JP2022050965A - Self-propelled grinding device, self-propelled grinding method and manufacturing method of metal plate - Google Patents

Abstract

To provide a technique which has high accuracy concerning self-position control, can adjust and uniformize the depth of a ground portion, can perform accurate grinding with respect to a target ground depth and, further, can suppress a steep change of the ground depth.SOLUTION: A self-propelled grinding device 300 includes a truck 14 which travels on a metal plate 10, a grinding part 22 which is mounted on the truck 14, brings a polishing tool into contact with the metal plate 10 and performs grinding, a scanning actuator 15 which scans the grinding part 22 in bi-axial directions parallel to the surface of the metal plate 10, a lifting actuator 16 which pushes the grinding part 22 vertically against the metal plate 10 with a given pushing load, and a control part 19. Therein, the control part 19 controls a scanning speed of the scanning actuator 15 so as to be changed between a grinding starting position and a grinding regular part when grinding the surface of the metal plate 10 by means of the grinding part 22, and controls the pushing load of the lifting actuator 16 in conjugation with a movement of the scanning actuator 15.SELECTED DRAWING: Figure 2

Description

The present invention relates to a self-propelled grinding apparatus and a self-propelled grinding method for self-driving on a metal plate indoors to grind the metal plate, and a method for manufacturing the metal plate.

Conventionally, as a grinding device that automatically cleans defects existing on the surface of a metal plate such as a thick plate steel material, linear slide devices such as rails are laid on both sides of the thick plate steel material, and the thick plate is guided along this guide. A portal type grinding device in which one or more grinding devices are provided on a slider movable in the width direction on a carriage traveling in the rolling direction (longitudinal direction) is known (for example, Patent Document 1 and Patent Document 2). ).

A gantry grinding device as shown in Patent Documents 1 and 2 has a large size as a whole and requires an extremely large investment including the layout of an existing factory.

In Patent Document 3, the flaw position on the surface of the thick plate steel material is input to the grinding device via a wire in advance, and the grinding device is moved based on the position information to perform the grinding maintenance of the flaw. A type surface grinding device has been proposed. As a result, it is said that the device can be made smaller than the devices of Patent Document 1 and Patent Document 2.

However, although the self-propelled surface grinding apparatus shown in Patent Document 3 can be miniaturized, it has the following problems. Since it is necessary to input the flaw position in advance, it is necessary to perform ancillary work such as pre-measurement of position information and flaw depth information to the grinding device and input work thereof. If it is assumed that ancillary devices such as a linear slide device and a track rail are not laid, the self-position of the grinding device on the surface of the plate steel cannot be measured with sufficient accuracy. Due to the need to guide the device to the flaw position, a bogie and track rail laid in the longitudinal direction of the plank steel material are required, and incidental work is required. In addition, the accuracy of the flaw position information is affected by the accuracy when laying the track rail for the bogie, so it is necessary to install the track rail when changing the plate size, reversing the plate, or for each new plate. It involves extremely complicated work.

Therefore, in Patent Document 4, an indoor position measurement system that performs self-position measurement in an indoor space based on the principle of triangular measurement is configured, and a navigation signal transmitter or navigation that transmits or receives an indoor position measurement system signal. A self-propelled grinding device has been proposed in which a signal receiver is installed on a carriage equipped with a grinding device, a self-position is recognized using an indoor position measurement system signal, and a flaw position is taught. According to this technique, the position and angle of the dolly on the metal plate can be recognized with high accuracy based on the taught flaw position without using the marking of the metal plate or the mark for image processing. The deviation from the self-position and the target position recognized as described above can be calculated, and the dolly can be autonomously driven to a predetermined target position according to the deviation.

Japanese Unexamined Patent Publication No. 51-58988 Japanese Unexamined Patent Publication No. 52-111093 Japanese Unexamined Patent Publication No. 62-124864 Japanese Unexamined Patent Publication No. 2018-75707

However, the self-propelled grinding apparatus of Patent Document 4 involves highly accurate and complicated work for flaws dispersed on the surface of a metal plate based on information measured in advance using an indoor position measuring system. It can be cleaned in a short time without any problems, but the difference in the depth of the ground portion may cause a step, and the quality after grinding may not be sufficiently maintained.

In addition, if the pressing load is set according to the target grinding depth from the start of heavy grinding during heavy grinding, a "step" will be created at the grinding end, while the target grinding depth will be increased by slowing the feed rate of the tool. The method to be achieved inevitably reduces the grinding efficiency.

Since the grinding depth changes near the feed rate change point, there is a concern that it will be steep and appear as a grind to the extent that it can be visually recognized, especially during heavy grinding where the target grinding depth of the stationary part is made deeper. It is required to suppress abrupt changes in grinding depth.

Therefore, according to the present invention, the self-position control is highly accurate, the depth of the grinding portion can be adjusted and made uniform, and the target grinding depth can be accurately ground, and the grinding depth is steep. It is an object of the present invention to provide a self-propelled grinding device and a self-propelled grinding method capable of suppressing a change, and a method for manufacturing a metal plate.

In order to solve the above problems, the present invention provides the following (1) to (15).

