cutting machine, and inputs coordinates serving as a reference for cutting to the cutting machine. This operation is called teaching.
(6) The cutting operator gets out of the cutting machine, gets out of the gantry, presses the switch of the cutting machine, and the cutting machine cuts the thick steel plate.
(7) The cutting operator inspects and cares the surface properties of the product thick steel plate after cutting (surface polishing and welding repair), and further performs stamping and display.
(8) The cutting operator contacts the crane operator, and the crane operator pays out the product thick steel plate.

JP-A-1-95887

  In the off-line cutting process as described above, the cutting operator confirms the identification number of the steel plate and inputs it to the computer, or the cutting operator performs teaching to input the coordinates for cutting to the cutting machine. There is a problem that the cutting operation is extremely complicated and the efficiency is low.

  Then, in view of the said subject, this invention aims at providing the cutting method of a thick steel plate which can perform the cutting of a thick steel plate offline without a cutting operator.

  In order to solve the above problems, the present inventors have completed the present invention based on the following idea. First, the crane operator inputs the identification information of the steel plate to be lifted by the crane to the computer, and the computer obtains the position information of the crane when placing the steel plate on the frame, so that which steel plate is on the frame. The computer can recognize the approximate position where it is placed. Hereinafter, this technique is referred to as “offline tracking technique”. Next, the thick steel plate placed on the gantry is photographed by the imaging device, and accurate position information of the thick steel plate on the gantry is obtained. Then, even if the cutting operator does not input the reference point to the cutting machine (that is, the cutting operator does not perform teaching), the computer can automatically determine the operation to be performed by the cutting machine. .

The gist configuration of the present invention completed based on the above idea is as follows.
(1) A method of cutting a thick steel plate in which one or more thick steel plates are transported from a temporary storage place and placed on a work place, and the one or more thick steel plates are cut at the work place,
When moving the steel plate from the temporary storage area to the work site, the movement information is obtained, and the coordinates obtained based on the movement information are primary position information of the steel plate,
After placing the thick steel plate on the work site, using the image information obtained by imaging the thick steel plate to correct the primary position information, to obtain the final position information of the thick steel plate,
Determine the cutting schedule line based on the final position information and the product information of the thick steel plate,
A method for cutting a thick steel plate, comprising cutting the thick steel plate along the scheduled cutting line.

(2) the mount,
A crane for carrying out a plurality of thick steel plates from a temporary storage site and placing them on the frame;
A first actuator for operating the crane;
An imaging device that is installed above the gantry and shoots the plurality of thick steel plates placed on the gantry;
A second operating device for operating the imaging device;
A cutting machine for cutting the plurality of thick steel plates placed on the gantry;
A third actuating device for actuating the cutting machine;
A central control unit that controls the first to third actuators;
A cutting method of a thick steel plate that cuts the plurality of thick steel plates offline using a cutting system having:
The first actuating device moves the crane to place the plurality of thick steel plates on the gantry sequentially from the temporary storage site,
The identification information of the plurality of thick steel plates lifted by the crane is input to the central controller,
The first operating device inputs positional information of the crane when the plurality of thick steel plates are separated from the crane to the central control device,
The central controller operates the second operating device to photograph the plurality of thick steel plates placed on the gantry with the imaging device,
The second operating device inputs imaging data obtained from the imaging device to the central control device,
Based on the input identification information, the position information of the crane, and the imaging data, the central control unit creates accurate position information of each of the steel plates on the gantry,
Based on the accurate position information of each of the thick steel plates, and the cutting information of each of the thick steel plates to be held in advance, the central control device sets a scheduled cutting line for each of the thick steel plates,
The central control device converts the set cutting schedule line into numerical control data and inputs it to the third operating device,
The third operating device includes each step of operating the cutting machine based on the inputted numerical control data, and the cutting machine cutting the plurality of thick steel plates according to the scheduled cutting line. A method for cutting thick steel plates.