(1) A self-propelled grinding device that self-propells on a metal plate based on information from a position measuring means and grinds the surface of the metal plate.
A dolly that runs on the surface of a metal plate and
A grinding unit mounted on the trolley and grinding a polishing tool in contact with the metal plate,
A scanning actuator that scans the ground portion in a direction parallel to the surface of the metal plate, and
An elevating actuator that raises and lowers the grinding portion and presses the grinding portion vertically against the metal plate with a given pressing load.
A control unit that controls the scanning of the scanning actuator and the pressing load of the elevating actuator,
Have,
When the surface of the metal plate is ground by the grinding unit, the control unit controls the scanning speed of the scanning actuator so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator. A self-propelled grinding device, characterized in that it is controlled to be set up in conjunction with the movement of the scanning actuator.

(2) In the control unit, when the scanning speed from the grinding start position of the scanning actuator to the grinding steady portion is V0 and the moving speed of the grinding steady portion is V1, the scanning speed of the scanning actuator is V0. The self-propelled grinding apparatus according to (1), which is controlled so as to have> V1.

(3) The control unit is characterized in that the scanning speed from the grinding start position to the grinding steady portion is controlled to be in a plurality of stages so that the scanning speed becomes smaller toward the grinding steady portion. The self-propelled grinding apparatus according to (1).

(4) The control unit controls the pressing load of the elevating actuator so that P0 ≦ P1 when the pressing load of the grinding start position of the elevating actuator is P0 and the pressing load of the grinding steady portion is P1. The self-propelled grinding apparatus according to any one of (1) to (3).

(5) The self-propelled grinding apparatus according to (4), wherein the control unit controls the elevating actuator so that the pressing load gradually changes from P0 to P1.

(6) The self-propelled grinding apparatus according to any one of (1) to (5), wherein the polishing tool of the grinding portion has a polishing cloth.

(7) The self-propelled grinding apparatus according to (6), wherein the polishing tool of the grinding unit is configured by laminating a plurality of abrasive cloths in a direction perpendicular to the grinding direction.

(8) A self-propelled grinding method for grinding the surface of a metal plate by a self-propelled grinder that runs on the metal plate based on information from a position measuring means.
The self-propelled grinding device includes a trolley that runs on the surface of a metal plate, a grinding portion that is mounted on the trolley and grinds by bringing a polishing tool into contact with the metal plate, and the grinding portion that is mounted on the surface of the metal plate. It has a scanning actuator for scanning in parallel directions and an elevating actuator for raising and lowering the grinding portion and pressing the grinding portion vertically against the metal plate with a given pressing load.
When the surface of the metal plate is ground by the grinding portion, the scanning speed of the scanning actuator is controlled so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator is applied to the scanning actuator. A self-propelled grinding method characterized in that it is controlled to be set up in conjunction with movement.

(9) When the scanning speed from the grinding start position of the scanning actuator to the grinding steady portion is V0 and the scanning speed of the grinding steady portion is V1, the scanning speed of the scanning actuator is V0> V1. The self-propelled grinding method according to (8), wherein the self-propelled grinding method is characterized.

(10) The scanning speed from the grinding start position to the grinding steady portion is controlled to be in a plurality of steps so that the scanning speed becomes smaller toward the grinding steady portion (8). The self-propelled grinding method described in.

(11) When the pressing load at the grinding start position of the elevating actuator is P0 and the pressing load of the grinding steady portion is P1, the pressing load of the elevating actuator is controlled so that P0 ≦ P1. The self-propelled grinding method according to any one of (8) to (10).

(12) The self-propelled grinding method according to (11), wherein the elevating actuator is controlled so that the pressing load gradually changes from P0 to P1.

(13) The self-propelled grinding method according to any one of (8) to (12), wherein a polishing cloth is used as the polishing tool of the grinding portion.

(14) The self-propelled type according to (13), wherein a plurality of abrasive cloths are laminated in a direction perpendicular to the grinding direction as the grinding tool of the grinding unit. Grinding method.

(15) For a metal plate having a defect on the surface, the metal plate is ground and removed by a self-propelled grinding device that runs on the metal plate based on the position information from the position measuring means. It is a method of manufacturing a metal plate to be manufactured.
The self-propelled grinding device includes a trolley that runs on the surface of a metal plate, a grinding portion that is mounted on the trolley and grinds by bringing a polishing tool into contact with the metal plate, and the grinding portion that is mounted on the surface of the metal plate. It has a scanning actuator for scanning in parallel directions and an elevating actuator for raising and lowering the grinding portion and pressing the grinding portion vertically against the metal plate with a given pressing load.
When the surface of the metal plate is ground by the grinding portion, the scanning speed of the scanning actuator is controlled so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator is applied to the scanning actuator. A method for manufacturing a metal plate, which is characterized by being controlled so as to be set up in conjunction with movement.

In the present invention, in a self-propelled grinding device that self-propells on a metal plate based on information from a position measuring means and grinds the surface of the metal plate, the grinding device contacts the metal plate to be ground and the polishing cloth. It has a grinding part for grinding, an operation actuator for scanning in any biaxial direction existing on a surface parallel to the surface of the metal plate, and a vertical elevating actuator for bringing the grinding part into contact with the surface of the metal plate. By changing the moving speed of the actuator that scans in the biaxial direction between the grinding start position and the grinding steady portion, it is possible to make the depth of the grinding portion uniform. At the same time, the pressing load of the elevating actuator is controlled to be set up in conjunction with the movement of the scanning actuator, so it is possible to grind accurately with respect to the target grinding depth from the non-grinding part to the grinding start part and the grinding steady part. It is possible to suppress abrupt changes in the grinding depth. Therefore, the plate thickness can be made uniform even at the tip and tail ends of the metal plate.

It is a perspective view which shows an example of the whole system including the self-propelled grinding apparatus. It is a block diagram which shows the self-propelled grinding apparatus which concerns on one Embodiment of this invention. It is a side view which shows the self-propelled grinding apparatus which concerns on one Embodiment of this invention. It is a top view which shows the self-propelled grinding apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the grinding part used in the self-propelled grinding apparatus which concerns on one Embodiment of this invention. It is a figure which shows the grinding condition of Example 1. FIG. It is a figure which shows the grinding condition of the comparative example 1. FIG. It is a figure which shows the grinding condition of the comparative example 2. It is a figure which shows the change of the plate thickness with respect to the distance in the tool feed direction from the grinding start part in Example 1. FIG. 9 is a diagram showing the transition of the plate thickness in the tool feed direction between the region A in which the pressing load on the grinding start portion side is linearly added or subtracted and the region B in which the pressing load on the grinding end portion side is linearly added or subtracted. It is a figure which shows the grinding condition of the comparative example 3. FIG. It is a figure which shows the grinding condition of Example 2.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
<Overall system including self-propelled grinding equipment>
First, the entire system including the self-propelled grinding apparatus according to the present invention will be described.
FIG. 1 is a perspective view showing an example of an overall system including a self-propelled grinding device.

As shown in FIG. 1, the entire system 100 including the self-propelled grinding device has an indoor position measuring system 200 as a position measuring means and a self-propelled grinding device 300 (hereinafter, simply referred to as a grinding device 300). ..

The indoor position measurement system 200 used in this example constitutes a position measuring means of the grinding device 300 and performs self-position measurement in an indoor space based on the principle of triangulation. Specifically, the indoor position measurement system 200 includes a plurality of navigation transmitters 11 installed indoors, a navigation receiver 12, and a host computer 13 including position calculation software.

The grinding device 300 self-propells on the metal plate to grind and remove (removes) minute defects (defects) on the surface of the metal plate, and is provided on the trolley 14 and the trolley 14 to remove defects. It is provided with a grinding unit 22 for grinding the metal plate 10, a drive system for driving the grinding unit 22, and a control system for autonomously traveling the grinding device 300 to a predetermined target position separately provided. The detailed configuration of the grinding device 300 will be described later.

For example, IGPS (Indoor Global Positioning System) can be applied to the indoor position measurement system 200. IGPS is an application of a satellite navigation system (GPS: Global Positioning System) to an indoor position measurement system. IGPS is described in detail in US Pat. No. 6,501,543.

When applying IGPS to the indoor position measurement system 200, each navigation transmitter 11 emits a rotating fan beam (fan-shaped beam). The rotating fan beam may be a laser fan beam or another light emitting means. The navigation receiver 12 is mounted on the carriage 14 of the grinding device 300 and receives the rotating fan beam emitted from the transmitter. At this time, the rotating fan beam is deviated by a predetermined angle, and the three-dimensional coordinate value (hereinafter referred to as “coordinate value”) of the receiver that receives the rotating fan beam, that is, the position or height can be measured. The received information received by the navigation receiver 12 is wirelessly transmitted to the host computer 13, and the position of the navigation receiver 12 is calculated by the host computer 13 according to the principle of triangulation. By using the signals received from the plurality of transmitters 11 and repeating the calculation, the position information of the running grinding device 300 equipped with the navigation receiver 12 can be obtained in real time.

<Grinding device>
Next, the grinding apparatus 300 according to the embodiment of the present invention will be described.

FIG. 2 is a block diagram showing a grinding device 300 according to an embodiment of the present invention, FIG. 3 is a side view showing the grinding device 300, and FIG. 4 is a top view showing the grinding device 300.

In the present embodiment, as described above, the grinding device 300 autonomously causes the carriage 14, the grinding section 22, the drive system for driving the grinding section 22, and the grinding device 300 to autonomously travel to a predetermined target position. It has a control system. The carriage 14 has wheels 20 for traveling and motors 21 for driving and turning the wheels. The drive system of the grinding unit 22 is a scanning actuator 15 that scans the grinding unit 22 in a direction parallel to the surface of the metal plate 10, and slides up and down to raise and lower the grinding unit 22 so that the grinding unit 22 is perpendicular to the metal plate 10. It has an elevating actuator 16 that presses against a given pressing load.

As shown in FIG. 2, the control system of the grinding device 300 includes an on-board computer 18. Further, the control system includes an I / O board 17, a controller and a driver, and includes a drive control unit 19. The drive control unit 19 controls the motor 21 for the wheels, and the scanning actuator 15 and the elevating actuator 16 that constitute the drive system of the grinding unit 22. The host computer 13 also functions as a part of this control system. Other than the control system host computer 13, it is mounted on the trolley 14. The I / O board 17 exchanges signals between the host computer 13 and the on-board computer.

As shown in FIG. 2, the host computer 13 sets the current position calculation software 31 for calculating the position of the navigation receiver 12 of the indoor position measurement system 200 described above, the target grinding position, and the route information. It also has setting / evaluation software 32 for evaluating inspection data and grinding position information from the on-board computer 18. As the control system of the grinding device 300, the control system may be controlled only by the on-board computer 18 without using the host computer 13.