  (3) The thick steel plate cutting method according to (2), wherein the crane is an overhead crane installed on a ceiling of a cutting factory.

  (4) The method for cutting a thick steel plate according to (2) or (3), wherein the cutting machine is a fusing method using gas, plasma, or laser.

  According to the method for cutting thick steel plates of the present invention, it is possible to automatically cut off the thick steel plates offline without a cutting operator. Therefore, the off-line cutting work efficiency is significantly improved.

It is a block diagram of the cutting system 100 used with the cutting method of the thick steel plate by one Embodiment of this invention. It is a model top view of the cutting system 100 used with the cutting method of the thick steel plate by one Embodiment of this invention. 4 is a schematic diagram when the thick steel plate S placed on the temporary storage place 12 is lifted by the overhead crane 20. FIG. It is a figure of the periphery of the mount frame 10 seen from the I direction of FIG.

  With reference to FIG. 1, the cutting system 100 used with the cutting method of the thick steel plate by one Embodiment of this invention is the mount frame 10, the overhead crane 20, the 1st operating device 30 which operates this overhead crane, and an imaging device. As a CCD camera 40, a second operating device 50 for operating the CCD camera, a cutting machine 60, a third operating device 70 for operating the cutting machine, and a central control that controls the first to third operating devices. And a central computer 80 as a device.

  The method for cutting thick steel plates of the present invention uses this cutting system 100 to cut a plurality of thick steel plates offline. That is, in the present embodiment, the “thick steel plate” means not a rolled steel plate that has been rolled, but a semi-finished thick steel plate that has already undergone a line cutting process as described in the background art section. Hereinafter, an embodiment of a method for cutting a thick steel plate according to the present invention will be described with reference to FIGS.

  As shown in FIG.2 and FIG.3, the thick steel plate S cut | disconnected by the line cutting process is piled up and mounted in the temporary storage place 12 in a cutting factory. Each thick steel plate S is stamped with an identification number as identification information as schematically described as “A-1” and “B-1” in FIG. In the present embodiment, as a simple example, the identification numbers of the thick steel plates stacked on the left hill of the temporary storage place are, in order from the top, “A-1”, “A-2”, “A-3”, “A-4”, “A-5”, and the identification numbers of the thick steel plates stacked on the right ridge, in order from the top, are “B-1”, “B-2”, “B-3”, “B-4” and “B-5”.

  As shown in FIG. 2, the gantry 10 as a work place is installed near the temporary storage place 12. Moreover, as shown in FIG.2 and FIG.3, the overhead crane 20 is installed in the ceiling of a cutting factory. In the present embodiment, first, referring also to FIG. 1, the first actuator 30 moves the overhead crane 20 to place a plurality of thick steel plates S on the gantry 10 sequentially from the temporary storage place 12. Specifically, the crane operator operates the first operating device 30, and the first operating device 30 moves the overhead crane 20. Then, the overhead crane 20 sequentially lifts the plurality of thick steel plates S, carries them out of the temporary storage place 12, and places them on the gantry 10. In this embodiment, as a simple example, five thick steel plates “A-1” to “A-5” stacked on the left ridge shown in FIGS. 2 and 3 and the right hill are stacked. A total of seven thick steel plates S, ie, two thick steel plates “B-1” and “B-2”, are placed on the gantry 10 from the top.

  At this time, referring to FIG. 1, the crane operator inputs identification numbers of the plurality of thick steel plates S to be lifted by the overhead crane 20 to the central computer 80. Thereby, the central computer 80 recognizes the identification numbers of the thick steel plates S sequentially placed on the gantry 10.