As shown in FIGS. 3 and 4, the base of the grinding device 300 is composed of a carriage 14, and the wheels 20 are provided in the vicinity of one end thereof. A navigation receiver 12 is attached to a portion of the carriage 14 corresponding to the wheel 20. A frame member 41 extending in a direction orthogonal to the longitudinal direction of the trolley 14 is attached to the other end of the trolley 14, and the scanning actuator 15 is a frame in a direction parallel to the surface of the metal plate 10. It is possible to scan the grinding portion 22 in the extending direction of the member 41 and in a direction different from the extending direction (for example, a direction perpendicular to the extending direction of the frame member 41). That is, it is possible to scan the grinding portion 22 in the biaxial direction parallel to the surface of the metal plate 10. The grinding unit 22 is attached to the scanning actuator 15 via the elevating actuator 16, and is scanned by the scanning actuator 15 together with the elevating actuator 16.

A fixing portion 42 for fixing the grinding device 300 to the metal plate 10 is provided in a portion between the wheel 20 and the frame member 41. The fixing portion 42 is made of, for example, an electromagnet. A driven wheel 43 is provided at a portion of the bogie 14 corresponding to the fixed portion 42. The driven wheel 43 can freely change its direction according to the movement of the wheel 20 on the driving side.

The on-board computer 18 is mounted on the wheel 20 side end of the dolly 14 together with the drive control unit 19.

The grinding unit 22 grinds the metal plate 10 by bringing a polishing tool into contact with the metal plate 10, for example. Abrasive cloth can be used as the polishing tool. Abrasive cloth is configured by fixing an abrasive (abrasive grains) to a base material with an adhesive. Examples of the base material include non-woven fabric, cloth, paper, mesh and the like. Since the abrasive cloth has flexibility, it is possible to reduce the step due to the difference in the depth of the ground portion.

When using abrasive cloth as a polishing tool, the grinding unit 22 can be configured as shown in FIG. 5, for example. That is, the grinding unit 22 may have a polishing tool 50 formed by laminating a plurality of thin polishing padding discs 51 obtained by hollowing out polishing padding paper into a disc shape in a direction perpendicular to the grinding direction. can. In this case, the grinding portion 22 is configured by fixing both sides of the polishing tool 50 with a disc wheel 52 and rotatably attaching the polishing tool 50 to the support portion 53, and by rotating the polishing tool 50 by a rotation mechanism (not shown). The metal plate 10 can be ground. The abrasive cloth may be formed into an endless belt to form a grinding portion. However, in this case, the size is larger than that in which a plurality of abrasive cloth discs 51 are laminated in the direction perpendicular to the grinding direction, and the life is shortened.

The grinding device 300 has two functions, that is, a function of autonomously traveling along a target route and a function of removing defects of the metal plate 10.

The former function is carried out by the on-board computer 18, the drive control unit 19, the wheels 20, and the motor 21 based on the information from the position measuring means such as the illustrated indoor position measuring system 200. That is, the position information of the grinding device 300 and the information regarding the target grinding position, which are the calculation results of the host computer 13, are wirelessly transmitted to the mounted computer 18 by wireless communication, respectively, and the deviation of the current position with respect to the target grinding position in the mounted computer 18. Is calculated. Of the same deviation, the drive control unit 19 outputs a control signal such as a speed command to the wheel motor 21 so that the deviation depending on the position of the grinding device 300 becomes 0, and the speed and steering angle of the wheel 20 are adjusted. By performing feedback control, autonomous driving is performed along the target driving route.

Regarding the latter function, the grinding unit 22 that grinds in contact with the metal plate 10, the scanning actuator 15 that scans the grinding unit 22, the elevating actuator 16 that presses the grinding unit 22 against the metal plate 10, the on-board computer 18, and the drive control. Department 19 is in charge. That is, the on-board computer 18 calculates the required scanning amount of the scanning actuator 15 that scans the grinding unit 22 from the target grinding position from the host computer 13 and the current trolley position information, and the drive control unit 19 scans by the required scanning amount. The actuator 15 is scanned and the grinding unit 22 is set to the initial position. The position information of the scanning actuator 15 is fed back to the on-board computer 18 and calculated as grinding position information together with the current position information of the bogie. Grinding data for flaw removal is taken into the on-board computer 18 via the I / O board 17, and is wirelessly transmitted to the host computer 13 together with the grinding position information.

At the time of actual grinding, the grinding device 300 is stopped, the grinding device 300 is fixed to the metal plate 10 by, for example, a fixing portion 42 made of an electromagnet, and the elevating actuator 16 is slid downward to use the polishing tool of the grinding portion 22. Press against the metal plate 10. Then, based on the control by the drive control unit 19, the scanning actuator 15 scans the grinding unit 22 in a direction parallel to the surface of the metal plate 10, for example, in a biaxial direction, thereby grinding a portion of the surface of the metal plate 10 including a flaw. Remove.

At this time, the drive control unit 19 controls so that when the metal plate 10 is ground by the grinding unit 22, the scanning speed of the scanning actuator 15 that scans in the biaxial direction is changed between the grinding start position and the grinding steady portion. At the same time, the pressing load of the elevating actuator 16 is controlled to be set up in conjunction with the operation of the scanning actuator 15. Here, the grinding steady portion means a portion aimed at uniformly grinding at a predetermined grinding depth.

If the scanning speed (moving speed) from the grinding start position to the steady portion (grinding start portion) is V0 and the scanning speed (moving speed) at the grinding steady portion is V1, control is performed so that V0> V1. Is preferable. Further, assuming that the pressing load at the grinding start position is P0 and the pressing load at the grinding steady portion is P1, it is preferable to set the pressing load so that P0 ≦ P1. At this time, it is preferable to gradually change the pressing load from P0 to P1.

Further, the scanning speed (moving speed) from the grinding start position to the grinding steady portion (grinding start portion) may be set to a plurality of steps so that the scanning speed decreases toward the steady portion. For example, when the scanning speed of the first stage including the grinding start position is V01 and the scanning speed of the second stage thereafter is V02, V01> V02> V1 may be set.

Further, the scanning speed of the scanning actuator 15 is controlled to be changed between the grinding steady portion and the grinding end portion, and the pressing load of the elevating actuator 16 is controlled to be set up in conjunction with the operation of the scanning actuator 15. May be good. In this case, assuming that the scanning speed (moving speed) between the grinding end position and the grinding end position (grinding end portion) is V2, it is preferable to control so that V2> V1. Further, assuming that the pressing load at the grinding end position is P2, it is preferable to set the pressing load so that P2 ≦ P1, and it is preferable to gradually change the pressing load from P1 to P2. Further, the scanning speed (moving speed) from the grinding end position to the grinding end position (grinding end portion) may be set to a plurality of steps so that the scanning speed increases toward the grinding end position.

<Grinding operation>
Next, the flaw removing operation in the grinding apparatus 300 will be described.

First, the position and attitude information of the metal plate 10 is acquired, and the coordinate system of the metal plate 10 is set. Next, the target flaw removal range including the target flaw removal position is taught (mapping). At this time, the flaws on the metal plate 10 are detected by an appropriate means to recognize the position of the flaws on the metal plate 10, and the flaw removal range is set based on the flaws.

Next, a target defect removal path is set, and based on the information from the indoor position measurement system 200 which is a position measuring means, the grinding device 300 is self-propelled along the target defect removal path on the metal plate 10 to grind. I do.

At this time, the position information of the grinding device 300 and the information regarding the target grinding position, which are the calculation results of the host computer 13, are wirelessly transmitted from the indoor position measuring system 200, which is the position measuring means, to the mounted computer 18 by wireless communication, and the mounted computer At 18, the deviation of the current position with respect to the target grinding position is calculated. Based on the deviation, the grinding device 300 is controlled to autonomously travel to a predetermined target position. More specifically, the drive control unit 19 outputs a control signal such as a speed command to the wheel motor 21 so that the deviation depending on the position of the grinding device 300 is 0 among the deviations of the wheel 20. In addition to instructing forward rotation, reverse rotation, and stop, feedback control of the speed and steering angle of the wheel 20 is performed to autonomously drive along the target travel route.

Then, the grinding device 300 is stopped in the vicinity of the target flaw removing position, the grinding apparatus 300 is fixed by, for example, a fixing portion 42 made of an electromagnet, and the grinding portion 22 is set to the initial position of the target flaw removing position by the scanning actuator 15. Next, the elevating actuator 16 is slid downward to press the grinding portion 22 against the metal plate 10. In this state, the scanning actuator 15 scans the grinding portion 22 in the biaxial direction parallel to the surface of the metal plate 10 and grinds the surface of the metal plate 10 to remove defects on the surface.

At this time, the drive control unit 19 controls the scanning speed (moving speed) of the scanning actuator 15 so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator 16 is controlled by the scanning actuator 15. Control to set up in conjunction with the operation.

In this way, the scanning actuator 15 is made to scan in the biaxial direction parallel to the surface of the metal plate 10, and the scanning speed (moving speed) is changed between the grinding start position and the grinding steady portion, so that the depth of the grinding portion is deep. It is possible to adjust the pressure to make it uniform. At the same time, the pressing load of the elevating actuator 16 is set up and controlled in conjunction with the operation of the scanning actuator 15 in conjunction with the change in the scanning speed of the scanning actuator 15, so that the target grinding depth is accurately controlled. It can be ground and abrupt changes in grinding depth can be suppressed. Therefore, the plate thickness can be made uniform even at the tip and tail ends of the metal plate.

When the plate thickness is measured by the ultrasonic thickness system at two adjacent locations and the difference is D μm, when this value is larger than the permissible value D0, it is determined that there is a “step”, which causes a problem. In general grinding, when the depth of the flaw to be ground is larger than D0, the plate thickness difference D between the non-grinding portion and the ground portion becomes D> D0, and it is determined to be “stepped”. In the present embodiment, when the plate thickness difference between the non-grinding portion and the grinding start portion and the grinding start portion and the grinding steady portion are D1 and D2 (D = D1 + D2) according to the above configuration, D1 <D0 and D2 < It can be set to D0, and "stepping" can be eliminated. Further, if the pressing load is constant, such as when the grinding depth is deep, it may be difficult to grind accurately at the target grinding depth. However, the pressing load of the elevating actuator 16 is used as the operation of the scanning actuator 15. By interlocking and setting up and controlling, it is possible to grind with high accuracy with respect to the target grinding depth. Further, it is possible to suppress a sharp change in the grinding depth from the non-grinding portion to the regular grinding portion.

It is preferable to control the scanning speed V0 from the grinding start position to the steady portion and the scanning speed V1 at the grinding steady portion so that V0> V1. As a result, the grinding depth at the grinding start portion, which tends to be overgrown, can be reduced, and the grinding depth can be made more uniform.

Further, it is preferable to set the pressing load P0 at the grinding start position and the pressing load P1 at the grinding steady portion so that P0 ≦ P1. As a result, it is possible to reduce the pressing load at the start of grinding, which tends to cause over-grinding, to reduce the grinding depth, and to increase the pressing load at the grinding steady portion to achieve the target grinding depth.