  Further, when the thick steel plate S is moved from the temporary storage place 12 to the gantry 10 as a work place, the movement information is acquired, and the coordinates obtained based on the movement information are used as primary position information of the thick steel plate. Specifically, in the present embodiment, the first operating device 30 inputs position information of the overhead crane 20 when the plurality of thick steel plates S are separated from the overhead crane 20 to the central computer 80. The position information of the overhead crane 20 includes, for example, a position in XY coordinates (hereinafter referred to as “crane coordinates”) with reference to a predetermined point O of the cutting factory, as shown in FIG. The central computer 80 places which thick steel plate S on the gantry 10 approximately at which position based on the thick steel plate identification number input by the crane operator and the crane coordinates input by the first actuator 30. (That is, primary position information of the thick steel plate) can be recognized. That is, in the simple illustration in FIG. 2, the central computer 80 has the “A-1”, “A-2”, “A-3”, “A-4” thick steel plates are placed, and “A-5”, “B-1”, and “B-2” thick steel plates are placed in order from the left side of the second row. Recognize This is the identification of thick steel plates on the pedestal by offline tracking technology.

  However, in this way, in a state where the accuracy of the position information of each thick steel plate S on the gantry 10 is low, the cutting machine 60 cannot accurately cut each thick steel plate S along the scheduled cutting line L. In this regard, in the prior art, as described above, since the cutting operator performs teaching, accurate cutting along the planned cutting line L is possible, but the efficiency of the cutting work is low.

  Therefore, in this embodiment, after placing the thick steel plate S on the gantry 10 as a work place, using the image information obtained by imaging the thick steel plate S, the primary position information is corrected, and the thick steel plate S Get final location information. That is, in this embodiment, as shown in FIGS. 2 and 4, the CCD camera 40 is installed above the gantry 10. Then, as shown in FIG. 1, the central computer 80 operates the second actuator 50 to photograph the plurality of thick steel plates S placed on the gantry 10 with the CCD camera 40. The second actuator 50 acquires imaging data from the CCD camera 40 and inputs the acquired imaging data to the central computer 80.

  Based on the identification number of the steel plate input by the crane operator, the crane coordinates input by the first operating device 30, and the imaging data input by the second operating device 50, the central computer 80 The accurate position information (final position information) of each thick steel plate S is created. An example of creation of accurate position information of the steel plate S is to set orthogonal coordinates with reference to a predetermined point on the gantry 10 and create the coordinates of the contour of each steel plate S from the imaging data. .

  Next, a scheduled cutting line is determined based on the final position information and product information of the thick steel plate. Here, in the central computer 80, cutting information of each thick steel plate S (product information of the thick steel plate) is recorded in advance. Thick steel plate cutting information is information corresponding to the cutting instruction described in the background art section. Specifically, information on what size product thick steel plate is to be cut from the thick steel plate, that is, thickness It is the information of the cutting planned line of a steel plate. In the simple illustration in FIG. 2, the planned cutting line of each thick steel plate S is illustrated by a broken line L.

  In the present embodiment, accurate position information of the thick steel plate S is obtained by the CCD camera 40. Therefore, the central computer 80 automatically sets the scheduled cutting line L of each thick steel plate S based on the accurate position information of each thick steel plate S and the cutting information of each thick steel plate S held in advance. be able to.

  Thereafter, the thick steel plate is cut along the planned cutting line L. Specifically, the central computer 80 converts the set scheduled cutting line into numerical control data (NC data) and inputs it to the third actuator 70. The third actuating device 70 operates the cutting machine 60 based on the input NC data, and the cutting machine 60 cuts the plurality of thick steel plates S according to the planned cutting line L.

  As the cutting machine used in the present invention, a known or arbitrary cutting machine used in an off-line cutting process of a thick steel plate can be used, and examples thereof include a cutting machine using a gas, plasma, or laser fusing method. .