Further, it is preferable to gradually change the pressing load from P0 to P1. By linearly adding and subtracting the pressing load in this way, the grinding depth from the non-grinding portion to the grinding steady portion through the grinding start position changes gently, and "stepping" is more reliably prevented at the grinding end portion. High-precision grinding is possible. Therefore, even in the case of heavy grinding where D> 2 × D0, D <D0 is obtained even if the plate thickness at any of the two locations is measured from the non-grinding portion to the grinding steady portion through the grinding start position. In addition, it is possible to change the grinding depth gently from the non-grinding portion to the grinding steady portion with high accuracy with respect to the target grinding depth.

Furthermore, the scanning speed from the grinding start position to the grinding steady portion may be set to a plurality of steps so that the scanning speed decreases toward the steady portion. As a result, even when the plate thickness difference D between the non-grinding portion and the grinding stationary portion is large, the grinding depth can be adjusted with higher accuracy while suppressing "stepping".

Further, the scanning speed of the scanning actuator 15 is controlled to be changed between the grinding steady portion and the grinding end position, and the pressing load of the elevating actuator 16 is controlled to be set up in conjunction with the operation of the scanning actuator 15. May be good. As a result, the grinding depth can be adjusted even at the grinding end portion, which is the grinding end portion, and "stepping" can be suppressed.

In this case, it is preferable to control the scanning speed V2 from the grinding end position to the grinding end position so that V2> V1. As a result, the grinding depth at the end of grinding can also be reduced. Further, when the pressing load at the grinding end position is P2, it is preferable to set P2 ≦ P1. As a result, the grinding depths of the grinding end portion and the stationary portion can be adjusted, and the grinding depth can be made more uniform. Further, by gradually changing the pressing load from P1 to P2, even in the case of heavy grinding, high-precision grinding becomes possible from the grinding stationary portion to the unsteady portion through the grinding end portion. Further, by setting the scanning speed from the grinding steady portion end position to the grinding end position to a plurality of steps so that the scanning speed increases toward the grinding end position, the grinding depth of the grinding end portion can be reduced. , The grinding depth can be adjusted with higher accuracy.

Further, by using a flexible polishing cloth as the polishing tool of the grinding unit 22, the effect of making the grinding depth uniform can be further increased. As shown in FIG. 5, a plurality of thin abrasive cloth discs 51 obtained by hollowing out a polishing pad paper into a disc shape are laminated in a direction perpendicular to the grinding direction to form a grinding portion 22, thereby forming the grinding portion 22. It can be miniaturized and its life can be extended.

Further, since the grinding device 300 is self-propelled on the metal plate 10 based on the information from the position measuring means, it is not necessary to increase the size of the entire device as in Patent Documents 1 and 2, and the size can be reduced. This eliminates the need for incidental work as in Patent Document 3, ancillary devices such as a linear slide device and a track rail, and complicated work. Further, by using the indoor position measuring system 200 as the position measuring means, it is possible to recognize the position and angle of the grinding device 300 on the metal plate with high accuracy without using the marking of the metal plate or the mark for image processing. It is possible, and the deviation from the recognized self-position and the target position is calculated, and the grinding device 300 is autonomously driven to a predetermined target position according to the deviation, so that the straightness to the target traveling route can be ensured.

Here, a thick steel plate was used as the metal plate, and the surface thereof was ground using the system shown in FIG. As the configuration of the grinding device, those shown in FIGS. 2 to 4 were used. Further, as the grinding portion, a grinding tool having a structure in which polishing cloth paper was laminated as shown in FIG. 5 was used.

As Example 1 within the scope of the present invention, a grinding experiment was conducted under the conditions shown in FIG. In FIG. 6, the feed speed (scanning speed) of the grinding start position and the grinding end position is set to 10 mm / s, the feed speed (scanning speed) of the stationary portion is set to 5 mm / s, and the pressing load is interlocked with the scanning of the scanning actuator. As described above, the pressing load at the grinding start position and the grinding end position is 30N, the pressing load at the stationary portion is 60N, the grinding start portion side is gradually increased from 30N to 60N, and the grinding end portion side is gradually increased from 60N to 30N. Reduced. Further, as Comparative Examples 1 and 2 outside the scope of the present invention, a grinding experiment was conducted under the conditions shown in FIGS. 7 and 8. In Comparative Example 1 of FIG. 7, the feed rate (scanning speed) was set to 5 mm / s and the pressing load was set to 30 N over the entire grinding portion. Further, in Comparative Example 2 of FIG. 8, the feed rate (scanning speed) of the grinding start position and the grinding end position is set to 10 mm / s, the feed rate (scanning speed) of the stationary portion is set to 5 mm / s, and the pressing load is constant at 30 N. The setup control linked to the scanning speed was not performed.

For these, the plate thickness of the ground portion was measured with an ultrasonic thickness gauge. In this case, as described above, if the plate thickness is measured at two adjacent locations and the difference is D μm, it is determined that there is a step when this value is larger than the allowable value D0, which causes a problem. Under the grinding conditions of Comparative Example 1 shown in FIG. 7, the target grinding depth D of the grinding steady portion exceeds the allowable value D0 (for example, 100 μm) at the boundary between the ground portion and the non-grinding portion, and it is determined to be stepped. There were many.

On the other hand, in Comparative Example 2 of FIG. 8, by changing the tool feed rate so as to increase at the grinding start portion, the plate at the boundary between the non-grinding portion and the grinding start portion and the boundary between the grinding start portion and the grinding steady portion are respectively. The thickness differences D1 and D2 could be less than the allowable value D0 (for example, 100 μm), respectively, and it was possible to avoid the stepped determination. Since no control was performed, the adjustment of the target grinding depth at the grinding start part and the grinding steady part was insufficient.

On the other hand, in the first embodiment of FIG. 6, the tool feed speed (scanning speed) is adjusted at the grinding start portion, the grinding end portion, and the grinding steady portion, and the pressing load is set up and controlled in conjunction with the scanning speed for pressing. By linearly adding and subtracting the load, the result shown in FIG. 9 was obtained. The horizontal axis of FIG. 9 is the distance in the tool feed direction from the grinding start portion, and the vertical axis is a plot of the plate thickness at each point. From FIG. 9, there is no step, the target grinding depth of the grinding start part and the grinding steady part is sufficiently adjusted, and the pressing load of the elevating actuator is linearly added or subtracted so that the grinding start part and the grinding steady part are from the non-grinding part. It can be seen that the grinding depth gradually transitions toward. FIG. 10 is a diagram showing the transition of the plate thickness in the tool feed direction between the region A in which the pressing load on the grinding start portion side is linearly added and subtracted and the region B in which the pressing load on the grinding end portion side is linearly added and subtracted. From FIGS. 9 and 10, the plate thickness difference D between two adjacent points is less than the allowable upper limit value D0, the plate thickness transitions linearly in the regions A and B, and stepping occurs over the entire length of the grinding work. It was confirmed that there was no.

Next, when the target grinding depth was as deep as 250 μm, a grinding experiment was conducted under the conditions of Comparative Example 3 shown in FIG. As shown in FIG. 11, the feed rate (scanning speed) of the tool at the grinding start portion is changed stepwise (the feed rate of the first stage including the grinding start position is 15 mm / s, and the feed rate of the second stage is 10 mm. / S), the feed rate (scanning speed) of the grinding steady portion was set to 5 mm / s, and the pressing load was set to 30 N, which was constant. As a result, in Comparative Example 3, even if the target grinding depth was as deep as 250 μm, it was possible to almost avoid the step determination, but the pressing load was constant at 30 N, and the setup control linked with the scanning speed was performed. Since this was not done, the adjustment of the target grinding depth at the grinding start part and the grinding steady part was insufficient. In addition, since the feed rate of the tool to be changed stepwise is set to be higher than that of the steady grinding portion, considering that the stroke of the scanning actuator is finite, the multi-step speed switching reduces the stroke of the steady grinding portion. There is also a demerit that it ends up.

On the other hand, as the second embodiment, as shown in FIG. 12, at the grinding start portion and the grinding end portion, the feed speed is changed stepwise as in FIG. 11, and the pressing load is scanned by the scanning actuator as in the first embodiment of FIG. The pressing load at the grinding start position and the grinding end position is set to 30N, the pressing load at the stationary portion is set to 60N, and the pressing load is gradually increased from 30N to 60N on the grinding start portion side and 60N on the grinding end portion side so as to be linked with the scanning of. The target grinding depth was 800 μm, which was extremely deep. As a result, although there is a demerit of the stepwise tool feed speed setting described above, even if the target grinding depth is as deep as 800 μm, there is no step, and the target grinding depth of the grinding start portion and the grinding steady portion is sufficiently adjusted. In addition, by linearly adding and subtracting the pressing load of the elevating actuator, it was possible to perform grinding in which the grinding depth gradually transitions from the non-grinding portion to the grinding start portion and the grinding stationary portion.

When adjusting the grinding depth by changing the feed rate step by step, it is necessary to set it so that it does not have a step at the speed switching point, that is, it does not exceed the allowable value D0 (for example, 100 μm). In addition, since the grinding depth is made shallower by increasing the feed rate, switching to multiple speeds has the disadvantage of reducing the stroke of the steady grinding section. The same applies when the speed switching is made in more stages, such as gradually adjusting the scanning speed, and there is a demerit that the stroke of the steady grinding portion is reduced.

As in Example 1 of FIG. 6 or Example 2 of FIG. 12, the pressing load is gradually increased / decreased on the grinding start portion / end portion side so as to be interlocked with the scanning of the scanning actuator, so that the steady grinding portion can be used. The aiming grinding depth of the grinding start part and the grinding steady part is sufficiently adjusted without reducing the stroke as much as possible, and there is no step. It was possible to perform grinding in which the grinding depth transitions gently toward the grinding steady part.

<Other applications>
The present invention is not limited to the above embodiment and can be variously modified. For example, an example in which IPGS is applied as a position measuring means for measuring the position of the grinding device itself has been shown, but the present invention is not limited to this, and is based on the same triangulation principle as IPGS. On the contrary, a device equipped with a navigation transmitter on the grinding device side can be used. An example of this is laser triangulation technology mounted on a cleaning robot that autonomously travels in an office building (see, for example, http://robonable.typepad.jp/news/2009/11/25subaru.html). .. Specifically, an indoor position measurement system consisting of a navigation transmitter installed in the main body of the grinding device, a plurality of reflectors installed indoors, and a host computer including position calculation software can be mentioned. can.

Further, as the position measuring means, in addition to the indoor position measuring system that performs self-position measurement in an indoor space based on the above-mentioned principle of triangulation, for example, other measuring means such as SLAM (Simultaneus Localization and Mapping). Can also be used.

Furthermore, as an example of using a host computer for coordinating control between the on-board computer mounted on the own and the position measuring means as the computer constituting the control system of the grinding device, only the on-board computer is used. You may.