  As shown in FIGS. 2 and 4, the cutting machine 60 used in this embodiment includes a pair of rails 62 arranged in parallel with each other with the gantry 10 interposed therebetween, and both ends connected to the pair of rails 62. 10, a gate-type frame planar 64 installed so as to surround the frame 10, and a torch 66 attached to the frame planar 64 and installed above the gantry 10. The frame planar 64 includes a pair of leg portions 64A that are connected to the rail 62 and extend in the vertical direction, and an arm portion 64B that is connected between the legs and extends in the horizontal direction. Laser can be irradiated from the torch 66 toward the thick steel plate on the gantry 10. While the frame planar 64 moves along the rail 62 and the torch 66 moves along the arm 64B of the frame planar, laser beams are emitted from the torch 66, thereby cutting the steel plate S on the gantry 10 in a desired manner. It can be cut along the line L.

  According to the present embodiment described above, the operation of the cutting operator confirming the identification number of the thick steel plate and inputting it to the computer, which has been performed in the conventional offline cutting process, or teaching by the cutting operator is unnecessary. That is, offline cutting of thick steel plates can be performed automatically without a cutting operator. Therefore, the off-line cutting work efficiency is significantly improved.

  According to the method for cutting thick steel plates of the present invention, it is possible to automatically cut off the thick steel plates offline without a cutting operator. Therefore, the off-line cutting work efficiency is significantly improved.

DESCRIPTION OF SYMBOLS 100 Cutting system 10 Mounting frame 12 Temporary storage place 20 Overhead crane 30 1st operation apparatus 40 CCD camera 50 2nd operation apparatus 60 Cutting machine 62 Rail 64 Frame planer 66 Torch 70 3rd operation apparatus 80 Central computer S Thick steel plate L Scheduled cutting line

Claims (4)

One or more thick steel plates are transported from a temporary storage place and placed on a work place, and the one or more thick steel plates are cut at the work place by a cutting method of a thick steel plate,
When moving the steel plate from the temporary storage area to the work site, the movement information is obtained, and the coordinates obtained based on the movement information are primary position information of the steel plate,
After placing the thick steel plate on the work site, using the image information obtained by imaging the thick steel plate to correct the primary position information, to obtain the final position information of the thick steel plate,
Determine the cutting schedule line based on the final position information and the product information of the thick steel plate,
A method for cutting a thick steel plate, comprising cutting the thick steel plate along the scheduled cutting line. A frame,
A crane for carrying out a plurality of thick steel plates from a temporary storage site and placing them on the frame;
A first actuator for operating the crane;
An imaging device that is installed above the gantry and shoots the plurality of thick steel plates placed on the gantry;
A second operating device for operating the imaging device;
A cutting machine for cutting the plurality of thick steel plates placed on the gantry;
A third actuating device for actuating the cutting machine;
A central control unit that controls the first to third actuators;
A cutting method of a thick steel plate that cuts the plurality of thick steel plates offline using a cutting system having:
The first actuating device moves the crane to place the plurality of thick steel plates on the gantry sequentially from the temporary storage site,
The identification information of the plurality of thick steel plates lifted by the crane is input to the central controller,
The first operating device inputs positional information of the crane when the plurality of thick steel plates are separated from the crane to the central control device,
The central controller operates the second operating device to photograph the plurality of thick steel plates placed on the gantry with the imaging device,
The second operating device inputs imaging data obtained from the imaging device to the central control device,
Based on the input identification information, the position information of the crane, and the imaging data, the central control unit creates accurate position information of each of the steel plates on the gantry,
Based on the accurate position information of each of the thick steel plates, and the cutting information of each of the thick steel plates to be held in advance, the central control device sets a scheduled cutting line for each of the thick steel plates,
The central control device converts the set cutting schedule line into numerical control data and inputs it to the third operating device,
The third operating device includes each step of operating the cutting machine based on the inputted numerical control data, and the cutting machine cutting the plurality of thick steel plates according to the scheduled cutting line. A method for cutting thick steel plates.   The method for cutting a thick steel plate according to claim 2, wherein the crane is an overhead crane installed on a ceiling of a cutting factory.   The method for cutting a thick steel plate according to claim 2 or 3, wherein the cutting machine is a fusing method using gas, plasma, or laser.

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