Furthermore, in the above embodiment, the scanning actuator has shown an example in which the grinding portion is scanned in the biaxial direction along the surface of the metal plate, but if it can be scanned in any direction along the surface of the metal plate, it is biaxial. The configuration is not limited, and a configuration capable of scanning in the uniaxial direction may be used.

10 Metal plate 11 Navigation transmitter 12 Navigation receiver 13 Host computer 14 trolley 15 Scanning actuator 16 Elevating actuator 17 I / O board 18 Equipped computer 19 Drive control unit 20 Wheels 21 Motor 22 Grinding unit 31 Current position calculation software 32 Setting / evaluation software 100 Overall system 200 Indoor position measurement system 300 Self-propelled grinding equipment

Claims (15)

It is a self-propelled grinding device that runs on a metal plate based on information from a position measuring means and grinds the surface of the metal plate.
A dolly that runs on the surface of a metal plate and
A grinding unit mounted on the trolley and grinding a polishing tool in contact with the metal plate,
A scanning actuator that scans the ground portion in a direction parallel to the surface of the metal plate, and
An elevating actuator that raises and lowers the grinding portion and presses the grinding portion vertically against the metal plate with a given pressing load.
A control unit that controls the scanning of the scanning actuator and the pressing load of the elevating actuator,
Have,
When the surface of the metal plate is ground by the grinding unit, the control unit controls the scanning speed of the scanning actuator so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator. A self-propelled grinding device, characterized in that it is controlled to be set up in conjunction with the movement of the scanning actuator. When the scanning speed from the grinding start position of the scanning actuator to the grinding steady portion is V0 and the moving speed of the grinding steady portion is V1, the scanning actuator of the scanning actuator has a scanning speed of V0> V1. The self-propelled grinding apparatus according to claim 1, wherein the self-propelled grinding apparatus is controlled so as to be. The control unit is characterized in that the scanning speed from the grinding start position to the grinding steady portion is controlled to be in a plurality of steps so that the scanning speed becomes smaller toward the grinding steady portion. Item 1. The self-propelled grinding apparatus according to Item 1. The control unit is characterized in that when the pressing load at the grinding start position of the elevating actuator is P0 and the pressing load of the grinding steady portion is P1, the pressing load of the elevating actuator is controlled so that P0 ≦ P1. The self-propelled grinding apparatus according to any one of claims 1 to 3. The self-propelled grinding apparatus according to claim 4, wherein the control unit controls the elevating actuator so that the pressing load gradually changes from P0 to P1. The self-propelled grinding apparatus according to any one of claims 1 to 5, wherein the polishing tool of the grinding unit has a polishing cloth. The self-propelled grinding apparatus according to claim 6, wherein the polishing tool of the grinding portion is configured by laminating a plurality of sheets of polishing cloth paper in a direction perpendicular to the grinding direction. It is a self-propelled grinding method that grinds the surface of a metal plate by a self-propelled grinder that runs on the metal plate based on the information from the position measuring means.
The self-propelled grinding device includes a trolley that runs on the surface of a metal plate, a grinding portion that is mounted on the trolley and grinds by bringing a polishing tool into contact with the metal plate, and the grinding portion that is mounted on the surface of the metal plate. It has a scanning actuator for scanning in parallel directions and an elevating actuator for raising and lowering the grinding portion and pressing the grinding portion vertically against the metal plate with a given pressing load.
When the surface of the metal plate is ground by the grinding portion, the scanning speed of the scanning actuator is controlled so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator is applied to the scanning actuator. A self-propelled grinding method characterized in that it is controlled to be set up in conjunction with movement. When the scanning speed from the grinding start position of the scanning actuator to the grinding steady portion is V0 and the scanning speed of the grinding steady portion is V1, the scanning speed of the scanning actuator is controlled to be V0> V1. The self-propelled grinding method according to claim 8, wherein the self-propelled grinding method is performed. The eighth aspect of the present invention is characterized in that the scanning speed from the grinding start position to the grinding steady portion is controlled to be in a plurality of steps so that the scanning speed becomes smaller toward the grinding steady portion. Self-propelled grinding method. 8. The self-propelled grinding method according to any one of claims 10. The self-propelled grinding method according to claim 11, wherein the elevating actuator is controlled so that the pressing load gradually changes from P0 to P1. The self-propelled grinding method according to any one of claims 8 to 12, wherein a polishing cloth is used as the polishing tool of the grinding portion. The self-propelled grinding method according to claim 13, wherein a plurality of abrasive cloths are laminated in a direction perpendicular to the grinding direction as the grinding tool of the grinding portion. A metal that manufactures a metal plate by grinding and removing the flaws on a metal plate with flaws on the surface by a self-propelled grinding device that runs on the metal plate based on the position information from the position measuring means. It ’s a method of manufacturing boards.
The self-propelled grinding device includes a trolley that runs on the surface of a metal plate, a grinding portion that is mounted on the trolley and grinds by bringing a polishing tool into contact with the metal plate, and the grinding portion that is mounted on the surface of the metal plate. It has a scanning actuator for scanning in parallel directions and an elevating actuator for raising and lowering the grinding portion and pressing the grinding portion vertically against the metal plate with a given pressing load.
When the surface of the metal plate is ground by the grinding portion, the scanning speed of the scanning actuator is controlled so as to change between the grinding start position and the grinding steady portion, and the pressing load of the elevating actuator is applied to the scanning actuator. A method for manufacturing a metal plate, which is characterized by being controlled so as to be set up in conjunction with movement.

Images